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SINUMERIK 840D sl. Service - Configuring Commissioning. Manual (2011-2020) - page 8

SINUMERIK machine and setting data

2.3 NC machine data

If the identified total compensation value is larger than the maximum value, alarm

20124 is triggered. Program processing is not interrupted. The compensation value

output as the additional setpoint is limited to the maximum value.

MD irrelevant to:

• MSEC

• Backlash compensation

• Temperature compensation

Related to:

MD32710 $MA_CEC_ENABLE

Enable sag compensation

SD41300 $SN_CEC_TABLE_ENABLE[t]

Enable evaluation of sag compensation table t

NC/PLC interface signal DB31, ... DBX60.4 / 60.5

(referenced/synchronized 1 or 2)

Note: The input range is restricted for systems not subject to export restriction.

32730

CEC_MAX_VELO

EXP, A09, A04

K3

%

Change in velocity at CEC

DOUBLE

NEW CONF

-

-

-

10.0

0

100.0

7/2

M

Description:

In sag compensation, modification of the total compensation value (sum of the

compensation values of all active compensation relations) is limited axially. The

maximum change value is defined in this machine data as a percentage of MD32000

$MA_MAX_AX_VELO (maximum axis velocity).

If the change in the total compensation value is greater than the maximum value, alarm

20125 is output. Program processing is however continued. The path not covered because

of the limitation is made up as soon as the compensation value is no longer subject to

limitation.

MD irrelevant to:

• MSEC

• Backlash compensation

• Temperature compensation

Related to:

MD32710 $MA_CEC_ENABLE

Enable sag compensation

MD32000 $MA_MAX_AX_VELO

Maximum axis velocity

SD41300 $SN_CEC_TABLE_ENABLE[t]

Enable evaluation of sag compensation table t

NC/PLC interface signal DB31, ... DBX60.4 / 60.5

(referenced/synchronized 1 or 2)

32750

TEMP_COMP_TYPE

A09

K3, W1

-

Temperature compensation type

UBYTE

PowerOn

CTEQ

-

-

0

0

0x7

7/2

M

Description:

The type of temperature compensation applicable to the machine axis is activated in

MD32750 $MA_TEMP_COMP_TYPE.

A distinction is made between the following types:

Bit 0 = 0:

Position-independent temperature compensation not active

Machine data and parameters

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2.3 NC machine data

or MD32652 $MA_AX_MASS

Axis mass for torque feedforward control

MD36400 $MA_CONTOUR_TOL

Tolerance band contour monitoring

32810

EQUIV_SPEEDCTRL_TIME

A07, A09

G1, K3, S3, A2, A3, G2, S1, V1

s

Equiv. time constant speed control loop for feedforward control

DOUBLE

NEW CONF

-

-

6

0.003, 0.003, 0.003,

-1.0E+301

1.0E+301

7/2

M

0.003, 0.003, 0.003,

0.003, 0.003, 0.003,

0...

Description:

This time constant must be equal to the equivalent time constant of the closed current

control loop.

It is used for parameterizing the speed feedforward control and for calculating the

dynamic following error model (contour monitoring).

In addition, this MD determines the time behavior of the closed-loop speed control

circuit for simulated drives (MD30130 $MA_CTRLOUT_TYPE 0).

In order to set the speed feedforward control correctly, the equivalent time constant

of the current control loop must be determined exactly by measuring the step response

of the current control loop.

Closed-loop control free of following errors can be set by inputting negative values

when MD32620 $MA_FFW_MODE=3 (but positioning overshoots may then occur).

Delay values taken into account automatically by the software internally are thus

compensated again until the actually active minimum symmetrizing time "0" is reached.

Any other negative input values have no further effect.

Negative values input when MD32620 $MA_FFW_MODE=1 are automatically converted

internally to the input value "0", which means that they are not active in this case.

Related to:

MD32620 $MA_FFW_MODE (type of feedfoward control)

MD32610 $MA_VELO_FFW_WEIGHT (moment of inertia for speed feedforward control)

MD36400 $MA_CONTOUR_TOL (tolerance band contour monitoring)

32890

DESVAL_DELAY_ENABLE

A07

-

-

Axial setpoint phase filter

BOOLEAN

NEW CONF

CTEQ, -

-

-

FALSE

-

-

7/2

M

Description:

With the axial setpoint phase filter (deadtime/delay), the phase response can be

changed independent of the amplitude response (on the other hand, the conventional

jerk filter - refer to MD32402 $MA_AX_JERK_MODE -influences the amplitude and phase

response simultaneously).

1:

Setpoint phase filter (delay) is active.

0:

Setpoint phase filter (delay) is inactive.

Corresponds with:

MD32895 $MA_DESVAL_DELAY_TIME (time constant for the axial setpoint phase filter)

32895

DESVAL_DELAY_TIME

A07

-

s

Time constant for the axial setpoint phase filter

DOUBLE

NEW CONF

-

-

2

0.0, 0.0

0.0

1.0E+301

7/2

M

Description:

The time constant for the phase filter (deadtime/delay) should be entered into the MD.

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

This means that the actual setpoint phase response can be set independently of the

amplitude response

Time constants in the range of 0 to128 position control cycles can be set, the phase

filter for 2ms position control cycle, for example, can delay setpoints by 0 to 256ms.

Values entered outside these limits are implicitly limited to the specified limits

(without alarm).

Note: delays in the setpoint circuit, as a result of the system, slow down or have a

negative impact on the response, e.g. for thread tapping, safety retraction motion or

exact stop/block change; this means that the smallest time constants possible should

be set in the MD.

Index 1 of the MD is only needed for a switchable jerk filter (two-digit input values

in MD32402 $MA_AX_JERK_MODE).

The MD is only effective, if MD32890 $MA_DESVAL_DELAY_ENABLE = 1.

Related to:

MD32890 $MA_DESVAL_DELAY_ENABLE (axial setpoint phase filter)

MD32402 $MA_AX_JERK_MODE

MD32404 $MA_CALCFIR_SELECT

32900

DYN_MATCH_ENABLE

A07

G21, S3, G2

-

Dynamic response adaptation

BOOLEAN

NEW CONF

CTEQ, -

-

-

FALSE

0

-

7/2

M

Description:

With dynamic response adaptation, axes with different servo gain factors can be set to

the same following error with MD32910 $MA_DYN_MATCH_TIME.

1:

Dynamic response adaptation active.

0:

Dynamic response adaptation inactive.

Related to:

MD32902 $MA_DYN_MATCH_MODE

MD32910 $MA_DYN_MATCH_TIME[n]

(time constant of dyamic response adaptation)

32902

DYN_MATCH_MODE

A07, A04

B2, G2, B3

-

Filter type for dynamic response

BYTE

PowerOn

CTEQ, -

-

-

0

0

1

7/2

M

Description:

Filter type for dynamic response

0:

PT1 filter

1:

Phase filter

Notes on parameterization:

MD32902 $MA_DYN_MATCH_MODE is only active if MD32900 $MA_DYN_MATCH_ENABLE is set to 1.

MD32910 $MA_DYN_MATCH_TIME sets the time constant of the dynamic response

Related to:

MD32900 $MA_DYN_MATCH_ENABLE

MD32910 $MA_DYN_MATCH_TIME

32910

DYN_MATCH_TIME

A07

G1, K3, S3, A2, A3, G2, S1, V1

s

Time constant of dynamic response adaptation

DOUBLE

NEW CONF

-

-

6

0.0, 0.0, 0.0, 0.0, 0.0,

0.0

1.0E+301

7/2

M

0.0

Machine data and parameters

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2.3 NC machine data

Description:

The time constant of the dynamic response adaptation of an axis has to be entered in

this MD.

Axes interpolating with each other but having different dynamic responses can be

adapted to the "slowest" control loop by means of this value.

The difference of the equivalent time constant of the "slowest" control loop to the

individual axis has to be entered here as the time constant of the dynamic response

adaptation.

The MD is only active if MD32900 $MA_DYN_MATCH_ENABLE = 1.

If MD32902=1: Time constants can be set within the range from 0 to 16. With a

position controller cycle of 2 ms, the delay time for the setpoints lies between 0 and

32 ms.

Input values outside these limits are implicitly limited to the stated limits (without

alarm).

Related to:

MD32900 $MA_DYN_MATCH_ENABLE (dynamic response adaptation)

MD32902 $MA_DYN_MATCH_MODE

32920

AC_FILTER_TIME

A10

-

s

Smoothing filter time constant for adaptive control

DOUBLE

PowerOn

-

-

-

0.0

0.0

1.0E+301

7/2

M

Description:

In the case of PROFIdrive drives (provided that they transport the following drive

actual values in the PROFIdrive message frame, e.g. MD13060 $MN_DRIVE_TELEGRAM_TYPE =

116):

With the main run variables $AA_LOAD, $AA_POWER, $AA_TORQUE, and $AA_CURR, the

following drive actual values can be measured:

• Drive utilization

• Drive active power

• Drive torque setpoint value

• Current actual value of the axis or spindle

To compensate any peaks, the measured values can be smoothed with a PT1 filter. The

filter time constant is defined with MD32920 $MA_AC_FILTER_TIME (filter smoothing

time constant for adaptive control).

When measuring the drive torque setpoint value or the actual current value, the filter

is active in addition to the filters available in the drive. The two filters are

connected in series, if both signifcantly and slightly smoothed values are required in

the system. The filter is switched off when a smoothing time of 0 seconds is entered.

32925

LOAD_SMOOTH_FILTER_TIME

A10

-

s

Filter time constant for smoothed drive utilization

DOUBLE

Immediately

-

-

-

0.0

0.0

1.0E+301

7/2

M

Description:

For PROFIdrive drives (assuming that these can communicate the drive utilization in

the PROFIdrive telegram, e.g. MD13060 $MN_DRIVE_TELEGRAM_TYPE = 116):

In order to equalize peaks, the measured data values can be smoothed using a PT1

filter.

32926

POWER_SMOOTH_FILTER_TIME

A10

-

s

Filter time constant for smoothed active drive power

DOUBLE

Immediately

-

-

-

0.0

0.0

1.0E+301

7/2

M

Description:

For PROFIdrive drives (assuming that these can communicate the active drive power in

the PROFIdrive telegram, e.g. MD13060 $MN_DRIVE_TELEGRAM_TYPE = 116):

Machine data and parameters

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2.3 NC machine data

In order to equalize peaks, the measured values can be smoothed using a PT1 filter.

32930

POSCTRL_OUT_FILTER_ENABLE

A07

G2

-

Activation of low-pass filter at position controller output

BOOLEAN

NEW CONF

CTEQ, -

-

-

FALSE

0

-

7/2

M

Description:

Activation of low-pass filter at position controller output.

Note:

If the function DSC (MD32640 $MA_STIFFNESS_CONTROL_ENABLE=1) is used, activation of

the low-pass filter is strongly inadvisable.

Related to:

MD32940 $MA_POSCTRL_OUT_FILTER_TIME

MD32640 $MA_STIFFNESS_CONTROL_ENABLE (dynamic stiffness control)

32940

POSCTRL_OUT_FILTER_TIME

A07

G2

s

Time constant of low-pass filter at position controller output

DOUBLE

NEW CONF

-

-

-

0.0

0.0

1.0E+301

7/2

M

Description:

Time constant of low-pass filter at position controller output

Related to:

MD32930 $MA_POSCTRL_OUT_FILTER_ENABLE

MD32640 $MA_STIFFNESS_CONTROL_ENABLE (dynamic stiffness control)

32950

POSCTRL_DAMPING

EXP, A07

G2

%

Damping of the speed control circuit.

DOUBLE

NEW CONF

-

-

-

0.0

-

-

7/2

M

Description:

Factor to additionally dampen the speed control loop

Purpose:

Damping an oscillating axis by additionally entering a differential position, which

is derived from the difference of the two measuring systems.

Prerequisite: the axis must have two measuring systems, one encoder must be directly

connected, the other indirectly.

Explanation of the scaling:

An input value of "100%" means the following: An additional torque corresponding to

SINAMICS-p2003 is input, if

• for linear motors, there is a position difference of 1mm

• for rotary axes, there is a position difference of 360 degrees on the load side

• for linear axes (rot. drive), there is a position difference corresponding to

MD31030 $MA_LEADSCREW_PITCH (e.g. standard 10mm).

32960

POSCTRL_DUAL_FEEDBACK_TIME

EXP, A07

G2

s

Time constant for dual-position feedback

DOUBLE

NEW CONF

-

-

-

0.0

0.0

1.0E+301

7/2

M

Description:

Position control with position information from two measuring systems (only active if

time constant is set > 0 ).

The direct measuring system (DM) becomes active with the delay time that can be set in

this MD by means of PT1 filtering, at the same time the indirect measuring system (IM)

becomes increasingly ineffective, so that, in total, exactly one measuring system

acts at the position controller input at all times

Machine data and parameters

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2.3 NC machine data

Conditions:

- The axis must have two coupled measuring systems, of which one must be connected

directly and the other indirectly to an encoder.

- The measuring systems must be calibrated, MD34102 $MA_REFP_SYNC_ENCS = 1

33000

FIPO_TYPE

EXP, A07

G1, G3, S3, G2

-

Fine interpolator type

BYTE

PowerOn

CTEQ, -

-

-

2

1

3

7/2

M

Description:

The type of the fine interpolator has to be entered in this MD:

1:

differential FIPO

2:

cubic FIPO

3:

cubic FIPO, optimized for operation with feedforward control

Calculation time required and contour quality increase with increasing type of FIPO.

• The default setting is the cubic FIPO.

• If no feedforward control is used in the position control loop, the use of the

differential FIPO reduces the calculation time while slightly increasing the

contour error.

• If the position control cycle and the interpolation cycle are identical, fine

interpolation does not take place, i.e. the different types of fine interpolator do

not have different effects.

33050

LUBRICATION_DIST

A03, A10

A2, Z1

mm, degrees

Traversing path for lubrication from PLC

DOUBLE

NEW CONF

-

-

-

1.0e8

0.0

1.0E+301

7/2

I

Description:

After the traversing path defined in the MD has been covered, the state of the axial

interface signal "Lubrication pulse" is inverted, this can activate an automatic

lubrication device.

The traversing path is summated after Power on.

The "Lubrication pulse" can be used with axes and spindles.

Application example(s):

The machine bed lubrication can be carried out as a function of the relevant traversed

path.

Note:

When 0 is entered, the NC/PLC interface signal DB31, ... DBX76.0 (Lubrication pulse)

is set in every cycle.

Related to:

NC/PLC interface signal DB31, ... DBX76.0 (Lubrication pulse)

33060

MAINTENANCE_DATA

A10

W6, 2.4, 6.2

-

Configuration of maintenance data recording

DWORD

Reset

-

-

-

1

0

-

7/2

M

Description:

Configuration of axis maintenance data recording:

Bit 0:

Recording the entire traversing path, entire traversing time and number of axis

traversing procedures

Bit 1:

Recording the entire traversing path, entire traversing time and number of traversing

procedures at high axis speed

Machine data and parameters

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2.3 NC machine data

Bit 2:

Recording the total sum of axis jerks, the time in which the axis is traversed with

jerk, and the number of traversing procedures with jerk.

33100

COMPRESS_POS_TOL

A10

F2, B1, K1

mm, degrees

Maximum deviation during compression

DOUBLE

NEW CONF

CTEQ

-

-

0.1

1.e-9

1.0E+301

7/7

I

Description:

The value specifies the maximum permissible path deviation for each axis with

compression.

The higher the value, the more short blocks can be compressed into a long block.

Not relevant for:

Active programmable contour/orientation tolerance (CTOL, OTOL, ATOL)

33120

PATH_TRANS_POS_TOL

A10

K1, PGA

mm, degrees

Maximum deviation for smoothing with G645

DOUBLE

NEW CONF

CTEQ

-

-

0.005

1.e-9

1.0E+301

7/7

U

Description:

The value specifies the maximum permitted path deviation for smoothing with G645.

This is only relevant to tangential block transitions that are not acceleration-

continuous.

For smoothing of corner with G645 tolerance MD33100 $MA_COMPRESS_POS_TOL becomes

active like with G642.

34000

REFP_CAM_IS_ACTIVE

A03, A11

G1, R1

-

Axis with reference point cam

BOOLEAN

Reset

-

-

-

TRUE

0

-

7/2

M

Description:

1:

There is at least one reference point cam for this axis

0:

This axis does not have a reference point cam (e.g. rotary axis)

The referencing cycle starts immediately with phase 2 (see documentation)

Machine axes that have only one zero mark over the whole travel range or rotary axes

that have only one zero mark per revolution do not require an additional reference cam

that selects the zero mark (select MD34000 $MA_REFP_CAM_IS_ACTIVE = 0).

The machine axis marked this way accelerates to the velocity specified in MD34040

$MA_REFP_VELO_SEARCH_MARKER (reference point shutdown velocity) when the plus/minus

traversing key is pressed, and synchronizes with the next zero mark.

34010

REFP_CAM_DIR_IS_MINUS

A03, A11

G1, R1

-

Approach reference point in minus direction

BOOLEAN

Reset

-

-

-

FALSE

0

-

7/2

M

Description:

0: MD34010 $MA_REFP_CAM_DIR_IS_MINUS Reference point approach in plus direction

1: MD34010 $MA_REFP_CAM_DIR_IS_MINUS Reference point approach in minus direction

For incremental measuring systems:

If the machine axis is positioned in front of the reference cam, it accelerates,

depending on the plus/minus traversing key pressed, to the velocity specified in

MD34020 $MA_REFP_VELO_SEARCH_CAM (reference point approach velocity) in the direction

specified in MD34010 $MA_REFP_CAM_DIR_IS_MINUS. If the wrong traversing key is

pressed, reference point approach is not started.

Machine data and parameters

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2.3 NC machine data

If the machine axis is positioned on the reference cam, it accelerates to the velocity

specified in MD34020 $MA_REFP_VELO_SEARCH_CAM and travels in the direction opposite

to that specified in MD34010 $MA_REFP_CAM_DIR_IS_MINUS.

For linear measuring systems with distance-coded reference marks:

If the machine axis has a reference cam (linear measuring systems with distance-coded

reference marks do not necessarily require a reference cam) and the machine axis is

positioned on the reference cam, it accelerates, irrespectively of the plus/minus

traversing key pressed, to the velocity specified in MD34040

$MA_REFP_VELO_SEARCH_MARKER (reference point creep velocity) in the direction

opposite to that specified in MD34010 $MA_REFP_CAM_DIR_IS_MINUS.

34020

REFP_VELO_SEARCH_CAM

A03, A11, A04

G1, R1

mm/min, rev/min

Reference point approach velocity

DOUBLE

Reset

-

-

-

(5000.0/10.0),

(0./ 0.)

(MD_DBLMAX/

7/2

M

(5000.0/10.0),

MD_DBLMAX)

(5000.0/10.0),

(5000.0/10.0), (500...

Description:

The reference point approach velocity is the velocity at which the machine axis

travels in the direction of the reference cam after the traversing key has been

pressed (phase 1). This value should be set at a magnitude large enough for the axis

to be stopped to 0 before it reaches a hardware limit switch.

MD irrelevant for:

Linear measuring systems with distance-coded reference marks

34030

REFP_MAX_CAM_DIST

A03, A11

G1, R1

mm, degrees

Maximum distance to reference cam

DOUBLE

Reset

-

-

-

10000.0

0.0

1.0E+301

7/2

M

Description:

If the machine axis travels a maximum distance defined in MD34030

$MA_REFP_MAX_CAM_DIST from the starting position in the direction of the reference

cam, without reaching the reference cam (NC/PLC interface signal DB31, ... DBX12.7

(Reference point approach delay) is reset), the axis stops and alarm 20000 "Reference

cam not reached" is output.

Irrelevant to:

Linear measuring systems with distance-coded reference marks

34040

REFP_VELO_SEARCH_MARKER

A03, A11, A04

G1, R1, S1

mm/min, rev/min

Shutdown velocity

DOUBLE

Reset

-

-

2

(300.0/ 300.0)/ (1.0/

(0./ 0.)

(MD_DBLMAX/

7/2

M

1.0), (300.0/ 300.0)/

MD_DBLMAX)

(1.0/ 1.0), (300.0/ ...

Description:

1) For incremental measuring systems:

This is the velocity at which the axis travels during the time between initial

detection of the reference cam and synchronization with the first zero mark (phase 2).

Traversing direction: Opposite to the direction specified for the cam search (MD34010

$MA_REFP_CAM_DIR_IS_MINUS)

If MD34050 $MA_REFP_SEARCH_MARKER_REVERSE (direction reversal on reference cam) is

enabled, then if the axis is synchronized with a rising reference cam signal edge on

the cam, the axis traverses at the velocity defined in MD34020

$MA_REFP_VELO_SEARCH_CAM.

2) Indirect measuring system with BERO on the load-side (preferred for spindles):

Machine data and parameters

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2.3 NC machine data

34060

REFP_MAX_MARKER_DIST

A03, A11

G1, R1, S1

mm, degrees

Maximum distance to reference mark

DOUBLE

Reset

-

-

2

(20.0/ 20.0)/(720.0/

(0./ 0.)

(MD_DBLMAX/

7/2

M

720.0), (20.0/ 20.0)/

MD_DBLMAX)

(720.0/ 720.0), (20.0/...

Description:

For incremental measuring systems:

If, after leaving the reference cam (NC/PLC interface signal DB31, ... DBX12.7

(Reference point approach delay) is reset), the machine axis travels a distance

defined in MD34060: $MA_REFP_MAX_MARKER_DIST without detecting the zero mark, the

axis stops and alarm 20002 "Zero mark missing" is output.

For linear measuring systems with distance-coded reference marks:

If the machine axis travels a distance defined in MD34060 $MA_REFP_MAX_MARKER_DIST

from the starting position without crossing two zero marks, the axis stops and alarm

20004 "Reference mark missing" is output.

34070

REFP_VELO_POS

A03, A11, A04

G1, R1

mm/min, rev/min

Reference point positioning velocity

DOUBLE

Reset

-

-

-

(10000.0/ 20.0),

(0./ 0.)

(MD_DBLMAX/

7/2

M

(10000.0/ 20.0),

MD_DBLMAX)

(10000.0/ 20.0),

(10000.0/ 20

Description:

For incremental measuring systems:

The axis travels at this velocity between the time of synchronization with the first

zero mark and arrival at the reference point.

For linear measuring systems with distance-coded reference marks:

The axis travels at this velocity between the time of synchronization (crossing two

zero marks) and arrival at the target point.

34080

REFP_MOVE_DIST

A03, A11

G1, R1, S1, S3, G2

mm, degrees

Reference point distance

DOUBLE

NEW CONF

-

-

2

-2.0, -2.0

-1e15

1e15

7/2

I

Description:

1. Standard measuring system (incremental with equidistant zero marks)

Reference point positioning movement: 3rd phase of the reference point approach:

The axis traverses from the position at which the zero mark is detected with the

velocity REFP_AX_VELO_POS along the path REFP_MOVE_DIST + REFP_MOVE_DIST_CORR

(relative to the marker).

REFP_SET_POS is set as the current axis position at the target point.

2. Irrelevant for distance-coded measuring system.

Override switch and selection jog/continuous mode ( MD JOG_INC_MODE_IS_CONT ) are

active.

34090

REFP_MOVE_DIST_CORR

A03, A02, A08,

G1, R1, S1, S3, G2

A11

mm, degrees

Reference point offset/absolute offset

DOUBLE

NEW CONF

-, -

-

2

0.0, 0.0

-1e12

1e12

7/2

I

Description:

• Incremental encoder with zero mark(s):

Machine data and parameters

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2.3 NC machine data

34100

REFP_SET_POS

A03, A11

G1, S3, G2, R1, S1

mm, degrees

Reference point for incremental system

DOUBLE

Reset

-

-

4

0., 0., 0., 0.

-45000000

45000000

7/2

I

Description:

• Incremental encoder with zero mark(s):

The position value which is set as the current axis position after detection of the

zero mark and traversal of the distance REFP_MOVE_DIST + REFP_MOVE_DIST_CORR

(relative to zero mark). REFP_SET_POS of the reference point number, which is set

at the instant that the edge of the reference cam signal rises (NC/PLC interface

signal DB31, _DBX2.4 - 2.7 (Reference point value 1 to 4)), is set as the axis

position.

• Distance-coded measuring system:

Target position which is approached when MD34330 $MA_REFP_STOP_AT_ABS_MARKER is set

to 0 (FALSE) and two zero marks have been crossed.

• Absolute encoder:

MD34100 $MA_REFP_SET_POS corresponds to the correct actual value at the calibration

position.

The reaction on the machine depends on the status of MD34210 $MA_ENC_REFP_STATE: When

MD34210 $MA_ENC_REFP_STATE = 1, the value of MD34100 $MA_REFP_SET_POS is transferred

as the absolute value.

When MD34210 $MA_ENC_REFP_STATE = 2 and MD34330 $MA_REFP_STOP_AT_ABS_MARKER = 0

(FALSE), the axis approaches the target position stored in MD34100 $MA_REFP_SET_POS.

The value of MD34100 $MA_REFP_SET_POS that has been set via NC/PLC interface signal

DB31, _DBX2.4 - 2.7 (Reference point value 1 to 4) is used.

Related to:

NC/PLC interface signal DB31, _DBX2.4 - 2.7 (Reference point value 1 to 4)

34102

REFP_SYNC_ENCS

A03, A02

R1, Z1

-

Calibration of measuring systems

BYTE

Reset

-

-

-

0

0

1

7/2

M

Description:

Calibrating the measuring system to the reference measuring system can be activated

for all measuring systems of this axis with this machine data.

The calibration procedure is made during reference point approach or when calibrated

absolute encoders selected for the closed-loop control are switched on.

Values:

0:

No measuring system calibration, measuring systems must be referenced

individually

1:

Calibration of all measuring systems of the axis to the position of the

reference measuring system

In combination with MD30242 $MA_ENC_IS_INDEPENDENT = 2, the passive encoder is

calibrated to the active encoder but NOT referenced.

34104

REFP_PERMITTED_IN_FOLLOWUP

A03, A02

R1

-

Enable referencing in follow-up mode

BOOLEAN

Reset

-

-

-

FALSE

0

-

7/2

M

Description:

An axis can also be referenced in the follow-up mode under JOG+REF mode by means of an

external motion.

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

34110

REFP_CYCLE_NR

A03

G1, TE3, D1, R1, Z1

-

Sequence of axes in channel-specific referencing

DWORD

Reset

-

-

-

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

-1

31

7/2

M

Description:

MD34110 $MA_REFP_CYCLE_NR = 0 -----> axis-specific referencing

Axis-specific referencing is started separately for each machine axis with the NC/PLC

interface signal DB31, ... DBX4.7 / 4.6 (Plus/minus travel keys).

Up to 8 axes (840D) can be referenced simultaneously.

The following alternatives are provided for referencing the machine axes in a specific

sequence:

• The operator has to observe the correct sequence on startup.

• The PLC checks the sequence on startup or defines the sequence itself.

• The channel-specific referencing function is used.

MD34110 $MA_REFP_CYCLE_NR = 1 -----> channel-specific referencing

Channel-specific referencing is started with the NC/PLC interface signal DB21-30

DBX1.0 (Activate referencing). The control acknowledges a successful start with the

NC/PLC interface signal DB21-30 DBX33.0 (Referencing active). Each machine axis

assigned to the channel can be referenced with channel-specific referencing (this is

achieved internally on the control by simulating the plus/minus traversing keys). The

axis-specific MD34110 $MA_REFP_CYCLE_NR can be used to define the sequence in which

the machine axes are referenced:

-1 means:

The machine axis is not started by channel-specific referencing, and NC start is

possible without referencing this axis.

0 means:

The machine axis is not started by channel-specific referencing, and NC start is not

possible without referencing this axis.

1 means:

The machine axis is started by channel-specific referencing.

2 means:

The machine axis is started by channel-specific referencing if all machine axes

identified by a 1 in MD34110 $MA_REFP_CYCLE_NR are referenced.

3 means:

The machine axis is started by channel-specific referencing if all machine axes

identified by a 2 in MD34110 $MA_REFP_CYCLE_NR are referenced.

4 to 8 :

As above for further machine axes.

Setting the channel-specific MD20700 $MC_REF_NC_START_LOCK (NC start disable without

reference point) to zero has the effect of entering -1 for all the axes of a channel.

MD irrelevant to:

Axis-specific referencing

Related to:

NC/PLC interface signal DB21-30 DBX1.0 (Activate referencing)

NC/PLC interface signal DB21-30 DBX33.0 (Referencing active)

34200

ENC_REFP_MODE

A03, A02

G1, R1, S1

-

Referencing mode

BYTE

PowerOn

-

-

2

1, 1

0

8

7/2

M

Description:

The mounted position measuring systems can be classified for referencing as follows

with MD34200 $MA_ENC_REFP_MODE:

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

34220

ENC_ABS_TURNS_MODULO

A03, A02

R1

-

Modulo range for rotary absolute encoder

DWORD

PowerOn

-

-

2

4096, 4096

1

100000

7/2

M

Description:

Number of encoder revolutions a rotary absolute encoder is able to resolve (see also

the maximum multiturn information of the absolute encoder, see encoder data sheet or

PROFIdrive parameter P979).

The absolute position of a rotary axis is reduced to this resolvable range when an

absolute encoder is switched on:

In other words, a MODULO transformation takes place if the actual position sensed is

larger than the position permitted by MD ENC_ABS_TURNS_MODULO.

0 degrees <= position <= n*360 degrees (with n = ENC_ABS_TURNS_MODULO)

Note:

With SW 2.2, the position is reduced to this range when the control/encoder is

switched on. With SW 3.6 and higher, half of this value represents the maximum

permissible travel distance with the control swiched off/the encoder inactive.

Special cases:

For PROFIdrive, any integer value is permissible.

The MD is relevant only for rotary encoders (on linear and rotary axes).

Corresponds to:

PROFIdrive parameter P979

34230

ENC_SERIAL_NUMBER

A02

R1

-

Encoder serial number

DWORD

PowerOn

-

-

2

0, 0

-

-

7/2

I

Description:

The encoder serial number (EnDat encoders) can be read out here.

It is updated at PowerOn or when parking is deselected.

"0" is supplied for encoders which do not have a serial number available.

Manipulating this MD normally causes automatic absolute encoder maladjustment

(MD34210 $MA_ENC_REFP_STATE returns to "0").

34300

ENC_REFP_MARKER_DIST

A03, A02

R1

mm, degrees

Basic distance of reference marks of distance-coded encoders.

DOUBLE

NEW CONF

-

-

2

10.0, 10.0

0.0

1.0E+301

7/2

M

Description:

In addition to the incremental encoder track, a further encoder track is available

with distance-coded measuring systems for determining the absolute encoder position.

This encoder track has reference marks at defined, different distances. The basic

distance between the fixed reference marks (which are the reference marks that are

always the same distance from one another) can be taken from the data sheet, and

directly transferred into machine data MD34300 $MA_ENC_REFP_MARKER_DIST.

With the basic distance between the fixed reference marks (MD34300

$MA_ENC_REFP_MARKER_DIST), the distance between two reference marks (MD34310

$MA_ENC_MARKER_INC), and the number of encoder pulses (MD31020 $MA_ENC_RESOL) on

angular measuring systems or the graduation cycle (MD31010 $MA_ENC_GRID_POINT_DIST)

on linear measuring systems, the absolute encoder position can be determined once two

successive reference marks have been crossed.

MD34300 $MA_ENC_REFP_MARKER_DIST is also used for a plausibility check of reference

mark distances.

Examples of application:

For example: Heidenhain LS186 C

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

MD 31010 =

0.02mm (graduation cycle)

MD 34300 = 20.00mm (basic distance between the reference marks)

MD 34310 =

0.02mm (distance between two reference marks corresponds to one graduation

cycle).

34310

ENC_MARKER_INC

A03, A02

R1

mm, degrees

Interval between two reference marks for distance-coded encoders

DOUBLE

NEW CONF

-

-

2

0.02, 0.02

0.0

1.0E+301

7/2

M

Description:

The distances between two reference marks are defined variably, so that the position

of the crossed reference marks can be determined accurately in measuring systems with

distance-coded reference marks.

The difference between two reference mark distances is entered in MD34310

$MA_ENC_MARKER_INC.

MD irrelevant for:

Incremental measuring systems

Special cases:

On measuring systems with distance-coded reference marks supplied by Heidenhain, the

interval between two reference marks is always equal to one graduation cycle.

34320

ENC_INVERS

A03, A02

G2, R1

-

Distance-coded encoder is inverse to the axis movement

BOOLEAN

NEW CONF

-

-

2

FALSE, FALSE

0

-

7/2

M

Description:

• In the case of a distance-coded measuring system:

When setting a reference point, the actual position (determined by the distance-coded

reference marks) on the measuring system is assigned to an exact machine axis position

(referred to the machine zero point). The absolute offset between the machine zero

point and the position of the 1st reference mark on the measuring system must

therefore be entered in MD34090 $MA_REFP_MOVE_DIST_CORR (reference point/absolute

offset). In addition, MD34320 $MA_ENC_INVERS must be used to set whether the measuring

system is connected in the same or the opposite direction to the machine system.

MD irrelevant to:

Incremental encoders without distance-coded reference marks.

34330

REFP_STOP_AT_ABS_MARKER

A03

G1, R1

-

Distance-coded linear measuring system without target point

BOOLEAN

Reset

-

-

2

TRUE, TRUE

0

-

7/2

M

Description:

• Distance-coded measuring system:

REFP_STOP_AT_ABS_MARKER = 0:

At the end of the reference cycle, the position entered in MD34100 $MA_REFP_SET_POS is

approached (normal case for phase 2).

REFP_STOP_AT_ABS_MARKER = 1:

The axis is braked after detection of the second reference mark (shortening of phase

2)

• Absolute encoder:

MD34330 $MA_REFP_STOP_AT_ABS_MARKER defines the response of an axis with a valid

calibration identifier (MD34210 $MA_ENC_REFP_STATE = 2) with G74 or when a traversing

key is actuated in JOG-REF:

REFP_STOP_AT_ABS_MARKER = 0:

Axis traverses to the position entered in MD34100 $MA_REFP_SET_POS

Machine data and parameters

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2.3 NC machine data

REFP_STOP_AT_ABS_MARKER = 1:

Axis does not traverse.

MD irrelevant for:

Incremental encoders with zero mark (standard encoders)

Related to:

MD34100 $MA_REFP_SET_POS

(reference point distance/target point for distance-coded system)

34800

WAIT_ENC_VALID

A01

-

-

Parameter setting for part program command WAITENC

DWORD

PowerOn

-

-

-

0

0

1

7/2

M

Description:

Parameter setting for part program command WAITENC:

0: Axis is not taken into account when waiting for synchronized / referenced or

restored position with part program command WAITENC.

1: A delay is applied in part program command WAITENC until a synchronized /

referenced or restored position is available for this axis.

34990

ENC_ACTVAL_SMOOTH_TIME

A02

V1

s

Smoothing time constant for actual values.

DOUBLE

Reset

-

-

2

0.0, 0.0

0.0

0.5

7/2

I

Description:

Using low-resolution encoders, a more continuous motion of coupled path or axis

motions can be achieved with smoothed actual values. The bigger the time constant, the

better the smoothing of actual values and the larger the overtravel.

Smoothed actual values are used for:

• Thread-cutting (G33, G34, G35)

• Revolutional feedrate (G95, G96, G97, FPRAON)

• Display of actual position and velocity, or speed respectively.

35000

SPIND_ASSIGN_TO_MACHAX

A01, A06, A11

M1, S3, K2, S1

-

Assignment of spindle to machine axis

BYTE

PowerOn

-

-

-

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

0

20

7/2

M

Description:

Spindle definition. The spindle is defined when the spindle number has been entered in

this MD.

Example:

If the corresponding axis is to be spindle 1, value "1" must be entered in this MD.

The spindle functions are possible only for modulo rotary axes. For this purpose

MD30300 $MA_IS_ROT_AX and MD30310 $MA_ROT_IS_MODULO must be set.

The axis functionality is maintained; transition to axis operation can be performed

with M70.

The gear stage-specific spindle data are set in parameter blocks 1 to 5; parameter

block 0 is used for axis operation (MD35590 $MA_PARAMSET_CHANGE_ENABLE).

The lowest spindle number is 1, the highest number depends on the number of axes in

the channel.

If other spindle numbers are to be assigned, the function "spindle converter" must be

used.

With multi-channel systems, the same numbers can be assigned in all channels, except

for those spindles active in several channels (replacement axes/spindles MD 30550:

$MA_AXCONF_ASSIGN_MASTER_CHAN).

Machine data and parameters

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2.3 NC machine data

35010

GEAR_STEP_CHANGE_ENABLE

A06, A11

P3 pl, P3 sl, S1

-

Parameterize gear stage change

UDWORD

Reset

CTEQ

-

-

0x00

0

0x2B

7/2

M

Description:

Meaning of bit places:

Bit 0 = 0 and bit 1 = 0:

There is an invariable gear ratio between motor and load. The MD of the first gear

stage is active. Gear stage change is not possible with M40 to M45.

Bit 0 = 1:

Gear stage change at undefined change position. The gear can have up to 5 gear stages,

which can be selected with M40, M41 to M45. To support the gear stage change, the

motor can carry out oscillating motions, which must be enabled by the PLC program.

Bit 1 = 1:

Same meaning as bit 0 = 1, although the gear stage change is carried out in a

configured spindle position (SW 5.3 and higher). The change position is configured in

MD35012 $MA_GEAR_STEP_CHANGE_POSITION. The position is approached in the current gear

stage before the gear stage change. If this bit is set, bit 0 is not taken into

account!

Bit 2: Reserved

Bit 3 = 1:

The gear stage change dialog between NCK and PLC is simulated. The setpoint gear stage

is output to the PLC. A checkback signal from the PLC is not awaited. The

acknowledgment is generated internally in the NCK.

Bit 4: Reserved

Bit 5 = 1:

The second gear stage data set is used for tapping with G331/G332. The bit must be set

for the master spindle used for tapping. Bit 0 or bit 1 must be set.

Related to:

MD35090 $MA_NUM_GEAR_STEPS (number of gear stages 1st data set, see bit 5)

MD35092 $MA_NUM_GEAR_STEPS2 (number of gear stages 2nd data set, see bit 5)

MD35110 $MA_GEAR_STEP_MAX_VELO (max. speed for autom. gear stage change)

MD35112 $MA_GEAR_STEP_MAX_VELO2 (max. speed for autom. gear stage change 2nd data

set, see bit 5)

MD35120 $MA_GEAR_STEP_MIN_VELO (min. speed for autom. gear stage change)

MD35122 $MA_GEAR_STEP_MIN_VELO2 (min. speed for autom. gear stage change 2nd data

set, see bit 5)

35012

GEAR_STEP_CHANGE_POSITION

A06, A11

S1

mm, degrees

Gear stage change position

DOUBLE

NEW CONF

CTEQ

-

6

0.0, 0.0, 0.0, 0.0, 0.0,

0.0

1.0E+301

7/2

M

0.0

Description:

Gear stage change position.

The value range must be within the configured modulo range.

Related to:

MD35010 $MA_GEAR_STEP_CHANGE_ENABLE, bit 1

MD30330 $MA_MODULO_RANGE

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

35014

GEAR_STEP_USED_IN_AXISMODE

A01, A06, A11

-

-

Gear stage for axis mode with M70

DWORD

NEW CONF

CTEQ

-

-

0

0

5

7/2

M

Description:

With this MD, a gear stage can be defined which can be loaded into the axis mode

during the transition with M70. The parameter set zero used in axis mode is to be

optimized on this gear stage.

Significance of the values:

0:

There is no implicit gear stage change with M70.

The current gear stage is retained.

1 ... 5:

There is a change into gear stage (1...5) during the execution of M70.

During the transition into axis mode without M70, there is monitoring for this gear

stage and alarm 22022 is issued if necessary. The condition for a gear stage change is

the general release of the function in MD35010 $MA_GEAR_STEP_CHANGE_ENABLE.

Secondary conditions:

When changing from axis mode into spindle mode, the configured gear stage continues to

remain active. There is no automatic return to the last active gear stage in spindle

mode.

35020

SPIND_DEFAULT_MODE

A06, A10

S1

-

Initial spindle setting

BYTE

Reset

CTEQ

-

-

0

0

3

7/2

M

Description:

SPIND_DEFAULT_MODE activates the set operating mode of the spindle at the time

specified in MD35030 $MA_SPIND_DEFAULT_ACT_MASK. The appropriate spindle operating

modes can be set with the following values:

0

Speed mode, position control deselected

1

Speed mode, position control activated

2

Positioning mode, no check for synchronized/referenced position on NC start

3

Axis mode, MD34110 $MA_REFP_CYCLE_NR can be used to configure / deactivate forced

referencing on NC start

Corresponds with:

MD35030 $MA_SPIND_DEFAULT_ACT_MASK (activate spindle initial setting)

MD20700 $MC_REFP_NC_START_LOCK (NC start disable without reference point)

35030

SPIND_DEFAULT_ACT_MASK

A06, A10

S1

-

Time at which initial spindle setting is effective

UBYTE

Reset

CTEQ

-

-

0x00

0

0x03

7/2

M

Description:

SPIND_DEFAULT_ACT_MASK specifies the time at which the operating mode defined in

MD35020 $MA_SPIND_DEFAULT_MODE becomes effective. The initial spindle setting can be

assigned the following values at the following points in time:

0

POWER ON

1

POWER ON and NC program start

2

POWER ON and RESET (M2/M30)

Special cases:

If MD35040 $MA_SPIND_ACTIVE_AFTER_RESET = 1, the following supplementary conditions

are applicable:

Machine data and parameters

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2.3 NC machine data

• SPIND_DEFAULT_ACT_MASK should be set to 0

• If this is not possible, the spindle must be at a standstill prior to activation.

Related to:

MD35020 $MA_SPIND_DEFAULT_MODE (initial spindle setting)

MD35040 $MA_SPIND_ACTIVE_AFTER_RESET (spindle active after reset)

35032

SPIND_FUNC_RESET_MODE

A06, A10

-

-

Reset response of individual spindle functions

UDWORD

PowerOn

CTEQ

-

-

0x00

0

0x01

7/2

M

Description:

This data allows the "GWPS in every operating mode" function to be selected/

deselected.

SPIND_FUNC_RESET_MODE, bit 0 = 0 : "GWPS in every operating mode" is deselected

SPIND_FUNC_RESET_MODE, bit 0 = 1 : "GWPS in every operating mode" is selected

35035

SPIND_FUNCTION_MASK

A06, A10

K1, S1

-

Spindle functions

UDWORD

Reset

CTEQ

-

-

0x510

0

0x7FFFFFFF

7/2

M

Description:

This MD allows spindle-specific functions to be set.

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

Bit 0 = 1: Gear stage changes are suppressed with activated DryRun function for

block programming (M40, M41 to M45), programming via FC18,

and synchronized actions.

Bit 1 = 1: Gear stage changes are suppressed with activated program test function

for block programming (M40, M41 to M45), programming via

FC18, and synchronized actions.

Bit 2 = 1: Gear stage change for programmed gear stage will finally be carried

out after deselection of DryRun or program test functions with REPOS.

Bit 3: reserved

Bit 4 = 1:

The programmed speed is transferred to SD 43200 $SA_SPIND_S (incl. speed default

settings via FC18 and synchronized actions).

S programmings that are not speed programmings are not written to the SD. These

include, for example, S value with constant cutting speed (G96, G961), S value with

revolution-related dwell time (G4).

Bit 5 = 1:

The content of SD 43200 $SA_SPIND_S is applied as the speed setpoint for JOG. If the

content is zero, then other JOG speed default settings become active (see SD 41200

JOG_SPIND_SET_VELO).

Bit 6: reserved

Bit 7: reserved

Bit 8 = 1:

The programmed cutting speed is transferred to SD 43202 $SA_SPIND_CONSTCUT_S (incl.

default settings via FC18). S programmings, that are not cutting speed programmings,

are not written to the SD. These include, for example, S value outside of constant

cutting speed (G96, G961, G962), S value with revolution-related dwell time (G4), S

value in synchronized actions.

Bit 9: reserved

Bit 10 = 0:

SD 43206 $SA_SPIND_SPEED_TYPE is not changed by part program or channel settings,

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

35092

NUM_GEAR_STEPS2

A06, A10

S1

-

Number of gear stages of 2nd gear stage data set

DWORD

Reset

-

-

-

5

1

5

2/2

M

Description:

Number of set gear stages of the second gear stage data set for the function 'Tapping

with G331/G332'.

Activation (only makes sense for master spindle on tapping): MD 35010

$MA_GEAR_STEP_CHANGE_ENABLE, bit 5.

The number of gear stages must not be the same in the first and second gear stage data

sets.

Corresponding MD:

MD35010 $MA_GEAR_STEP_CHANGE_ENABLE (gear stages available/functions)

MD35112 $MA_GEAR_STEP_MAX_VELO2 (2nd gear stage data set: max. speed for gear stage

change)

MD35122 $MA_GEAR_STEP_MIN_VELO2 (2nd gear stage data set: min. speed for gear stage

change)

MD35212 $MA_GEAR_STEP_POSCTRL_ACCEL2 (2nd gear stage data set: acceleration in

position control mode)

35100

SPIND_VELO_LIMIT

A06, A11, A04

TE3, G2, S1, V1, Z1

rev/min

Maximum spindle speed

DOUBLE

Reset

CTEQ

-

-

10000.0

1.0e-6

1.0E+301

7/2

M

Description:

MD35100 $MA_SPIND_VELO_LIMIT defines the maximum spindle speed that the spindle (the

spindle chuck with the workpiece or the tool) must not exceed. The NCK limits an

excessive spindle setpoint speed to this value. If the maximum spindle actual speed is

exceeded, even allowing for the spindle speed tolerance (MD35150

$MA_SPIND_DES_VELO_TOL), there is a fault with the drive and the NC/PLC interface

signal DB31, ... DBX83.0 (speed limit exceeded) is set. Alarm 22100 "Maximum speed

reached" is also output and all axes and spindles on the channel are decelerated

(provided the encoder is still functioning correctly). The spindle has to be brought

to a standstill before modifying the MD.

Corresponds with:

MD35150 $MA_SPIND_DES_VELO_TOL (spindle speed tolerance)

SD43235 $SD_SPIND_USER_VELO_LIMIT (speed limitation set by user)

NC/PLC interface signal DB31, ... DBX83.0 (speed limit exceeded)

Alarm 22100 "Maximum speed reached"

35110

GEAR_STEP_MAX_VELO

A06, A11, A04

A3, S1

rev/min

Maximum speed for gear stage change

DOUBLE

NEW CONF

CTEQ

-

6

500., 500., 1000.,

0.0

1.0E+301

7/2

M

2000., 4000., 8000.

Description:

MD35110 $MA_GEAR_STEP_MAX_VELO defines the maximum speed (upper switching threshold)

of the gear stage for automatic gear stage change M40 S... The speed ranges for the

gear stages must be defined without gaps between them or can overlap.

Incorrect

MD35110 $MA_GEAR_STEP_MAX_VELO [gear stage1] =1000

MD35120 $MA_GEAR_STEP_MIN_VELO [gear stage2]

=1200

Correct

MD35110 $MA_GEAR_STEP_MAX_VELO [gear stage1] =1000

MD35120 $MA_GEAR_STEP_MIN_VELO [gear stage2]

=

950

Machine data and parameters

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2.3 NC machine data

Note:

• Programming a spindle speed which exceeds the highest numbered gear stage MD35110

$MA_GEAR_STEP_MAX_VELO [MD35090] triggers a switch to the highest gear stage

(MD35090).

Related to:

MD35120 $MA_GEAR_STEP_MIN_VELO (min. speed for automatic gear stage selection M40)

MD35090 $MA_NUM_GEAR_STEPS (number of gear stages)

MD35010 $MA_GEAR_STEP_CHANGE_ENABLE (gear stage change is possible)

MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT (maximum speed of gear stage with speed control

MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT (maximum speed of gear stage with position

control

MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT (min. speed of gear stage)

35112

GEAR_STEP_MAX_VELO2

A06, A11, A04

S1

rev/min

2nd data set: Maximum speed for gear stage change

DOUBLE

NEW CONF

CTEQ

-

6

500., 500., 1000.,

0.0

1.0E+301

2/2

M

2000., 4000., 8000.

Description:

-

The 2nd gear stage data block for tapping with G331/G332 is activated with MD

35010:$MA_GEAR_STEP_CHANGE_ENABLE bit 5 for the master spindle.

Related to:

MD35122 $MA_GEAR_STEP_MIN_VELO2 (minimum speed for 2nd data block gear stage

selection)

MD35092 $MA_NUM_GEAR_STEPS2 (number of gear stages 2nd gear stage data block)

MD35010 $MA_GEAR_STEP_CHANGE_ENABLE (gear stage change, 2nd data block is possible)

MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT (maximum speed of gear stage with speed control)

MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT (maximum speed of gear stage with position

control)

MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT (min. speed of gear stage)

35120

GEAR_STEP_MIN_VELO

A06, A11, A04

S1

rev/min

Minimum speed for gear stage change

DOUBLE

NEW CONF

CTEQ

-

6

50., 50., 400., 800.,

0.0

1.0E+301

7/2

M

1500., 3000.

Description:

-

See MD35110 $MA_GEAR_STEP_MAX_VELO for more information.

Note:

• Programming a spindle speed which undershoots the lowest speed of the first gear

stage MD35120 $MA_GEAR_STEP_MIN_VELO[1] triggers a switch to the first gear stage.

Not relevant for:

• Programming of speed 0 (S0) if MD35120 $MA_GEAR_STEP_MIN_VELO[1] > 0

Related to:

MD35110 $MA_GEAR_STEP_MAX_VELO (maximum speed for automatic gear stage selection M40)

MD35090 $MA_NUM_GEAR_STEPS (number of gear stages)

MD35010 $MA_GEAR_STEP_CHANGE_ENABLE (gear stage change is possible)

MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT (maximum speed of the gear stage with speed

control)

MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT (maximum speed of the gear stage with

position control)

Machine data and parameters

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511

SINUMERIK machine and setting data

2.3 NC machine data

MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT (min. speed of the gear stage)

35122

GEAR_STEP_MIN_VELO2

A06, A11, A04

S1

rev/min

2nd data set: Minimum speed for gear stage change

DOUBLE

NEW CONF

CTEQ

-

6

50., 50., 400., 800.,

0.0

1.0E+301

2/2

M

1500., 3000.

Description:

The minimum speed (lower switching threshold) of the gear stage for automatic gear

stage change M40 G331 S.. is set in GEAR_STEP_MIN_VELO2 for interpolatory tapping

G331, G332. The speed ranges of the gear stages must be defined so that there are no

gaps between them or they can overlap.

The 2nd gear stage data block for tapping with G331/G332 is activated with MD35010

$MA_GEAR_STEP_CHANGE_ENABLE bit 5 for the master spindle.

Related to:

MD35112 $MA_GEAR_STEP_MAX_VELO2 (maximum speed for 2nd data block gear stage change)

MD35092 $MA_NUM_GEAR_STEPS2 (number of gear stages 2nd gear stage data block)

MD35010 $MA_GEAR_STEP_CHANGE_ENABLE (gear stage change, 2nd data block is possible)

MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT (maximum speed of gear stage with speed control)

MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT (maximum speed of gear stage with position

control)

MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT (min. speed of gear stage)

35130

GEAR_STEP_MAX_VELO_LIMIT

A06, A11, A04

A2, S1, V1

rev/min

Maximum speed of gear stage

DOUBLE

NEW CONF

CTEQ

-

6

500., 500., 1000.,

1.0e-6

1.0E+301

7/2

M

2000., 4000., 8000.

Description:

The maximum speed of the current gear stage for speed control mode (position control

not active) is configured in MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT. The speed

setpoints generated taking the override into account are limited to this speed.

Note:

• The configured speed cannot exceed the value from MD35100 $MA_SPIND_VELO_LIMIT.

• If position control is active for the spindle, the speed is limited to the maximum

speed of MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT.

• The NC/PLC interface signal "Setpoint speed limited" is set to indicate that the

speed is being limited.

• The maximum speed entered here has no effect on the automatic gear stage selection

M40 S..

• The upper switching threshold for the automatic gear stage selection M40 is

configured in MD35110 $MA_GEAR_STEP_MAX_VELO.

Related to:

MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT (maximum speed of the gear stage with

position control)

MD35140 $MA_GEAR_STEP_MIN_VELO_LIMIT (minimum speed of the gear stage)

MD35010 $MA_GEAR_STEP_CHANGE_ENABLE (gear stage selection is possible)

MD35110 $MA_GEAR_STEP_MAX_VELO (max. speed for automatic gear stage selection M40)

MD35120 $MA_GEAR_STEP_MIN_VELO (min. speed for automatic gear stage selection M40)

35135

GEAR_STEP_PC_MAX_VELO_LIMIT

A06, A11, A04

S1

rev/min

Maximum speed of the gear stage with position control

DOUBLE

NEW CONF

CTEQ

-

6

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

0

1.0E+301

7/2

M

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

35150

SPIND_DES_VELO_TOL

A03, A05, A06,

R1, S1, Z1

A10, A04

-

Spindle speed tolerance

DOUBLE

Reset

-

-

-

0.1

0.0

1.0

7/2

M

Description:

In spindle control mode, the set speed (programmed speed x spindle offset, allowing

for limits) is compared with the actual speed.

• If the actual speed deviates from the set speed by more than MD35150

$MA_SPIND_DES_VELO_TOL, the NC/PLC interface signal is DB31, ... DBX83.5 (Spindle

in setpoint range) is set to zero.

• If the actual speed deviates from the set speed by more than MD35150

$MA_SPIND_DES_VELO_TOL, the path feed is disabled (positioning axes continue

traversing).

• If the actual speed exceeds the maximum spindle speed (MD35100

$MA_SPIND_VELO_LIMIT) by more than MD35150 $MA_SPIND_DES_VELO_TOL, the NC/PLC

interface signal is DB31, ... DBX83.0 (Speed limit exceeded) is enabled and alarm

22050 "Maximum speed reached" is output. All axes and spindles on the channel are

decelerated.

MD irrelevant to:

• Spindle oscillation mode

• Spindle positioning mode

Example:

MD 35150 $MA_SPIND_DES_VELO_TOL = 0.1

The actual spindle speed must not deviate from the set speed by more than +/- 10%.

Related to:

MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START

(feed enable for spindle in setpoint range)

MD35100 $MA_SPIND_VELO_LIMIT

(maximum spindle speed)

NC/PLC interface signal DB31, ... DBX83.5 (Spindle in setpoint range)

NC/PLC interface signal DB31, ... DBX83.0 (Speed limit exceeded)

Alarm 22050 "Maximum speed reached"

35160

SPIND_EXTERN_VELO_LIMIT

A06, A04

A3, S1, V1, Z1

rev/min

Spindle speed limitation from PLC

DOUBLE

NEW CONF

CTEQ

-

-

1000.0

1.0e-6

1.0E+301

7/2

M

Description:

A limiting value for the maximum spindle speed is entered in MD35160

$MA_SPIND_EXTERN_VELO_LIMIT, which is taken into account exactly when the NC/PLC

interface signal DB31, ... DBX3.6 (Velocity/speed limitation) is set.

The control limits a spindle speed which is too high to this value.

35200

GEAR_STEP_SPEEDCTRL_ACCEL

A06, A11, A04

S1

rev/s²

Acceleration in speed control mode

DOUBLE

NEW CONF

CTEQ

-

6

30.0, 30.0, 25.0, 20.0,

1.0e-7

1.0E+301

7/2

M

15.0, 10.0

Description:

If the spindle is in speed control mode, the acceleration is entered in MD35200

$MA_GEAR_STEP_SPEEDCTRL_ACCEL.

The spindle is in speed control mode with the function SPCOF.

Special cases:

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

The acceleration in speed control mode (MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL) can be

set so that the electric current limit is reached.

Related to:

MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL(acceleration in position control mode)

MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT (speed limit for reduced acceleration)

35210

GEAR_STEP_POSCTRL_ACCEL

A06, A11, A04

S1

rev/s²

Acceleration in position control mode

DOUBLE

NEW CONF

CTEQ

-

6

30.0, 30.0, 25.0, 20.0,

1.0e-7

1.0E+301

7/2

M

15.0, 10.0

Description:

The acceleration in position control mode must be set so that the electric current

limit is not reached.

Related to:

MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL

MD35212 $MA_GEAR_STEP_POSCTRL_ACCEL2

35212

GEAR_STEP_POSCTRL_ACCEL2

A06, A11, A04

S1

rev/s²

2nd data set: Acceleration in position control mode

DOUBLE

NEW CONF

CTEQ

-

6

30.0, 30.0, 25.0, 20.0,

1.0e-3

1.0E+301

2/2

M

15.0, 10.0

Description:

Second gear stage data set for maximum acceleration capability of the gear stages in

position control mode.

The acceleration in position control mode must be set so that the electric current

limit is not reached.

The 2nd data set for tapping with G331/G332 is activated by MD35010

$MA_GEAR_STEP_CHANGE_ENABLE, bit 5 for the master spindle.

Related to:

MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL

MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL

MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT

35220

ACCEL_REDUCTION_SPEED_POINT

A06, A04

S1, S3, B2

-

Speed for reduced acceleration

DOUBLE

Reset

-

-

-

1.0

0.0

1.0

7/2

M

Description:

This machine data defines the threshold speed/velocity for spindles/positioning/path

axes from which the acceleration reduction is to start. The reference is the defined

maximum speed/velocity. The starting point is a percentage of the maximum values.

The maximum speed for spindles is determined as the lowest value from machine data

MD35100 $MA_SPIND_VELO_LIMIT, MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT and, with position

control, MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT.

Example: MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT = 0.7, the maximum speed is 3000

rpm. Acceleration reduction starts at v_on = 2100 rpm, i.e. the maximum acceleration

capacity is utilized in the speed range 0...2099.99 rpm. Reduced acceleration is used

from 2100 rpm to the maximum speed.

Related to:

MD32000 $MA_MAX_AX_VELO (maximum axis velocity)

MD35100 $MA_SPIND_VELO_LIMIT (maximum spindle speed)

MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT (maximum gear stage speed)

Machine data and parameters

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515

SINUMERIK machine and setting data

2.3 NC machine data

MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT (maximum gear stage speed with position

control)

MD35230 $MA_ACCEL_REDUCTION_FACTOR (reduced acceleration)

35230

ACCEL_REDUCTION_FACTOR

A06, A04

S1, S3, B2

-

Reduced acceleration

DOUBLE

Reset

CTEQ

-

-

0.0

0.0

0.95

7/2

M

Description:

The machine data contains the factor by which the acceleration of the spindle/

positioning/path axes is reduced with reference to the maximum speed/velocity. The

acceleration is reduced by this factor between the threshold speed/velocity defined

in MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT and the maximum speed/velocity.

Example:

a= 10 rev/s², v_on = 2100 rpm, MD35230 $MA_ACCEL_REDUCTION_FACTOR = 0.3.

Acceleration and deceleration take place within the speed range 0...2099.99 rpm with

an acceleration of 10 rev/s². From a speed of 2100 rpm up to the maximum speed, the

acceleration is reduced from 10 rev/s² to 7 rev/s².

MD irrelevant to:

Errors that lead to rapid stop.

Related to:

MD32300 $MA_MAX_AX_ACCEL (axis acceleration)

MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL

(acceleration in speed control mode)

MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL

(acceleration in position control mode)

MD35242 $MA_ACCEL_REDUCTION_SPEED_POINT

(speed for reduced acceleration)

35240

ACCEL_TYPE_DRIVE

A04

B1, B2

-

Acceleration curve DRIVE for axes ON/OFF

BOOLEAN

Reset

CTEQ

-

-

FALSE

0

-

7/2

M

Description:

Basic setting of the acceleration response of the axis (positioning, oscillation,

JOG, path motions):

FALSE: No acceleration reduction

TRUE: Acceleration reduction active

MD is active only when MD32420 $MA_JOG_AND_POS_JERK_ENABLE = FALSE.

The settings in MD35220 $MA_ACCEL_REDUCTION_SPEED_POINT and MD35230

$MA_ACCEL_REDUCTION_FACTOR are always active for spindles (in spindle mode).

Remark:

This MD also influences the path motion with SOFT, BRISK, TRAFO

35242

ACCEL_REDUCTION_TYPE

A04

B1, B2

-

Type of acceleration reduction

BYTE

Reset

CTEQ

-

-

1

0

2

7/2

M

Description:

Shape of acceleration reduction characteristic with DRIVE velocity control

0:

Constant

1:

Hyperbolic

2:

Linear

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

The end point of the acceleration curve for spindles depending on MD35035

$MA_SPIND_FUNCTION_MASK Bit23 is selected either from the maximum speed determined

from MD35100 $MA_SPIND_VELO_LIMIT, MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT and MD35135

$MA_GEAR_STEP_PC_MAX_VELO_LIMIT or the relevant currently active speed limit.

35300

SPIND_POSCTRL_VELO

A06, A04

P3 pl, P3 sl, R1, S1

rev/min

Position control activation speed

DOUBLE

NEW CONF

CTEQ

-

6

500.0, 500.0, 500.0,

0.0

1.0E+301

7/2

M

500.0, 500.0, 500.0

Description:

When positioning a spindle that is not in position control mode from a high speed, the

position control is not activated until the spindle has reached or falls below the

velocity defined in MD35300 $MA_SPIND_POSCTRL_VELO.

The speed can be changed with FA[Sn] from the part program. Please refer to the

documentation:

/FB1/ Function Manual, Basic Functions; Spindles (S1), section "Spindle mode

'positioning operation" for a description of the spindle behavior under various

supplementary conditions (positioning from rotation, positioning from standstill).

Note:

The active speed from MD35300 $MA_SPIND_POSCTRL_VELO cannot exceed the max. speed set

in MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT. If MD35135

$MA_GEAR_STEP_PC_MAX_VELO_LIMIT = 0, the value is limited to 90% of MD35130

$MA_GEAR_STEP_MAX_VELO_LIMIT.

Related to:

MD35350 $MA_SPIND_POSITIONING_DIR (direction of rotation during positioning from

standstill, if no synchronization is available)

MD35100 $MA_SPIND_VELO_LIMIT (chuck speed)

35310

SPIND_POSIT_DELAY_TIME

A06, A04

S1

s

Positioning delay time

DOUBLE

NEW CONF

CTEQ

-

6

0.0, 0.05, 0.1, 0.2, 0.4,

0.0

1.0E+301

7/2

M

0.8

Description:

Positioning delay time.

After reaching the positioning end (exact stop fine), there is a waiting time equal to

the time set in this MD. The position matching the currently set gear stage is

selected.

The delay time is activated for:

• Gear stage change at defined spindle position. After reaching the position

configured in MD35012 $MA_GEAR_STEP_CHANGE_POSITION, there is a waiting period

equal to the time specified here. After expiry of this time, the position control

is switched off for an active direct measuring system, and the NC/PLC interface

signals DB31, ... DBX82.3 (Change gear) and DB31, ... DBX82.0 - .2 (Setpoint gear

stage A-C) are output.

• Block search upon the output of an accumulated positioning block (SPOS, SPOSA,

M19).

35350

SPIND_POSITIONING_DIR

A06

S1

-

Direction of rotation when positioning

BYTE

Reset

CTEQ

-

-

3

3

4

7/2

M

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

Description:

When SPOS or SPOSA is programmed, the spindle is switched to position control mode and

accelerates with the acceleration defined in MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL

(acceleration in position control mode) if the spindle is not synchronized. The

direction of rotation is defined by MD35350 $MA_SPIND_POSITIONING_DIR (direction of

rotation for positioning from standstill).

MD35350 $MA_SPIND_POSITIONING_DIR = 3 ---> Clockwise direction of rotation

MD35350 $MA_SPIND_POSITIONING_DIR = 4 ---> Counterclockwise direction of rotation

Related to:

MD35300 $MA_SPIND_POSCTRL_VELO (position control activation speed)

35400

SPIND_OSCILL_DES_VELO

A06, A04

P3 pl, P3 sl, S1

rev/min

Oscillation speed

DOUBLE

NEW CONF

CTEQ

-

-

500.0

0.0

1.0E+301

7/2

M

Description:

During oscillation, the NC/PLC interface signal DB31, ... DBX18.5 (Oscillation speed)

is used to select a motor speed for the spindle motor. This motor speed is defined in

MD35400 $MA_SPIND_OSCILL_DES_VELO. The motor speed defined in this MD is independent

of the current gear stage. In the AUTOMATIC and MDI displays, the oscillation speed is

displayed in the "Spindle setpoint" window until the gear is changed.

MD irrelevant to:

All spindle modes except oscillation mode

Special cases:

The acceleration during oscillation (MD35410 $MA_SPIND_OSCILL_ACCEL) is valid for the

oscillation speed defined in this MD.

Related to:

MD35410 $MA_SPIND_OSCILL_ACCEL (acceleration during oscillation)

NC/PLC interface signal DB31, ... DBX18.5 (Oscillation speed)

NC/PLC interface signal DB31, ... DBX18.4 (Oscillation via PLC)

35410

SPIND_OSCILL_ACCEL

A06, A04

S1, Z1

rev/s²

Acceleration during oscillation

DOUBLE

NEW CONF

CTEQ

-

-

16.0

1.0e-7

1.0E+301

7/2

M

Description:

The acceleration specified here is only effective for the output of the oscillation

speed (MD35400 $MA_SPIND_OSCILL_DES_VELO) to the spindle motor. The oscillation speed

is selected using the NC/PLC interface signal DB31, ... DBX18.5 (Oscillation speed).

MD irrelevant to:

All spindle modes except oscillation mode

Related to:

MD35400 $MA_SPIND_OSCILL_DES_VELO (oscillation speed)

NC/PLC interface signal DB31, ... DBX18.5 (Oscillation speed)

NC/PLC interface signal DB31, ... DBX18.4 (Oscillation via PLC)

35430

SPIND_OSCILL_START_DIR

A06

S1

-

Start direction during oscillation

BYTE

Reset

CTEQ

-

-

0

0

4

7/2

M

Description:

With the NC/PLC interface signal DB31, ... DBX18.5 (Oscillation speed), the spindle

motor accelerates to the speed specified in MD35400: $MA_SPIND_OSCILL_DES_VELO.

The start direction is defined by MD35430 $MA_SPIND_OSCILL_START_DIR if the NC/PLC

interface signal DB31, ... DBX18.4 (Oscillation via PLC) is not enabled.

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

MD35430 $MA_SPIND_OSCILL_START_DIR = 0 ---> Start direction same as the last

direction of rotation

MD35430 $MA_SPIND_OSCILL_START_DIR = 1 ---> Start direction counter to the last

direction of rotation

MD35430 $MA_SPIND_OSCILL_START_DIR = 2 ---> Start direction counter to the last

direction of rotation

MD35430 $MA_SPIND_OSCILL_START_DIR = 3 ---> Start direction is M3

MD35430 $MA_SPIND_OSCILL_START_DIR = 4 ---> Start direction is M4

MD irrelevant to:

All spindle modes except oscillation mode

Related to:

MD35400 $MA_SPIND_OSCILL_DES_VELO (oscillation speed)

NC/PLC interface signal DB31, ... DBX18.5 (Oscillation speed)

NC/PLC interface signal DB31, ... DBX18.4 (Oscillation via PLC)

35440

SPIND_OSCILL_TIME_CW

A06

S1, Z1

s

Oscillation time for M3 direction

DOUBLE

NEW CONF

CTEQ

-

-

1.0

0.0

1.0E+301

7/2

M

Description:

The oscillation time defined here is active in the M3 direction.

MD irrelevant to:

• All spindle modes except oscillation mode

• Oscillation via PLC (NC/PLC interface signal DB31, ... DBX18.4 (Oscillation via

PLC) enabled)

Related to:

MD35450 $MA_SPIND_OSCILL_TIME_CCW (oscillation time for M4 direction)

MD10070 $MN_IPO_SYSCLOCK_TIME_RATIO (interpolator cycle)

NC/PLC interface signal DB31, ... DBX18.5 (Oscillation speed)

NC/PLC interface signal DB31, ... DBX18.4 (Oscillation via PLC)

35450

SPIND_OSCILL_TIME_CCW

A06

S1, Z1

s

Oscillation time for M4 direction

DOUBLE

NEW CONF

CTEQ

-

-

0.5

0.0

1.0E+301

7/2

M

Description:

The oscillation time defined here is active in the M4 direction.

MD irrelevant to:

• All spindle modes except oscillation mode

• Oscillation via PLC (NC/PLC interface signal DB31, ... DBX18.4 (Oscillation via

PLC) enabled)

Related to:

MD35440 $MA_SPIND_OSCILL_TIME_CW (oscillation time for M3 direction)

MD10070 $MN_IPO_SYSCLOCK_TIME_RATIO (interpolator cycle)

NC/PLC interface signal DB31, ... DBX18.5 (Oscillation speed)

NC/PLC interface signal DB31, ... DBX18.4 (Oscillation via PLC)

35500

SPIND_ON_SPEED_AT_IPO_START

A03, A06, A10

S1, Z1

-

Feedrate enable for spindle in the set range

BYTE

Reset

CTEQ

-

-

1

0

2

7/2

M

Description:

For SW 4.2 and higher:

Machine data and parameters

List Manual, 10/2020, 6FC5397-7AP40-6BA4

519

SINUMERIK machine and setting data

2.3 NC machine data

Byte = 0:

The path interpolation is not affected

Byte = 1:

The path interpolation is not enabled (positioning axes continue traversing) until

the spindle has reached the specified speed. The tolerance range can be set in MD

35150: $MA_SPIND_DES_VELO_TOL. If a measuring system is active, the actual speed is

monitored, otherwise the set speed. Path axes traversing in continuous-path mode

(G64) are not stopped.

Byte = 2:

In addition to 1, traversing path axes are also stopped before machining begins, e.g.

continuous-path mode (G64) and the change from rapid traverse (G0) to a machining

block (G1, G2,..). The path is stopped at the last G0 block, and does not start

traversing until the spindle is within the set speed range. If the spindle speed is re-

programmed between two machining blocks, and the spindle speed is not yet in the

setpoint range during transition from the first to the second machining block, the

traversing path axes are also braked.

Restriction:

If the spindle is re-programmed by the PLC (FC18) or a synchronized action "shortly"

before the end of the last G0 block, the path decelerates on the basis of the dynamic

limitations. Since the spindle programming is asynchronous, a traverse can be made

into the machining block if necessary. If the spindle has reached the setpoint speed

range, machining starts from this position.

Byte

= 3:

No longer available for SW 5.3 and higher.

Related to:

MD35150 $MA_SPIND_DES_VELO_TOL (Spindle speed tolerance)

NC/PLC interface signal DB31, ... DBX83.5 (Spindle in setpoint range)

35510

SPIND_STOPPED_AT_IPO_START

A03, A06, A10

S1

-

Feedrate enable for spindle stopped

BOOLEAN

Reset

CTEQ

-

-

FALSE

0

-

7/2

M

Description:

When a spindle is stopped (M5), the path feed is disabled (positioning axes continue

traversing) if MD35510 $MA_SPIND_STOPPED_AT_IPO_START is enabled and the spindle is

in control mode.

When the spindle has come to a standstill (NC/PLC interface signal DB31, ... DBX61.4

(Axis/spindle stationary) enabled), the path feed is enabled.

Related to:

MD35500 $MA_SPIND_ON_SPEED_AT_IPO_START (feed enable for spindle in setpoint range)

35550

DRILL_VELO_LIMIT

A06, A11, A04

-

rev/min

Maximum speeds for tapping

DOUBLE

NEW CONF

CTEQ

-

6

10000., 10000.,

0.1

1.0E+301

7/2

M

10000., 10000.,

10000., 10000.

Description:

Limit speed values for tapping without compensating chuck with G331/G332.

The maximum speed of the linear motor characteristic range (constant acceleration

capacity) must be specified depending on the gear stage.

Machine data and parameters

520

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SINUMERIK machine and setting data

2.3 NC machine data

35590

PARAMSET_CHANGE_ENABLE

EXP, A05

TE3, A2, S1, Z1

-

Parameter set can be changed

BYTE

PowerOn

CTEQ

-

-

0

0

2

7/2

M

Description:

0:

Parameter set changes cannot be controlled.

For axes and spindles in axis mode: The first parameter set is always active. In

the case of spindles the parameter set is set as appropriate for the gear stage (1st

gear stage uses 2nd parameter set). Exceptions: See below.

1:

The parameter set applied in the servo is defined via the VDI interface or

SCPARA. Parameter sets 1 to 6 can be selected. Sets are selected using the NC/PLC

interface signal DB31, ... DBX9.0 - .2 (selection of parameter set servo A, B, C) in

the binary-coded value range 0 to 5. Binary values 6 and 7 select parameter set no. 6.

Exceptions: See below.

For 0 and 1:

With G33, G34, G35, G331, G332, the parameter set number for the axes involved is

ativated in accordance with the master spindle gear stage, increased by one

(corresponds with parameter set numbers 2 to 6).

For spindles, parameter sets 2 to 6 are always active, depending on the set gear stage

plus one.

2: The parameter set is only ever defined via the VDI interface or SCPARA. Parameter

sets 1 to 6 can be selected. Sets are selected using the NC/PLC interface signal

DB31, ... DBX9.0 - .2 (selection of parameter set servo A, B, C) in the binary-coded

value range 0 to 5. Binary values 6 and 7 select parameter set no. 6.

Secondary conditions:

Changeover response is determined by whether the KV factor differs between the active

parameter set and the new parameter set.

Changing a parameter set where the load gearbox factors differ between the active

parameter set and the new parameter set will reset the referenced signal, provided

that the axis has an indirect measuring system.

The parameter set contains the following axial machine data:

MD36200 $MA_AX_VELO_LIMIT

MD32200 $MA_POSCTRL_GAIN

MD32800 $MA_EQUIV_CURRCTRL_TIME

MD32810 $MA_EQUIV_SPEEDCTRL_TIME

MD32910 $MA_DYN_MATCH_TIME

MD31050 $MA_DRIVE_AX_RATIO_DENOM

MD31060 $MA_DRIVE_AX_RATIO_NUMERA

Corresponds with:

NC/PLC interface signals DB31, ... DBX9.0 - .2 (selection of parameter set servo A, B,

C) and DB31, ... DBX69.0 - .2 (selected parameter set servo A, B, C)

References:

/FB/, H2, "Output of Auxiliary Functions to PLC"

36000

STOP_LIMIT_COARSE

A05

TE1, A3, B1, G2, S1, Z1

mm, degrees

Exact stop coarse

DOUBLE

NEW CONF

-

-

-

0.04, 0.04, 0.04, 0.04,

0.0

1.0E+301

7/2

M

0.04, 0.04, 0.04, 0.04...

Description:

Threshold for exact stop coarse

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

An NC block is considered as terminated if the actual position of the path axes is

away from the setpoint position by the value entered for the exact stop limit. If the

actual position of a path axis is not within this limit, the NC block is considered as

not terminated, and further part program execution is not possible. The magnitude of

the value entered influences the transition to the next block. The larger the value,

the earlier the block change is initiated.

If the specified exact stop limit is not reached, then

• the block is considered as not terminated,

• further traversing of the axis is not possible,

• alarm 25080 Positioning monitoring is output after expiry of the time specified in

MD36020 $MA_POSITIONING_TIME (monitoring time for exact stop fine),

• the direction of movement +/- is indicated for the axis in the positioning display.

The exact stop window is also evaluated for spindles in position control mode

(SPCON instruction).

Special cases:

MD36000 $MA_STOP_LIMIT_COARSE must not be set smaller than MD36010

$MA_STOP_LIMIT_FINE (exact stop fine). To achieve the identical block change behavior

as with the "exact stop fine" criterion, the exact stop coarse window may be identical

to the exact stop fine window. MD36000 $MA_STOP_LIMIT_COARSE must not be set equal to

or greater than MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance).

Related to:

MD36020 $MA_POSITIONING_TIME (delay time, exact stop fine)

36010

STOP_LIMIT_FINE

A05

TE1, A3, B1, D1, G2, S1, Z1

mm, degrees

Exact stop fine

DOUBLE

NEW CONF

-

-

-

0.01, 0.01, 0.01, 0.01,

0.0

1.0E+301

7/2

M

0.01, 0.01, 0.01, 0.01...

Description:

Threshold for exact stop fine

See also MD36000 $MA_STOP_LIMIT_COARSE (exact stop coarse)

Special cases:

MD36010 $MA_STOP_LIMIT_FINE must not be set greater than MD36000

$MA_STOP_LIMIT_COARSE (exact stop coarse).

MD36010 $MA_STOP_LIMIT_FINE must not be set greater than or equal to MD36030

$MA_STANDSTILL_POS_TOL (standstill tolerance).

Related to:

MD 36020: $MA_POSITIONING_TIME (delay time, exact stop fine)

36012

STOP_LIMIT_FACTOR

A05

G1, A3, B1, G2, S1, Z1

-

Factor for exact stop coarse/fine and standstill

DOUBLE

NEW CONF

-

-

6

1.0, 1.0, 1.0, 1.0, 1.0,

0.001

1000.0

7/2

M

1.0

Description:

With this factor,

MD36000 $MA_STOP_LIMIT_COARSE,

MD36010 $MA_STOP_LIMIT_FINE,

MD36030 $MA_STANDSTILL_POS_TOL

can be re-assessed as a function of the parameter set. The relationship between these

three values always remains the same.

Application examples:

Adapting the positioning behavior if the mass relationships change significantly with

a gear change, or if it is desired to save on machine positioning time at the cost of

accuracy in various operating conditions.

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

Related to:

MD36000 $MA_STOP_LIMIT_COARSE,

MD36010 $MA_STOP_LIMIT_FINE,

MD36030 $MA_STANDSTILL_POS_TOL

36020

POSITIONING_TIME

A05

TE1, A3, B1, G2

s

Delay time exact stop fine

DOUBLE

NEW CONF

-

-

-

1.0

0.0

1.0E+301

7/2

M

Description:

The following error must have reached the limit value for exact stop fine by the

expiry of the time entered in this MD for traveling into the position (position

setpoint has reached the destination).

The current following error is therefore continuously monitored for the time limit

MD36010 $MA_STOP_LIMIT_FINE. If this time is exceeded, alarm 25080 "Positioning

monitoring" is output, and the axis stopped. The time entered in this MD should be

long enough to ensure that the monitoring function is not triggered under normal

operating conditions, taking into account any settling times.

Related to:

MD 36010: $MA_STOP_LIMIT_FINE (exact stop fine)

36030

STANDSTILL_POS_TOL

A05

G1, A3, D1, G2

mm, degrees

Standstill tolerance

DOUBLE

NEW CONF

-

-

-

0.2, 0.2, 0.2, 0.2, 0.2,

0.0

1.0E+301

7/2

M

0.2, 0.2, 0.2...

Description:

This MD serves as a tolerance band for the following monitoring functions:

• After termination of a traversing block (position partial setpoint=0 at the end of

the movement), whether the following error has reached the limit value for MD36030

$MA_STANDSTILL_POS_TOL (standstill tolerance) is monitored after the programmable

MD36040 $MA_STANDSTILL_DELAY_TIME (delay time, standstill monitoring).

• After termination of a positioning action (exact stop fine reached), positioning

monitoring is replaced by standstill monitoring. The axis is monitored for moving

from its position by more than defined in MD36030 $MA_STANDSTILL_POS_TOL

(standstill tolerance).

If the setpoint position is over- or undershot by the standstill tolerance, alarm

25040 "Standstill monitoring" is output and the axis stopped.

Special cases:

The standstill tolerance must be greater than the "exact stop limit coarse".

Related to:

MD36040 $MA_STANDSTILL_DELAY_TIME (delay time, standstill monitoring)

36040

STANDSTILL_DELAY_TIME

A05

TE1, A3, F1, G2

s

Delay time for standstill monitoring

DOUBLE

NEW CONF

-

-

-

0.4

0.0

1.0E+301

7/2

M

Description:

See MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance)

36042

FOC_STANDSTILL_DELAY_TIME

A05

F1

s

Delay time for standstill monitoring w/ active torque or force

DOUBLE

NEW CONF

limitation.

-

-

-

0.4

0.0

1.0E+301

7/2

M

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

Description:

Only for PROFIdrive telegrams including a torque/force limiting value:

Waiting time between the end of a movement and activation of standstill monitoring

with active torque/force limitation.

If the configurable end of block criterion occurs within this time, then standstill

monitoring is activated.

36050

CLAMP_POS_TOL

A05

A3, D1, Z1

mm, degrees

Clamping tolerance

DOUBLE

NEW CONF

-

-

-

0.5

0.0

1.0E+301

7/2

M

Description:

With NC/PLC interface signal DB31, ... DBX2.3 (Blocking action active), blocking

monitoring is activated. If the monitored axis is forced away from the setpoint

position (exact stop limit) by more than the blocking tolerance, alarm 26000 "Blocking

monitoring" is output and the axis stopped.

Threshold value for clamping tolerance (half width of window).

Special cases:

The clamping tolerance must be greater than the "exact stop limit coarse".

Related to:

NC/PLC interface signal DB31, ... DBX2.3 (Blocking action active)

36051

CLAMP_POS_TOL_TIME

A05

A3, D1, Z1

s

Alarm delay time for clamping monitoring

DOUBLE

NEW CONF

-

-

-

0.0

0.0

1.0E+301

7/2

M

Description:

The MD defines the length of time for which the clamping tolerance can be exceeded

before alarm 26000 "Clamping monitoring" is output.

If the clamping tolerance is exceeded before the expiry of this time, the user is

first informed via the NC/PLC interface signal DB31, ... DBX102.3 (Clamping tolerance

exceeded) (without alarm)

If the clamping tolerance is undershot before the expiry of this time, the clamping

monitoring is reset with the NC/PLC interface signal DB31, ... DBX102.3 (Clamping

tolerance exceeded) (without alarm)

See MD36050 $MA_CLAMP_POS_TOL (clamping tolerance).

Related to:

NC/PLC interface signal DB31, ... DBX2.3 (Clamping process active)

NC/PLC interface signal DB31, ... DBX102.3 (Clamping tolerance exceeded)

36052

STOP_ON_CLAMPING

A10

A3

-

Special functions with clamped axis

UBYTE

NEW CONF

CTEQ

-

-

0

0

0x07

2/1

M

Description:

This MD defines how a blocked axis is taken into account.

Bit 0 =0:

If a blocked axis is to be traversed again in continuous-path mode, it must be ensured

via the part program that the path axes are stopped and that there is time for

releasing the blockage.

Bit 0 =1:

If a blocked axis is to be traversed again in continuous-path mode, the LookAhead

function stops the path motion if required until the position controller is allowed to

traverse the blocked axis again, i.e. until the controller enable is set again.

Bit 1 is relevant only if bit 0 is set:

Bit 1 =0:

Machine data and parameters

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2.3 NC machine data

If a blocked axis is to be traversed again in continuous-path mode, the LookAhead

function does not release the blockage.

Bit 1 =1:

If a blocked axis is to be traversed again in continuous-path mode, a traversing

command for the blocked axis is given in the preceding G0 blocks so that the PLC

releases the axis blockage again.

Bit 2 =0:

If an axis is to be blocked in continuous-path mode, it must be ensured in the part

program that the path axes are stopped to make sure that there is time for setting the

blockage.

Bit 2 =1:

If an axis is to be blocked in continuous-path mode, the LookAhead function stops the

path motion prior to or in the next non-G0 block, if the axis has not yet been blocked

by that time, i.e. the PLC has not yet set the feedrate override to zero.

36060

STANDSTILL_VELO_TOL

A05, A04

TE1, A2, A3, D1, Z1

mm/min, rev/min

Threshold velocity/speed 'Axis/spindle in stop'

DOUBLE

NEW CONF

-

-

-

(5.0/ 1.0), (5.0/ 1.0),

(0./ 0.)

(MD_DBLMAX/

7/2

M

(5.0/ 1.0), (5.0/ 1.0),

MD_DBLMAX)

(5.0/ 1.0), (5.0...

Description:

This MD defines the standstill range for the axis velocity / spindle speed. If the

actual velocity of the axis or the actual speed of the spindle is less than the value

entered in this MD, the NC/PLC interface signal DB31, ... DBX61.4 (Axis/spindle

stationary) is set.

To bring the axis/spindle to a standstill under control, the pulse enable should not

be removed until the axis/spindle is at a standstill. Otherwise it will coast down.

In order to obtain robust stationary information in the NC/PLC interface signal

DB31, ... DBX61.4 (axis/spindle stationary), fluctuations in the axis velocity or the

spindle speed in comparison to the average value in the software are more strongly

evaluated by the ratio between MD10071 $MN_IPO_CYCLE_TIME and MD10061

$MN_POSCTRL_CYCLE_TIME.

For a robust threshold setting, the maximum fluctuation in axis velocity or spindle

speed observed at a standstill must be multiplied by this ratio.

Related to:

NC/PLC interface signal DB31, ... DBX61.4 (Axis/spindle stationary)

36100

POS_LIMIT_MINUS

A03, A05, A11

TE1, R2, T1, A3, Z1

mm, degrees

1st software limit switch minus

DOUBLE

NEW CONF

CTEQ

-

-

-1.0e8, -1.0e8, -1.0e8,

-1.0E+301, -1.0E

1.0E+301, 1.0E

7/2

M

-1.0e8, -1.0e8, -1.0e8,

+301, -1.0E

+301, 1.0E+301,

-1.0e8, -1.0e8...

+301, -1.0E

1.0E+301, 1.0E

+301, -1.0E

+301, 1.0E+301,

+301, -1.0E

1.0E...

+301...

Description:

Same meaning as 1st software limit switch plus, however the traversing range

limitation is in the negative direction.

The MD becomes active after reference point approach if the NC/PLC interface signal

DB31, ... DBX12.2 (2nd software limit switch minus) is not set.

MD irrelevant:

if axis is not referenced.

Related to:

NC/PLC interface signal DB31, ... DBX12.2 (2nd software limit switch minus)

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

36110

POS_LIMIT_PLUS

A03, A05, A11

TE1, R2, T1, G2, A3, Z1

mm, degrees

1st software limit switch plus

DOUBLE

NEW CONF

CTEQ

-

-

1.0e8, 1.0e8, 1.0e8,

-1.0E+301, -1.0E

1.0E+301, 1.0E

7/2

M

1.0e8, 1.0e8, 1.0e8,

+301, -1.0E

+301, 1.0E+301,

1.0e8, 1.0e8...

+301, -1.0E

1.0E+301, 1.0E

+301, -1.0E

+301, 1.0E+301,

+301, -1.0E

1.0E...

+301...

Description:

A software limit switch can be activated in addition to the hardware limit switch. The

absolute position in the machine axis system of the positive range limit of each axis

is entered.

The MD is active after reference point approach if NC/PLC interface signal DB31, ...

DBX12.3 (2nd software limit switch plus) has not been set.

MD irrelevant:

if axis is not referenced.

Related to:

NC/PLC interface signal DB31, ... DBX12.3 (2nd software limit switch plus)

36120

POS_LIMIT_MINUS2

A03, A05

TE1, A3, Z1

mm, degrees

2nd software limit switch minus

DOUBLE

NEW CONF

CTEQ

-

-

-1.0e8

-1.0E+301

1.0E+301

7/2

M

Description:

Same meaning as 2nd software limit switch plus, but the traversing range limitation is

in the negative direction.

The PLC can select whether software limit switch 1 or 2 is to be active by means of the

interface signal.

For example:

DB31, ... DBX12.2 = 0 (1st software limit switch minus) active for 1st axis

DB31, ... DBX12.2 = 1 (2nd software limit switch minus) active for 1st axis

MD irrelevant:

if axis is not referenced.

Related to:

NC/PLC interface signal DB31, ... DBX12.2 (2nd software limit switch minus)

36130

POS_LIMIT_PLUS2

A03, A05

TE1, A3, Z1

mm, degrees

2nd software limit switch plus

DOUBLE

NEW CONF

CTEQ

-

-

1.0e8

-1.0E+301

1.0E+301

7/2

M

Description:

This machine data can define a 2nd software limit switch position in the positive

direction in the machine axis system. The PLC can select which of the two software

limit switches 1 or 2 is to be active by means of an interface signal.

For example:

DB31, ... DBX12.3 = 0 (1st software limit switch plus) active for 1st axis

DB31, ... DBX12.3 = 1 (2nd software limit switch plus) active for 1st axis

MD irrelevant:

if axis is not referenced.

Related to:

NC/PLC interface signal DB31, ... DBX12.3 (2nd software limit switch plus)

Machine data and parameters

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SINUMERIK machine and setting data

2.3 NC machine data

36200

AX_VELO_LIMIT

A05, A11, A04

TE3, A3, G2, S1, V1

mm/min, rev/min

Threshold value for velocity monitoring

DOUBLE

NEW CONF

CTEQ

-

6

-

(0./ 0.)

(MD_DBLMAX/

7/2

M

MD_DBLMAX)

Description:

The threshold value for actual velocity monitoring is entered in this machine data.

If the axis has at least one active encoder and if this encoder is below its limit

frequency, alarm 25030 "Actual velocity alarm limit" is triggered when the threshold

value is exceeded, and the axis is stopped.

Settings:

• For axes, a value should be selected that is 10-15 % higher than that in MD32000

$MA_MAX_AX_VELO (maximum axis velocity).

When temperature compensation is active MD32750 $MA_TEMP_COMP_TYPE, the maximum axis

velocity is increased by an additional factor, which is obtained from MD32760

$MA_COMP_ADD_VELO_FACTOR (velocity increase as a result of compensation). Therefore,

the following should apply for the threshold value of the velocity monitoring:

MD36200 $MA_AX_VELO_LIMIT[n] > MD32000 $MA_MAX_AX_VELO * (1,1 ... 1,15 + MD32760

$MA_COMP_ADD_VELO_FACTOR)

• For spindles, a value should be selected for each gear stage that is 10-15 % above

MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT[n] (maximum speed of the gear stage).

The index of the machine data has the following coding: [control parameter set no.]:

0-5

36210

CTRLOUT_LIMIT

EXP, A05

A3, D1, G2

%

Maximum speed setpoint

DOUBLE

NEW CONF

CTEQ

-

1

110.0

0

200

7/2

M

Description:

This MD defines the maximum speed setpoint in percent. 100% is the maximum speed

setpoint, this corresponds to 10 V for an analog interface or the maximum speed for

PROFIdrive drives (manufacturer-specific adjustable parameter in the drive, e.g.

p1082 and, if applicable, p2000 for SINAMICS.

The maximum speed setpoint depends on whether there are any setpoint limitations in

the speed and current controller.

An alarm is output and the axis is stopped when the limit is exceeded.

The limit is to be selected so that the maximum velocity (rapid traverse) can be

reached, and an appropriate additional control margin is available.

Note: If a value corresponding to the upper limit (200%) is entered, this value is

automatically corrected by the system to 199,9999%. This correction is made for

technical reasons.

36220

CTRLOUT_LIMIT_TIME

EXP, A05

A3

s

Delay time for speed setpoint monitoring

DOUBLE

NEW CONF

-

-

1

0.0

0.0

1.0E+301

7/2

M

Description:

This MD defines how long the speed setpoint may be within the limit CTRLOUT_LIMIT[n]

(max. speed setpoint) until the monitoring function is triggered.

Monitoring (and with it also this machine data) is always active.

Reaching the limit renders the position control loop non-linear, which results in

contour errors provided that the speed setpoint limited axis is participating in

contour generation. That is why this MD has default value 0, i.e. the monitoring

function responds as soon as the speed setpoint reaches the limit.

Machine data and parameters

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527

SINUMERIK machine and setting data

2.3 NC machine data

36300

ENC_FREQ_LIMIT

EXP, A02, A05,

A3, D1, R1, Z1

A06

-

Encoder limit frequency

DOUBLE

PowerOn

-

-

2

3.0e5, 3.0e5

0.0

1.0E+301

7/2

M

Description:

This MD is used to enter the encoder frequency, which,

in general, is a manufacturer specification (type plate, documentation).

For PROFIdrive:

No automatic, software-internal limitation for encoders on the PROFIdrive drive;

here, the limit values of the measuring circuit module depend on the drive hardware

used, i.e. known only by the drive. Therefore, it is the user who is responsible for

taking into account the limit frequency of the measuring circuit module.

36302

ENC_FREQ_LIMIT_LOW

EXP, A02, A05,

A3, R1, S1, Z1

A06

%

Encoder limit frequency for new encoder synchronization.

DOUBLE

NEW CONF

-

-

2

99.9, 99.9

0

100

7/2

M

Description:

Encoder frequency monitoring uses a hysteresis.

MD36300 $MA_ENC_FREQ_LIMIT defines the encoder limit frequency. The encoder is

deactivated when this frequency is exceeded. The encoder is re-activated when the

frequency falls below that defined in MD36302 $MA_ENC_FREQ_LIMIT_LOW.

MD36300 $MA_ENC_FREQ_LIMIT is entered directly in Hertz,

whereas MD36302 $MA_ENC_FREQ_LIMIT_LOW is a fraction, expressed as a percentage of

MD36300 $MA_ENC_FREQ_LIMIT.

MD36302 $MA_ENC_FREQ_LIMIT_LOW is therefore already correctly preset for most of the

encoders used.

Exception: In the case of absolute encoders with an En-Dat interface, the limit

frequency of the absolute track is significantly lower than the limit frequency of the

incremental track. A low value in MD36302 $MA_ENC_FREQ_LIMIT_LOW ensures that the

encoder is not re-activated until it falls below the limit frequency of the absolute

track, and therefore is not referenced until permitted by the absolute track. For

spindles, this referencing is carried out automatically.

Example EnDat encoder EQN 1325:

Limit frequency of the electronics of the incremental track: 430 kHz

===> MD36300 $MA_ENC_FREQ_LIMIT = 430 kHz

The limit frequency of the absolute track is approx. 2000 encoder rpm at 2048

increments/encoder revolution, i.e. the limit frequency is 2000/60 * 2048 Hz = 68 kHz

===> MD36302 $MA_ENC_FREQ_LIMIT_LOW = 68/430 = 15%

36310

ENC_ZERO_MONITORING

EXP, A02, A05

A3, R1

-

Zero mark monitoring

DWORD

NEW CONF

-

-

2

0, 0

0

-

7/2

M

Description:

This MD is used to activate zero mark monitoring.

For PROFIdrive drives (the corresponding diagnostics system variables are not

currently supplied for incremental measuring systems):

For PROFIdrive, the permissible deviation must be set in the drive, *not* in the NC.

Zero mark monitoring reported by the drive is mapped to the NCK according to the

following rule:

0:

no zero mark monitoring

Machine data and parameters

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2.3 NC machine data

100:

no zero mark monitoring together with suppression of all encoder monitoring

operations, i.e. not only alarm 25020 but also alarms 25000, 25010 etc. are suppressed.

>0

but less than 100: direct triggering of power ON alarm 25000 ( or 25001).

>100:

attenuated error message: reset alarm 25010 (25011) is output instead of

power ON alarm 25000 (25001).

For absolute measuring systems (MD30240 $MA_ENC_TYPE=4):

Permissible deviation in 1/2 coarse increments between the absolute and the

incremental encoder track (one 1/2 coarse increment is sufficient).

36312

ENC_ABS_ZEROMON_WARNING

EXP, A02, A05

A3

-

Zero mark monitoring warning level

DWORD

NEW CONF

-

-

2

10, 10

0

-

7/2

M

Description:

Only for absolute measuring systems (MD30240 $MA_ENC_TYPE=4):

This MD activates zero mark diagnostics.

0:

no zero mark diagnostics

>0:

permissible deviation in 1/2 coarse increments between the absolute and the

incremental encoder track (one 1/2 coarse increment is sufficient).

36314

ENC_ABS_ZEROMON_INITIAL

EXP, A02, A05

A3

-

Warning level for absolute encoder power ON

DWORD

NEW CONF

-

-

2

1000, 1000

0

-

7/2

M

Description:

Only for absolute measuring systems (MD30240 $MA_ENC_TYPE=4):

Parameterization in 1/2 coarse increments

At absolute encoder power ON (deselect parking and similar) this MD parameterizes the

previously permissible position offset (comparison of the new absolute position with

the information last saved in SRAM). When the warning level is exceeded, system

variable $VA_ENC_ZERO_MON_ERR_CNT is incremented in coarse increments by the value

10000.

36400

CONTOUR_TOL

A05, A11

A3, D1, G2

mm, degrees

Tolerance band for contour monitoring

DOUBLE

NEW CONF

-

-

-

1.0, 1.0, 1.0, 1.0, 1.0,

0.0

1.0E+301

7/2

M

1.0, 1.0, 1.0...

Description:

Tolerance band for axial contour monitoring (dynamic following error monitoring).

The permissible deviation between the real and the modelled following error is entered

in this MD.

The input of the tolerance band is intended to avoid spurious tripping of the dynamic

following error monitoring caused by minor speed fluctuations, which occur during

normal closed-loop control operations (e.g. during first cut).

Following error modelling and thus the input of this MD depend on the position control

gain MD32200 $MA_POSCTRL_GAIN

and, in the case of precontrol or simulation, on the accuracy of the controlled system

model MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant for precontrol of

speed control loop), as well as on the accelerations and velocities used.

36500

ENC_CHANGE_TOL

A02, A05

G1, K6, K3, A3, D1, G2, Z1

mm, degrees

Tolerance at actual position value change.

DOUBLE

NEW CONF

-

-

-

0.1

0.0

1.0E+301

7/2

M

Machine data and parameters

List Manual, 10/2020, 6FC5397-7AP40-6BA4

529