SINUMERIK 840D sl. Service - Configuring Commissioning. Manual (2011-2020)

SINUMERIK machine and setting data

2.3 NC machine data

28090

MM_NUM_CC_BLOCK_ELEMENTS

EXP, C02

TE1, TE7, TE8, K1

Number of block elements for compile cycles (DRAM)

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

7/1

Description:

The input value defines the number of block elements that can be used for compile

cycles.

In the case of software version 2, approximately 1.2KB of dynamic memory is required

per block element.

28100

MM_NUM_CC_BLOCK_USER_MEM

EXP, C02

TE1, TE7, TE8, K1

Size of block memory for compile cycles (DRAM), in KB

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

64000

7/1

Description:

The value defines the total capacity of block memory available to the user in the

dynamic memory area for the compile cycles. The memory is allocated in staggered

blocks of 128 bytes.

28105

MM_NUM_CC_HEAP_MEM

EXP, C02

TE7

Heap memory in kbytes for compile-cycle applications (DRAM)

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

64000

7/2

Description:

Size of the heap memory in kbytes which can be used by the compile cycle user.

Dynamic memory is reserved.

The memory is allocated in subdivisions of 128 byte groups.

The start address and the size of the reserved memory is made available via a binding,

the management lies in the hands of the CC user.

28150

MM_NUM_VDIVAR_ELEMENTS

C02

A2, P3 pl, P3 sl

Number of elements for writing PLC variables

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

32000

7/2

Description:

The MD defines the number of elements which the user has available for writing PLC

variables ($A_DBx=...). This number also applies to block search, but not to

synchronized actions.

The memory requirement is ca. 24 bytes per element.

One element is needed for each write action when writing PLC variables in quick

succession.

If more writing actions are to be performed than elements are available, block

transport must be guaranteed (trigger preprocessing stop, if required)

However, the number of elements can be reduced if the accessing actions are made

separately (block transport has already been accomplished). Writing accesses (var=

$A_DBx) are unlimited.

28160

MM_NUM_LINKVAR_ELEMENTS

C02

Number of elements for writing NCU-link variables

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

32000

7/2

Description:

Defines the number of elements which the user has available for programming link

variables ($A_DLx=...). This number also applies to block search, but not to

synchronized actions.

The memory requirement is approx. 24 bytes per element.

Machine data and parameters

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2.3 NC machine data

One element is needed for each write action when writing NCU-link variables in quick

succession.

However, the number of elements can be reduced if the accessing actions are made

separately (block transport has already been accomplished).

If more writing actions are to be performed than elements are available, block

transport must be guaranteed (trigger preprocessing stop, if required).

28180

MM_MAX_TRACE_DATAPOINTS

EXP, C02, C06

Length of the trace data buffer

DWORD

PowerOn

NBUP

100, 100, 100, 100,

20000

2/2

100, 100, 100, 100...

Description:

MM_MAX_TRACE_DATAPOINTS defines the size of an internal data buffer which contains

the trace recordings.

28200

MM_NUM_PROTECT_AREA_CHAN

C02, C06, C09

Number of channel-specific protection zones (SRAM)

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

7/2

Description:

This machine data defines how many channel-specific protection areas are set up.

Related to:

MD28210 $MC_MM_NUM_PROTECT_AREA_ACTIVE (number of simultaneously active protection

areas)

MD18190 $MN_MM_NUM_PROTECT_AREA_NCK (number of control-specific protection areas

(SRAM))

References:

/FB/, A3, "Axis/Contour Tunnel Monitoring, Protection Areas"

28210

MM_NUM_PROTECT_AREA_ACTIVE

C11, C02, C06,

C09

Number of simultaneously active protection zones in one channel

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

7/2

Description:

This machine data defines the number of protection areas that may be activated

simultaneously for each channel.

It is not practical to enter a numerical value greater than MD18190

$MN_MM_NUM_PROTECT_AREA_NCK + MD28200 $MC_MM_NUM_PROTECT_AREA_CHAN.

Related to:

MD28200 $MC_MM_NUM_PROTECT_AREA_CHAN (Number of blocks for channel-specific

protection areas)

MD18190 $MN_MM_NUM_PROTECT_AREA_NCK (Number of control-specific protection areas

(SRAM))

References:

/FB1/ Function Manual Basic Functions; Axis Monitoring, Protection Areas (A3)

28212

MM_NUM_PROTECT_AREA_CONTOUR

C11, C02, C06,

C09

Elements for active protection zones (DRAM)

DWORD

PowerOn

30, 30, 30, 30, 30, 30,

7/2

30, 30...

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

Description:

This machine data defines for each channel how many internal contour elements in total

are held available for active protection zones.

Dynamic memory is used.

The MD affects the memory requirements for the activated protection zones.

This machine data is active only if MD28210 $MC_MM_NUM_PROTECT_AREA_ACTIVE is not

equal to 0.

28240

MM_NUM_SYNC_DIAG_ELEMENTS

N05, C02

Number of diagnostic elements for expressions in synchronized

DWORD

PowerOn

actions

0, 0, 0, 0, 0, 0, 0, 0...

32000

7/2

Description:

The values of the variables and machine data during diagnostics of the motion-

synchronous actions are saved to memory elements for storage in the control. A motion-

synchronous action uses up to the number of elements for as many variables as are set

with MD28241 $MC_MAXNUM_SYNC_DIAG_VAR.

The following are assigned:

•

1 element for each variable

•

1 element for each index

Example:

WHEN $R1 == 1 DO $R2 = $R[AC_MARKER[1]]

R1 = 2 elements, variable with written value 1 element, index "1" an element

R2 = 2 elements, variable with written value 1 Element, index "2" an element

AC_MARKER = 2 elements, variable with read value 1 element, index "1" an element

R = 2 elements, variable with written value 1 element, index "1" an element

Total 8 elements.

28241

MAXNUM_SYNC_DIAG_VAR

N05

Maximum number of diagnostics variables per synchronized action

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

10000

7/2

Description:

Maximum number of diagnostics variables per synchronized action.

28250

MM_NUM_SYNC_ELEMENTS

C02

2.8, 6.1

Number of elements for expressions in synchronized actions

DWORD

PowerOn

159, 159, 159, 159,

32000

7/2

159, 159, 159, 159...

Description:

The expressions of the motion-synchronous actions are stored in memory elements in the

control. A motion-synchronous action occupies at least 4 elements.

It occupies:

•

1 element for each operand in the condition

•

>= 1 element for each action

•

2 elements for each assignment

•

1 element for each further operand in complex expressions.

One element occupies approx. 64 bytes.

The option "Synchronous actions stage 2" is required if the MD can be written to.

Machine data and parameters

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2.3 NC machine data

28251

MM_NUM_SAFE_SYNC_ELEMENTS

C02

Number of elements for expressions in Safety synchr. actions

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

32000

7/2

Description:

The expressions of motion-synchronous actions are stored in memory elements of the

control. A motion-synchronous action assigns at least 4 elements.

Assignments:

Each operand in the condition:

1 element

Each action:

>= 1 element

Each assignment:

2 elements

Each additional operand in complex expressions:

1 element

Also see:

MD28250 $MC_MM_NUM_SYNC_ELEMENTS

28252

MM_NUM_FCTDEF_ELEMENTS

C02

2.4, 2.8, 6.1

Number of FCTDEF elements

DWORD

PowerOn

3, 3, 3, 3, 3, 3, 3, 3...

100

7/2

Description:

Defines the number of FCTDEF elements.

28253

MM_NUM_SYNC_STRINGS

C02

Number of strings for expressions in synchronized actions

DWORD

PowerOn

200, 200, 200, 200,

32000

7/2

200, 200, 200, 200...

Description:

The expressions of motion-synchronous actions are saved in memory elements for

storage in the control. Elements have to be reserved specifically for strings within

expressions.

28254

MM_NUM_AC_PARAM

C02

Dimension of $AC_PARAM.

DWORD

PowerOn

50, 50, 50, 50, 50, 50,

20000

7/2

50, 50...

Description:

Panel size of $AC_PARAM.

28255

MM_BUFFERED_AC_PARAM

C02

2.3, 6.1

$AC_PARAM[] is stored in SRAM.

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

7/2

Description:

$AC_PARAM[] is stored in SRAM.

28256

MM_NUM_AC_MARKER

C02

2.3, 6.1

Dimension of $AC_MARKER

DWORD

PowerOn

8, 8, 8, 8, 8, 8, 8, 8...

20000

7/2

Description:

Number of channel-specific markers $AC_MARKER for motion-synchronous actions.

DRAM or SRAM is required depending on MD28257 $MC_MM_BUFFERED_AC_MARKER.

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

28257

MM_BUFFERED_AC_MARKER

C02

2.3, 6.1

$AC_MARKER[] is stored in SRAM.

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

7/2

Description:

$AC_MARKER[] is stored in SRAM.

28258

MM_NUM_AC_TIMER

C02

2.3, 2.4, 6.1

Number of time variables $AC_TIMER (DRAM)

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

10000

7/2

Description:

Number of channel-specific time variables $AC_TIMER for motion-synchronous actions

(DRAM)

28260

NUM_AC_FIFO

C01

2.3, 2.4, 6.1

Number of FIFO variable for synchronized actions

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

7/2

Description:

Number of FIFO variables $AC_FIFO1 - $AC_FIFO10 for motion-synchronous actions.

FIFO variables are used for product tracking. A piece of information (e.g. the product

length) for each part on a conveyor belt can be temporarily stored in each FIFO

variable.

FIFO variables are stored in R variables.

MD28262 $MC_START_AC_FIFO defines the number of the R variable as from which the FIFO

variables can be stored. All R variables with lower numbers can be used freely in the

part program.

R variables above the FIFO range cannot be written from the part program.

The number of R variables must set via MD28050 $MC_MM_NUM_R_PARAM so that all FIFI

variables can be accommodated from the start of the R variables:

MD28050 $MC_MM_NUM_R_PARAM = MD28262 $MC_START_AC_FIFO + MD28260 $MC_NUM_AC_FIFO *

(MD28264 $MC_LEN_AC_FIFO + 6)

The FIFO variables bear the names $AC_FIFO1 to $AC_FIFOn.

They are stored as arrays.

The indices 0 - 5 have special meanings:

n= 0:

A new value is stored in the FIFO when writing with index 0.

The oldest element is read and removed from the FIFO when writing with index 0.

n=1: Access to the first element read in

n=2: Access to the last element 1 read in

n=3: Sum of all FIFO elements

n=4: Number of elements available in the FIFO

n=5: Current write index relative to FIFO start

n=6: 1st element read in

28262

START_AC_FIFO

C01

2.3, 2.4, 6.1

FIFO variables store from R variable

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

32535

7/2

Description:

Number of the R variable as from which FIFO variables are stored. All R variables with

lower numbers can be used freely in the part program. R variables above the FIFO range

cannot be written from the part program.

Machine data and parameters

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2.3 NC machine data

The number of R variables must set via MD28050 $MC_MM_NUM_R_PARAM so that all FIFI

variables can be accommodated from the start of the R variables:

MD28050 $MC_MM_NUM_R_PARAM = MD28262 $MC_START_AC_FIFO + MD28260 $MC_NUM_AC_FIFO

*(MD28264 $MC_LEN_AC_FIFO + 6)

The FIFO variables bear the names $AC_FIFO1 to $AC_FIFOn. They are stored as arrays.

The indices 0 - 5 have special meanings:

n= 0:

A new value is stored in the FIFO when writing with index 0.

The oldest element is read and removed from the FIFO when reading with index 0.

n=1: Access to the first element read in

n=2: Access to the last element read in

n=3: Sum of all FIFO elements

n=4: Number of elements available in the FIFO

n=5: Current write index relative to FIFO start

Related to:

MD28260 $MC_NUM_AC_FIFO

28264

LEN_AC_FIFO

C01

2.3, 2.4, 6.1, M5

Length of FIFO variables $AC_FIFO1-$AC_FIFO10

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

32535

7/2

Description:

Length of the FIFO variables $AC_FIFO1 to $AC_FIFO10.

All FIFO variables are the same length.

28266

MODE_AC_FIFO

C01

2.3, 2.4, 6.1

Mode of FIFO processing

BYTE

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

7/2

Description:

Mode of FIFO processing:

Bit 0 = 1:

The sum of all FIFO contents is updated at each write access.

Bit 0 = 0:

No summation

Related to:

MD28260 $MC_NUM_AC_FIFO

28274

MM_NUM_AC_SYSTEM_PARAM

EXP, C02

Number of $AC_SYSTEM_PARAM for motion-synchronous actions

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

20000

7/2

Description:

Number of $AC_SYSTEM_ PARAM parameters for motion-synchronous actions.

Depending on MD28255 $MC_MM_BUFFERED_AC_PARAM, DRAM or SRAM is required.

Reserved for SIEMENS applications.

28276

MM_NUM_AC_SYSTEM_MARKER

EXP, C02

Number of $AC_SYSTEM_MARKER for motion-synchronous actions

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

20000

7/2

Description:

Number of $AC_SYSTEM_MARKER markers for motion-synchronous actions.

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

Depending on MD28257 $MC_MM_BUFFERED_AC_MARKER, DRAM or SRAM is required.

Reserved for SIEMENS applications.

28290

MM_SHAPED_TOOLS_ENABLE

C01, C08, C02

Enable tool radius compensation for contour tools

BOOLEAN

PowerOn

FALSE, FALSE, FALSE,

7/2

FALSE, FALSE, FALSE,

FALSE, FALSE...

Description:

The function "Tool radius compensation for contour tools" is enabled with this tool.

28291

MM_SMOOTH_SURFACE_NORMALS

C01, C08, C02

Enable interpolation of the surface normals via polynomials.

BOOLEAN

PowerOn

FALSE, FALSE, FALSE,

7/2

FALSE, FALSE, FALSE,

FALSE, FALSE...

Description:

This machine data enables the handling of surface normals with polynomials. It is

needed, among other things, for smoothing the surface normals with the COMPSURF

function.

28300

MM_PROTOC_USER_ACTIVE

C02

Activation of logging for a user

BOOLEAN

PowerOn

TRUE, TRUE, FALSE,

1/1

FALSE, FALSE, TRUE,

TRUE, TRUE, FALSE,,

T...

Description:

Activation of recording for a user.

Users 0 and 1, and 5 to 9 are reserved for system functions.

Users 2, 3 and 4 can be used by OEM.

The individual values concern the users of the log function, the values are assigned

to the following functions:

0: Reserved for system functions: simultaneous recording, simulation, synchronized

action analysis

1: Reserved for system functions: determining program runtimes, multistep editor

2: Reserved for OEM applications

3: Reserved for OEM applications

4: Reserved for OEM applications

5: Reserved for system functions: Trace

6: Reserved for system functions: Trace

7: Reserved for system functions: Trace

8: Reserved for system functions: Trace

9: Reserved for system functions: Action log

28301

MM_PROTOC_NUM_ETP_OEM_TYP

C02

Number of OEM event types ETP.

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

1/1

0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

0, 0...

Description:

Number of OEM event types in OPI module ETP.

Machine data and parameters

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2.3 NC machine data

The individual values concern the users of the log function, which are assigned to the

following functions:

0: Reserved for system functions: simultaneous recording, simulation, synchronized

action analysis

1: Reserved for system functions: determining program runtimes, multistep editor

2: Reserved for OEM applications

3: Reserved for OEM applications

4: Reserved for OEM applications

5: Reserved for system functions: Trace

6: Reserved for system functions: Trace

7: Reserved for system functions: Trace

8: Reserved for system functions: Trace

9: Reserved for system functions: Action log

28302

MM_PROTOC_NUM_ETP_STD_TYP

C02

Number of standard event types ETP

DWORD

PowerOn

28, 6, 0, 0, 0, 20, 20,

28, 6, 0, 0, 0, 20,

66, 66, 66, 66,

1/1

20, 0, 3, 28, 6, 0, 0, 0,

20, 20...

66, 66, 66, 66...

20, 20, 20, 0,...

Description:

Number of standard event types required in the ETP OPI block.

The individual values concern the users of the log function, which are assigned to the

following functions:

0: Reserved for system functions: simultaneous recording, simulation, synchronized

action analysis

1: Reserved for system functions: determining program runtimes, multistep editor

2: Reserved for OEM applications

3: Reserved for OEM applications

4: Reserved for OEM applications

5: Reserved for system functions: Trace

6: Reserved for system functions: Trace

7: Reserved for system functions: Trace

8: Reserved for system functions: Trace

9: Reserved for system functions: Action log

28400

MM_ABSBLOCK

EXP, C02

Activate basic blocks with absolute values

DWORD

PowerOn

1, 1, 1, 1, 1, 1, 1, 1...

512

7/2

Description:

Value:

Basic blocks with absolute values deactivated.

Basic blocks with absolute values activated;

A display buffer of the following size is created:

(MD28257 $MC_MM_BUFFERED_AC_MARKER + MD28070 $MC_MM_NUM_BLOCKS_IN_PREP)

256 bytes

>= 128:

Basic blocks with absolute values activated.

A display buffer of the following size is created:

(MD28060 $MC_MM_IPO_BUFFER_SIZE + MD28070 $MC_MM_NUM_BLOCKS_IN_PREP)

* <value>

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

28402

MM_ABSBLOCK_BUFFER_CONF

EXP, C02

Setting of upload buffer size

DWORD

PowerOn

2, 4, 2, 4, 2, 4, 2, 4, 2, 4,

32000

7/2

2, 4, 2, 4, 2, 4...

Description:

Dimensioning the size of the upload buffer:

MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[0] : Number of blocks before the current block

MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[1] : Number of blocks after the current block

The machine data is tested for the following upper / lower limits during startup:

0 <= MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[0] <= 8

0 <= MD28402 $MC_MM_ABSBLOCK_BUFFER_CONF[1] <= (MD28060 $MC_MM_IPO_BUFFER_SIZE +

MD28070 $MC_MM_NUM_BLOCKS_IN_PREP)

Alarm 4152 is issued when the limits are violated.

28450

MM_TOOL_DATA_CHG_BUFF_SIZE

, C02, C06

Buffer for tool data changes (DRAM)

DWORD

PowerOn

400, 400, 400, 400,

2500

7/2

400, 400, 400, 400...

Description:

Number of entries in the buffer for the OPI change service for tool data.

Dynamic memory is used.

This buffer is created only if bit 2 or bit 3 is set in MD17530

$MN_TOOL_DATA_CHANGE_COUNTER.

28520

MM_MAX_AXISPOLY_PER_BLOCK

C02

Maximal number of axial polynomials per block

DWORD

PowerOn

3, 3, 3, 3, 3, 3, 3, 3...

7/2

Description:

Maximum number of axis polynomials which can be contained in a block.

In the standard case, each block contains only one polynomial per axis, i.e. this data

can be set to 1 immediately.

More polynomials are required in the following cases:

This data must have a value of at least 3 for smoothing with G642 to G645.

A value of 5 is recommended if COMPCAD (Advanced Surface) is used.

A value of 15 is recommended if COMPSURF is used.

28530

MM_PATH_VELO_SEGMENTS

C02

A2, B1

Number of memory elements for path velocity limitation

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

100

7/2

Description:

Number of memory elements available for limiting the path velocity and changing it in

the block.

: Each block is limited by a maximum path velocity.

> 0 : If required, a profile of the permissible path velocity

; and its modification options is generated and monitored

; in the block.

; This results in a smoother axis velocity progression and

; a shorter travel time.

; MD28530 $MC_MM_PATH_VELO_SEGMENTS defines the average

Machine data and parameters

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2.3 NC machine data

; number of segments available in the block.

; The necessary setting essentially depends

; on the requirements.

The following values are recommended:

for G643 and G644, if only geometry axes are traversed

for G643 and G644, if geometry and rotary axes are traversed

for COMPCAD

for dyn. transformation

for COMPSURF

A value that is too low may lead to additional velocity limitations if a sufficient

number of blocks cannot be made available for interpolation.

MD28530 $MC_MM_PATH_VELO_SEGMENTS additionally increases the memory requirement of

dyn. Look Ahead. Values higher than 8 are only practical in exceptional cases.

3 ... 8 :

Recommended setting.

28533

MM_LOOKAH_FFORM_UNITS

C02

Memory for extended LookAhead

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

100000

7/2

Description:

The machine data is used to configure the work memory for extended LookAhead.

The MD scales the value defined internally through MD28060 $MC_MM_IPO_BUFFER_SIZE,

MD28520 $MC_MM_MAX_AXISPOLY_PER_BLOCK, MD28530 $MC_MM_PATH_VELO_SEGMENTS, MD28535

$MC_MM_FEED_PROFILE_SEGMENTS, MD28540 $MC_MM_ARCLENGTH_SEGMENTS).

Its practical size depends on the part program, the block lengths, the axis dynamics,

and an active kinematic transformation.

The MD should only be set for those channels in which free-form surfaces are also

machined.

: default LookAhead is active.

> 0 : extended LookAhead is active if switched on by MD20443 $MC_LOOKAH_FFORM.

The set value for free-form surface applications is: 18.

28535

MM_FEED_PROFILE_SEGMENTS

C02

Number of memory element for feed profiles

DWORD

PowerOn

1, 1, 1, 1, 1, 1, 1, 1...

7/2

Description:

Number of memory elements available for feed profile per block.

The default value 1 is adequate for a programmable feed profile (FLIN, FCUB, FPO()).

If compile cycle applications require more segments per block, this machine data must

be increased accordingly.

If, for example, a feed profile is to be activated in which there is deceleration at

both the beginning and the end of the block, 3 segments will be required for the feed

profile in the block, i.e. this MD must have value 3.

28540

MM_ARCLENGTH_SEGMENTS

C02

Number of memory elements for arc length function

DWORD

PowerOn

representation

0, 0, 0, 0, 0, 0, 0, 0...

100

7/2

Description:

Number of memory elements available for the arc length function for parameterizing

polynomials.

Machine data and parameters

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2.3 NC machine data

If this machine data is equal to zero, a fixed interval division is used to represent

the arc length function. In this case, the calculated function is only tangent-

continuous. This can lead to discontinuities in the axis accelerations.

If the function G643 or G644 is used for smoothing and/or COMPCAD or COMPSURF, this MD

should be assigned a value of at least 10. In this case, the function also has a

constant curvature which results in a smoother progression of the path velocity, as

well as the axis velocities and accelerations.

A value of 10 is sufficient when using COMPSURF and 3-axis applications.

Up to 20 may be useful for COMPSURF and 5-axis applications.

Not only the value of MD28540 $MC_MM_ARCLENGTH_SEGMENTS but also that of MD20262

$MC_SPLINE_FEED_PRECISION are crucial for accuracy.

28560

MM_SEARCH_RUN_RESTORE_MODE

C02

Data restore after simulation

UDWORD

PowerOn

0x0, 0x0, 0x0, 0x0,

0x00000001

7/2

0x0, 0x0, 0x0, 0x0...

Description:

Bit mask to restore data after cancellation of a simulated program execution. The

following applies:

Bit 0: All frames in the data storage are restored.

28580

MM_ORIPATH_CONFIG

C02

Setting for ORIPATH path-relative orientation

BYTE

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

1/1

Description:

This MD is used to configure the behavior with ORIPATH, that is path-relative

interpolation of the tool orientation. Furthermore, orientation smoothing is enabled

with the G codes OSD or OST.

The following options are available:

MD21094 $MC_ORIPATH_MODE has no effect. G codes OSD and OST have no effect.

The "genuine" path-relative orientation interpolation can be activated with

MD21094 $MC_ORIPATH_MODE = 1. The reference of the tool orientation to the path

tangent and to the vector normal to the surface programmed with LEAD/TILT is retained

throughout the block.

Note:

Alarm 10980 is output if ORIPATH is programmed with MD21094 $MC_ORIPATH_MODE = 1 or

OSD or OST without MD28580 $MC_MM_ORIPATH_CONFIG = 1.

28590

MM_ORISON_BLOCKS

C02

Setting for orientation smoothing

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

1000

1/1

Description:

This MD is used to activate and reserve memory for the function "orientation smoothing

with ORISON". If this data has a value of "zero", no orientation smoothing will be

possible.

The value of this machine data indicates the maximum number of blocks over which the

orientation is smoothed. The value of this MD should be at least high enough that the

blocks to be averaged fit in the buffer. This is dependent upon the maximum set

tolerance and the average distance traversed by the programmed blocks or the length of

the part blocks generated (see MD20476 $MC_ORISON_STEP_LENGTH).

.Setting this MD to higher values will significantly increase the memory requirement

in the DRAM.

A value of 4 should be entered as a minimum.

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If this MD is < 4 and if G code ORISON is programmed, alarm 10982 will be displayed.

28592

MM_NUM_SINGULARITY_BLOCKS

C02

Number of blocks for singularity handling. (DRAM)

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

1/1

Description:

The "Singularity handling" function is activated with this MD, and memory is reserved

for it. If this data has the value "zero", singularity handling is not possible.

28600

MM_NUM_WORKAREA_CS_GROUPS

C02

Number of coordinate system-specific operating range limits

DWORD

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

7/2

Description:

Number of data sets in the channel that are created for coordinate system-specific

operating range limits.

It indicates the maximum value of the 1st index of system variable $P_WORKAREA_CS...

[WALimNo, Ax]. It furthermore defines the number of the programmable G functions

"WALCS1, WALCS2, ... WALCS10" as well as the maximum value of the system variable

$AC_WORKAREA_CS_GROUP".

= 0:

Function "Monitoring of coordinate system-specific operating range limits"

cannot be activated.

28610

MM_PREPDYN_BLOCKS

C02

Number of blocks for velocity preparation

BYTE

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

1/1

Description:

This MD is used to define the number of blocks that are considered when defining the

path velocity (velocity preparation). If the value of this MD is zero, only the

relevant axis motions are considered in this block in order to define the maximum path

velocity of a block. If the geometry in adjacent blocks is also considered when

defining the path velocity, the path velocity will be more homogenous.

28620

MM_NUM_FEATURE_BLOCKS

C02

No. blocks for look-ahead characteristic recognition e.g. slot

DWORD

PowerOn

recognition.

0, 0, 0, 0, 0, 0, 0, 0...

7/2

Description:

Indicates the minimum number of blocks that are considered simultaneously for

characteristic recognition.

2.3.3

Axis-specific machine data

30110

CTRLOUT_MODULE_NR

A01, A11

G2, S9

Setpoint assignment: module number

BYTE

PowerOn

1, 2, 3, 4, 5, 6, 7, 8...

7/2

Description:

In this MD, enter the number of the module within a bus segment through which the

output is addressed.

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For an axis on the PROFIBUS/PROFINET, the logical I/O address from MD13050

$MN_DRIVE_LOGIC_ADDRESS[index] is assigned by entering index+1 in MD30110

$MA_CTRLOUT_MODULE_NR.

30120

CTRLOUT_NR

EXP, A01

Setpoint assignment: Setpoint output on drive submodule/module

BYTE

PowerOn

1, 1, 1, 1, 1, 1, 1, 1...

2/2

Description:

Number of the output on a module which is used to address the setpoint output.

The value is always 1 for modular drives.

30130

CTRLOUT_TYPE

A01, A11

G2, M3, S9

Output type of setpoint

BYTE

PowerOn

7/2

Description:

The type of speed setpoint output is entered into this MD:

Simulation (no HW required)

Setpoint output active (differentiation via hardware configuration)

Semi servo -only when the hardware is available onboard

Reserved

Note: instead of value 4, MD30132 $MA_IS_VIRTUAL_AX should now be used.

30132

IS_VIRTUAL_AX

A01

M3, TE1, TE3

Axis is a virtual axis

BOOLEAN

PowerOn

CTEQ

FALSE

7/2

Description:

Virtual axis. An axis that is also interpolated in follow-up mode. (Electronic

transfer technology; virtual and real master values.)

This MD is the successor to MD30130 $MA_CTRLOUT_TYPE=4. MD30130 $MA_CTRLOUT_TYPE=0

and MD30132 $MA_IS_VIRTUAL_AX=1 must now be used instead of MD30130

$MA_CTRLOUT_TYPE=4.

Related to:

MD30130 $MA_CTRLOUT_TYPE

30134

IS_UNIPOLAR_OUTPUT

A01

Setpoint output is unipolar

BYTE

PowerOn

7/2

Description:

Only for PROFIdrive, special application of analog additional drives:

Unipolar output driver (for unipolar analog drive actuator):

Only positive set speeds are supplied to the drive, the sign of the set speed is

separately output in its own digital control signal.

Input value "0":

Bipolar output with pos./neg. set speed (this is the normal case)

Input value "1":

0. Digital bit = servo enable

1. Digital bit = neg. direction of travel

Input value "2": (linking of enable and direction of travel signals):

0. Digital bit = servo enable pos. direction of travel

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1. Digital bit = servo enable neg. direction of travel

30200

NUM_ENCS

A01, A02

G2, R1, Z1

Number of encoders

BYTE

PowerOn

7/2

Description:

The number of encoders of the axis or spindle is to be entered in the MD for actual

position value sensing (the differentiation between direct and indirect measuring

systems, i.e. the locations at which these encoders are installed, is then specified,

for example, in MD31040 $MA_ENC_IS_DIRECT).

For simulation axes/spindles, MD30200 $MA_NUM_ENCS > 0 must be specified for

referencing.

30220

ENC_MODULE_NR

A01, A02, A11

Actual value assignment: Drive number/measuring circuit number

BYTE

PowerOn

1, 1, 2, 2, 3, 3, 4, 4, 5, 5,

7/2

6, 6, 7, 7, 8, 8...

Description:

For an axis on the PROFIBUS/PROFINET, the logical I/O address from MD13050

$MN_DRIVE_LOGIC_ADDRESS[index] is assigned by entering index+1 in MD30220

$MA_ENC_MODULE_NR.

The index[n] of the machine data has the following coding:

[Encoder no.]: 0 or 1

Related to:

MD30110 $MA_CTRLOUT_MODULE_NR (setpoint assignment)

30230

ENC_INPUT_NR

A01, A02, A11

G2, S9

Actual value assignm.: Input on drive module/meas. circuit board

BYTE

PowerOn

1, 2, 1, 2, 1, 2, 1, 2, 1, 2,

7/2

1, 2, 1, 2, 1, 2...

Description:

For PROFIdrive:

Number of the encoder within the PROFIdrive message frame through which the encoder is

addressed.

For example telegram 103: 1 (=G1_ZSW etc.) or 2 (=G2_ZSW etc.).

The index[n] of the machine data has the following coding:

[Encoder no.]: 0 or 1

If an input is selected, to which no encoder is connected, alarm 300008 "Measuring

circuit not available on drive" is output.

30240

ENC_TYPE

A01, A02, A11

A3,, G2, R1

Encoder type of actual value acquisition (actual position value).

BYTE

PowerOn

0, 0

7/2

Description:

Encoder type:

Simulation

Raw signal encoder (high resolution)

Square-wave encoder - only when the onboard hardware is available

Encoder for semi servo - only when the onboard hardware is available

General absolute encoders (e.g. EnDat interface)

Reserved

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Corresponds with

PROFIdrive parameter P979 (refer there)

30242

ENC_IS_INDEPENDENT

A02, A11

G2, R1

Encoder is independent

BYTE

NEW CONF

0, 0

7/2

Description:

If actual value corrections performed by the NC on the encoder selected for position

control are not to influence the actual value of any other encoder defined in the same

axis, then the position control encoder must be declared to be "independent".

Actual value corrections include the following:

• Modulo treatment,

• Reference point approach,

• Measuring system calibration,

• PRESET

Example:

MD30200 $MA_NUM_ENCS[ AX1 ] = 2

MD30242 $MA_ENC_IS_INDEPENDENT[ 0, AX1 ] = 0

MD30242 $MA_ENC_IS_INDEPENDENT[ 1, AX1 ] = 1

When the VDI interface has selected the first encoder for position control, the above

mentioned actual value corrections will be executed on this encoder only.

When the VDI interface has selected the second encoder for position control, the above

mentioned actual value corrections will be executed on both encoders.

The machine data is therefore only valid for encoders that have not been selected by

the VDI interface for positon control (passive encoders).

As from SW5, the scope of functions has been extended:

MD30242 $MA_ENC_IS_INDEPENDENT = 2

The passive encoder is dependent. The active encoder changes the actual encoder value.

In combination with MD34102 $MA_REFP_SYNC_ENCS = 1, the passive encoder is adjusted to

the active encoder during reference point approach, but is NOT referenced.

In reference mode MD34200 $MA_ENC_REFP_MODE = 3 (distance-coded reference marks), the

passive encoder is automatically referenced with the next traversing movement after

zero mark distance overtravel. This is done independently of the current mode setting.

MD30242 $MA_ENC_IS_INDEPENDENT = 3

In contrast to MD30242 $MA_ENC_IS_INDEPENDENT = 1, modulo actual value corrections

are executed in the passive encoder of modulo rotary axes.

30244

ENC_MEAS_TYPE

A01, A02, A11

Encoder measurement type

BYTE

PowerOn

1, 1

7/2

Description:

For PROFIdrive only:

In combination with the MD13210 $MN_MEAS_TYPE = 1 (decentralized measurement), this

MD can be used to set the type of axial measuring function for drives.

Encoder measurement type:

encoder measurement type central (global) measurement

encoder measurement type decentral (local) measurement

MEAS_TYPE

ENC_MEAS_TYPE

measuring sensor input used

central

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decentralized

30250

ACT_POS_ABS

EXP, A02, A08

Internal encoder position

DOUBLE

PowerOn

ODLD, -, -

0.0, 0.0

-1.0E+301

1.0E+301

7/2

Description:

The actual position (hardware counter status only without machine reference) is

stored (in internal format display) in this MD.

At power ON (or encoder activation), it acts with:

• Absolute encoders:

To restore the current position (in combination with the position, possibly with

several meanings, buffered in the encoder).

• Incremental encoders:

To buffer the actual value beyond power OFF when the functionality is activated

MD34210 $MA_ENC_REFP_STATE = 1 or. 2 (i.e. as a reference point replacement).

To buffer the actual value beyond power OFF when the functionality is activated

MD34210 $MA_ENC_REFP_STATE = 3 (i.e. as a restored position value).

Note:

This MD is changed internally by the control during traversing movements. Loading a

previously saved MD data block can therefore destroy the encoder calibration (machine

position reference) of absolute encoders.

For software conversions, we recommend removing the MD data block from the old

software release prior to conversion and reloading it into the new software release

without moving any axis in the meantime. Protection level 1 should be set for SW 3.6;

protection level 2 suffices for SW 4 and higher. The encoder calibration must be

explicitly verified (controlled, calibrated) after the software conversion.

30260

ABS_INC_RATIO

EXP, A01, A02

Absolute encoder: Ratio of absolute to incremental resolution

DWORD

PowerOn

4, 4

7/2

Description:

Absolute track resolution in relation to the incremental track resolution.

This MD only applies for absolute encoders:

PROFIBUS drives:

Absolute information XIST2 related to incremental information XIST1.

In the case of plausible drive parameters (e.g. in PROFIdrive parameter P979) the

value of this MD is automatically calculated and updated from drive parameters (if

parameter read-out has not been deactivated with MD13070 $MN_DRIVE_FUNCTION_MASK,

bit2)

Implausible drive parameters (e.g. multiplication of absolute track higher than that

of the incremental track) are rejected and replaced by the value entered in the

current MD.

Implausible input values in the current MD (e.g. value=0) are reset to the default

value. In addition, alarm 26025 or 26002 is output to inform the user accordingly.

If MD31700 $MA_ENC_EDS_ACTIVE = 1, this machine data has no function and is replaced

by MD31730 $MA_ABS_INC_RATIO_EDS.

Related to:

MD31700 $MA_ENC_EDS_ACTIVE

MD31730 $MA_ABS_INC_RATIO_EDS

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30270

ENC_ABS_BUFFERING

EXP, A01, A02

Absolute encoder: Traversing range extension

BYTE

PowerOn

0, 0

7/2

Description:

This MD defines the way in which the absolute encoder position is buffered, and

whether a traversing range extension is active in the software (exceeding the limits

of the absolute encoder range that can be displayed on the hardware).

"0" = standard = traversing range extension (compare ACT_POS_ABS) is active.

"1" = traversing range extension in the software is inactive.

When using an absolute linear scale, there will not be a traversing range overflow for

mechanical reasons. This MD is therefore only valid for rotary absolute encoders.

For rotary absolute encoders, the traversing range that can be clearly displayed on

the encoder side is stored in MD34220 $MA_ENC_ABS_TURNS_MODULO. You can do without a

traversing range extension without any problems (a hardware counter overflow that

might be within the traversing range is concealed in the software via shortest-path

decision):

in linear axes or limited rotary axes, if the actual traversing range on the load

side is smaller than the traversing range on the load side that corresponds to MD34220

$MA_ENC_ABS_TURNS_MODULO.

in endlessly turning rotary axes (ROT_IS_MODULO = TRUE), if the absolute encoder

is connected on the load side (no gear to be considered) or if "without remainder" can

be calculated:

Number of rotations on the load side = ENC_ABS_TURNS_MODULO * gear ratio

(Example: ENC_ABS_TURNS_MODULO = 4096 encoder rotations, gear 25:32, i.e. number of

rotations on load side = 4096*(25/32)=3200).

Notice:

If the conditions under a. or b. are not met, there is a risk of getting a wrong

absolute encoder position at next Power ON or encoder activation after parking without

prewarning if the traversing range extension is not working. Therefore, the

traversing range extension remains active in the standard version.

If MD31700 $MA_ENC_EDS_ACTIVE = 1, a traversing range extension is not possible. Alarm

26017 therefore requests the traversing range extension to be switched off with a

rotary absolute encoder with reference to this machine data.

If the traversing range extension is essential (because for example the conditions

stated under b. for deactivation are not fulfilled), MD31700 $MA_ENC_EDS_ACTIVE must

not be activated.

Related to:

MD30240 $MA_ENC_TYPE

MD30300 $MA_IS_ROT_AX

MD30310 $MA_ROT_IS_MODULO

MD30250 $MA_ACT_POS_ABS

MD34220 $MA_ENC_ABS_TURNS_MODULO

MD34090 $MA_REFP_MOVE_DIST_CORR

MD31700 $MA_ENC_EDS_ACTIVE

30300

IS_ROT_AX

A01, A06, A11

G1, K3, R2, T1, G2, K2, R1, S1, V1

Rotary axis / spindle

BOOLEAN

PowerOn

SCAL, CTEQ

FALSE, FALSE, FALSE,

FALSE

TRUE

7/2

FALSE, FALSE, FALSE,

FALSE, FALSE...

Description:

Axis: The axis is defined as a "rotary axis".

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• The special functions of the rotary axis are active or can be activated by means of

additional machine data according to the type of machine required (see below).

• The unit of measurement is degrees.

• The units of the axis-specific machine and setting data are interpreted as follows

with the standard control setting:

- Positions

in "degrees"

- Speeds

in "rev/minute"

- Acceleration

in "rev/second²"

- Jerk limitation

in "rev/second³"

Spindle:

The machine data should always be set to "1" for a spindle, otherwise alarm 4210

"Rotary axis declaration missing" is output.

0: The axis is defined as a "linear axis".

Special cases:

• For an axis: Alarm 4200 if the axis is already defined as a geometry axis.

• For a spindle: Alarm 4210

Related to:

The following machine data are active only after activation of MD30300 $MA_IS_ROT_AX

= "1":

• MD30310 $MA_ROT_IS_MODULO "Modulo conversion for rotary axis"

• MD30320 $MA_DISPLAY_IS_MODULO "Position display is modulo"

• MD10210 $MN_INT_INCR_PER_DEG "Calculation precision for angular positions"

30310

ROT_IS_MODULO

A01, A06, A11

TE3, K3, R2, T1, A3, R1, R2, S1

Modulo conversion for rotary axis / spindle

BOOLEAN

PowerOn

CTEQ

FALSE, FALSE, FALSE,

FALSE

TRUE

7/2

FALSE, FALSE, FALSE,

FALSE, FALSE...

Description:

1: A modulo conversion is performed on the setpoints for the rotary axis. The software

limit switches and the working area limitations are inactive; the traversing range is

therefore unlimited in both directions. MD30300 $MA_IS_ROT_AX must be set to "1"

0: No modulo conversion

MD irrelevant for:

MD30300 $MA_IS_ROT_AX = "0" (linear axes)

Related to:

MD30320 $MA_DISPLAY_IS_MODULO

"Position display is modulo 360°"

MD30300 $MA_IS_ROT_AX

= 1

"Rotary axis"

MD36100 $MA_POS_LIMIT_MINUS

"Software limit switch minus"

MD36110 $MA_POS_LIMIT_PLUS

"Software limit switch plus"

SD43430 $SA_WORKAREA_LIMIT_MINUS "Working area limitation minus"

SD43420 $SA_WORKAREA_LIMIT_PLUS

"Working area limitation plus"

30320

DISPLAY_IS_MODULO

A01, A06, A11

R2, T1, K2

Modulo 360 degrees displayed for rotary axis or spindle.

BOOLEAN

PowerOn

CTEQ

FALSE, FALSE, FALSE,

FALSE

TRUE

7/2

FALSE, FALSE, FALSE,

FALSE, FALSE...

Description:

1: "Modulo 360 degrees" position display is active:

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The position display of the rotary axis or spindle (for basic or machine coordinate

system) is defined as "Modulo 360 degrees". In the case of a positive direction of

rotation, the control resets the position display internally to 0.000 degrees

following each cycle of 359.999 degrees. The display range is always positive and lies

between 0 and 359.999 degrees.

0: Absolute position display is active:

In contrast to the modulo 360 degrees position display, absolute positions are

indicated by the absolute position display, e.g. +360 degrees after 1 rotation, and

+720 degrees after 2 rotations, etc in the positive direction. In this case, the

display range is limited by the control in accordance with the linear axes.

MD irrelevant for:

Linear axes MD30300 $MA_IS_ROT_AX = "0"

Related to:

MD30300 $MA_IS_ROT_AX

= 1 "Axis is rotary axis"

30330

MODULO_RANGE

EXP, A01

R2, T1, R1

degrees

Size of modulo range.

DOUBLE

Reset

CTEQ

360.0

1.0

360000000.0

7/2

Description:

Defines the size of the modulo range. Default positions are accepted and displayed

within this range. Useful modulo ranges are n * 360 degrees with integer n. Other

settings are equally possible in principle. Attention should be paid to having a

useful relationship between the positions in the NC and the mechanics (ambiguity).

Velocity definitions are not affected by settings in this MD.

30340

MODULO_RANGE_START

EXP, A01

R1, R2

degrees

Modulo range start position

DOUBLE

Reset

CTEQ

0.0

-1.0E+301

1.0E+301

7/2

Description:

Defines the start position for the modulo range.

Example:

Start =

0 degree -> modulo range

0 <->360 degrees

Start =

180 degrees -> modulo range

180 <->540 degrees

Start = -180 degrees -> modulo range

-180 <->180 degrees

30350

SIMU_AX_VDI_OUTPUT

A01, A06

A2, G2, Z1

Axis signals output for simulation axes

BOOLEAN

PowerOn

CTEQ

FALSE

TRUE

7/2

Description:

The machine data defines whether axis-specific interface signals are output to the PLC

while an axis is being simulated.

1: The axis-specific NC/PLC interface signals for a simulated axis are output to the

PLC.

This means that the user PLC program can be tested without the drives having to be

available.

0: The axis-specific NC/PLC interface signals for a simulated axis are not output to

the PLC.

All axis-specific NC/PLC interface signals are set to "0".

Not relevant for:

MD30130 $MA_CTRLOUT_TYPE (setpoint output type) = 1

Machine data and parameters

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30450

IS_CONCURRENT_POS_AX

EXP, A01

Default for reset: neutral/channel axis

BOOLEAN

Reset

CTEQ

FALSE

TRUE

7/2

Description:

For SW4.3:

If FALSE: On RESET, a neutral axis is reassigned to the NC program.

If TRUE: On RESET, a neutral axis remains in the neutral axis state and an axis

assigned to the NC program becomes a neutral axis

30455

MISC_FUNCTION_MASK

A06, A10

R2, S3, R1

Axis functions

UDWORD

Reset

CTEQ

0x00

0x7FFF

7/2

Description:

Bit 0 = 0:

Modulo rotary axis/spindle: programmed positions must be in the modulo range.

Otherwise an alarm is output.

Bit 0 = 1:

When programming positions outside the modulo range, an alarm is not signaled. The

position is modulo-converted internally.

Example: B-5 has the same significance as B355, POS[A]=730 is identical to POS[A]=10

and SPOS=-360 behaves the same as SPOS=0 (modulo range 360 degrees)

Bit 1 = 0:

Determination of reference point position of rotary, distance-coded encoders analog

(1:1) in relation to the mechanical absolute position.

Bit 1 = 1:

Determination of reference point position of rotary, distance-coded encoders within

the configured modulo range.

For rotary axes with MD30310 $MA_ROT_IS_MODULO=0, which use rotary, distance-coded

encoder MD34200 $MA_ENC_REFP_MODE=3, the reference point position is determined in

response to MD30330 $MA_MODULO_RANGE and MD30340 $MA_MODULO_RANGE_START. This is

automatically adapted to the traversing limits of the modulo range. For rotary axes

with MD30310 $MA_ROT_IS_MODULO=1, this bit has no significance, as the reference

point position is always determined within the modulo range.

Bit 2 = 0:

Modulo rotary axis positioned at G90 with AC as default.

Bit 2 = 1:

Modulo rotary axis positioned at G90 with DC as default (shortest path).

Bit 3 = 0:

For spindle/axis disable $VA_IM, $VA_IM1, $VA_IM2 supply the setpoint value.

Bit 3 = 1:

For spindle/axis disable $VA_IM, $VA_IM1, $VA_IM2 supply the actual value.

Bit 4 = 0:

Synchronous spindle coupling, slave spindle: cancellation of feedrate enable will

brake the coupled group.

Bit 4 = 1:

Slave spindle: Feedrate enable only applies to the interpolation portion of the

overlaid motion (SPOS, etc.) and has no impact on the coupling.

Bit 5 = 0:

Synchronous spindle coupling, slave spindle: Position control, feedforward control,

and parameter block are set in response to the master spindle.

Bit 5 = 1:

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Synchronous spindle coupling: The parameters of the slave spindle are set as they

would be without coupling.

Bit 6 = 0:

Programming of FA, OVRA, ACC, and VELOLIM is applied separately to spindle and axis

modes. The assignment is made by the programmed axis or spindle identifier.

Bit 6 = 1:

Programming of FA, OVRA, ACC, and VELOLIM is applied jointly to spindle and axis

modes, irrespective of the programmed identifier.

Bit 7 = 0:

Synchronous spindle, correct synchronism error: Correction value $AA_COUP_CORR[Sn] is

continuously calculated as long as the NC/PLC interface signal DB31, ... DBX31.6

(Correct synchronism) is set and setpoint-related synchronism is present.

Bit 7 = 1:

Synchronous spindle, correct synchronism error: Correction value $AA_COUP_CORR[Sn] is

calculated only at the moment the NC/PLC interface signal DB31, ... DBX31.6 (Correct

synchronism) is set from 0 to 1.

Bit 8 = 0:

Absolute encoders can only be readjusted in the enabled state MD34210

$MA_ENC_REFP_STATE = 1.

Bit 8 = 1:

Absolute encoders can also be readjusted in the adjusted state MD34210

$MA_ENC_REFP_STATE = 2.

Bit 9 = 0:

Coupled axes (e.g. gantry) jointly delete their pulse enable if an error occurs.

Bit 9 = 1:

Coupled axes (e.g. gantry) only delete their pulse enable for their own errors.

Bit 10 = 0:

The maximum dynamic performance of a TRAIL or TANGON axis limits the maximum dynamic

path response.

Bit 10 = 1:

The maximum dynamic performance of a TRAIL or TANGON axis has no effect on the dynamic

path response. This can result in a longer overtravel of the dependent axis.

Bit 11 = 0:

Deactivation of the CP software limit monitoring

Bit 11 = 1:

Activation of the CP software limit monitoring for the following slave axes/spindles:

- coupling, type CP with CPSETTYPE[FAx] = "CP"

- coupling, type CP, TRAIL, EG, LEAD, or COUP with a maximum of one active master axis/

spindle

Bit 12 = 0:

When resetting the control enable of the stationary axis/spindle (in respect of this

master axis/spindle), you must always switch over to actual value coupling, just as

for a fast stop after resetting the control enable during motion (alarm 21612). This

applies to generic couplings (with replacement cycles or for CP programming).

Bit 12 = 1:

When resetting the control enable of the stationary axis/spindle (in respect of this

master axis/spindle), changeover to actual value coupling is inhibited. This applies

to generic couplings (with replacement cycles or for CP programming).

Bit 13 = 0:

An axis-specific DRIVE setting by means of MD35240 $MA_ACCEL_TYPE_DRIVE[] or by

programming DRIVEA() of an axis is ignored by the path dynamic response if the

relevant axis is interpolated with the path.

Bit 13 = 1:

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An acceleration characteristic of an axis activated by MD35240 $MA_ACCEL_TYPE_DRIVE[]

or by programming of DRIVEA() is taken into account when defining the path dynamic

response if the relevant axis is interpolated with the path.

Bit 14 = 0:

During cartesian PTP traversing, the "shortest path" strategy for

software limit crossing of a rotary axis is retained.

Bit 14 = 1:

The "long path" strategy for avoiding the software limit crossing is

used if a rotary axis were to cross the software limit switch during cartesian PTP

traversing with the "shortest path" strategy.

30460

BASE_FUNCTION_MASK

A01

K5, P2, P1

Axis functions

UDWORD

PowerOn

CTEQ

0x00

0x3FF

7/2

Description:

Axis-specific functions can be set using this MD.

The MD is bit-coded; the following bits are assigned:

Bit 0 = 0:

"Axis control" is not permissible.

Bit 0 = 1:

"Axis control" is permissible (the axis moves in the speed mode, if the NC/PLC

interface signal DB31, ... DBX24.1 (Axis control) is set).

Bit 1:

Reserved for "Axis control".

Bit 2 = 0:

Axis-specific diameter programming not permitted.

Bit 2 = 1:

Axis-specific diameter programming permitted.

Bit 3:

Reserved for "Axis control".

Bit 4 = 0:

For control purposes, the axis can be used by NC and PLC.

Bit 4 = 1:

The axis is exclusively controlled by the PLC.

Bit 5 = 0:

The axis can be used by the NC and PLC.

Bit 5 = 1:

The axis is a permanently assigned PLC axis. However, the axis can be jogged and

referenced.

Axis exchange between channels is not possible. The axis cannot be assigned to the NC

program.

Bit 6 = 0:

The channel-specific interface signal DB21-30 DBX6.0 (feedrate disable) has an effect

on the axis, even though it is a PLC-controlled axis.

Bit 6 = 1:

The channel-specific interface signal DB21-30 DBX6.0 (feedrate disable) has no

effect on the axis, if it is a PLC-controlled axis.

Bit 7 = 0:

The channel-specific interface signal DB21-30 DBX36.3 (all axes stationary) is set

dependent on the axis, even though it is PLC-controlled.

Bit 7 = 1:

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The channel-specific interface signal DB21-30 DBX36.3 (all axes stationary) is set

independent of the axis, if this axis is PLC-controlled..

Bit 8 = 0:

The axis is an 'interpolating (full) axis' (path/GEO/additional path axis/GEOAX()/

spindle for thread cutting/tapping)

Bit 8 = 1:

The axis is a positioning axis / auxiliary spindle

Bit 9 = 0:

The PRESETON is enabled. PRESETONS is inhibited.

Bit 9 = 1:

The PRESETON is inhibited. PRESETONS is enabled.

30465

AXIS_LANG_SUB_MASK

N01

Substitution of NC language commands

UDWORD

PowerOn

0x0

0xF

7/2

Description:

MD30465 $MA_AXIS_LANG_SUB_MASK defines for the leading spindle(s) of a coupling

(synchronous spindle coupling, electronic gear, coupled motion, master value

coupling, master-slave) which language constructs/functions are to be substituted by

the user program set by MD15700 $MN_LANG_SUB_NAME / MD15702 $MN_LANG_SUB_PATH

(default: /_N_CMA_DIR/_N_LANG_SUB_SPF).

The substitution is executed only if a coupling is active for the relevant spindle

and, in the case of a gear stage change, only if a gear stage change is actually

pending.

Bit 0 and bit 1 are relevant for the axis coupling types: synchronous spindle

coupling, electronic gear, coupled motion and master value coupling.

Bit 2 and bit 3 are relevant for the master-slave coupling

Bit 0 = 1:

Axis coupling: Automatic (M40) and direct (M41-M45) gear stage change

Bit 1 = 1:

Axis coupling: Spindle positioning with SPOS/SPOSA/M19

Bit 2 = 1:

Master-slave coupling: Automatic (M40) and direct (M41-M45) gear stage change

Bit 3 = 1:

Master-slave coupling: Spindle positioning with SPOS/SPOSA/M19

30500

INDEX_AX_ASSIGN_POS_TAB

A01, A10

T1, H1

Axis is an indexing axis

BYTE

Reset

7/2

Description:

The axis is declared as an indexing axis by assignment of indexing position table 1 or

The axis is not declared as an indexing axis

The axis is an indexing axis. The associated indexing positions are stored in

table 1 (MD10910 $MN_INDEX_AX_POS_TAB_1).

The axis is an indexing axis. The associated indexing positions are stored in

table 2 (MD10930 $MN_INDEX_AX_POS_TAB_2).

Equidistant indexing with SW 4.3 and higher (840D) and SW 2.3 and higher (810D)

>3:

Alarm 17090 "Value violates upper limit"

Special cases:

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Several axes can be assigned to an indexing position table on the condition that all

these indexing axes are of the same type (linear axis, rotary axis, modulo 360°

function). If they are not, alarm 4000 is output during power-up.

Alarm 17500 "Axis is not an indexing axis"

Alarm 17090 "Value violates upper limit"

Related to:

MD10910 $MN_INDEX_AX_POS_TAB_1 (indexing position table 1)

MD10900 $MN_INDEX_AX_LENGTH_POS_TAB_1

(no. of indexing positions used in table 1)

MD10930 $MN_INDEX_AX_POS_TAB_2 (indexing position table 2)

MD10920 $MN_INDEX_AX_LENGTH_POS_TAB_2

(no. of indexing positions used in table 2)

For equidistant indexings with value 3:

MD30501 $MA_INDEX_AX_NUMERATOR Numerator

MD30502 $MA_INDEX_AX_DENOMINATOR Denominator

MD30503 $MA_INDEX_AX_OFFSET First indexing position

MD30505 $MA_HIRTH_IS_ACTIVE

Hirth tooth system

30501

INDEX_AX_NUMERATOR

A01, A10

mm, degrees

Indexing axis equidistant positions numerator

DOUBLE

Reset

0.0

1.0E+301

7/2

Description:

Defines the value of the numerator for calculating the distances between two indexing

positions when the positions are equidistant. Modulo axes ignore this value and use

MD30330 $MA_MODULO_RANGE instead.

MD irrelevant for non-equidistant indexes in accordance with tables.

Related to:

MD30502 $MA_INDEX_AX_DENOMINATOR,

MD30503 $MA_INDEX_AX_OFFSET;

MD30500 $MA_INDEX_AX_ASSIGN_POS_TAB

30502

INDEX_AX_DENOMINATOR

A01, A10

Indexing axis equidistant positions denominator

DWORD

Reset

7/2

Description:

Defines the value of the denominator for calculating the distances between two

indexing positions when the positions are equidistant. For modulo axes it therefore

specifies the number of indexing positions.

MD irrelevant for non-equidistant indexes in accordance with tables.

Related to:

MD30501 $MA_INDEX_AX_NUMERATOR,

MD30503 $MA_INDEX_AX_OFFSET,

MD30500 $MA_INDEX_AX_ASSIGN_POS_TAB

30503

INDEX_AX_OFFSET

A01, A10

T1, R2

mm, degrees

Indexing axis with equidistant positions first index position

DOUBLE

Reset

0.0

-1.0E+301

1.0E+301

7/2

Description:

Defines the position of the first indexing position from zero for an indexing axis

with equidistant positions.

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MD irrelevant for non-equidistant indexes in accordance with tables.

Related to:

MD30501 $MA_INDEX_AX_NUMERATOR

MD30502 $MA_INDEX_AX_DENOMINATOR

MD30500 $MA_INDEX_AX_ASSIGN_POS_TAB

30505

HIRTH_IS_ACTIVE

A01, A10

Axis is an indexing axis with Hirth tooth system

BOOLEAN

Reset

CTEQ

FALSE

TRUE

7/2

Description:

Hirth tooth system is active when value 1 is set.

MD irrelevant if axis is not an indexing axis.

Related to:

MD30500 $MA_INDEX_AX_ASSIGN_POS_TAB, MD30501 $MA_INDEX_AX_NUMERATOR, MD30502

$MA_INDEX_AX_DENOMINATOR, MD30503 $MA_INDEX_AX_OFFSET

30550

AXCONF_ASSIGN_MASTER_CHAN

A01, A06, A10

K5, TE3, B3, S3, K1, R1

Initial setting of channel for change of axis

BYTE

PowerOn

0, 0, 0, 0, 0, 0, 0, 0...

7/2

Description:

Definition of the channel to which the axis is assigned after Power ON.

Related to:

MD20070 $MC_AXCONF_MACHAX_USED

30552

AUTO_GET_TYPE

EXP, A06, A10

K5, M3, TE6, P2, P5, 2.4

Automatic GET for get axis

BYTE

PowerOn

1, 1, 1, 1, 1, 1, 1, 1...

7/2

Description:

0 = No automatically created GET -> Alarm in response to incorrect programming.

1 = GET is output when GET is generated automatically.

2 = GETD is output when GET is generated automatically.

30554

AXCONF_ASSIGN_MASTER_NCU

A01, A06, A10

Initial setting which NCU creates setpoints for the axis

BYTE

PowerOn

7/2

Description:

This machine data is evaluated only if the NCU is linked with other NCUs via the NCU

link communication.

Assignment of master NCU:

If a machine axis is activated via MD10002 $MN_AXCONF_LOGIC_MACHAX_TAB in several

NCUs in an NCU cluster, then a MASTER NCU must be assigned to it. This NCU takes over

the setpoint creation for the axis after the runup. For axes which are only activated

in one NCU, the number of this NCU or 0 must be entered. Other entries initiate a

runup interrupt.

30560

IS_LOCAL_LINK_AXIS

EXP, A01

Axis is a local link axis

BOOLEAN

PowerOn

FALSE

7/2

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Description:

An axis for which this MD is set to 1 is not addressed by the local NCU at runup. The

associated drive is put into operation.

The axis is traversed by another NCU. The evaluation is made only if link

communication exists.

Not relevant for:

Systems without link modules

Related to:

MD18780 $MN_MM_NCU_LINK_MASK

30600

FIX_POINT_POS

A03, A10

K1, W3

mm, degrees

Fixed-value positions of axis with G75

DOUBLE

PowerOn

0.0, 0.0, 0.0, 0.0

-1.0E+301

1.0E+301

7/2

Description:

The fixed-point positions (4 max.) for each axis which can be approached when G75 is

programmed or via JOG are entered in these machine data.

References:

/PA/, "Programming Guide: Fundamentals"

30610

NUM_FIX_POINT_POS

A03, A10

Number of fixed-value positions of an axis

DWORD

PowerOn

7/2

Description:

Number of fixed point positions set, i.e. the number of valid entries in MD30600

$MA_FIX_POINT_POS.

For G75, two (2) fixed point positions are assumed in MD30600 $MA_FIX_POINT_POS for

reasons of compatibility, even if '0' has been entered in this machine data.

30800

WORKAREA_CHECK_TYPE

Type of check of working area limitations.

BOOLEAN

NEW CONF

CTEQ

FALSE

7/2

Description:

With this machine data you can specify whether only the working area limitations of

traversing axes are to be checked (0)

whether the stationary axes in a traversing block are also to be checked

(1).

The value 0 corresponds to the behavior up to SW5.

31000

ENC_IS_LINEAR

A02, A11

Linear scale

BOOLEAN

PowerOn

FALSE, FALSE

7/2

Description:

MD = 1: Encoder for actual position value acquisition is linear (linear scale).

MD = 0: Encoder for actual position value acquisition is rotary.

The index [n] of the machine data has the following coding:

[encoder no.]: 0 or 1

31010

ENC_GRID_POINT_DIST

A02, A11

Division period for linear scales

DOUBLE

PowerOn

0.01, 0.01

0.0

1.0E+301

7/2

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Description:

For linear measuring system only:

The distance between the reference marks on the linear scale must be entered in this

MD.

Index [n] of the machine data has the following coding:

[encoder no.]: 0 or 1

31020

ENC_RESOL

A02, A11

G2, R1

Encoder lines per revolution

DWORD

PowerOn

2048, 2048, 2048,

7/2

2048, 2048, 2048,

2048, 2048...

Description:

For rotary measuring system only:

The number of encoder lines per encoder revolution must be entered in this MD.

Index [n] of the machine data has the following coding:

[Encoder no.]: 0 or 1

If MD31700 $MA_ENC_EDS_ACTIVE = 1, this machine data has no function, and is replaced

by MD31710 $MA_ENC_RESOL_EDS.

Related to:

MD31700 $MA_ENC_EDS_ACTIVE

MD31710 $MA_ENC_RESOL_EDS

31025

ENC_PULSE_MULT

EXP, A01, A02

Encoder multiplication (high-resolution)

DWORD

PowerOn

2048, 2048, 2048,

7/2

2048, 2048, 2048,

2048, 2048...

Description:

For PROFIdrive only:

This MD describes the measuring system multiplication on PROFIBUS/PROFINET.

Default value 2048 means: changing by just one encoder line can be seen in bit11 of

the actual PROFIdrive value XIST1, that is, the actual encoder value is multiplied by

2 to the power of 11= 2048.

If MD31700 $MA_ENC_EDS_ACTIVE = 1, this machine data has no function, and is replaced

by MD31720 $MA_ENC_PULSE_MULT_EDS.

Related to:

MD31700 $MA_ENC_EDS_ACTIVE

MD31720 $MA_ENC_PULSE_MULT_EDS

31030

LEADSCREW_PITCH

A02, A11

G2, A3

Pitch of leadscrew

DOUBLE

PowerOn

10.0

0.0

1.0E+301

7/2

Description:

The ball screw lead must be entered in the MD (see data sheet: mm/rev or inch/rev).

Special meaning for hydraulic linear drives:

If a hydraulic linear drive (HLA) is configured as rotary axis, it must be specified

in this MD, which drive feedrate in mm corresponds to a programmed revolution (360

degrees).

Machine data and parameters

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31040

ENC_IS_DIRECT

A02, A11

G2, S1

Direct measuring system (no compilation to load position)

BOOLEAN

PowerOn

FALSE, FALSE

7/2

Description:

MD = 1:

Encoder for actual position value acquisition is attached directly to the machine

(without an intermediate gear unit).

MD = 0:

Encoder for actual position value acquisition is attached to the motor (MD31060

$MA_DRIVE_AX_RATIO_NUMERA and MD31050 $MA_DRIVE_AX_RATIO_DENOM are included in the

encoder valuation).

The index[n] of the machine data has the following coding:

[encoder no.]: 0 or 1

Special cases:

An incorrect entry may result in an incorrect encoder resolution, as, for example, the

gear ratios would be calculated incorrectly.

31044

ENC_IS_DIRECT2

A02

G2, S1

Encoder mounted on the additional gearbox

BOOLEAN

NEW CONF

FALSE, FALSE

7/2

Description:

When using a load intermediate gearbox (for example for rotating tools, compare

MD31066 $MA_DRIVE_AX_RATIO2_NUMERA and MD31064 $MA_DRIVE_AX_RATIO2_DENOM), the

encoder installation location can be defined as "on the output" of this load

intermediate gearbox:

Encoder installation "on the output of the load intermediate gearbox" is configured by

MD31040 $MA_ENC_IS_DIRECT=1 and MD31044 $MA_ENC_IS_DIRECT2=1 at the same time.

Encoder installation "on the input of the load intermediate gearbox" is configured by

MD31040 $MA_ENC_IS_DIRECT=1 together with MD31044 $MA_ENC_IS_DIRECT2=0.

A parameterization alarm will be output if MD31044 $MA_ENC_IS_DIRECT2=1 is set

without MD31040 $MA_ENC_IS_DIRECT=1 (this combination has not been defined).

31046

ENC_PASSIVE_PARKING

A02

Park passive measuring system

BOOLEAN

NEW CONF

FALSE, FALSE

7/2

Description:

The machine data can be used to configure the behavior for the passive measuring

system:

MD = 0:

The passive measuring system is continuously monitored and updated.

MD = 1:

The passive measuring system is automatically parked. It is no longer monitored or

updated. The encoder cable can be disconnected without an alarm being issued.

Notes:

- A measuring system switchover to a parked measuring system takes longer than a

switch to a passive measuring system.

- On account of the duration, an axis standstill is recommended for the switchover.

- It is only with incremental encoders that the position and the state "Measuring

system is referenced" are applied from the previously active measuring system as a

function of MD34210 $MA_ENC_REFP_STATE. In this case, renewed referencing is not

absolutely necessary.

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The machine data is inactive if:

- MD30200 $MA_NUM_ENCS is less than 2

- MD30240 $MA_ENC_TYPE=0

- The measuring system is used on the drive side, for example as a motor measuring

system for speed control. Recommendation: Do not change the default value of the

machine data for a motor measuring system.

- MD32950 $MA_POSCTRL_DAMPING>0

- MD32960 $MA_POSCTRL_DUAL_FEEDBACK_TIME>0

31050

DRIVE_AX_RATIO_DENOM

A02, A11

A2, A3, G2, S1, V1

Denominator load gearbox

DWORD

PowerOn

1, 1, 1, 1, 1, 1, 1, 1, 1, 1,

1, 1, 1, 1, 1, 1, 1,

2147000000,

7/2

1, 1, 1, 1, 1, 1, 1, 1, 1, 1,

1, 1, 1, 1, 1, 1, 1,

2147000000,

1, 1...

1, 1, 1, 1, 1, 1, 1,

2147000000,

1...

2147000000,

2147000000,,

214...

Description:

The load gearbox denominator is entered in this MD.

The index [n] of the machine data has the following coding:

[control parameter set no.]: 0-5

31060

DRIVE_AX_RATIO_NUMERA

A02, A11

A2, A3, G2, S1, V1

Numerator load gearbox

DWORD

PowerOn

1, 1, 1, 1, 1, 1, 1, 1, 1, 1,

-2147000000,

2147000000,

7/2

1, 1, 1, 1, 1, 1, 1, 1, 1, 1,

-2147000000,

2147000000,

1, 1...

-2147000000,

2147000000,

-2147000000,

2147000000,

-2147000000,...

2147000000,,

214...

Description:

The load gearbox numerator is entered in this MD.

The index [n] of the machine data has the following coding:

[control parameter set no.]: 0-5

31064

DRIVE_AX_RATIO2_DENOM

A02

G2, S1

Denominator additional gearbox

DWORD

NEW CONF

2147000000

7/2

Description:

Intermediate gearbox denominator

This MD together with MD31066 $MA_DRIVE_AX_RATIO2_NUMERA defines an intermediate

gearbox that acts as a multiplier to the motor/load gearbox (described by MD31060

$MA_DRIVE_AX_RATIO_NUMERA and MD31050 $MA_DRIVE_AX_RATIO_DENOM).

The load intermediate gearbox is inactive with the default values 1:1.

Please consider MD31044 $MA_ENC_IS_DIRECT2 for encoder installation.

When the Safety Integrated functionality (see MD36901 $MA_SAFE_FUNCTION_ENABLE) is

active, the intermediate gearbox can be used, if

• the effectively active gear ratio from the motor to the tool is considered in the

safety-relevant machine data and if

• the safety-relevant supplementary conditions for gear ratios are considered.

For more detailed information see the Safety Integrated Description of Functions.

Machine data and parameters

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31066

DRIVE_AX_RATIO2_NUMERA

A02

G2, S1

Numerator additional gearbox

DWORD

NEW CONF

-2147000000

2147000000

7/2

Description:

Intermediate gearbox numerator

Related to:

MD31064 $MA_DRIVE_AX_RATIO2_DENOM

31070

DRIVE_ENC_RATIO_DENOM

A02, A11

A3, G2, S1

Denominator measuring gearbox

DWORD

NEW CONF

1, 1

2147000000

7/2

Description:

The measuring gearbox denominator is entered in this MD.

The index [n] of the machine data has the following coding:

[encoder no.]: 0 or 1

31080

DRIVE_ENC_RATIO_NUMERA

A02, A11

A3, G2, S1

Numerator measuring gearbox

DWORD

NEW CONF

1, 1

2147000000

7/2

Description:

The measuring gearbox numerator is entered in this MD.

The index [n] of the machine data has the following coding:

[encoder no.]: 0 or 1

31090

JOG_INCR_WEIGHT

A01, A12

H1, G2

mm, degrees

Evaluation of an increment with INC/handwheel

DOUBLE

Reset

CTEQ

0.001, 0.00254

-1.0E+301

1.0E+301

7/2

Description:

The value entered in this MD defines the path of an increment which applies when an

axis is traversed with the JOG keys in incremental mode or with the handwheel.

The path traveled by the axis on each increment each time the traversing key is

pressed or for each handwheel detent position is defined by the following parameters:

• MD31090 $MA_JOG_INCR_WEIGHT

(Weighting of an increment of a machine axis for INC/handwheel)

• Selected increment size (INC1, ..., INCvar)

The possible increment stages are defined globally for all axes in MD11330

$MN_JOG_INCR_SIZE_TAB [n] and in SD41010 $SN_JOG_VAR_INCR_SIZE.

Entering a negative value reverses the direction of evaluation of the traverse keys

and the handwheel rotation.

Related to:

MD11330 $MN_JOG_INCR_SIZE_TAB

SD41010 $SN_JOG_VAR_INCR_SIZE

31092

JOG_INCR_WEIGHT_TRAFO

A01, A12

H1, G2

mm, degrees

Evaluation of an increment for INC/handwheel for active

DOUBLE

Reset

transformation

CTEQ

0.0, 0.0

7/2

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Description:

The input value is used to define the distance of an increment which, when traversing

an axis during active transformation using the JOG keys, is valid for the incremental

dimension or via handwheel.

The distance, through which the axis traverses when executing the incremental

dimension with transformation active, depending on the traversing key actuated or

handwheel grid position, is defined by the following parameters:

• MD31092 $MA_JOG_INCR_WEIGHT_TRAFO

(Evaluating an increment of a machine axis for INC/handwheel)

• selected increment size (INC1, ..., INCvar)

The possible increment steps are globally defined for all axes in MD11330

$MN_JOG_INCR_SIZE_TAB [n] or in SD41010 $SN_JOG_VAR_INCR_SIZE.

Entering a negative value reverses the direction evaluation of the traversing keys

and/or the handwheel direction of rotation.

The set value is only effective, if this is > 0 ist. For values of zero, then MD31090

$MA_JOG_INCR_WEIGHT is effective

Corresponds with:

MD11330 $MN_JOG_INCR_SIZE_TAB

MD31090 $MA_JOG_INCR_WEIGHT

SD41010 $SN_JOG_VAR_INCR_SIZE

31122

BERO_DELAY_TIME_PLUS

A02, A06

S1, R1

BERO delay time Plus

DOUBLE

NEW CONF

0.000110, 0.000110

0.0

1.0E+301

7/2

Description:

This machine data in combination with the setting in MD34200 $MA_ENC_REFP_MODE

(referencing mode) = 7 causes a signal runtime compensation in the positive direction

of movement at a position determined by a BERO (zero mark).

The typical total delay time of the BERO message path for overtravel in the positive

direction of movement is entered.

This time includes:

• the BERO edge delay time

• the time for digitizing the signal

• the time for processing the measured value, etc.

The periods of time depend on the hardware used. The default value is typical for

SIEMENS products. Adjustment by the customer is only required in exceptional cases.

Input of the minimum value "0.0" deactivates the compensation (only active in

combination with MD34200 $MA_ENC_REFP_MODE = 7).

The machine data is available for all encoders.

Related to:

MD34200 $MA_ENC_REFP_MODE (referencing mode)

MD34040 $MA_REFP_VELO_SEARCH_MARKER[n]

(reference point shutdown velocity [Enc. no.])

31123

BERO_DELAY_TIME_MINUS

A02, A06

S1, R1

BERO delay time minus

DOUBLE

NEW CONF

0.000078, 0.000078

0.0

1.0E+301

7/2

Description:

This machine data in combination with the setting in MD34200 $MA_ENC_REFP_MODE

(referencing mode) = 7 causes a signal runtime compensation in the negative direction

of movement at a position determined by a BERO (zero mark).

The typical total delay time of the BERO message path for overtravel in the negative

direction of movement is entered.

The time includes:

Machine data and parameters

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• the BERO edge delay time

• the time for digitizing the signal

• the time for processing the measured value, etc.

The periods of time depend on the hardware used. The default value is typical for

SIEMENS products. Adjustment by the customer is only required in exceptional cases.

Input of the minimum value "0.0" deactivates the compensation (only active in

combination with MD34200 $MA_ENC_REFP_MODE = 7).

The machine data is available for all encoders.

Related to:

MD34200 $MA_ENC_REFP_MODE (referencing mode)

MD34040 $MA_REFP_VELO_SEARCH_MARKER[n]

(shutdown velocity [Enc. no.])

31200

SCALING_FACTOR_G70_G71

EXP, A01

Factor for converting values while G70/G71 is active

DOUBLE

PowerOn

CTEQ

25.4

1.e-9

1.0E+301

7/2

Description:

The inch/metric conversion factor by which the programmed geometry of an axis

(position, polynomial coefficients, radius for circle programming,...) is multiplied

when the programmed value for G code group G70/G71 differs from the initial setting

value (set in MD20150 $MC_GCODE_RESET_VALUES[n]) is entered in this MD.

The factor can be set for each axis individually, so that pure positioning axes are

not dependent on G70/G71. The factors within the three geometry axes should not be

different.

The data influenced by G70/G71 are described in the Programming Guide.

Related to:

MD20150 $MC_GCODE_RESET_VALUES[n] (G group initial setting).

31600

TRACE_VDI_AX

EXP, N06

Trace-specification for axial VDI signals

BOOLEAN

PowerOn

NBUP

FALSE

2/2

Description:

This machine data determines whether the axial VDI signals for this axis are recorded

in the NCSC trace (according to MD18794 $MN_MM_TRACE_VDI_SIGNAL).

31700

ENC_EDS_ACTIVE

A02, A11

Activate EDS use

BOOLEAN

PowerOn

FALSE, FALSE

7/2

Description:

For SINAMICS only:

MD = 0: encoder data set switchover, EDS is not used, POWERON-MDs $MA_ENC_RESOL etc.

are active

MD = 1: encoder data set switchover, EDS is used, NEWCONF-MDs $MA_ENC_RESOL_EDS etc.

are active

The index[n] of the machine data has the following coding:

[Encoder no.]: 0 or 1

Related to:

MD31020 $MA_ENC_RESOL

MD31710 $MA_ENC_RESOL_EDS

MD31025 $MA_ENC_PULSE_MULT

MD31720 $MA_ENC_PULSE_MULT_EDS

Machine data and parameters

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2.3 NC machine data

MD30260 $MA_ABS_INC_RATIO

MD31730 $MA_ABS_INC_RATIO_EDS

31710

ENC_RESOL_EDS

A02, A11

G2, R1

Encoder marks per revolution with EDS use

DWORD

NEW CONF

2048, 2048, 2048,

7/2

2048, 2048, 2048,

2048, 2048...

Description:

For SINAMICS only:

The machine data is only active if MD31700 $MA_ENC_EDS_ACTIVE = 1 and replaces MD31020

$MA_ENC_RESOL

Only with rotating measuring system:

The encoder marks per encoder revolution with EDS use are to be entered in the MD.

The index[n] of the machine data has the following coding:

[Encoder no.]: 0 or 1

Related to :

MD31700 $MA_ENC_EDS_ACTIVE

MD31020 $MA_ENC_RESOL

31720

ENC_PULSE_MULT_EDS

EXP, A01, A02

Encoder multiplication (high resolution) with EDS use

DWORD

NEW CONF

2048, 2048, 2048,

7/2

2048, 2048, 2048,

2048, 2048...

Description:

For SINAMICS only:

The machine data is only active if MD31700 $MA_ENC_EDS_ACTIVE = 1, and replaces

MD31025 $MA_ENC_PULSE_MULT

This MD describes the measuring system multiplication with EDS use on the PROFIBUS/

PROFINET.

The standard value 2048 means: A change by one single encoder mark is visible in bit11

of the PROFIdrive actual value XIST1, the encoder actual value is therefore multiplied

by 2 to the power of 11=2048.

Related to:

MD31700 $MA_ENC_EDS_ACTIVE

MD31025 $MA_ENC_PULSE_MULT

31730

ABS_INC_RATIO_EDS

EXP, A01, A02

Absolute encoder: ratio of absolute to incremental resolution with

DWORD

NEW CONF

EDS use

4, 4

7/2

Description:

For SINAMICS only:

The machine data is only active if MD31700 $MA_ENC_EDS_ACTIVE = 1, and replaces

MD30260 $MA_ABS_INC_RATIO

Ratio of the absolute track resolution to the incremental track resolution with EDS

use.

This MD only applies with an absolute encoder:

PROFIBUS drives:

Machine data and parameters

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Ratio of the absolute information XIST2 to the incremental information XIST1.

Related to:

MD31700 $MA_ENC_EDS_ACTIVE

MD30260 $MA_ABS_INC_RATIO

32000

MAX_AX_VELO

A11, A04

M3, TE1, TE3, W6, Z3, H1, K3,

M1, P2, A3, B2, G2, H2, S1, V1,

mm/min, rev/min

Maximum axis velocity

DOUBLE

NEW CONF

CTEQ

(10000./3000),

(1e-9/ 1e-9),

(MD_DBLMAX/

7/2

(10000./3000),

(1e-9/ 1e-9),

MD_DBLMAX),

(10000./3000),

(1e-9/ 1e-9),

(MD_DBLMAX/

(10000./3000), (100...

(1e-9/ 1e-9),

MD_DBLMAX),

(1e-9/ 1...

(MD_DBLMAX/

MD_D...

Description:

Maximum velocity at which the axis can permanently travel. The value limits both the

positive and the negative axis velocity. The axis traverses at this velocity, if rapid

traverse has been programmed.

Depending on the MD30300 $MA_IS_ROT_AX, the maximum rotary or linear axis velocity has

to be entered.

In the machine data, the dynamic behavior of the machine and drive and the limit

frequency of the actual value acquisition must be taken into account.

32010

JOG_VELO_RAPID

A11, A04

mm/min, rev/min

Rapid traverse in jog mode

DOUBLE

Reset

CTEQ

(10000./100),

(0./ 0.)

(MD_DBLMAX/

7/2

(10000./100),

MD_DBLMAX)

(10000./100),

(10000./...

Description:

The axis velocity entered applies when the rapid traverse override key is pressed in

JOG mode and when the axial feedrate override is set to 100%.

The value entered must not exceed the maximum permissible axis velocity (MD32000

$MA_MAX_AX_VELO).

This machine data is not used for the programmed rapid traverse G0.

MD irrelevant to:

Operating modes AUTOMATIC and MDI

Related to:

MD32000 $MA_MAX_AX_VELO (maximum axis velocity)

MD32040 $MA_JOG_REV_VELO_RAPID

(revolutional feedrate for JOG with rapid traverse override)

NC/PLC interface signal

DB21-30 DBX12.5, DBX16.5, DBX20.5 (Rapid traverse override)

NC/PLC interface signal

DB21-30 DBB4 (Feedrate override A-H)

Machine data and parameters

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2.3 NC machine data

32020

JOG_VELO

A11, A04

mm/min, rev/min

Jog axis velocity

DOUBLE

Reset

CTEQ

(2000./30),

(0./ 0.)

(MD_DBLMAX/

7/2

(2000./30),

MD_DBLMAX)

(2000./30),

(2000./30), (200...

Description:

The velocity entered applies to traversing in JOG mode when the axial feedrate

override switch position is 100%.

This velocity is only used when general SD41110 $SN_JOG_SET_VELO = 0 for linear axes,

and linear feedrate is selected (SD41100 $SN_JOG_REV_IS_ACTIVE = 0) or SD41130

$SN_JOG_ROT_AX_SET_VELO = 0 for rotary axes.

If this is the case, the axis velocity is active for

• continuous jogging

• incremental jogging (INC1, ... INCvar)

• handwheel jogging

The value entered must not exceed the maximum permissible axis velocity (MD32000

$MA_MAX_AX_VELO).

If DRF is active, the axis velocity for JOG must be reduced with MD32090

$MA_HANDWH_VELO_OVERLAY_FACTOR.

Spindles in JOG mode:

This machine data can also be used to define the JOG mode speed for specific spindles

(if SD41200 $SN_JOG_SPIND_SET_VELO = 0). However, the speed can be modified with the

spindle override switch.

Related to:

MD32000 $MA_MAX_AX_VELO

(maximum axis velocity)

MD32050 $MA_JOG_REV_VELO

(revolutional feedrate for JOG)

MD32090 $MA_HANDWH_VELO_OVERLAY_FACTOR

(ratio of JOG velocity to handwheel velocity (DRF))

SD41110 $SN_JOG_SET_VELO

(JOG velocity for G94)

SD41130 $SN_JOG_ROT_AX_SET_VELO

(JOG velocity for rotary axes)

NC/PLC interface signal DB21-30 DBB4 (Feedrate override A-H)

32040

JOG_REV_VELO_RAPID

A11, A04

H1, P2, R2, T1, V1, Z1

mm/rev

Revolutional feedrate in JOG with rapid traverse override

DOUBLE

Reset

CTEQ

2.5, 2.5, 2.5, 2.5, 2.5,

0.0

1.0E+301

7/2

2.5, 2.5, 2.5...

Description:

The value entered defines the revolutional feedrate of the axis in JOG mode with rapid

traverse override in relation to the revolutions of the master spindle. This feedrate

is active when SD41100 $SN_JOG_REV_IS_ACTIVE = 1. (Revolutional feedrate active with

JOG)

MD irrelevant for:

SD41100 $SN_JOG_REV_IS_ACTIVE = "0"

Related to:

SD41100 $SN_JOG_REV_IS_ACTIVE (revolutional feedrate with JOG active)

Machine data and parameters

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2.3 NC machine data

MD32050 $MA_JOG_REV_VELO (revolutional feedrate with JOG)

32050

JOG_REV_VELO

A11, A04

H1, P2, R2, T1, V1, Z1

mm/rev

Revolutional feedrate in JOG

DOUBLE

Reset

CTEQ

0.5, 0.5, 0.5, 0.5, 0.5,

0.0

1.0E+301

7/2

0.5, 0.5, 0.5...

Description:

The value entered defines the revolutional feedrate of the axis in JOG mode in

relation to the revolutions of the master spindle.

This feedrate is active when SD41100 $SN_JOG_REV_IS_ACTIVE= 1 (revolutional feedrate

active with JOG).

MD irrelevant for:

Linear feedrate; i.e. SD41100 $SN_JOG_REV_IS_ACTIVE = 0

Related to:

SD41100 $SN_JOG_REV_IS_ACTIVE

(revolutional feedrate for JOG active)

MD32040 $MA_JOG_REV_VELO_RAPID

(JOG revolutional feedrate with rapid traverse override)

32060

POS_AX_VELO

A12, A04

H1, P2, K1, V1, 2.4, 6.2

mm/min, rev/min

Initial setting for positioning axis velocity

DOUBLE

Reset

CTEQ

(10000./30),

(0./ 0.)

(MD_DBLMAX/

7/2

(10000./30),

MD_DBLMAX)

(10000./30),

(10000./30),...

Description:

If a positioning axis is programmed in the part program without specifying the axis-

specific feedrate, the feedrate entered in MD32060 $MA_POS_AX_VELO is automatically

used for this axis. The feedrate in MD32060 $MA_POS_AX_VELO applies until an axis-

specific feedrate is programmed in the part program for this positioning axis.

MD irrelevant for:

MD32060 $MA_POS_AX_VELO is irrelevant for all axis types other than positioning axis.

Special cases:

If a ZERO velocity is entered in MD32060 $MA_POS_AX_VELO, the positioning axis does

not traverse if it is programmed without feed. If a velocity is entered in MD32060

$MA_POS_AX_VELO that is higher than the maximum velocity of the axis (MD32000

$MA_MAX_AX_VELO), the velocity is automatically restricted to the maximum rate.

32070

CORR_VELO

A04

2.4, 6.2

Axis velocity for override

DOUBLE

Reset

CTEQ

50.0

0.0

1.0E+301

7/2

Description:

Limitation of axis velocity for handwheel override, external work offset, continuous

dressing, distance control $AA_OFF via synchronized actions related to the JOG

velocity

MD32020 $MA_JOG_VELO,

MD32010 $MA_JOG_VELO_RAPID,

MD32050 $MA_JOG_REV_VELO,

MD32040 $MA_JOG_REV_VELO_RAPID.

The maximum permissible velocity is the maximum velocity in MD32000 $MA_MAX_AX_VELO.

Velocity is limited to this value.

Machine data and parameters

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The conversion into linear or rotary axis velocity is made according to MD30300

$MA_IS_ROT_AX.

32074

FRAME_OR_CORRPOS_NOTALLOWED

A01

K5, K2, 2.4, 6.2

Frame or tool length compensation are not permissible

UDWORD

PowerOn

CTEQ

0xFFF

7/2

Description:

This machine data is used to define the effectiveness of the frames and tool length

compensations for indexing axes, PLC axes and command axes started from synchronized

actions.

Bit assignment:

Bit 0 = 0:

Programmable work offset (TRANS) allowed for indexing axis

Bit 0 = 1:

Programmable work offset (TRANS) forbidden for indexing axis

Bit 1 = 0:

Scale modification (SCALE) allowed for indexing axis

Bit 1 = 1:

Scale modification (SCALE) forbidden for indexing axis

Bit 2 = 0:

Direction change (MIRROR) allowed for indexing axis

Bit 2 = 1:

Direction change (MIRROR) forbidden for indexing axis

Bit 3 = 0:

DRF offset allowed for axis

Bit 3 = 1:

DRF offset forbidden for axis

Bit 4 = 0:

External work offset allowed for axis

Bit 4 = 1:

External work offset forbidden for axis

Bit 5 = 0:

Online tool compensation allowed for axis

Bit 5 = 1:

Online tool compensation forbidden for axis

Bit 6 = 0:

Synchronized action offset allowed for axis

Bit 6 = 1:

Synchronized action offset forbidden for axis

Bit 7 = 0:

Compile cycles offset allowed for axis

Bit 7 = 1:

Compile cycles offset forbidden for axis

Bit 8 = 0:

Axial frames and tool length compensation are NOT considered for PLC axes (bit

evaluation for compatibility reasons)

Bit 8 = 1:

Axial frames are considered for PLC axes and tool length compensation is considered

for PLC axes which are geometry axes.

Bit 9 = 0:

Machine data and parameters

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2.3 NC machine data

Axial frames are considered for command axes, and tool length compensation is

considered for command axes which are geometry axes.

Bit 9 = 1:

Axial frames and tool length compensation are NOT considered for command axes

If the tool is treated in an active transformation, the tool length compensation is

taken into account for geometry axes (as for bit9=0, see also MD24130

$MC_TRAFO_INCLUDES_TOOL_1).

Bit 10 = 0:

In JOG mode, too, traversing of a geometry axis as a PLC or command axis is NOT

allowed with active rotation.

Bit 10 = 1:

In JOG mode, traversing of a geometry axis as a PLC axis or command axis (static

synchronized action) is allowed with active rotation (ROT frame). Traversing must be

terminated prior to returning to AUTOMATIC mode (neutral axis state), as otherwise

alarm 16908 would be output when the mode is changed.

Bit 11 = 0:

In 'Program interrupted' status, repositioning to the interrupt position (AUTO - JOG)

takes place when changing from JOG to AUTO.

Bit 11 = 1:

Prerequisite: Bit 10 == 1 (PLC or command axis motion with active rotation in JOG

mode).

In 'Program interrupted' status, the end point of the PLC or command axis motion is

taken over when changing from JOG to AUTOMATIC and the geometry axes are positioned

according to the rotation

32075

MAPPED_FRAME

A01

Mapping an axial frame

STRING

PowerOn

NO_AXIS, NO_AXIS,

7/2

NO_AXIS, NO_AXIS,

NO_AXIS, N...

Description:

Ths machine data can be used to map an axial frame onto an axial frame of another

axis. This means that the description of a frame in the data management can

simultaneously describe the frame of another axis with the same values. Selected data

management frames can be enabled for the mapping in MD10616 $MN_MAPPED_FRAME_MASK.

32080

HANDWH_MAX_INCR_SIZE

A05, A10

mm, degrees

Limitation of selected increment

DOUBLE

Reset

CTEQ

0.0

1.0E+301

7/2

Description:

> 0:

Limitation of size of selected increment MD11330 $MN_JOG_INCR_SIZE <Increment/

VDI signal>Ü or SD41010 $SN_JOG_VAR_INCR_SIZE for the associated machine axis

No limitation

32082

HANDWH_MAX_INCR_VELO_SIZE

A05, A10, A04

mm/min, rev/min

Limitation for velocity override

DOUBLE

Reset

CTEQ

(500.0/1.0),

(0./ 0.)

(MD_DBLMAX/

7/2

(500.0/1.0),

MD_DBLMAX)

(500.0/1.0),

(500.0/1.0),...

Description:

For the velocity override of positioning axes:

Machine data and parameters

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2.3 NC machine data

>0:

Limitation of size of selected increment $MN_JOG_INCR_SIZEL<Increment/VDI

signal> 0 or SD41010 $SN_JOG_VAR_INCR_SIZE for the associated machine axis

No limitation

32084

HANDWH_STOP_COND

EXP, A10

Handwheel travel behavior

UDWORD

Reset

CTEQ

0x10FF

0x1FFF

7/2

Description:

Definition of the response of the handwheel travel to axis-specific VDI interface

signals or the CP-SW limit stop or a stop from an OEM application:

Bit = 0:

Interruption or collection of the distances preset via the handwheel.

Bit = 1:

Cancelation of the traversing motion or no collection.

Bit assignment:

Bit 0:

feedrate override

Bit 1:

spindle speed override

Bit 2:

feedrate stop/spindle stop or CP-SW limit stop or stop from an OEM

application

Bit 3:

clamping procedure running (= 0 no effect)

Bit 4:

servo enable

Bit 5:

pulse enable

For machine axis:

Bit 6 = 0

For handwheel travel, the maximum velocity at which the relevant machine axis can be

traversed is the feedrate set in MD32020 $MA_JOG_VELO.

Bit 6 = 1

For handwheel travel, the maximum velocity at which the relevant machine axis can be

traversed is the feedrate set in MD32000 $MA_MAX_AX_VELO.

Bit 7 = 0

The override is active in handwheel travel.

Bit 7 = 1

The override is always assumed to be 100% for handwheel travel, regardless of how the

override switch is set.

Exception: override 0% is always active.

Bit 8 = 0

The override is active with DRF

Bit 8 = 1

The override is always assumed to be 100% for DRF, regardless of how the override

switch is set.

Exception: override 0% is always active.

Bit 9 = 0

For handwheel travel, the maximum possible velocity with revolutional feedrate is

- with the feedrate in SD41120 $SN_JOG_REV_SET_VELO or

- the feedrate in MD32050 $MA_JOG_REV_VELO or

- in the case of rapid traverse with MD32040 $MA_JOG_REV_VELO_RAPID

of the relevant machine axis calculated with the spindle or rotary axis feedrate.

Bit 9 = 1

For handwheel travel, the maximum possible velocity is with the revolutional feedrate

in MD32000 $MA_MAX_AX_VELO of the relevant machine axis. (see also bit 6)

Bit 10 = 0

Machine data and parameters

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For overlaid motions, $AA_OVR is not active.

Bit 10 = 1

For overlaid motions (DRF, $AA_OFF, external work offset, online tool offset), the

override $AA_OVR settable via synchronized actions is active.

Bit 11 = 0

With the VDI interface signal DB31, ... DBX93.5 (Drive Ready) missing, paths defined

by the handwheel are not collected, but a traversing request is displayed. Start of a

continuous JOG motion in continuous mode (MD41050 $SN_JOG_CONT_MODE_LEVELTRIGGRD

41050 = 0) or an incremental JOG motion in continuous mode (MS11300

$MN_JOG_INC_MODE_LEVELTRIGGRD 11300 = 0) is displayed as a traversing request. With

"driveReady" = 1, however, the tool is not traversed, but the procedure is canceled

and must be started again.

Bit 11 = 1

With the VDI interface DB31, ... DBX93.5 (Drive Ready) missing, the paths defined by

the handwheel are collected. Start of a continuous JOG motion in continuous mode

(MD41050 $SN_JOG_CONT_MODE_LEVELTRIGGRD 41050 = 0) or an incremental JOG motion in

continuous mode (MS11300 $MN_JOG_INC_MODE_LEVELTRIGGRD 11300 = 0) is displayed and

saved as a traversing request. With "driveReady" = 1 the traversing motion is

started.

Bit 12 = 0

Interruption or collection of the distances preset via the handwheel with safe

operational stop.

Bit 12 = 1

Cancelation of the traversing motion or no collection with safe operational stop.

32090

HANDWH_VELO_OVERLAY_FACTOR

A10, A04

Ratio of JOG velocity to handwheel velocity (DRF)

DOUBLE

Reset

CTEQ

0.5

0.0

1.0E+301

7/2

Description:

The velocity active with the handwheel in DRF can be reduced from the JOG velocity

with this machine data.

The following applies to linear axes for the velocity active with DRF:

vDRF = SD41110 $SN_JOG_SET_VELO * MD32090 $MA_HANDWH_VELO_OVERLAY_FACTOR

or when SD41110 $SN_JOG_SET_VELO

= 0:

vDRF = MD32020 $MA_JOG_VELO * MD32090 $MA_HANDWH_VELO_OVERLAY_FACTOR

The velocity setting in SD41130 $SN_JOG_ROT_AX_SET_VELO applies for DRF on rotary

axes instead of the value in SD41110 $SN_JOG_SET_VELO.

MD irrelevant for:

JOG handwheel

Related to:

MD32020 $MA_JOG_VELO (JOG axis velocity)

SD41110 $SN_JOG_SET_VELO (JOG velocity for G94)

SD41130 $SN_JOG_ROT_AX_SET_VELO (JOG velocity for rotary axes)

32100

AX_MOTION_DIR

A07, A03, A11

G1, TE3, G2

Traversing direction (not control direction)

DWORD

PowerOn

1, 1, 1, 1, 1, 1, 1, 1...

-1, -1, -1, -1, -1,

1, 1, 1, 1, 1, 1, 1,

7/2

-1, -1, -1...

1...

Description:

The direction of movement of the machine can be reversed with this MD.

The control direction is, however, not destroyed; i.e. closed-loop control remains

stable.

-1: Direction reversal

Machine data and parameters

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2.3 NC machine data

0, 1: No direction reversal

32110

ENC_FEEDBACK_POL

A07, A02, A11

Sign actual value (control direction)

DWORD

PowerOn

1, 1

-1

7/2

Description:

The evalution direction of the shaft encoder signals is entered in the MD.

-1: Actual value reversal

0, 1: No actual value reversal

The index[n] of the machine data is encoded as follows:

[Encoder no.]: 0 or 1

Special cases:

The axis can run off if an incorrect control direction is entered.

Depending on the setting of the corresponding limit values, one of the following

alarms is displayed:

Alarm 25040 "Standstill monitoring"

Alarm 25050 "Contour monitoring"

Alarm 25060 "Speed setpoint limitation"

If an uncontrolled setpoint step change occurs on connection of a drive, the control

direction might be incorrect.

Note:

In the case of SINAMICS drives, we recommend that the direction of motion is reversed

in the drive (see P410).

This is obligatory if you are using DSC (see also MD32640

$MA_STIFFNESS_CONTROL_ENABLE).

32200

POSCTRL_GAIN

A07, A11

G1, TE1, TE9, K3, S3, A2, A3, D1,

G2, S1, V1

1000/min

Servo gain factor

DOUBLE

NEW CONF

CTEQ, -

16.66666667,

2000.

7/2

16.66666667,

Description:

Position controller gain, or servo gain factor.

The input/output unit for the user is [ (m/min)/mm].

I.e. MD32200 $MA_POSCTRL_GAIN[n] = 1 corresponds to a 1 mm following error at V = 1m/

min.

The following machine data have default settings for adapting the standard selected

input/output unit to the internal unit [rev/s].

• MD10230 $MN_SCALING_FACTORS_USER_DEF[9] = 16.666667S

• MD10220 $MN_SCALING_USER_DEF_MASK = 0x200; (bit no 9 as hex value).

If the value "0" is entered the position controller is opened.

When entering the servo gain factor it is important to take into account that the gain

factor of the whole position control loop is still dependent on other parameters of

the controlled system. A distinction should be made between a "desired servo gain

factor" (MD32200 $MA_POSCTRL_GAIN) and an "actual servo gain factor" (produced by the

machine). Only when all the parameters of the control loop are matched will these

servo gain factors be the same.

Other factors are:

• Speed setpoint adjustment (MD32260 $MA_RATED_VELO, MD32250 $MA_RATED_OUTVAL)

Machine data and parameters

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2.3 NC machine data

or automatic speed setpoint interface adjustment (with MD32250 $MA_RATED_OUTVAL = 0

etc.)

• Correct actual value recording of the position encoder (no. of encoder pulses, high

resolution, encoder mounting location, gear etc.)

• Correct actual speed recording on the drive (standardization, possibly tacho

compensation, tacho generator)

Note:

Axes which interpolate together and are to perform a machining operation, must either

have the same gain setting (i.e. have the identical following error = 45° slope at the

same velocity) or they must be matched via MD32910 $MA_DYN_MATCH_TIME.

The actual servo gain factor can be checked by means of the following error (in the

service display).

In the case of analog axes, a drift compensation must be performed prior to the

control.

The index [n] of the machine data has the following coding:

[control parameter set no.]: 0-5

32210

POSCTRL_INTEGR_TIME

A07

Position controller integral time

DOUBLE

NEW CONF

1.0

10000.0

7/2

Description:

Position controller integral action time for the integral component in s

The MD is only active if MD32220 $MA_POSCTRL_INTEGR_ENABLE = TRUE.

A value of the MD less than 0.001 disables the integral component of the PI

controller. The controller is then a P controller, which works with disabled

manipulated variable clamping (see also MD32230 $MA_POSCTRL_CONFIG, bit0 = 1).

32220

POSCTRL_INTEGR_ENABLE

A07

Enable integral component position controller

BOOLEAN

PowerOn

FALSE

7/2

Description:

Enable of the integral component position controller; the position controller is then

a PI controller in which the manipulated variable clamping is disabled (s.a. MD32230

$MA_POSCTRL_CONFIG, bit0 = 1).

Position overshoots may occur if the integral component is used. For this reason, this

functionality may only be used in special cases.

32230

POSCTRL_CONFIG

A07

TE1

Configuration of the position controller structure

UBYTE

PowerOn

0x1f

7/2

Description:

Configuration of the position controller structure:

Bit0 = 1: Manipulated variable clamping inactive

Bit4 = 1: Accelerated exact stop signal active

32250

RATED_OUTVAL

A01, A11

A3, D1, G2

Rated output voltage

DOUBLE

NEW CONF

CTEQ

0.0

200

7/2

Description:

a.)

Scaling of the manipulated variable with analog drives:

Machine data and parameters

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2.3 NC machine data

The value of the speed setpoint in percent is to be entered in this MD, in relation to

the maximum speed setpoint at which the motor speed specified in MD32260

$MA_RATED_VELO[n] is reached.

Related to:

MD32250 $MA_RATED_OUTVAL[n] only makes sense in combination with MD32260

$MA_RATED_VELO[n].

Example:

At a voltage of 5V, the drive reaches a speed of

1875 rpm ==> RATED_OUTVAL = 50%, RATED_VELO = 11250 [degrees/s]

At a voltage of 8V, the drive reaches a speed of

3000 rpm ==> RATED_OUTVAL = 80%, RATED_VELO = 18000 [degrees/s]

At a voltage of 1.5V, the drive reaches a speed of

562.5 rpm ==> RATED_OUTVAL = 15%, RATED_VELO = 3375 [degrees/s]

All three examples are possible for one and the same drive/converter. The ratio of the

two values is decisive; it is the same in all three examples.

MD32250 $MA_RATED_OUTVAL and MD32260 $MA_RATED_VELO describe physical properties of

converter and drive; they can therefore only be determined by means of a measurement

or commissioning instructions (converter, drive).

b.)

Scaling of the manipulated variable with digital PROFIdrive drives:

Default value "0" declares MD32250 $MA_RATED_OUTVAL and MD32260 $MA_RATED_VELO as

invalid. Scaling of the manipulated variable is automatically determined and adjusted

from the drive parameters instead.

Otherwise (MD32250 $MA_RATED_OUTVAL unequal to zero), the scaling of the manipulated

variable is not determined from the drive (for example non-Siemens PROFIdrive

drives), but set with RATED_VELO and RATED_OUTVAL, even in the case of these,

irrespective of the scaling active on the drive side. In this case, the following

applies:

Scaling of the manipulated variable on the drive = RATED_VELO / RATED_OUTVAL

Further scalings from drive parameters, such as torque scaling, are not active if

MD32250 $MA_RATED_OUTVAL is not equal to zero, the values based on it remain zero.

In the case of simultaneous operation of analog and PROFIdrive drives, the settings

for the analog axes must be adjusted as described in a.).

32260

RATED_VELO

A01, A11

A3, D1, G2

rev/min

Rated motor speed

DOUBLE

NEW CONF

CTEQ

3000.0, 3000.0,

0.0

1.0E+301

7/2

3000.0, 3000.0,

3000.0, 3000.0...

Description:

Only applies when:

MD32250 $MA_RATED_OUTVAL is set greater than 0.

The drive speed (scaled on the drive) that is reached with the percentual speed

setpoint specified in MD32250 $MA_RATED_OUTVAL[n] must be entered in the MD.

Related to:

MD32260 $MA_RATED_VELO[n] only makes sense in combination with MD32250

$MA_RATED_OUTVAL[n].

Machine data and parameters

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2.3 NC machine data

32300

MAX_AX_ACCEL

A11, A04

M3, TE6, Z3, H1, K3, M1, A3, B1,

B2, K1, V1, 2.4

m/s², rev/s²

Maximum axis acceleration

DOUBLE

NEW CONF

CTEQ

1.0, 1.0, 1.0, 1.0, 1.0,

1.0e-6, 1.0e-6,

MD_DYNMAX,

7/2

1.0, 1.0, 1.0, 1.0, 1.0,

1.0e-6, 1.0e-6,

MD_DYNMAX,

1.0, 1.0, 1.0,...

1.0e-6, 1.0e-6,

MD_DYNMAX,

1.0e-6, 1.0e-6, ...

MD_DYNMAX,

MD_DYNMAX...

Description:

Maximum acceleration, i.e. change in setpoint velocity, which is to act upon the axis.

The value limits both positive and negative axis acceleration.

The maximum angular or linear axis acceleration must be entered dependent upon machine

data MD30300 $MA_IS_ROT_AX.

In the case of linear interpolation of the axes in a grouping, the grouping is limited

in such a way that no axis is overloaded. With regard to contour accuracy, the control

dynamic behavior has to be taken into account.

Not relevant for error states that lead to quick stop.

Each field element corresponds to a G code in the 59th G code group.

Note:

This MD defines the acceleration with which the maximum load can be moved.

Functions such as "Intelligent Load Control, ILC" ) enable the maximum acceleration of

the axis parameterized in this machine data to be exceeded for a specific axis.

Related to:

MD32310 $MA_MAX_ACCEL_OVL_FACTOR

MD32434 $MA_G00_ACCEL_FACTOR

MD32433 $MA_SOFT_ACCEL_FACTOR

MD20610 $MC_ADD_MOVE_ACCEL_RESERVE

MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL

32302

JOG_SWL_ACCEL_FACTOR

A04

Acceleration factor for software limit switch check in jog

DOUBLE

NEW CONF

CTEQ

0.9

0.0

3.4E+38

7/2

Description:

The factor defines the acceleration of the braking ramp of the real-time software

limit switch check relative to MD32300 $MA_MAX_AX_ACCEL[0]. With the value 0, the

function behaves compatibly to older software versions, in which the factor was

calculated internally. The value 0.9 is recommended.

Related to:

MD32300 $MA_MAX_AX_ACCEL (axis acceleration)

32310

MAX_ACCEL_OVL_FACTOR

A04

Overload factor for axial velocity steps

DOUBLE

NEW CONF

CTEQ

1.2, 1.2, 1.2, 1.2, 1.2,

0.0

3.4E+38

7/7

1.2

Description:

The overload factor limits the velocity jump of the machine axis on block transition.

The value entered is related to the value of MD32300 $MA_MAX_AX_ACCEL (axis

acceleration) and states by how much the maximum acceleration can be exceeded for one

IPO cycle.

Related to:

MD32300 $MA_MAX_AX_ACCEL (axis acceleration)

Machine data and parameters

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2.3 NC machine data

MD10070 $MN_IPO_SYSCLOCK_TIME_RATIO (interpolator clock)

Each field element corresponds to a G code in the 59th G group.

32320

DYN_LIMIT_RESET_MASK

A05, A06, A10,

A04

Reset behavior of dynamic response limitation.

UDWORD

Reset

CTEQ

0x03

7/2

Description:

MD32320 $MA_DYN_LIMIT_RESET_MASK is used to set the reset response of functions

limiting dynamic response for specific axes and groups.

The MD is bit-coded, bit 0 (LSB) and bit 1 are currently allocated.

Bit 0 = 0:

Programmed ACC, VELOLIM and JERKLIM are reset to 100% with channel reset/M30 if the

channel-specific MD22410 $MC_F_VALUES_ACTIVE_AFTER_RESET is also zero.

For spindle mode, programmed ACC and VELOLIM are reset to 100% with channel reset/M30

if MD35040 $MA_SPIND_ACTIVE_AFTER_RESET is zero and the channel-specific MD22400

$MC_S_VALUES_ACTIVE_AFTER_RESET is also zero.

Bit 0 = 1:

Programmed ACC, VELOLIM and JERKLIM are retained beyond channel reset/M30.

Bit 1 = 0:

Programmed ACCLIMA, VELOLIMA and JERKLIMA are reset to 100% with channel reset/M30, if

MD22410 $MC_F_VALUES_ACTIVE_AFTER_RESET is also zero.

Bit 1 = 1:

Programmed ACCLIMA, VELOLIMA and JERKLIMA are retained beyond channel reset//M30.

Notes:

In MD22410 $MC_F_VALUES_ACTIVE_AFTER_RESET, the reset responses of the dynamic

instructions ACC, VELOLIM, JERKLIM, ACCLIMA, VELOLIMA and JERKLIMA are set channel

specifically. If the MD is set, then the values are also retained.

For spindle mode, the values for ACC and VELOLIM are also retained if MD35040

$MA_SPIND_ACTIVE_AFTER_RESET is not equal to zero or the channel-specific MD22400

$MC_S_VALUES_ACTIVE_AFTER_RESET is not equal to zero.

32400

AX_JERK_ENABLE

A07, A04

Axial jerk limitation

BOOLEAN

NEW CONF

CTEQ, -

FALSE

7/2

Description:

Enables the function of an axial jerk limitation.

The limitation is set via a time constant; it is always active.

The limitation works independently of the limitations "path-related maximum jerk",

"knee-shaped acceleration characteristic" and the axial jerk limitation of the axes

that are operated in JOG mode or positioning axis mode.

Related to:

MD32410 $MA_AX_JERK_TIME (time constant for axial jerk limitation)

32402

AX_JERK_MODE

A07, A04

B2, G2, B3

Filter type for axial jerk limitation

BYTE

PowerOn

CTEQ, -

7/2

Description:

Filter type for axial jerk limitation:

2nd order filter

Moving averaging

Machine data and parameters

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2.3 NC machine data

Bandstop filter

Double moving averaging

FIR low pass

Two-character parameterization activates switchable filter chains e.g.

25:

switchable filter chain with jerk filters of type 5 and type 2

Notes on parameterization:

MD32402 $MA_AX_JERK_MODE is only effective if MD32400 $MA_AX_JERK_ENABLE is set to 1.

Type1 requires the setting of

MD32410 $MA_AX_JERK_TIME

Recommended values from min: 0.03 s to max. 0.06 s

Type 1 is offered for compatibility reasons, type 2 is recommended

Type 2 requires the setting of

MD32410 $MA_AX_JERK_TIME

Recommended values from min: 1 position-control cycle to max: 127 position-control

cycles. At 2 ms for a position-control cycle this corresponds to from 0.002 s to 0.254

Type 2 requires more computing time than type 1, but causes smaller contour errors for

the same smoothing effect, or smoother movements with the same accuracy.

Type 3 requires the setting of

MD32410 $MA_AX_JERK_TIME

MD32412 $MA_AX_JERK_FREQ

MD32414 $MA_AX_JERK_DAMP.

To parameterize a pure bandstop filter, it is recommended to set MD32410

$MA_AX_JERK_TIME=0

, whereby "denominator frequency = numerator frequency = blocking frequency = MD32412

$MA_AX_JERK_FREQ" is set automatically.

Whereas with MD32410 $MA_AX_JERK_TIME > 0 a separate denominator frequency is set so

that a bandstop filter can be implemented with an increased amplitude at frequencies

above the blocking frequency.

Type 4 corresponds to two type 2 filters connected in series, and therefore requires

the setting of

MD32410 $MA_AX_JERK_TIME

MD32411 $MA_AX_JERK_TIME_ADD

Type 5 requires the setting of

MD32407 $MA_AX_JERK_FIR_FREQ

MD32408 $MA_AX_JERK_FIR_ORDER

MD32409 $MA_AX_JERK_FIR_WINDOW

Two character parameterization activates switchable filter chains, e.g.

type 25 complements type 5 with a switchable alternative type 2

The parameterization is made in index 0 of the parameters for type 5 and in index 1 of

the parameters for type 2.

A runtime adaptation of the switchable filter chains is possible in the indices 0 and

1 of MD32895 $MA_DESVAL_DELAY_TIME if this is enabled by MD32890

$MA_DESVAL_DELAY_ENABLE.

Related to:

MD32400 $MA_AX_JERK_ENABLE

MD32407 $MA_AX_JERK_FIR_FREQ

MD32408 $MA_AX_JERK_FIR_ORDER

MD32409 $MA_AX_JERK_FIR_WINDOW

MD32410 $MA_AX_JERK_TIME

MD32411 $MA_AX_JERK_TIME_ADD

Machine data and parameters

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2.3 NC machine data

MD32412 $MA_AX_JERK_FREQ and

MD32414 $MA_AX_JERK_DAMP

MD32890 $MA_DESVAL_DELAY_ENABLE

MD32895 $MA_DESVAL_DELAY_TIME

32404

CALCFIR_SELECT

A07, A04

CALCFIR activation

BYTE

NEW CONF

7/2

Description:

Activation of the calculation of FIR filters via CALCFIR for the active dynamic

response mode.

0 = CALCFIR calculation is inactive

1 = CALCFIR (Standard) is active for filter chain [0]

2 = CALCFIR (Standard) is active for filter chain [1]

Related to:

MD32400 $MA_AX_JERK_ENABLE (Axial jerk limitation)

MD32402 $MA_AX_JERK_MODE

MD32405 $MA_CALCFIR_FREQ

MD32406 $MA_CALCFIR_TOL

MD32407 $MA_AX_JERK_FIR_FREQ

MD32408 $MA_AX_JERK_FIR_ORDER

MD32409 $MA_AX_JERK_FIR_WINDOW

32405

CALCFIR_FREQ

A07, A04

CALCFIR frequency

DOUBLE

NEW CONF

0.0, 0.0, 0.0, 0.0, 0.0,

0.0

100.0

7/2

0.0

Description:

Frequency for the calculation of FIR filters via CALCFIR. A frequency can be entered

for each dynamic response mode from G code group 59. Frequency = 0.0 disables the

CALCFIR calculation for this dynamic response mode. Typical frequencies lie in the

range from 10.0 to 100.0 Hz.

Each field element corresponds to a G code from the 59th G code group.

Related to:

MD32400 $MA_AX_JERK_ENABLE (Axial jerk limitation)

MD32402 $MA_AX_JERK_MODE

MD32404 $MA_CALCFIR_SELECT

MD32406 $MA_CALCFIR_TOL

MD32407 $MA_AX_JERK_FIR_FREQ

MD32408 $MA_AX_JERK_FIR_ORDER

MD32409 $MA_AX_JERK_FIR_WINDOW

32406

CALCFIR_TOL

A07, A04

mm, degrees

CALCFIR position tolerance

DOUBLE

NEW CONF

0.0, 0.0, 0.0, 0.0, 0.0,

0.0

0.05

7/2

0.0

Description:

Position tolerance for the calculation of FIR filters via CALCFIR. A position

tolerance can be entered for each dynamic response mode from G code group 59.

Each field element corresponds to a G code from the 59th G code group.

Machine data and parameters

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2.3 NC machine data

Related to:

MD32400 $MA_AX_JERK_ENABLE (Axial jerk limitation)

MD32402 $MA_AX_JERK_MODE

MD32404 $MA_CALCFIR_SELECT

MD32405 $MA_CALCFIR_FREQ

MD32407 $MA_AX_JERK_FIR_FREQ

MD32408 $MA_AX_JERK_FIR_ORDER

MD32409 $MA_AX_JERK_FIR_WINDOW

32407

AX_JERK_FIR_FREQ

A07, A04

Cutoff frequency of axial jerk filter type 5

DOUBLE

NEW CONF

20.0, 20.0

1.0

1000.0

7/2

Description:

Cutoff frequency of axial FIR jerk filter smoothing. The MD is only active if MD32402

$MA_AX_JERK_MODE = 5

Note: With MD32404 $MA_CALCFIR_SELECT > 0, the value of the machine data can change

automatically.

Related to:

MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)

MD32402 $MA_AX_JERK_MODE

MD32404 $MA_CALCFIR_SELECT

MD32408 $MA_AX_JERK_FIR_ORDER

MD32409 $MA_AX_JERK_FIR_WINDOW

32408

AX_JERK_FIR_ORDER

A07, A04

Filter order of axial jerk filter type 5

DWORD

NEW CONF

80, 80

200

7/2

Description:

Filter order of axial FIR jerk filter smoothing. The MD is only active if MD32402

$MA_AX_JERK_MODE = 5

Note: With MD32404 $MA_CALCFIR_SELECT > 0, the value of the machine date can change

automatically.

Related to:

MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)

MD32402 $MA_AX_JERK_MODE

MD32404 $MA_CALCFIR_SELECT

MD32407 $MA_AX_JERK_FIR_FREQ

MD32409 $MA_AX_JERK_FIR_WINDOW

32409

AX_JERK_FIR_WINDOW

A07, A04

Filter window type of axial jerk filter type 5

DWORD

NEW CONF

1, 1

7/2

Description:

Filter window type of axial FIR jerk filter smoothing. The MD is only active if

MD32402 $MA_AX_JERK_MODE = 5

Window type 0 does not use a window

Window type 1 uses Hamming window

Window type 2 uses Blackman-Harris window

Window type 3 uses Gauss window

Related to:

Machine data and parameters

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2.3 NC machine data

MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)

MD32402 $MA_AX_JERK_MODE

MD32407 $MA_AX_JERK_FIR_FREQ

MD32408 $MA_AX_JERK_FIR_ORDER

32410

AX_JERK_TIME

A07, A04

G1, TE1, S3, B2, G2

Time constant for axial jerk filter

DOUBLE

NEW CONF

0.001, 0.001

0.0

1.0E+301

7/2

Description:

Time constant of the axial jerk filter which causes a smoother axis setpoint

characteristic. The jerk filter will only be active if the time constant is greater

than a position control cycle.

This MD is not active in case of errors that cause a change in follow-up mode (for

example EMERGENCY STOP)

Special cases:

Machine axes that are supposed to be interpolating with each other must have the same

effective jerk filtering (for example the same time constant for tapping without

compensating chuck).

Related to:

MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)

MD32402 $MA_AX_JERK_MODE

32411

AX_JERK_TIME_ADD

A07, A04

G1, TE1, S3, B2, G2

Time constant for the second axial jerk filter type 4

DOUBLE

NEW CONF

0.001, 0.001

0.0

1.0E+301

7/2

Description:

Time constant of the second moving averaging. This MD is only active if MD32402

$MA_AX_JERK_MODE = 4 and if the time constant is greater than a position control cycle.

This MD is not active in case of errors that cause a change in follow-up mode (for

example EMERGENCY STOP)

Special cases:

Machine axes that are supposed to be interpolating with one another must have the same

effective jerk filtering (for example the same time constant for tapping without

compensating chuck).

Related to:

MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)

MD32402 $MA_AX_JERK_MODE

MD32410 $MA_AX_JERK_TIME

32412

AX_JERK_FREQ

A07, A04

Blocking frequency of axial jerk filter

DOUBLE

NEW CONF

10.0, 10.0

0.0

1.0E+301

7/2

Description:

Blocking frequency of axial jerk filter bandstop MD is only active if MD32402

$MA_AX_JERK_MODE = 3

32414

AX_JERK_DAMP

A07, A04

Damping of axial jerk filter

DOUBLE

NEW CONF

0.0, 0.0

0.0

1.0E+301

7/2

Description:

Damping of axial jerk filter bandstop:

Machine data and parameters

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2.3 NC machine data

Input value 0 means complete blocking with MD32412 $MA_AX_JERK_FREQ, input values >0

can attenuate the blocking effect.

MD is only active if MD32402 $MA_AX_JERK_MODE = 3

32415

EQUIV_CPREC_TIME

A07, A04

MD32410 $MA_AX_JERK_TIME,

$MC_CPREC_WITH_FFW

Time constant for the programmable contour accuracy

DOUBLE

NEW CONF

-1.0E+301

1.0E+301

7/2

Description:

The data states the jerk filter time constant at which the contour error with active

feedforward control is negligibly small.

32420

JOG_AND_POS_JERK_ENABLE

A04

G1, H1, P2, S3, B2

Default setting of axis jerk limitation

BOOLEAN

Reset

CTEQ

FALSE

7/2

Description:

Enables the function of the axis-specific jerk limitation for the operating modes JOG,

REF and positioning axis mode.

1: Axial jerk limitation for JOG mode and positioning axis mode

0: No jerk limitation for JOG mode and positioning axis mode

The maximum jerk occurring is defined in MD32430 $MA_JOG_AND_POS_MAX_JERK.

Related to:

MD32430 $MA_JOG_AND_POS_MAX_JERK (axial jerk)

32429

MAX_JERK_STOP

A04

m/s³, rev/s³

Reserved: Maximum axial EMERGENCY JERK

DOUBLE

NEW CONF

0., 0., 0., 0., 0., 0., 0.,

1.0E+301

3/3

0., 0., 0., 0., 0., 0., 0.,

0., 0., ...

Description:

Reserved for maximum axial jerk in emergency situations. A value of 0 has the same

effect as MAX_AX_JERK.

Each field element corresponds to a G code in the 59th G code group.

32430

JOG_AND_POS_MAX_JERK

A04

G1, P2, S3, B2

m/s³, rev/s³

Axial jerk

DOUBLE

NEW CONF

CTEQ

1000.0, 1000.0,

1.e-9

1.0E+301

7/2

1000.0, 1000.0,

1000.0, 1000.0...

Description:

The jerk limit value limits the rate of change of axis acceleration in JOG and REF

modes as well as in positioning axis mode with MD18960 $MN_POS_DYN_MODE=0.

The setting and time calculation are made as for MD20600 $MC_MAX_PATH_JERK (path-

related maximum jerk).

Not relevant for:

• Path interpolation

• Error states that lead to quick stop.

Related to:

MD32420 $MA_JOG_AND_POS_JERK_ENABLE (initial setting of axial jerk limitation)

MD18960 $MN_POS_DYN_MODE

Machine data and parameters

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2.3 NC machine data

32431

MAX_AX_JERK

A04

B1, B2

m/s³, rev/s³

Maximum axial jerk for path movement

DOUBLE

NEW CONF

1.e6, 1.e6, 1.e6, 1.e6,

1.e-9

3.4E+38

3/3

1.e6, 1.e6, 1.e6, 1.e6,

1.e6, 1.e6, 1.e6...

Description:

Maximum axial jerk for path motion

Each field element corresponds to a G code in the 59th G code group.

Note:

This MD defines the jerk with which the maximum load can be moved.

The maximum jerk of the axis parameterized in this machine data can be exceeded with

functions like "Intelligent Load Control, ILC".

32432

PATH_TRANS_JERK_LIM

A04

B1, B2

m/s³, rev/s³

Maximum axial jerk at block transition in continuous-path mode

DOUBLE

NEW CONF

CTEQ

1.e6, 1.e6, 1.e6, 1.e6,

0.0

1.0E+301

3/3

1.e6, 1.e6, 1.e6, 1.e6,

1.e6, 1.e6, 1.e6...

Description:

The control limits the jerk (acceleration jump) at a block transition between contour

sections of different curvature to the value set with active jerk limitation.

Not relevant for:

Exact stop

There is an entry for each G code from the 59th G code group (dynamic G code group).

Related to:

Path control, SOFT type of acceleration

32433

SOFT_ACCEL_FACTOR

A04

TE9, B1, B2

Scaling of acceleration limitation with SOFT

DOUBLE

NEW CONF

1., 1., 1., 1., 1., 1.

1e-9

3.4E+38

3/3

Description:

Scaling of acceleration limitation with SOFT.

Relevant axial acceleration limitation for SOFT =:

(MD32433 $MA_SOFT_ACCEL_FACTOR[..] * MD32300 $MA_MAX_AX_ACCEL[..])

Each field element corresponds to a G code in the 59th G code group.

32434

G00_ACCEL_FACTOR

A04

TE9, B1, B2

Scaling of acceleration limitation with G00.

DOUBLE

NEW CONF

1e-9

3.4E+38

3/3

Description:

Scaling of the acceleration limitation with G00.

Relevant axial acceleration limitation for G00 =:

(MD32433 $MA_G00_ACCEL_FACTOR[..] * MD32300 $MA_MAX_AX_ACCEL[..])

32435

G00_JERK_FACTOR

A04

B1, B2

Scaling of jerk limitation with G00.

DOUBLE

NEW CONF

1e-9

3.4E+38

3/3

Description:

Scaling of the jerk limitation with G00.

Machine data and parameters

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Relevant axial jerk limitation for G00 =:

(MD32435 $MA_G00_JERK_FACTOR[..] * MD32431 $MA_MAX_AX_JERK[..])

32437

AX_JERK_VEL0

A04

mm/min, rev/min

Velocity threshold for linear jerk adjustment

DOUBLE

NEW CONF

3000, 3000, 3000,

0.0

1.0E+301

3/3

3000, 3000, 3000,

3000, 3000...

Description:

Velocity at and above which the permissible jerk of an axis increases in a linear

fashion.

Jerk adjustment only becomes active if MD32439 $MA_MAX_AX_JERK_FACTOR is > 1.0.

There is an entry for each dynamic G code group.

See also MD32438 $MA_AX_JERK_VEL1 and $MA_MAX_AX_JERK_FACTOR.

32438

AX_JERK_VEL1

A04

mm/min, rev/min

Velocity threshold for linear jerk adjustment

DOUBLE

NEW CONF

6000, 6000, 6000,

0.0

1.0E+301

3/3

6000, 6000, 6000,

6000, 6000...

Description:

Velocity at and above which the permissible jerk of an axis switches from increasing

in a linear fashion

to the saturation defined in MD32439 $MA_MAX_AX_JERK_FACTOR.

The value of this velocity must be greater than the value set with MD32437

$MA_AX_JERK_VEL0.

Jerk adjustment becomes active only if MD32439 $MA_MAX_AX_JERK_FACTOR is > 1.0.

There is an entry for each dynamic G code group.

See also MD32437 $MA_AX_JERK_VEL0 and MD32439 $MA_MAX_AX_JERK_FACTOR

32439

MAX_AX_JERK_FACTOR

A04

Factor for jerk adjustment at high velocities

DOUBLE

NEW CONF

1.0, 1.0, 1.0, 1.0, 1.0,

1.0

3.4E+38

3/3

1.0

Description:

Factor for setting adaptive jerk adjustment for an axis.

Jerk adjustment becomes active only if the value of this MD is greater than 1.

The speed-dependent axial jerk is only used for defining the maximum path velocity and

does not affect the maximum path acceleration and maximum path jerk. Therefore, speed-

dependent jerk adaptation only affects traversing that includes geometric torsion

(change of the curvature). Both the curvature and torsion of linear movements are

zero, and jerk adaptation has no effect.

There is an entry for each dynamic G code group.

See also MD32437 $MA_AX_JERK_VEL0 and MD32438 $MA_AX_JERK_VEL1.

32440

LOOKAH_FREQUENCY

EXP, A04

Smoothing frequency for LookAhead

DOUBLE

NEW CONF

10.

0.0

1.0E+301

7/2

Description:

It is always the minimum of all the axes participating in the path which is determined.

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2.3 NC machine data

If vibrations are aroused in the mechanics of this axis and if their frequency is

known, then this MD should be set to a lower value than this frequency.

32450

BACKLASH

A09

K3, G2

mm, degrees

Backlash

DOUBLE

NEW CONF

0.0, 0.0

-1.0E+301

1.0E+301

7/2

Description:

Backlash on reversal between positive and negative travel directions.

Input of the compensation value is

• positive, if the encoder is leading the machine part (normal situation)

• negative, if the encoder is behind the machine part.

Backlash compensation is not active when 0 is entered.

Backlash compensation is always active after reference point approach in all

operating modes.

Special cases:

A specific backlash on reversal must be entered for each measuring system.

Related to:

MD30200 $MA_NUM_ENCS (number of measuring systems)

MD36500 $MA_ENC_CHANGE_TOL

(Maximum tolerance at actual position value change)

32452

BACKLASH_FACTOR

A09

K3, G2, S1, V1

Evaluation factor for backlash

DOUBLE

NEW CONF

1.0, 1.0, 1.0, 1.0, 1.0,

0.01

100.0

7/2

1.0

Description:

Evaluation factor for backlash.

The machine data enables the backlash defined in MD32450 $MA_BACKLASH to be changed as

a function of the parameter set, in order to take a gear stage dependent backlash

into account, for example.

Related to:

MD32450 $MA_BACKLASH[n]

32454

BACKLASH_MODE

A09

Backlash compensation mode

UBYTE

NEW CONF

0, 0

0x3

7/2

Description:

Bit 0 = 0:

The backlash compensation value is not restored at Power On.

Bit 0 = 1:

The backlash compensation value is restored at Power On.

Bit 1 = 0:

The backlash compensation responds to other compensation movements (temperature

compensation, sag and angularity error compensation).

Bit 1 = 1:

The backlash compensation does not respond to other compensation movements

(temperature compensation, sag and angularity error compensation).

Machine data and parameters

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2.3 NC machine data

32455

BACKLASH_ACT_COMP

A09

Internal value of backlash compensation

DOUBLE

PowerOn

NDLD, NBUP, -

0.0, 0.0

7/2

Description:

The current numerical value of the backlash compensation is stored in this MD (in

internal format representation) so that the compensation value can be restored at

Power On.

32456

BACKLASH_DYN

A09

mm, degrees

Compensation value of dynamic backlash compensation

DOUBLE

NEW CONF

0.0, 0.0

7/2

Description:

Compensation value for dynamic backlash compensation value

The entry of the compensation value is

• positive if the encoder leading the machine part (normal case)

• negative if the encoder is following the machine part.

Backlash compensation becomes ineffective if 0 is entered.

The dynamic backlash compensation can only be activated after the reference point

approach. Activation takes place via PLC user interface signals.

Special cases:

A separate compensation value must be entered for each measuring system.

Corresponds to:

MD32457 $MA_BACKLASH_DYN_MAX_VELO

(limitation of the compensation value change)

MD32000 $MA_MAX_AX_VELO

(maximum axis velocity)

MD30200 $MA_NUM_ENCS

(number of measuring systems)

MD30200 $MA_NUM_ENCS (number of measuring systems)

32457

BACKLASH_DYN_MAX_VELO

A09

Limitation of dynamic backlash compensation value change

DOUBLE

NEW CONF

1.0

7/2

Description:

Relative velocity at which a dynamic backlash compensation value is retracted.

Limitation of compensation value change. This is entered as percentage of MD32000

$MA_MAX_AX_VELO.

Corresponds to:

MD32456 $MA_BACKLASH_DYN

(compensation value of dynamic backlash compensation)

MD32000 $MA_MAX_AX_VELO

(maximum axis velocity)

32490

FRICT_COMP_MODE

A09

Type of friction compensation

BYTE

PowerOn

7/2

Description:

No friction compensation

Friction compensation with constant injected value or adaptive characteristic

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

Friction compensation with learned characteristic via neural network

Friction compensation with adaptive characteristics, injection time depends on

velocity setpoint

Friction compensation with adaptive characteristics, injection time depends on

position controller output

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

Modes 1 and 2 related to:

MD32490 $MA_FRICT_COMP_MODE

MD32510 $MA_FRICT_COMP_ADAPT_ENABLE

MD32520 $MA_FRICT_COMP_CONST_MAX

MD32540 $MA_FRICT_COMP_TIME

MD38010 $MA_MM_QEC_MAX_POINTS

Modes 3 and 4 related to:

MD32571 $MA_FRICT_VELO_STEP

MD32572 $MA_FRICT_V_PULSE_DELAY_TIME

MD32573 $MA_FRICT_V_PULSE_CONST_TIME

MD32574 $MA_FRICT_V_PULSE_DECAY_TIME

MD32575 $MA_FRICT_V_PULSE_SMOOTH_TIME

MD32576 $MA_FRICT_TORQUE_STEP

MD32577 $MA_FRICT_T_PULSE_DELAY_TIME

MD32578 $MA_FRICT_T_PULSE_SMOOTH_TIME

MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL

MD32582 $MA_FRICT_ADAPT_V_STEP_PLUS

MD32583 $MA_FRICT_ADAPT_V_STEP_MINUS

MD32584 $MA_FRICT_ADAPT_V_CONST_PLUS

MD32585 $MA_FRICT_ADAPT_V_CONST_MINUS

MD32586 $MA_FRICT_ADAPT_V_DECAY_PLUS

MD32587 $MA_FRICT_ADAPT_V_DECAY_MINUS

MD32588 $MA_FRICT_ADAPT_T_STEP

32500

FRICT_COMP_ENABLE

A09

K3, G2

Friction compensation active

BOOLEAN

NEW CONF

FALSE

7/2

Description:

Friction compensation is enabled for this axis.

The corresponding friction compensation is active as function of the setting of

MD32490 $MA_FRICT_COMP_MODE.

In the case of neural QEC, the machine data should not be set to "1" until a valid

characteristic has been "learnt".

During the learning stage, the compensation values are added on independently of the

contents of this machine data.

Friction compensation is not enabled for this axis.

Thus, no friction compensation values are entered.

Related to:

MD32490 $MA_FRICT_COMP_MODE

Machine data and parameters

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2.3 NC machine data

32510

FRICT_COMP_ADAPT_ENABLE

EXP, A09

Adaptation friction compensation active

BOOLEAN

NEW CONF

FALSE

7/2

Description:

Friction compensation with amplitude adaptation is enabled for the axis.

Quadrant errors on circular contours can be compensated with friction compensation.

The amplitude of the friction compensation value required to be added on is frequently

not constant over the entire acceleration range. That is, a lower compensation value

needs to be entered for optimum friction compensation for higher accelerations than

for lower accelerations.

The parameters of the adaptation curve have to be determined, and entered in the

machine data.

Friction compensation with amplitude adaptation is not enabled for the axis.

MD irrelevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE

Friction compensation active

MD32520 $MA_FRICT_COMP_CONST_MAX

Maximum friction compensation value

MD32530 $MA_FRICT_COMP_CONST_MIN

Minimum friction compensation value

MD32550 $MA_FRICT_COMP_ACCEL1

Adaptation acceleration value 1

MD32560 $MA_FRICT_COMP_ACCEL2

Adaptation acceleration value 2

MD32570 $MA_FRICT_COMP_ACCEL3

Adaptation acceleration value 3

MD32540 $MA_FRICT_COMP_TIME

Friction compensation time constant

32520

FRICT_COMP_CONST_MAX

EXP, A09

mm/min, rev/min

Maximum friction compensation value

DOUBLE

NEW CONF

0.0

-1.0E+301

1.0E+301

7/2

Description:

If adaptation is inactive (MD32510 $MA_FRICT_COMP_ADAPT_ENABLE=0), the maximum

friction compensation is applied throughout the entire acceleration range.

If adaptation is active (MD32510 $MA_FRICT_COMP_ADAPT_ENABLE=1), the maximum friction

compensation is applied in accordance with the adaptation curve.

In the 1st acceleration range (

a < MD32550), the switching amplitude =

MD32520 * (a/MD32550).

In the 2nd acceleration range (MD32550 <= a <= MD32560), the switching amplitude =

MD32520.

In the 3rd acceleration range (MD32560 < a < MD32570), the switching amplitude =

MD32520 + (MD32530-MD32520)/(MD32570-MD32560) * (a - MD32560).

In the 4th acceleration range (MD32570 <= a

), the switching amplitude =

MD32530.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

Machine data and parameters

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2.3 NC machine data

MD32490 $MA_FRICT_COMP_MODE = 2 (neural QEC)

Related to:

MD32500 $MA_FRICT_COMP_ENABLE

Friction compensation active

MD32510 $MA_FRICT_COMP_ADAPT_ENABLE

Friction compensation adaptation active

MD32530 $MA_FRICT_COMP_CONST_MIN

Minimum friction compensation value

MD32550 $MA_FRICT_COMP_ACCEL1

Adaptation acceleration value 1

MD32560 $MA_FRICT_COMP_ACCEL2

Adaptation acceleration value 2

MD32570 $MA_FRICT_COMP_ACCEL3

Adaptation acceleration value 3

MD32540 $MA_FRICT_COMP_TIME

Friction compensation time constant

32530

FRICT_COMP_CONST_MIN

EXP, A09

mm/min, rev/min

Minimum friction compensation value

DOUBLE

NEW CONF

0.0

-1.0E+301

1.0E+301

7/2

Description:

The minimum friction compensation value is active only if "Friction compensation with

adaptation" (MD32510 $MA_FRICT_COMP_ADAPT_ENABLE=1) is active.

The amplitude of the friction compensation value is entered in the 4th acceleration

range (MD32570 $MA_FRICT_COMP_ACCEL3 <= a).

MD irrelevant for:

MD32510 $MA_FRICT_COMP_ADAPT_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 2 (neural QEC)

Special cases:

In special cases, the value for FRICT_COMP_CONST_MIN may be even higher than for

MD32520 $MA_FRICT_COMP_CONST_MAX.

Related to:

MD32500 $MA_FRICT_COMP_ENABLE

Friction compensation active

MD32510 $MA_FRICT_COMP_ADAPT_ENABLE

Friction compensation adaptation active

MD32520 $MA_FRICT_COMP_CONST_MAX

Maximum friction compensation value

MD32550 $MA_FRICT_COMP_ACCEL1

Adaptation acceleration value 1

MD32560 $MA_FRICT_COMP_ACCEL2

Adaptation acceleration value 2

MD32570 $MA_FRICT_COMP_ACCEL3

Adaptation acceleration value 3

MD32540 $MA_FRICT_COMP_TIME

Friction compensation time constant

Machine data and parameters

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2.3 NC machine data

32540

FRICT_COMP_TIME

EXP, A09

Friction compensation time constant

DOUBLE

NEW CONF

0.015

0.0

1.0E+301

7/2

Description:

The friction compensation value is entered via a DT1 filter.

The add-on amplitude decays in accordance with the time constant.

MD irrelevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

Related to:

MD32500 $MA_FRICT_COMP_ENABLE

Friction compensation active

MD32520 $MA_FRICT_COMP_CONST_MAX

Maximum friction compensation value

32550

FRICT_COMP_ACCEL1

EXP, A09

m/s², rev/s²

Adaptation acceleration value 1

DOUBLE

NEW CONF

0.0

1.0E+301

7/2

Description:

The adaptation acceleration value is only required if "Friction compensation with

adaptation" (MD32510=1) is active.

The adaptation acceleration values 1 to 3 are interpolation points for defining the

adaptation curve. The adaptation curve is subdivided into 4 ranges, in each of which

a different friction compensation value applies.

For the 1st range (a < MD32550), the add-on amplitude = a * MD32520/ MD32550

MD irrelevant for:

MD32510 $MA_FRICT_COMP_ADAPT_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE

Friction compensation active

MD32510 $MA_FRICT_COMP_ADAPT_ENABLE

Friction compensation adaptation active

MD32520 $MA_FRICT_COMP_CONST_MAX

Maximum friction compensation value

MD32530 $MA_FRICT_COMP_CONST_MIN

Minimum friction compensation value

MD32560 $MA_FRICT_COMP_ACCEL2

Adaptation acceleration value 2

MD32570 $MA_FRICT_COMP_ACCEL3

Adaptation acceleration value 3

MD32540 $MA_FRICT_COMP_TIME

Friction compensation time constant

32560

FRICT_COMP_ACCEL2

EXP, A09

m/s², rev/s²

Adaptation acceleration value 2

DOUBLE

NEW CONF

0.0

1.0E+301

7/2

Description:

The adaptation acceleration value is only required if "Friction compensation with

adaptation" (MD32510 $MA_FRICT_COMP_ADAPT_ENABLE=1) is active.

Machine data and parameters

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2.3 NC machine data

Adaptation acceleration values 1 to 3 are interpolation points for defining the

adaptation curve. The adaptation curve is subdivided into 4 ranges, in each of which

a different friction compensation value applies.

In the 1st acceleration range (

a < MD32550), the switching amplitude =

MD32520 * (a/MD32550).

In the 2nd acceleration range (MD32550 <= a <= MD32560), the switching amplitude =

MD32520.

In the 3rd acceleration range (MD32560 < a < MD32570), the switching amplitude =

MD32520 + (MD32530-MD32520)/(MD32570-MD32560) * (a - MD32560).

In the 4th acceleration range (MD32570 <= a

), the switching amplitude =

MD32530.

Not relevant for:

MD32510 $MA_FRICT_COMP_ADAPT_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE

Friction compensation active

MD32510 $MA_FRICT_COMP_ADAPT_ENABLE

Friction compensation adaptation active

MD32520 $MA_FRICT_COMP_CONST_MAX

Maximum friction compensation value

MD32530 $MA_FRICT_COMP_CONST_MIN

Minimum friction compensation value

MD32550 $MA_FRICT_COMP_ACCEL1

Adaptation acceleration value 1

MD32570 $MA_FRICT_COMP_ACCEL3

Adaptation acceleration value 3

MD32540 $MA_FRICT_COMP_TIME

Friction compensation time constant

32570

FRICT_COMP_ACCEL3

EXP, A09

m/s², rev/s²

Adaptation acceleration value 3

DOUBLE

NEW CONF

0.0

1.0E+301

7/2

Description:

The adaptation acceleration value is only required if "Friction compensation with

adaptation" (MD32510=1) is active.

Adaptation acceleration values 1 to 3 are interpolation points for defining the

adaptation curve. The adaptation curve is subdivided into 4 ranges, in each of which

a different friction compensation value applies.

In the 1st acceleration range (

a < MD32550), the switching amplitude =

MD32520 * (a/MD32550).

In the 2nd acceleration range (MD32550 <= a <= MD32560), the switching amplitude =

MD32520.

In the 3rd acceleration range (MD32560 < a < MD32570), the switching amplitude =

MD32520 + (MD32530-MD32520)/(MD32570-MD32560) * (a - MD32560).

In the 4th acceleration range (MD32570 <= a

), the switching amplitude =

MD32530.

Not relevant for:

MD32510 $MA_FRICT_COMP_ADAPT_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

Friction compensation active

MD32510 $MA_FRICT_COMP_ADAPT_ENABLE

Friction compensation adaptation active

MD32520 $MA_FRICT_COMP_CONST_MAX

Maximum friction compensation value

MD32530 $MA_FRICT_COMP_CONST_MIN

Minimum friction compensation value

MD32550 $MA_FRICT_COMP_ACCEL1

Adaptation acceleration value 1

MD32560 $MA_FRICT_COMP_ACCEL2

Adaptation acceleration value 2

MD32540 $MA_FRICT_COMP_TIME

Friction compensation time constant

32571

FRICT_VELO_STEP

EXP, A09

mm/min, rev/min

Amplitude of the velocity injection pulse of the friction

DOUBLE

NEW CONF

compensation

0.0

1.0E+301

7/2

Description:

The amplitude of the velocity injection pulse of the friction compensation is adapted

as a function of the acceleration via weighting factors from the characteristics.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32582 $MA_FRICT_ADAPT_V_STEP_PLUS

MD32583 $MA_FRICT_ADAPT_V_STEP_MINUS

32572

FRICT_V_PULSE_DELAY_TIME

EXP, A09

Delay time of the velocity injection pulse of the friction

DOUBLE

NEW CONF

compensation

0.0

0.1

7/2

Description:

The velocity injection pulse of the friction compensation is delayed by this time. The

delay time is not adapted and is limited to 16 position controller cycles.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD10050 $MN_SYSCLOCK_CYCLE_TIME

MD10060 $MN_POSCTRL_SYSCLOCK_TIME_RATIO

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

32573

FRICT_V_PULSE_CONST_TIME

EXP, A09

Active time of the velocity injection pulse of the friction

DOUBLE

NEW CONF

compensation

0.0

10.0

7/2

Description:

The active time of the velocity injection pulse of the friction compensation is

adapted as a function of the acceleration via weighting factors from the

characteristics.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32584 $MA_FRICT_ADAPT_V_CONST_PLUS

MD32585 $MA_FRICT_ADAPT_V_CONST_MINUS

32574

FRICT_V_PULSE_DECAY_TIME

EXP, A09

Decay time of the velocity injection pulse of the friction

DOUBLE

NEW CONF

compensation

0.0

10.0

7/2

Description:

The decay time of the velocity injection pulse of the friction compensation is

smoothed and adapted as a function of the acceleration via weighting factors from the

characteristics.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32586 $MA_FRICT_ADAPT_V_DECAY_PLUS

MD32587 $MA_FRICT_ADAPT_V_DECAY_MINUS

32575

FRICT_V_PULSE_SMOOTH_TIME

EXP, A09

Rise time of the velocity injection pulse of the friction compensation

DOUBLE

NEW CONF

0.0

10.0

7/2

Description:

The rise time of the velocity injection pulse of the friction compensation. The rise

time is smoothed and is not adapted.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32571 $MA_FRICT_VELO_STEP

MD32573 $MA_FRICT_V_PULSE_CONST_TIME

MD32574 $MA_FRICT_V_PULSE_DECAY_TIME

Machine data and parameters

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2.3 NC machine data

32576

FRICT_TORQUE_STEP

EXP, A09

Amplitude of the torque injection pulse of the friction

DOUBLE

NEW CONF

compensation

0.0

1.0E+301

7/2

Description:

The amplitude of the torque injection pulse of the friction compensation is adapted as

a function of the acceleration via weighting factors from the characteristics.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32588 $MA_FRICT_ADAPT_T_STEP

32577

FRICT_T_PULSE_DELAY_TIME

EXP, A09

Delay time of the torque injection pulse of the friction

DOUBLE

NEW CONF

compensation

0.0

0.1

7/2

Description:

The torque injection pulse of the friction compensation is delayed by this time. The

delay time is not adapted and is limited to 16 position controller cycles.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD10050 $MN_SYSCLOCK_CYCLE_TIME

MD10060 $MN_POSCTRL_SYSCLOCK_TIME_RATIO

32578

FRICT_T_PULSE_SMOOTH_TIME

EXP, A09

Rise time of the torque injection pulse of the friction compensation

DOUBLE

NEW CONF

0.0

10.0

7/2

Description:

The rise time of the torque injection pulse of the friction compensation. The rise

time is smoothed and is not adapted.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32576 $MA_FRICT_TORQUE_STEP = 1

32579

FRICT_PRETRIGGER_TIME

EXP, A09

Rate time for the friction compensation pulses

DOUBLE

NEW CONF

0.0

-0.250

0.250

7/2

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2.3 NC machine data

Description:

The rate and delay times can be set within the range from 0 to 256 position control

cycles. The phase filter (compare MD32895 $MA_DESVAL_DELAY_TIME can delay the

setpoints by 0 to 256 ms in total with, for example, a 2 ms position control cycle.

The rate and delay times are not adapted for the friction compensation pulse.

a. Positive input values: The friction compensation pulses are injected prematurely

by this time. The rate time is not adapted and is limited to MD32895

$MA_DESVAL_DELAY_TIME.

b. Negative input values: The friction compensation pulses are injected with a delay

of this time (in addition to MD32895 $MA_DESVAL_DELAY_TIME).

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32890 $MA_DESVAL_DELAY_ENABLE

MD32895 $MA_DESVAL_DELAY_TIME

32580

FRICT_COMP_INC_FACTOR

A09

Weighting of friction compensation value with short travel

DOUBLE

NEW CONF

motions.

0.0

100.0

7/2

Description:

The optimum friction compensation value determined by the circularity test can cause

overcompensation of this axis if compensation is activated and axial positioning

movements are short.

In such cases, a better setting can be achieved by reducing the amplitude of the

friction compensation value and acts on all positioning blocks that are made within an

interpolation cycle of the control.

The factor that has to be entered can be determined empirically and can be different

from axis to axis because of the different friction conditions. The input range is

between 0 and 100% of the value determined by the circularity test.

The default setting is 0; so that no compensation is performed for short traversing

movements.

Related to:

MD32500 $MA_FRICT_COMP_ENABLE Friction compensation active

32581

FRICT_ADAPT_TABLE_ACCEL

EXP, A09

m/s², rev/s²

Acceleration interpolation points of friction compensation

DOUBLE

NEW CONF

characteristics

0.0, 0.0, 0.0, 0.0, 0.0,

1000000.0

7/2

0.0, 0.0, 0.0, 0.0, 0.0

Description:

Up to ten different acceleration values can be input for which the friction

compensation values are to be adapted. The acceleration values must be entered in

strictly monotonously increasing order. The first acceleration value must always be

zero. A final acceleration value equal to zero reduces the number of adaptation

interpolation points.

The following friction compensation values are adapted as a function of the

acceleration:

- Amplitude of the velocity injection pulse

- Active time of the velocity injection pulse

- Decay time of the velocity injection pulse

Machine data and parameters

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2.3 NC machine data

- Amplitude of the torque injection pulse

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32582 $MA_FRICT_ADAPT_V_STEP_PLUS

MD32583 $MA_FRICT_ADAPT_V_STEP_MINUS

MD32584 $MA_FRICT_ADAPT_V_CONST_PLUS

MD32585 $MA_FRICT_ADAPT_V_CONST_MINUS

MD32586 $MA_FRICT_ADAPT_V_DECAY_PLUS

MD32587 $MA_FRICT_ADAPT_V_DECAY_MINUS

MD32588 $MA_FRICT_ADAPT_T_STEP

32582

FRICT_ADAPT_V_STEP_PLUS

EXP, A09

Weighting factor for the amplitude of the velocity injection pulse

DOUBLE

NEW CONF

0.0, 0.0, 0.0, 0.0, 0.0,

-1.0

1.0

7/2

0.0, 0.0, 0.0, 0.0, 0.0

Description:

A factor between -1.0 and 1.0 can be entered for each acceleration value from MD32581

$MA_FRICT_ADAPT_TABLE_ACCEL with which the amplitude of the velocity injection pulse

of the friction compensation is weighted. The weighting factors are active on sign

change of the velocity in the positive direction.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL

MD32571 $MA_FRICT_VELO_STEP

32583

FRICT_ADAPT_V_STEP_MINUS

EXP, A09

Weighting factor for the amplitude of the velocity injection pulse

DOUBLE

NEW CONF

0.0, 0.0, 0.0, 0.0, 0.0,

-1.0

1.0

7/2

0.0, 0.0, 0.0, 0.0, 0.0

Description:

A factor between -1.0 and 1.0 can be entered for each acceleration value from MD32581

$MA_FRICT_ADAPT_TABLE_ACCEL with which the amplitude of the velocity injection pulse

of the friction compensation is weighted. The weighting factors are active on sign

change of the velocity in the negative direction.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL

MD32571 $MA_FRICT_VELO_STEP

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2.3 NC machine data

32584

FRICT_ADAPT_V_CONST_PLUS

EXP, A09

Weighting factor for the active time of the velocity injection pulse

DOUBLE

NEW CONF

0.0, 0.0, 0.0, 0.0, 0.0,

1.0

7/2

0.0, 0.0, 0.0, 0.0, 0.0

Description:

A factor between 0.0 and 1.0 can be entered for each acceleration value from MD32581

$MA_FRICT_ADAPT_TABLE_ACCEL with which the active time of the velocity injection

pulse of the friction compensation is weighted. The weighting factors are active on

sign change of the velocity in the positive direction.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL

MD32573 $MA_ FRICT_V_ PULSE_CONST_TIME

32585

FRICT_ADAPT_V_CONST_MINUS

EXP, A09

Weighting factor for the active time of the velocity injection pulse

DOUBLE

NEW CONF

0.0, 0.0, 0.0, 0.0, 0.0,

1.0

7/2

0.0, 0.0, 0.0, 0.0, 0.0

Description:

A factor between 0.0 and 1.0 can be entered for each acceleration value from MD32581

$MA_FRICT_ADAPT_TABLE_ACCEL with which the active time of the velocity injection

pulse of the friction compensation is weighted. The weighting factors are active on

sign change of the velocity in the negative direction.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL

MD32573 $MA_ FRICT_V_ PULSE_CONST_TIME

32586

FRICT_ADAPT_V_DECAY_PLUS

EXP, A09

Weighting factor for the decay time of the velocity injection pulse

DOUBLE

NEW CONF

0.0, 0.0, 0.0, 0.0, 0.0,

1.0

7/2

0.0, 0.0, 0.0, 0.0, 0.0

Description:

A factor between 0.0 and 1.0 can be entered for each acceleration value from MD32581

$MA_FRICT_ADAPT_TABLE_ACCEL with which the decay time of the velocity injection pulse

of the friction compensation is weighted. The weighting factors are active on sign

change of the velocity in the positive direction.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

Machine data and parameters

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2.3 NC machine data

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL

MD32574 $MA_ FRICT_V_PULSE_DECAY_TIME

32587

FRICT_ADAPT_V_DECAY_MINUS

EXP, A09

Weighting factor for the decay time of the velocity injection pulse

DOUBLE

NEW CONF

0.0, 0.0, 0.0, 0.0, 0.0,

1.0

7/2

0.0, 0.0, 0.0, 0.0, 0.0

Description:

A factor between 0.0 and 1.0 can be entered for each acceleration value from MD32581

$MA_FRICT_ADAPT_TABLE_ACCEL with which the decay time of the velocity injection pulse

of the friction compensation is weighted. The weighting factors are active on sign

change of the velocity in the negative direction.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL

MD32574 $MA_ FRICT_V_PULSE_DECAY_TIME

32588

FRICT_ADAPT_T_STEP

EXP, A09

Weighting factor for the amplitude of the torque injection pulse

DOUBLE

NEW CONF

0.0, 0.0, 0.0, 0.0, 0.0,

-1.0

1.0

7/2

0.0, 0.0, 0.0, 0.0, 0.0

Description:

A factor between -1.0 and 1.0 can be entered for each acceleration value from MD32581

$MA_FRICT_ADAPT_TABLE_ACCEL with which the amplitude of the torque injection pulse of

the friction compensation is weighted.

Not relevant for:

MD32500 $MA_FRICT_COMP_ENABLE = 0

MD32490 $MA_FRICT_COMP_MODE = 1/2

Related to:

MD32500 $MA_FRICT_COMP_ENABLE = 1

MD32490 $MA_FRICT_COMP_MODE = 3/4

MD32581 $MA_FRICT_ADAPT_TABLE_ACCEL

MD32576 $MA_ FRICT_TORQUE_STEP

32610

VELO_FFW_WEIGHT

A07, A09

G1, TE1, K3, S3, A3, G2, S1, V1

Feedforward control factor f. velocity/speed feedforward control

DOUBLE

NEW CONF

1.0, 1.0, 1.0, 1.0, 1.0,

0.0

1.0E+301

7/2

1.0

Description:

Weighting factor for feedforward control. Is normally = 1.0 on digital drives, since

these keep the setpoint speed exactly .

On analog drives, this factor can be used to compensate the gain error of the drive

actuator, so that the actual speed becomes exactly equal to the setpoint speed (this

reduces the following error with feedforward control).

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

On both drive types, the effect of the feedforward control can be continuously reduced

with a factor of < 1.0, if the machine moves too abruptly and other measures (e.g.

jerk limitation) are not to be used. This also reduces possibly existing overshoots;

however, the error increases on curved contours, e.g. on a circle. With 0.0, you have

a pure position controller without feedforward control.

Contour monitoring takes into account factors < 1.0.

In individual cases, it can, however, become necessary to increase MD CONTOUR_TOL.

32620

FFW_MODE

A07, A09

G1, K3, S3, G2, S1

Feedforward control mode

BYTE

Reset

7/2

Description:

FFW_MODE defines the feedforward control mode to be applied on an axis-specific basis:

0 = No feedforward control

1 = Speed feedforward control with PT1 balancing

2 = Torque feedforward control (only for SINAMICS) with PT1 balancing

3 = Speed feedforward control with Tt balancing

4 = Torque feedforward control (only for SINAMICS) with Tt balancing

The high-level language instructions FFWON and FFWOF are used to activate and

deactivate feedforward control for specific channels on all axes.

To prevent feedforward control from being affected by these instructions on

individual axes, you can define that it is always activated or always deactivated in

machine data FFW_ACTIVATION_MODE (see also FFW_ACTIVATION_MODE).

If a feedforward control mode is selected (speed or torque feedforward control),

MD32630 $MA_FFW_ACTIVATION_MODE can be used to program in addition whether

feedforward control can be activated or deactivated by the part program.

Note for SINAMICS drives with torque feedforward control selected:

Alarm 26016 refers to the current machine data if

the telegram used (see MD13060 $MN_DRIVE_TELEGRAM_TYPE) does not support the torque

feedforward control function. Remedy: Use telegram 136.

Related to:

MD32630 $MA_FFW_ACTIVATION_MODE

MD32610 $MA_VELO_FFW_WEIGHT

MD32650 $MA_AX_INERTIA

32630

FFW_ACTIVATION_MODE

A07, A09

K3, G2

Activate feedforward control from program

BYTE

Reset

CTEQ, -

7/2

Description:

MD32630 $FFW_ACTIVATION_MODE can be used to define whether the feedforward control

for this axis/spindle can be switched on and off by the part program.

0 =

The feedforward control cannot be switched on or off by the high-level language

elements FFWON and FFWOF respectively.

For the axis/spindle, the state specified by MD32620 $MA_FFW_MODE is therefore always

effective.

1 =

The feedforward control can be switched on and off by the part program with

FFWON and FFWOF respectively.

The instruction FFWON/FFWOF becomes active immediately

2 =

The feedforward control can be switched on and off by the part program with

FFWON and FFWOF respectively.

The instruction FFWON/FFWOF does not become active until the next axis standstill

Machine data and parameters

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2.3 NC machine data

The default setting is specified by the channel-specific MD20150

$MC_GCODE_RESET_VALUES. This setting is valid even before the first NC block is

executed.

Notes:

The last valid state continues to be active even after Reset (and therefore also with

JOG).

As the feedforward control of all axes of the channel is switched on and off by FFWON

and FFWOF respectively, MD32630 $MA_FFW_ACTIVATION_MODE should be set identically for

axes interpolating with one naother.

Switching feedforward control on or off while the axis/spindle is traversing may cause

compensation operations in the control loop. Interpolating axes are therefore stopped

by the part program if such switching operations occur (internal stop Stop G09 is

triggered).

Related to:

MD32620 $MA_FFW_MODE

MD20150 $MC_GCODE_RESET_VALUES

32640

STIFFNESS_CONTROL_ENABLE

A01, A07

TE3, G2

Dynamic stiffness control

BOOLEAN

NEW CONF

CTEQ, -

FALSE

7/2

Description:

Activate dynamic stiffness control, if bit is set.

Higher servo gain factors are possible if stiffness control is active (MD32200

$MA_POSCTRL_GAIN).

Notes:

The availability of this function is determined by the drive used (the drive has to

support the DSC function).

Note on PROFIdrive drives:

Alarm 26017 refers to this machine data if:

a. The PROFIdrive telegram used (see MD13060 $MN_DRIVE_TELEGRAM_TYPE) does not

support the DSC function or does not contain an encoder 1 (such as Tel. 118), to which

the DSC scaling for PZD XERR refers. Remedy: Use a sufficiently powerful telegram

which also includes encoder 1 (e.g. Tel. 106, 116).

b. Specifically for SINAMICS drives, if inversion of the encoder signal is

parameterized in MD32110 $MA_ENC_FEEDBACK_POL=-1 with active DSC. Remedy: Remove

inversion of the encoder signal from MD32110 $MA_ENC_FEEDBACK_POL, and enter it in

SINAMICS parameter P410 instead.

32642

STIFFNESS_CONTROL_CONFIG

A01, A07

Dynamic stiffness control configuration (DSC)

BYTE

NEW CONF

CTEQ, -

7/2

Description:

Configuration of the dynamic stiffness control (DSC):

DSC in drive works with indirect measuring system, i.e. motor measuring system

(default scenario).

DSC in drive works with direct measuring system.

Notes:

The availability of this function is determined by the drive used (the drive must

support the DSC function).

With SINAMICS (P1193 not equal to 0), the value of this machine data must be set to 0.

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

32644

STIFFNESS_DELAY_TIME

A01, A07

Dynamic stiffness control: Delay

DOUBLE

PowerOn

-, CTEQ

0.0

-0.02

0.02

7/2

Description:

Configuration of compensation dead time of the dynamic stiffness control (DSC) with

optimized PROFIBUS/PROFINET cycle, unit: seconds

32650

AX_INERTIA

EXP, A07, A09

G1, K3, S3, G2

kgm²

Inertia for torque feedforward control

DOUBLE

NEW CONF

0.0

1.0E+301

7/2

Description:

SINAMICS only:

Inertia of axis. Used for torque feedforward control.

With torque feedforward control, an additional current setpoint proportional to the

torque is directly injected at the input of the current controller. This value is

formed using the acceleration and the moment of inertia. The equivalent time constant

of the current control loop must be defined for this purpose and entered in MD32800

$MA_EQUIV_CURRCTRL_TIME.

The total moment of inertia of the axis (drive + load) must also be entered in MD32650

$MA_AX_INERTIA (total moment of inertia referred to motor shaft according to data

supplied by machine manufacturer).

When MD32650 $MA_AX_INERTIA and MD32800 $MA_EQUIV_CURRCTRL_TIME are set correctly,

the following error is almost zero even during acceleration (check this by looking at

the "following error" in the service display).

The torque feedforward control is deactivated if MD32650 $MA_AX_INERTIA is set to 0.

However, because the calculations are performed anyway, torque feedforward control

must always be deactivated with MD32620 $MA_FFW_MODE = 0 or 1 or 3 (recommended).

Because of the direct current setpoint injection, torque feedforward control is only

possible on digital drives.

MD irrelevant for:

MD32620 $MA_FFW_MODE = 0 or 1 or 3

Related to:

MD32620 $MA_FFW_MODE

MD32630 $MA_FFW_ACTIVATION_MODE

MD32800 $MA_EQUIV_CURRCTRL_TIME

32652

AX_MASS

EXP, A07, A09

Axis mass for torque feedforward control

DOUBLE

NEW CONF

0.0

1.0E+301

7/2

Description:

SINAMICS only:

Mass of axis for torque feedforward control.

The MD is used on linear drives (MD13080 $MN_DRIVE_TYPE_DP=3) instead of MD32650

$MA_AX_INERTIA.

32700

ENC_COMP_ENABLE

A09

Encoder/spindle error compensation.

BOOLEAN

NEW CONF

FALSE, FALSE

7/2

Description:

1: LEC (leadscrew error compensation) is activated for the measuring system.

This enables leadscrew and measuring system errors to be compensated.

Machine data and parameters

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2.3 NC machine data

The function is not enabled internally until the relevant measuring system has been

referenced (NC/PLC interface signal DB31, ... DBX60.4 / 60.5 (Referenced/synchronized

1 or 2) = 1).

write protect function (compensation values) active.

0: LEC is not active for the axis/measuring system.

Related to:

MD38000 $MA_MM_ENC_COMP_MAX_POINTS number of interpolation points with LEC

NC/PLC interface signal DB31, ... DBX60.4 (Referenced/synchronized 1)

NC/PLC interface signal DB31, ... DBX60.5 (Referenced/synchronized 2)

32710

CEC_ENABLE

A09

Enable of sag compensation

BOOLEAN

NEW CONF

FALSE

7/2

Description:

Sag compensation is enabled for this axis.

Inter-axis machine geometry errors (e.g. sag and angularity errors) can be

compensated with sag compensation.

The function is not activated until the following conditions have been fulfilled:

• The "Interpolatory compensation" option is set

• The associated compensation tables have been loaded into the NC user memory and

enabled (SD41300 $SN_CEC_TABLE_ENABLE[t] = 1)

• The relevant position measuring system is referenced (NC/PLC interface signal

DB31, ... DBX60.4 / 60.5 = 1 (Referenced/synchronized 1 or 2)):

Sag compensation is not enabled for the compensation axis.

Related to:

MD18342 $MN_MM_CEC_MAX_POINTS[t]

Number of interpolation points for sag compensation

SD41300 $SN_CEC_TABLE_ENABLE[t]

Enable evaluation of sag compensation table t

SD41310 $SN_CEC_TABLE_WEIGHT[t]

Weighting factor of the sag compensation table t

NC/PLC interface signal DB31, ... DBX60.4 / 60.5

(referenced/synchronized 1 or 2)

32711

CEC_SCALING_SYSTEM_METRIC

A09

K3, G2

Measuring system of sag compensation

BOOLEAN

NEW CONF

TRUE

7/2

Description:

Compensation data exist in:

inch system

metric system

32720

CEC_MAX_SUM

A09

mm, degrees

Maximum compensation value for sag compensation

DOUBLE

NEW CONF

1.0

10.0

7/2

Description:

In sag compensation, the absolute value of the total compensation value (sum of

compensation values of all active compensation relations) is monitored axially with

machine data value CEC_MAX_SUM.

Machine data and parameters

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