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SINUMERIK 840D sl. Service - Configuring Commissioning. Manual (2011-2020) - page 73

NC variables

3.2 NC variable descriptions

contrConfirmActive (N, SEMA)

Controller enable

Return value

0 = no controller enable

1 = controller enable

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

contrMode (N, SEMA)

Controller mode servo

Identifier for controller mode servo

Return value

0 = position control

1 = speed control

2 = stop

3 = park

4 = follow-up

(set the mode through VDI interface and partly through part program)

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

displayAxis (N, SEMA)

Machine axis identifier

Identifier indicating whether axis is displayed by HMI as a machine axis.

Return value

0 =

Do not display at all

0xFFFF = Always display everything

bit 0 = Display in actual-value window

bit 1 = Display in reference point window

bit 2 = Display in Preset / Basic offset / Scratching

bit 3 = Display in handwheel selection

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0xFFFF

0

0xFFFF

Addressing

Line index:

Max. line index:

NC variables

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NC variables

3.2 NC variable descriptions

displayAxis (N, SEMA)

$$maxnumGlobMachAxes

Read access

distPerDriveRevol (N, SEMA)

Distance per revolution of the drive

Rotary drive: Load-side path corresponding to one revolution of the drive.

Is returned in the unit of the internal computational resolution INT_INCR_PER_MM (for linear axes) or INT_INCR_PER_DEG (for

rotary axes / spindles) taking into account gear ratios etc.

In the case of linear axes, the pitch of the ball screw is also included in the calculation.

In the case of linear motors, a fixed value of "1mm" is used for the ball screw pitch instead of the non-existent ball screw.

Units and value ranges

Physical unit:

Data type:

mm, inch, degree, user defi-

TYPE_DOUBLE

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

drfVal (N, SEMA)

DRF value

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

drive2ndTorqueLimit (N, SEMA)

2nd torque limit

2nd torque limit. With linear motors: 2nd force limit

Return value

0 = inactive

1 = active

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

NC variables

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NC variables

3.2 NC variable descriptions

driveReady (N, SEMA)

Drive ready

Return value

0 = drive not ready

1 = drive ready

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

driveRunLevel (N, SEMA)

Current state reached during the boot process

Current state reached during the boot process

(range: coarse state (0 to 5) * 100 + fine state (up to 22)

Return value

Booting the firmware

---> 0 XX

entering the configuration

---> 1XX

hardware-init, communication-init

loading, converting data

---> 2XX

changing bus addressing

---> 3XX

preparing synchronization

---> 4XX

activating interrupt

--->

519

XX ==> fine state

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

driveSetupMode (N, SEMA)

Set-up mode

Return value

0 = inactive

1 = active

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

NC variables

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NC variables

3.2 NC variable descriptions

driveSetupMode (N, SEMA)

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

driveSpeedSmoothing (N, SEMA)

Smoothing the desired value of the rotary speed

Smoothing the desired value of the rotary speed, for linear drives: smoothing the desired value of the velocity

Return value

0 = no smoothing

1 = smoothing

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

effComp1 (N, SEMA)

Sum of the compensation values for encoder 1

Sum of the compensation values for encoder 1. The value results from: Temperature compensation, backlash compensation,

quadrant error compensation, beam sag compensation, leadscrew error compensation. The physical unit is defined in mea-

sUnit (in this module).

Units and value ranges

Physical unit:

Data type:

mm, inch, degree, user defi-

TYPE_DOUBLE

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

effComp2 (N, SEMA)

Sum of the compensation values for encoder 2

Sum of the compensation values for encoder 2. The value results from: Temperature compensation, backlash compensation,

quadrant error compensation, beam sag compensation, leadscrew error compensation. The physical unit is defined in mea-

sUnit (in this module).

Units and value ranges

Physical unit:

Data type:

mm, inch, degree, user defi-

TYPE_DOUBLE

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

NC variables

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NC variables

3.2 NC variable descriptions

focStat (N, SEMA)

-

TYPE_UWORD

0

0

2

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

fxsInfo (N, SEMA)

Additional info on travel to fixed stop

Additional information on travel to fixed stop if

$VA_FXS[]=2, or OPI variable $$/N/SEMA/fxsStat=2.

Return value

0 No additional information available

1 No approach motion programmed

2 Programmed end position reached, movement ended

3 Abort by NC RESET (Reset key)

4 Fixed stop window exited

5 Torque reduction was rejected by drive

6 PLC has canceled enable signals

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

6

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

fxsStat (N, SEMA)

State after travelling to fixed stop

Return value

0 = normal control

1 = fixed stop reached

2 = selection failed

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

handwheelAss (N, SEMA)

Number of assigned handwheel

Number of handwheel assigned to axis

Return value

0 = no handwheel assigned

1 to 3 = handwheel number

NC variables

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NC variables

3.2 NC variable descriptions

handwheelAss (N, SEMA)

Units and value ranges

Physical unit:

Data type:

Minimum value:

Maximum value:

-

TYPE_UWORD

0

3

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

impulseEnable (N, SEMA)

Impulse enable for drive

Return value

0 = not enabled

1 = enabled

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

index (N, SEMA)

Absolute axis index

Absolute axis index referred to MD

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

isDriveUsed (N, SEMA)

Machine axis has control over the drive

One or more machine axes are assigned to each drive.

The drive can only be controlled at any one time by one of these machine axes.

The machine manufacturer makes the selection.

The status of the drive control changes dynamically.

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

1

Addressing

Line index:

Max. line index:

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NC variables

3.2 NC variable descriptions

isDriveUsed (N, SEMA)

$$maxnumGlobMachAxes

Read access

kVFactor (N, SEMA)

position control gain factor

Units and value ranges

Physical unit:

Data type:

16.667 1/s

TYPE_DOUBLE

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

lag (N, SEMA)

Following error

Following error = desired value of position after fine interpolation - actual value of position. The physical unit is defined in

measUnit (in this module).

Units and value ranges

Physical unit:

Data type:

mm, inch, degree, user defi-

TYPE_DOUBLE

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

logDriveNo (N, SEMA)

Drive assignment (logDriveNo)

Drive assignment (logical drive number)

Return value

0 = not available

1 to 15 = drive number

Units and value ranges

Physical unit:

Data type:

Minimum value:

Maximum value:

-

TYPE_UWORD

0

15

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

measFctState (N, SEMA)

State of the probing function

Units and value ranges

Physical unit:

Data type:

NC variables

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NC variables

3.2 NC variable descriptions

measFctState (N, SEMA)

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

measPos1 (N, SEMA)

Actual position value for measuring system 1.

The variable returns the actual position value for measuring system 1. The physical unit is defined in measUnit (in this module).

Units and value ranges

Physical unit:

Data type:

mm, inch, degree, user defi-

TYPE_DOUBLE

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

measPos2 (N, SEMA)

Actual position value for measuring system 2.

Actual value of position for encoder 2. The physical unit is defined in measUnit (in this module).

Units and value ranges

Physical unit:

Data type:

mm, inch, degree, user defi-

TYPE_DOUBLE

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

measPosDev (N, SEMA)

Actual position difference between 2 encoders

Actual position difference between the two encoders. The physical unit is defined in measUnit (in this module).

Units and value ranges

Physical unit:

Data type:

mm, inch, degree, user defi-

TYPE_DOUBLE

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

NC variables

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NC variables

3.2 NC variable descriptions

preContrMode (N, SEMA)

Feed forward control mode

Return value

0 = inactive

1 = velocity feed forward

2 = torque feed forward

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

progIndexAxPosNo (N, SEMA)

Indexing number

Programmed indexing position number

0 = no indexing position

>0 = indexing position number

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

qecLrnIsOn (N, SEMA)

Quadrant error compensation learning active

Return value

0 = inactive

1 = Neuronal-QEC learning active

2 = Standard-QEC active

3 = Standard-QEC with adaptation of correction value active

4 = Neuronal-QEC active

5 = Neuronal-QEC with adaptation of measuring time active

6 = Neuronal-QEC with adaptation of decay time of correction value active

7 = Neuronal-QEC with adaptation of measuring time and decay time of correction value active

Units and value ranges

Physical unit:

Data type:

Minimum value:

Maximum value:

-

TYPE_UWORD

0

7

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

NC variables

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NC variables

3.2 NC variable descriptions

refPtBusy (N, SEMA)

Axis is being referenced

Return value

0 = axis is not being referenced

1 = axis is being referenced

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

refPtCamNo (N, SEMA)

Reference point cam

Return value

0 = no cam approached

1 = cam 1

2 = cam 2

3 = cam 3

4 = cam 4

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

refPtPhase (N, SEMA)

Referencing phases

Return value

0 = False

1 = Phase 1

2 = Phase 2

3 = Phase 3

4 = Phase 4

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

NC variables

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3.2 NC variable descriptions

refPtStatus (N, SEMA)

Axis must be referenced and is referenced

Identifier indicating whether an axis requires referencing and is referenced.

Note regarding exchange axes:

An exchange axis need only ever be referenced in the channel to which it is currently assigned. A referenced exchange axis is

thus logged onto the channel in which it is traversing with value "3" (requires referencing and referenced) and in other channels

with value "1" (does not require referencing, but referenced).

Return value

Set bits have the following meanings:

Bit0: current measuring system has been referenced

Bit1: current measuring system requires referencing

(A busy signal affects the state)

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_UWORD

Achsindex

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

resolvStatus1 (N, SEMA)

Encoder status for measuring system 1

Return value

0 = Undefined

1 = Referenced

2 = Activated

3 = Limit frequency exceeded

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

resolvStatus2 (N, SEMA)

Encoder status for measuring system 2

Return value

0 = Undefined

1 = Referenced

2 = Activated

3 = Limit frequency exceeded

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

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3.2 NC variable descriptions

resolvStatus2 (N, SEMA)

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

safeAcceptCheckPhase (N, SEMA)

Flag for NCK-side acceptance test phase

Flag for NCK-side acceptance test phase, the human-machine interface can determine which acceptance test phase is present

on the NCK.

Return value

0: NCK has acceptance test phase inactive = 0

0ACH: NCK has acceptance test phase active

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

0ACH

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

safeAcceptTestMode (N, SEMA)

SI PowerOn alarms can be acknowledged by Reset

SI PowerOn alarms can be acknowledged by Reset in acceptance test mode

Return value

0: Acceptance test mode: SI PowerOn alarms cannot be acknowledged by Reset

0ACH: Acceptance test mode: SI PowerOn alarms can be acknowledged by Reset

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

0FFH

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access and write access

safeAcceptTestPhase (N, SEMA)

Flag for acceptance test phase

Return value

0: Acceptance test Wizard not selected, activate NCK-side alarm suppression

0ACH: Dialogs for acceptance test support selected, deactivate NCK-side alarm suppression

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

0FFH

Addressing

Line index:

Max. line index:

NC variables

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NC variables

3.2 NC variable descriptions

safeAcceptTestPhase (N, SEMA)

$$maxnumGlobMachAxes

Read access and write access

safeAcceptTestSE (N, SEMA)

Flag for NCK-side SE acceptance test

Flag for NCK-side SE acceptance test. The human-machine interface starts checking the safe limit positions during the accep-

tance test

Return value

0: NCK has SE acceptance test inactive = 0. The single channel SW limit positions are activated.

0ACH: NCK is to activate SE acceptance test. The single channel SW limit positions are deacti-

vated in this way.

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

0ACH

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

safeAcceptTestState (N, SEMA)

Flag for acceptance test status

Flag for acceptance test status, the human-machine interface can determine which acceptance test mode is present on the NCK.

Return value

0: NCK has inactive acceptance test mode

0CH: Acceptance test mode not activated because SI PowerOn alarms already present.

The causes of the SI PowerOn alarms must be eliminated first.

0DH: Acceptance test mode not activated, the HMI writes invalid values in $$/N/SEMA/safeAc-

ceptTestMode to the NCK.

0ACH: NCK has active acceptance test mode

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

0FFH

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

safeActPosDiff (N, SEMA)

Curr. safety actual value difference NCK - drive

Current actual value difference betw. NCK and drive monitoring channels

Units and value ranges

Physical unit:

Data type:

Initial value

mm, inch, degree, user defi-

TYPE_DOUBLE

0.0

ned

NC variables

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3.2 NC variable descriptions

safeActPosDiff (N, SEMA)

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

safeActVeloDiff (N, SEMA)

Curr. safety speed difference NCK - drive

Current speed difference between NCK and drive monitoring channels

Units and value ranges

Physical unit:

Data type:

Initial value

mm/min, inch/min, user de-

TYPE_DOUBLE

0.0

fined

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

safeActVeloLimit (N, SEMA)

Safe limit of actual speed

Return value

-1

=> no actual speed limit active

>= 0

=> limit of actual speed is active

Units and value ranges

Physical unit:

Data type:

Minimum value:

mm/min, inch/min, user de-

TYPE_DOUBLE

-1

fined

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

safeDesVeloLimit (N, SEMA)

Safe limit of desired speed

Return value

-1

=> no desired speed limit active

>= 0

=> desired speed limit is active

Units and value ranges

Physical unit:

Data type:

Minimum value:

mm/min, inch/min, user de-

TYPE_DOUBLE

-1

fined

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

NC variables

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3.2 NC variable descriptions

safeInputSigDrive (N, SEMA)

Safe input signals of the drive

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

safeMaxVeloDiff (N, SEMA)

Max. safety speed difference NCK - drive

Maximum speed difference between NCK and drive monitoring channels since last NCK Reset

Units and value ranges

Physical unit:

Data type:

Initial value

mm/min, inch/min, user de-

TYPE_DOUBLE

0.0

fined

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

safeMeasPos (N, SEMA)

Safe actual position of axis

Safe actual position of the axis. The physical unit is defined in the variable measUnit (in this module).

Units and value ranges

Physical unit:

Data type:

mm, inch, degree, user defi-

TYPE_DOUBLE

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

safeMeasPosDrive (N, SEMA)

Safe actual position of the drive

Safe actual position of drive. The physical unit is defined in measUnit (in this module).

Units and value ranges

Physical unit:

Data type:

mm, inch, degree, user defi-

TYPE_DOUBLE

ned

Addressing

Line index:

Max. line index:

NC variables

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NC variables

3.2 NC variable descriptions

safePosCtrlActive (N, SEMA)

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

1

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

safeStopOtherAxis (N, SEMA)

Stop on another axis

Return value

0: No stop on another axis

1: Stop on another axis

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

1

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

spec (N, SEMA)

Axis specification

Return value

0 = path axis

1 = positioning axis

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

stateContrActive (N, SEMA)

State controller

State controller (not available)

Return value

1 = TRUE

0 = FALSE

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

NC variables

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NC variables

3.2 NC variable descriptions

stateContrActive (N, SEMA)

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

subSpec (N, SEMA)

T1

Subspecification

Return value

0 = normal axis

1 = indexing axis

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

torqLimit (N, SEMA)

Torque limitation value

Torque limitation value (referring to the nominal value of the drive). For linear motors: force limitation value.

Units and value ranges

Physical unit:

Data type:

%

TYPE_DOUBLE

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

traceState1 (N, SEMA)

State of trace channel 1

Return value

0 = idle state

1 = recording started

2 = trigger reached

3 = recording ended

4 = recording aborted

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

NC variables

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3.2 NC variable descriptions

traceState2 (N, SEMA)

State of trace channel 2

Return value

0 = idle state

1 = recording started

2 = trigger reached

3 = recording ended

4 = recording aborted

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

traceState3 (N, SEMA)

State of trace channel 3

Return value

0 = idle state

1 = recording started

2 = trigger reached

3 = recording ended

4 = recording aborted

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

traceState4 (N, SEMA)

State of trace channel 4

Return value

0 = idle state

1 = recording started

2 = trigger reached

3 = recording ended

4 = recording aborted

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

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3.2 NC variable descriptions

traceState4 (N, SEMA)

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

trackErrContr (N, SEMA)

Position controller difference

Position controller difference (actual value / desired value of position)

Units and value ranges

Physical unit:

Data type:

mm, inch, degree, user defi-

TYPE_DOUBLE

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

trackErrDiff (N, SEMA)

Contour deviation

Contour deviation (difference actual value of position and calculated dynamical model)

Units and value ranges

Physical unit:

Data type:

mm, inch, degree, user defi-

TYPE_DOUBLE

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

type (N, SEMA)

Axis type

Axis type

In the case of a link axis, the initial setting of the machine data is returned

according to $$axisType. The difference between spindle and rotary axis

cannot be determined because there is no possibility of accessing

the other NCUs. Thus, in this case, there is no value 2 for spindle.

Return value

0 = linear axis

1 = rotary axis

2 = spindle

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

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type (N, SEMA)

$$maxnumGlobMachAxes

Validity:

From NCK version 3.6

Read access

vaAbsoluteEnc1ErrCnt (N, SEMA)

1st meas. system: Error counter for abs. encoder

Enc 1: Error counter for absolute encoder

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_DWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaAbsoluteEnc1State (N, SEMA)

1st meas. system: Status of abs. encoder interface

Enc1: Status of absolute encoder interface

Return value

Bit0: Interface is active

Bit1: Error during parity check

Bit2: Error bit alarm

Bit3: Error bit CRC error

Bit4: Start bit missing with EnDat transfer

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_DWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaAbsoluteEnc2ErrCnt (N, SEMA)

2nd meas. system: Error counter for abs. encoder

Enc 2: Error counter for absolute encoder

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_DWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

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vaAbsoluteEnc2State (N, SEMA)

2nd meas. system: Status of abs. encoder interface

Enc2: Status of absolute encoder interface

Return value

Bit0: Interface is active

Bit1: Error during parity check

Bit2: Error bit alarm

Bit3: Error bit CRC error

Bit4: Start bit missing with EnDat transfer

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_DWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCcCompValTotal (N, SEMA)

Axial OA total compensation value

Axial OA total compensation value of the compile cycles

Units and value ranges

Physical unit:

Data type:

Initial value

mm, inch, degree, user defi-

TYPE_DOUBLE

0

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCecCompVal (N, SEMA)

Axial sag compensation value

Units and value ranges

Physical unit:

Data type:

Initial value

mm, inch, degree, user defi-

TYPE_DOUBLE

0

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaEnc1CompVal (N, SEMA)

Leadscrew error compensation (LEC) value encoder 1

Units and value ranges

Physical unit:

Data type:

Initial value

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3.2 NC variable descriptions

vaFxs (N, SEMA)

Actual status of "Travel to fixed stop"

Return value

0: Axis not at fixed stop

1: Successful travel to fixed stop

2: Unsuccessful travel to fixed stop

3: Travel to fixed stop selection active

4: Fixed stop has been detected

5: Travel to fixed stop deselection active

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

5

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaIm1 (N, SEMA)

Alternative name:

aaIm1

Actual value encoder 1

The variable returns the actual value in the machine coordinate system (measured encoder 1)

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

mm, inch, degree, user defi-

TYPE_DOUBLE

0

0

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaIm2 (N, SEMA)

Alternative name:

aaIm2

Actual value encoder 2

Actual value in the machine coordinate system (measured encoder 2)

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

mm, inch, degree, user defi-

TYPE_DOUBLE

0

0

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

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3.2 NC variable descriptions

vaIm (N, SEMA)

Alternative name:

aaIm

Current MCS actual value of an axis

The variable determines the encoder actual value (measured by active measuring system) in the machine coordinate system

(MCS). All actual value compensations are corrected (leadscrew error compensation, backlash compensation, quadrant error

compensation).

For rotary axes/spindles, the returned value is independent of the modulo setting, a transformation is only performed for

specific actions.

When a spindle or axis disable is active, this variable returns the current setpoint. If, in this case, the actual value also has to be

returned, BIT3 must be set in MD30455 $MA_MISC_FUNCTION_MASK.

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

mm, inch, degree, user defi-

TYPE_DOUBLE

0

0

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaLagError (N, SEMA)

Axis following error

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaLoad (N, SEMA)

Drive utilization in %

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_DOUBLE

0

-100

100

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

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3.2 NC variable descriptions

vaPressureB (N, SEMA)

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaSce (N, SEMA)

Status of speed controller enable

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

1

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaStopSi (N, SEMA)

Stop from Safety Integrated

Return value

-1: No stop

0: Stop A

1: Stop B

2: Stop C

3: Stop D

4: Stop E

5: Stop F

10: Test stop of NC

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DWORD

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaSyncDiff (N, SEMA)

Actual value synchronism difference

Actual value synchronism difference for all types of coupling

Units and value ranges

Physical unit:

Data type:

Initial value

mm, inch, degree, user defi-

TYPE_DOUBLE

0

ned

Addressing

Line index:

Max. line index:

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vaSyncDiff (N, SEMA)

$$maxnumGlobMachAxes

Read access

vaSyncDiffStat (N, SEMA)

Status of the actual value synchronism difference

Return value

-4: Reserved

-3: No valid value in $VA_SYNCDIFF, tangential control

-2: No valid value in $VA_SYNCDIFF, master value coupling and simulated master value

-1: No valid value in $VA_SYNCDIFF

0: No valid value in $VA_SYNCDIFF, coupling not active

1: Valid value in $VA_SYNCDIFF

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

mm, inch, degree, user defi-

TYPE_DWORD

0

-4

1

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaTempCompVal (N, SEMA)

Axial temperature compensation value

Units and value ranges

Physical unit:

Data type:

Initial value

mm, inch, degree, user defi-

TYPE_DOUBLE

0

ned

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaTorque (N, SEMA)

Drive torque setpoint

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

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vaTorqueAtLimit (N, SEMA)

Status information torque limitation

Status "effective torque equals specified torque limit"

Return value

0: Effective torque lower than torque limit

1: Effective torque has reached torque limit

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

1

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaVactm (N, SEMA)

Axis velocity actual value load side in the MCS

Axis velocity actual value on the load side in the MCS

Units and value ranges

Physical unit:

Data type:

mm/min, inch/min, user de-

TYPE_DOUBLE

fined

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaValveLift (N, SEMA)

Actual valve lift

Actual valve lift in mm (only for Hydraulic)

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaXfaultSi (N, SEMA)

Stop F through cross-checking error active

Return value

Bit 0 set: An actual value error has been discovered in the cross-check between NCK and drive

Bit 1 set: Some error has been discovered in the cross-check between NCK and drive

and the waiting time until Stop B ($MA_SAFE_STOP_SWITCH_TIME_F) is running or has

expired

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aaCoupCorr (N, SEMA)

Gen. coupling: comp. value of synchronism diff.

This variable is used to execute the function "Correct synchronism error".

It returns the compensation value for the position offset for the generic coupling with CPFRS = "MCS".

The actual values of this spindle are compared with the setpoints for the duration (MD 30455 MISC_FUNCTION_MASK, bit 7)

of the activation of the VDI interface signal

DB31...,DBX31.6 'Correct synchronism' for the following spindle with coupling active.

The difference is the compensation value, which can be read with this variable.

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

aaCoupCorrDist (N, SEMA)

Generic coupling: path for $$aaCoupCorr

Generic coupling: path still to be retracted for $$aaCoupCorr

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaEnc1ZeroMonInit (N, SEMA)

Enc1:Hardware counter value of basic zero mark

Enc1:Hardware counter value of the basic zero mark

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_UDWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaEnc2ZeroMonInit (N, SEMA)

Enc2:Hardware counter value of basic zero mark

Enc2:Hardware counter value of the basic zero mark

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clampStatus (N, SEMA)

$$maxnumGlobMachAxes

Read access

aaMachax (N, SEMA)

Assignment of physical axis

The NCU and machine axis are output for an axis, representing the physical image of the axis.

The machine axis must be assigned to at least one channel on this NCU, otherwise 0 will be returned.

Without an NCU link, i.e. if there is only one NCU, only the number of the machine axis will be output. In this case, the NCU ID

is equal to zero.

Return value

The NCU ID is output as from position 10000, e.g. 20005: NCU 2 axis 5.

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_UDWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

aaIpoNcChanax (N, SEMA)

NC, channel and channel axis no. of interpolator.

If the axis is currently interpolated to this NCU, the channel and channel number which define the interpolator of the axis are

output.

If the axis is currently interpolated to a different NCU, the NCU identifier of the interpolated NCU and the global axis number

of the machine axis are output.

This global axis number can then be used to transfer the interpolated channel and the channel axis number to the other NCU,

with NCU ID 2, with $AN_IPO_CHANAX[203].

The axis must be assigned to at least one channel on this NCU, otherwise 0 will be returned.

Return value

The channel is output as from position 100, and the channel axis number is output as from

position 1, e.g. 1005 - channel 10 channel axis 5. These values are always lower than 10000.

The NCU is output as from position 10000, e.g. 20203: NCU 2 and the global axis number is 203.

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_UDWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

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vaIpoNcChanax (N, SEMA)

Machine axis to interpolator.

If the machine axis is currently interpolated to this NCU, the channel and channel axis number which define the interpolator of

the axis are output.

If the machine axis is currently interpolated to a different NCU, the NCU identifier of the interpolated NCU and the global axis

number of the machine axis are output.

This global axis number can then be used to transfer the interpolated channel and the channel axis number to the other NCU,

with NCU ID 2, with $AN_IPO_CHANAX[103].

If no machine axis is used, 0 will be returned.

Return value

The channel is output as from position 100, and the channel axis number as from position 1, e.g.

1005 - channel 10 channel axis 5. These values are always lower than 10000.

The NCU is output as from position 10000, e.g. 20103: NCU 2 and the global axis number is 103.

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_UDWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaMotSensorDigi (N, SEMA)

Digital sensors on the motor

This variable determines the states of the digital sensors S4 and S5.

The variable is bit-coded, and has the following meanings:

Bit0 = 0:

Bit1 = 0:

Bit2 = 0:

Bit3 = 0:

Bit4 = 1: Sensor S4 piston end position

Bit5 = 1: Sensor S5 angular position of the shaft

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_UDWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaMotSensorAna (N, SEMA)

Analog sensor on the motor

This variable determines the analog measured value of sensor S1.

At a resolution of 1 mV, the analog value 0 - 10 V is mapped by a maximum of +10000 increments.

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vaMotSensorAna (N, SEMA)

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_UDWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaMotSensorConf (N, SEMA)

Configuration of motor sensors

The configuration of the motor sensors can be queried with this variable.

The variable is bit-coded, and has the following meanings:

Bit0 = 1: Sensor system present.

Bit1 = 1: Sensor S1 present. Analog measured value for position of the draw-bar.

Bit2 = 0:

Bit3 = 0:

Bit4 = 1: Sensor S4 present. Digital value for the piston end position

Bit5 = 1: Sensor S5 present. Digital value for the angular position of the shaft.

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_UDWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

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vaMotClampingState (N, SEMA)

State of the clamping system

Starting from the position of the draw-bar (value of the S1), this variable determines the clamping state.

A maximum speed is assigned to each state. These are stored in the drive parameters p5043[0..6].

The following values are possible:

0: Sensor not present

1: Initial state, speed limit 0 rpm

2: Alarm, speed limit 0 rpm

3: Tool released / ejected, speed limit see drive parameter p5043[0]

4: Clamping (by spring force), speed limit see drive parameter p5043[1]

5: Releasing (by compressed air), speed limit see drive parameter p5043[2]

6: Releasing (by compressed air), speed limit see drive parameter p5043[3]

7: Clamped with tool, speed limit see drive parameter p5043[4]

8: Clamped with tool, speed limit see drive parameter p5043[4]

9: Further clamping (by spring force), speed limit see drive parameter p5043[5]

10: Clamped without tool, speed limit see drive parameter p5043[6]

11: Alarm, speed limit 0 rpm

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

-

TYPE_UDWORD

0

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCpSync2 (N, SEMA)

Status synchronism(2) of the foll. axis / spindle

Second synchronism monitoring of the following axis / spindle

Return value

0: Monitoring not active

Bit 0 = 1: Monitoring 'Synchronism(2) coarse' active

Bit 1 = 1: Synchronism(2) coarse available

Bit 2 = 1: Monitoring 'Synchronism(2) fine' active

Bit 3 = 1: Synchronism(2) fine available

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

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aaPosRes (N, SEMA)

Axis status "Position restored"

Axis status "Position restored".

The value TRUE shows that the position of the axis has been restored after the voltage breakdown.

($MA_ENC_REFP_STATE[] = 3). After referencing of the axis, the value goes to FALSE.

Return value

1 = TRUE: Axis position not restored

0 = FALSE: Axis position restored

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

aaCollPos (N, SEMA)

Collision position

Position of a machine axis with risk of collision

Units and value ranges

Physical unit:

Data type:

Initial value

mm, inch, degree, user defi-

TYPE_DOUBLE

0

ned

Addressing

Line index:

Max. line index:

$$numMachAxes

Read access

driveDdsPerMds (N, SEMA)

Number of drive data sets

Number of drive data sets assigned to a motor data set.

Refer to the SINAMICS S120 Function Manual for more information about drive and motor data sets.

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

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3.2 NC variable descriptions

spindleModePiState (N, SEMA)

Status of the spindle mode switchover

Status of the spindle mode switchover for this machine axis by PI service _N_SPIMOD

Return value

0 = PI service not selected

10 = PI service active

50 = PI service ended successfully

101 = PI service rejected because axis/spindle is not known in the channel

102 = PI service rejected because axis/spindle is not available in the channel

104 = PI service rejected because axis/spindle is not defined as a spindle.

105 = PI service rejected because axis/spindle is a permanently assigned PLC axis/spindle

106 = PI service rejected because axis/spindle is an active following axis/spindle

107 = PI service rejected because axis/spindle is a transformed spindle/axis

108 = PI service rejected because axis/spindle is not available as a command axis

200 = PI service rejected because of an internal error

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

-

TYPE_UWORD

0

0

999

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

aaLoadSmooth (N, SEMA)

Smoothed drive load

Smoothed drive load in %

Units and value ranges

Physical unit:

Data type:

%

TYPE_DOUBLE

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

aaPowerSmooth (N, SEMA)

Smoothed drive power

Smoothed drive power in W (only available for PROFIdrive drives)

Units and value ranges

Physical unit:

Data type:

W

TYPE_DOUBLE

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

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safeAxisType (N, SEMA)

Safety axis mode

Type of axial safety monitoring

0 = No SINUMERIK Safety Integrated active

1 = SINUMERIK Safety Integrated (SPL) active

2 = SINUMERIK Safety Integrated plus (F-PLC) active

2 = SINUMERIK Safety Integrated (F-PLC) active

Units and value ranges

Physical unit:

Data type:

-

TYPE_UWORD

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

enc1IsOn (N, SEMA)

Position measuring system 1 is enabled

Operating status of position measuring system 1

Return value

0 = Position measuring system 1 parked (or is not configured), may be removed

1 = Position measuring system 1 is passive

2 = Position measuring system 1 is active (e.g. position control)

Units and value ranges

Physical unit:

Data type:

Minimum value:

Maximum value:

-

TYPE_UWORD

0

2

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

enc2IsOn (N, SEMA)

Position measuring system 2 is enabled

Operating status of position measuring system 2

Return value

0 = Position measuring system 2 parked (or is not configured), may be removed

1 = Position measuring system 2 is passive

2 = Position measuring system 2 is active (e.g. position control)

Units and value ranges

Physical unit:

Data type:

Minimum value:

Maximum value:

-

TYPE_UWORD

0

2

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

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3.2 NC variable descriptions

vaDesValFiltersActive (N, SEMA)

$$maxnumGlobMachAxes

Read access

vaDesValFiltersDelay1 (N, SEMA)

eff. delay time of the 1st setpoint filter chain

effective delay time of the 1st setpoint filter chain

Units and value ranges

Physical unit:

Data type:

Initial value

s, user defined

TYPE_DOUBLE

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaDesValFiltersDelay2 (N, SEMA)

eff. delay time of the 2st setpoint filter chain

effective delay time of the 2st setpoint filter chain

Units and value ranges

Physical unit:

Data type:

Initial value

s, user defined

TYPE_DOUBLE

0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptAccDynNorm (N, SEMA)

Adaptation factor for acceleration DYNNORM

Active adaptation factor for acceleration value DYNNORM (normal dynamic response) when using Intelligent Load Control (ILC)

and Intelligent Dynamic Control (IDC).

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptAccDynPos (N, SEMA)

Adaptation factor for acceleration DYNPOS

Active adaptation factor for acceleration value DYNPOS (dynamic response for positioning mode) when using Intelligent Load

Control (ILC) and Intelligent Dynamic Control (IDC).

Units and value ranges

Physical unit:

Data type:

Initial value

NC variables

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vaCAdaptAccDynPos (N, SEMA)

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptAccDynRough (N, SEMA)

Adaptation factor for acceleration DYNROUGH

Active adaptation factor for acceleration value DYNROUGH (dynamic response for roughing) when using Intelligent Load

Control (ILC) and Intelligent Dynamic Control (IDC).

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptAccDynSemiFin (N, SEMA)

Adaptation factor for acceleration DYNSEMIFIN

Active adaptation factor for acceleration value DYNSEMIFIN (dynamic response for semi-finishing) when using Intelligent Load

Control (ILC) and Intelligent Dynamic Control (IDC).

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptAccDynFinish (N, SEMA)

Adaptation factor for acceleration DYNFINISH

Active adaptation factor for acceleration value DYNIFINISH (dynamic response for finishing) when using Intelligent Load

Control (ILC) and Intelligent Dynamic Control (IDC).

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

NC variables

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3.2 NC variable descriptions

vaCAdaptPosCtrlGain (N, SEMA)

Adaptation factor for position control gain

Active adaptation factor for position control gain factor (servo gain factor) when using Intelligent Load Control (ILC) and

Intelligent Dynamic Control (IDC).

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptFfwTorqueFact (N, SEMA)

Adaptation factor for torque feedforward control

Active adaptation factor for inertia and/or mass of the torque feedforward control when using Intelligent Load Control (ILC) and

Intelligent Dynamic Control (IDC).

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptDrvAdapt1 (N, SEMA)

Adaptation factor ADAPT1 for drive parameters

Active adaptation factor ADAPT1 for drive parameters when using Intelligent Load Control (ILC) and Intelligent Dynamic Control

(IDC).

The drive variables are defined in p2782 [0...3] with the following values:

0 = No adaptation

1 = Kp speed controller P-gain adaptation speed

2 = Tn speed controller integral time adaptation speed

3 = Current setpoint filter 1 denominator and numerator

4 = Current setpoint filter 2 denominator and numerator

5 = Speed setpoint filter 1 denominator and numerator

6 = Speed controller reference model natural frequency and damping

7 = APC / APC eco Tv (p3769)

8 = APC / APC eco Filter (p3766)

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

NC variables

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vaCAdaptDrvAdapt1 (N, SEMA)

$$maxnumGlobMachAxes

Read access

vaCAdaptDrvAdapt2 (N, SEMA)

Adaptation factor ADAPT2 for drive parameters

Active adaptation factor ADAPT2 for drive parameters when using Intelligent Load Control (ILC) and Intelligent Dynamic Control

(IDC).

The drive variables are defined in p2782 [0...3] with the following values:

0 = No adaptation

1 = Kp speed controller P-gain adaptation speed

2 = Tn speed controller integral time adaptation speed

3 = Current setpoint filter 1 denominator and numerator

4 = Current setpoint filter 2 denominator and numerator

5 = Speed setpoint filter 1 denominator and numerator

6 = Speed controller reference model natural frequency and damping

7 = APC / APC eco Tv (p3769)

8 = APC / APC eco Filter (p3766)

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptDrvAdapt3 (N, SEMA)

Adaptation factor ADAPT3 for drive parameters

Active adaptation factor ADAPT3 for drive parameters when using Intelligent Load Control (ILC) and Intelligent Dynamic Control

(IDC).

The drive variables are defined in p2782 [0...3] with the following values:

0 = No adaptation

1 = Kp speed controller P-gain adaptation speed

2 = Tn speed controller integral time adaptation speed

3 = Current setpoint filter 1 denominator and numerator

4 = Current setpoint filter 2 denominator and numerator

5 = Speed setpoint filter 1 denominator and numerator

6 = Speed controller reference model natural frequency and damping

7 = APC / APC eco Tv (p3769)

8 = APC / APC eco Filter (p3766)

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

NC variables

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vaCAdaptDrvAdapt3 (N, SEMA)

$$maxnumGlobMachAxes

Read access

vaCAdaptDrvAdapt4 (N, SEMA)

Adaptation factor ADAPT4 for drive parameters

Active adaptation factor ADAPT4 for drive parameters when using Intelligent Load Control (ILC) and Intelligent Dynamic Control

(IDC).

The drive variables are defined in p2782 [0...3] with the following values:

0 = No adaptation

1 = Kp speed controller P-gain adaptation speed

2 = Tn speed controller integral time adaptation speed

3 = Current setpoint filter 1 denominator and numerator

4 = Current setpoint filter 2 denominator and numerator

5 = Speed setpoint filter 1 denominator and numerator

6 = Speed controller reference model natural frequency and damping

7 = APC / APC eco Tv (p3769)

8 = APC / APC eco Filter (p3766)

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptInputLoad (N, SEMA)

Input value for load adaptation

Input value (inertia and/or mass) for load adaptation

Units and value ranges

Physical unit:

Data type:

Initial value

kgm2

TYPE_DOUBLE

0.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptIsActive (N, SEMA)

Adaptation is active

At least one adaptation factor is active when using Intelligent Load Control (ILC) and Intelligent Dynamic Control (IDC).

Return value

0 = adaptation not active

1 = adaptation active

Units and value ranges

Physical unit:

Data type:

Initial value

Minimum value:

Maximum value:

NC variables

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vaCAdaptIsActive (N, SEMA)

-

TYPE_UWORD

0

0

1

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptJerkDynNorm (N, SEMA)

Adaptation factor for jerk DYNNORM

Active adaptation factor for jerk value DYNNORM (normal dynamic response) when using Intelligent Load Control (ILC) and

Intelligent Dynamic Control (IDC).

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptJerkDynPos (N, SEMA)

Adaptation factor for jerk DYNPOS

Active adaptation factor for jerk value DYNPOS (dynamic response for positioning mode) when using Intelligent Load Control

(ILC) and Intelligent Dynamic Control (IDC).

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

vaCAdaptJerkDynRough (N, SEMA)

Adaptation factor for jerk DYNROUGH

Active adaptation factor for jerk value DYNROUGH (dynamic response for roughing) when using Intelligent Load Control (ILC)

and Intelligent Dynamic Control (IDC).

Units and value ranges

Physical unit:

Data type:

Initial value

-

TYPE_DOUBLE

1.0

Addressing

Line index:

Max. line index:

$$maxnumGlobMachAxes

Read access

NC variables

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