Siemens SINUMERIK 840D Function Manual

Function Manual 06/2019 A5E47437747B AA Preface Fundamental safety instructions 1 G2: Velocities, setpoint / actual value systems, closed- loop control 2 F1: Travel to fixed stop 3 P1: Transverse axes 4 V1: Feedrates 5 P2: Positioning axes 6 R2: Rotary axes 7 T1: Indexing axes 8 G1: Gantry axes 9 R1: Referencing 10 S9: Setpoint switchover 11 B2: Acceleration and jerk 12 N3: Software cams, position switching signals 13 M3: Coupled axes 14 P5: Oscillation 15 R3: Extended stop and retract 16 H1: Manual traversing 17 S1: Spindles 18 S3: Synchronous spindle 19 Appendix A Valid for: Control system SINUMERIK MC Software CNC software version 1.12 SINUMERIK SINUMERIK MC

This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger. DANGER indicates that death or severe personal injury will result if proper precautions are not taken. WARNING indicates that death or severe personal injury may result if proper precautions are not taken. CAUTION indicates that minor personal injury can result if proper precautions are not taken. NOTICE indicates that property damage can result if proper precautions are not taken. If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage. Qualified Personnel The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems. Proper use of Siemens products Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed. Trademarks All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner. Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions. Siemens AG Digital Industries Postfach 48 48 90026 NÜRNBERG GERMANY Document order number: A5E47437747B AA Ⓟ 06/2019 Subject to change Copyright © Siemens AG 2019. All rights reserved

● General documentation/catalogs ● User documentation ● Manufacturer/service documentation Additional information You can find information on the following topics at the following address (https:// support.industry.siemens.com/cs/de/en/view/108464614): ● Ordering documentation/overview of documentation ● Additional links to download documents ● Using documentation online (find and search in manuals/information) If you have any questions regarding the technical documentation (e.g. suggestions, corrections), please send an e-mail to the following address (mailto:[email protected]). mySupport/Documentation At the following address (https://support.industry.siemens.com/My/ww/en/documentation), you can find information on how to create your own individual documentation based on Siemens' content, and adapt it for your own machine documentation. Training At the following address (http://www.siemens.com/sitrain), you can find information about SITRAIN (Siemens training on products, systems and solutions for automation and drives). FAQs You can find Frequently Asked Questions in the Service&Support pages under Product Support (https://support.industry.siemens.com/cs/de/en/ps/faq). SINUMERIK You can find information about SINUMERIK at the following address (http://www.siemens.com/ sinumerik). Axes and spindles Function Manual, 06/2019, A5E47437747B AA 3

● Project engineers ● Technologists (from machine manufacturers) ● System startup engineers (Systems/Machines) ● Programmers Benefits The function manual describes the functions so that the target group knows them and can select them. It provides the target group with the information required to implement the functions. Standard version This documentation only describes the functionality of the standard version. Extensions or changes made by the machine tool manufacturer are documented by the machine tool manufacturer. Other functions not described in this documentation might be executable in the control. This does not, however, represent an obligation to supply such functions with a new control or when servicing. Further, for the sake of simplicity, this documentation does not contain all detailed information about all types of the product and cannot cover every conceivable case of installation, operation or maintenance. Note regarding the General Data Protection Regulation Siemens observes standard data protection principles, in particular the principle of privacy by design. That means that this product does not process / store any personal data, only technical functional data (e.g. time stamps). If a user links this data with other data (e.g. a shift schedule) or stores personal data on the same storage medium (e.g. hard drive) and thus establishes a link to a person or persons, then the user is responsible for ensuring compliance with the relevant data protection regulations. Technical Support Country-specific telephone numbers for technical support are provided in the Internet at the following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact" area. Preface Axes and spindles 4 Function Manual, 06/2019, A5E47437747B AA

Structure This Function Manual is structured as follows: ● Inner title (page 3) with the title of the Function Manual, the SINUMERIK controls as well as the software and the version for which this version of the Function Manual is applicable and the overview of the individual functional descriptions. ● Description of the functions in alphabetical order (e.g. A2, A3, B1, etc.) ● Appendix with: – List of abbreviations – Documentation overview ● Index of terms Note For detailed descriptions of data and alarms see: ● For machine and setting data: Detailed machine data description ● For NC/PLC interface signals: NC Variables and Interface Signals List Manual ● For alarms: Diagnostics Manual Notation of system data The following notation is applicable for system data in this documentation: Signal/Data Notation Example NC/PLC interface signals ... NC/PLC interface signal: () When the new gear stage is engaged, the following NC/PLC interface signals are set by the PLC program: DB31, ... DBX16.0-2 (actual gear stage A to C) DB31, ... DBX16.3 (gear is changed) Machine data ... machine data: () Master spindle is the spindle stored in the machine data: MD20090 $MC_SPIND_DEF_MASTER_SPIND (position of de‐ letion of the master spindle in the channel) Setting data ... setting data: () The logical master spindle is contained in the setting data: SD42800 $SC_SPIND_ASSIGN_TAB[0] (spindle number con‐ verter) Preface Axes and spindles Function Manual, 06/2019, A5E47437747B AA 5

the following components: ● Mode groups (DB11) ● Channels (DB21, etc.) ● Axes/spindles (DB31, etc.) Data types The control provides the following data types that can be used for programming in part programs: Type Meaning Range of values INT Signed integers -2.147.483.648 ... +2.147.483.647 REAL Numbers with decimal point ≈ ±5.0*10-324 … ≈ ±1.7*10+308 BOOL Boolean values TRUE (≠0) , FALSE (0) CHAR ASCII characters and bytes 0 ... 255 or -128 ... 127 STRING Character string, null-terminated Maximum of 400 characters + /0 (no special characters) AXIS Axis names All axis names available in the control system FRAME Geometrical parameters for moving, rotating, scaling, and mirroring --- Arrays Arrays can only be formed from similar elementary data types. Up to 3-dimensional arrays are possible. Example: DEF INT ARRAY[2, 3, 4] Number systems The following number systems are available: ● Decimal: DEF INT number = 1234 or DEF REAL number = 1234.56 ● Hexadecimal: DEF INT number = 'H123ABC' ● Binary: DEF INT number = 'B10001010010' Querying REAL variables We recommend that querying REAL or DOUBLE variables in NC programs and synchronized actions is programmed as limit value evaluation. Example: Querying the actual value of an axis for a specific value Program code Comment DEF REAL AXPOS = 123.456 IF ($VA_IM[] - 1ex-6) <= AXPOS <= ($VA_IM[] + 1ex-6) ; actual position ... == AXPOS Preface Axes and spindles 6 Function Manual, 06/2019, A5E47437747B AA

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Preface .........................................................................................................................................................3 1 Fundamental safety instructions.................................................................................................................27 1.1 General safety instructions.....................................................................................................27 1.2 Warranty and liability for application examples......................................................................27 1.3 Industrial security ...................................................................................................................28 2 G2: Velocities, setpoint / actual value systems, closed-loop control ..........................................................31 2.1 Brief description .....................................................................................................................31 2.2 Velocities, traversing ranges, accuracies...............................................................................31 2.2.1 Velocities................................................................................................................................31 2.2.2 Traversing ranges ..................................................................................................................33 2.2.3 Positioning accuracy of the control system ...........................................................................34 2.2.4 Input/display resolution, computational resolution .................................................................34 2.2.5 Scaling of physical quantities of machine and setting data....................................................36 2.3 System of units, metric/inch ...................................................................................................39 2.3.1 Function .................................................................................................................................39 2.3.1.1 Parameterized and programmed system of units ..................................................................39 2.3.1.2 Extended system of units functionality...................................................................................40 2.3.1.3 Extended system of units functionality...................................................................................40 2.3.2 Commissioning.......................................................................................................................41 2.3.3 Programming..........................................................................................................................45 2.3.3.1 Switching over the system of units (G70/G71/G700/G710) ...................................................45 2.4 Setpoint/actual-value system .................................................................................................49 2.4.1 General information................................................................................................................49 2.4.2 Setpoint and encoder assignment..........................................................................................51 2.4.3 Adapting the motor/load ratios ...............................................................................................55 2.4.4 Speed setpoint output ............................................................................................................57 2.4.5 Machine data of the actual value system...............................................................................59 2.4.6 Actual-value resolution...........................................................................................................60 2.4.6.1 Machine data of the actual value resolution...........................................................................60 2.4.6.2 Example: Linear axis with linear scale ...................................................................................63 2.4.6.3 Example: Linear axis with rotary encoder on motor...............................................................64 2.4.6.4 Example: Linear axis with rotary encoder on the machine.....................................................65 2.4.6.5 Example: Rotary axis with rotary encoder on motor ..............................................................66 2.4.6.6 Example: Rotary axis with rotary encoder on the machine....................................................67 2.4.6.7 Example: Intermediate gear with encoder on the tool............................................................68 2.5 Closed-loop control ................................................................................................................69 2.5.1 General information................................................................................................................69 2.5.2 Switchable position setpoint filter circuits...............................................................................72 2.5.3 Commissioning.......................................................................................................................74 2.5.4 Parameter sets of the position controller................................................................................75 2.5.5 Relevant system data.............................................................................................................76 Axes and spindles Function Manual, 06/2019, A5E47437747B AA 9

2.6.1 Position controller, position setpoint filter: Balancing filter .....................................................77 2.6.2 Position controller, position setpoint filter: Phase filter...........................................................81 2.6.3 Position controller: injection of positional deviation................................................................83 2.6.4 Position control with proportional-plus-integral-action controller............................................84 2.7 Data lists ................................................................................................................................87 2.7.1 Machine data..........................................................................................................................87 2.7.1.1 Displaying machine data........................................................................................................87 2.7.1.2 NC-specific machine data ......................................................................................................87 2.7.1.3 Channelspecific machine data ...............................................................................................87 2.7.1.4 Axis/spindlespecific machine data .........................................................................................88 3 F1: Travel to fixed stop...............................................................................................................................91 3.1 Brief description .....................................................................................................................91 3.2 Detailed description................................................................................................................92 3.2.1 Programming..........................................................................................................................92 3.2.2 Functional sequence..............................................................................................................94 3.2.2.1 Selection ................................................................................................................................94 3.2.2.2 Fixed stop is reached.............................................................................................................95 3.2.2.3 Fixed stop is not reached.......................................................................................................97 3.2.2.4 Deselection ............................................................................................................................98 3.2.3 Behavior during block search...............................................................................................101 3.2.4 Behavior for reset and function abort...................................................................................104 3.2.5 Behavior with regard to other functions................................................................................104 3.2.6 Setting data..........................................................................................................................105 3.2.7 System variables..................................................................................................................107 3.2.8 Alarms ..................................................................................................................................108 3.2.9 Travel with limited torque/force FOC....................................................................................109 3.3 Examples .............................................................................................................................112 3.4 Data lists ..............................................................................................................................113 3.4.1 Machine data........................................................................................................................113 3.4.1.1 Axis/spindlespecific machine data .......................................................................................113 3.4.2 Setting data..........................................................................................................................114 3.4.2.1 Axis/spindle-specific setting data .........................................................................................114 4 P1: Transverse axes.................................................................................................................................115 4.1 Function ...............................................................................................................................115 4.2 Parameterization..................................................................................................................118 4.3 Programming........................................................................................................................121 4.4 Supplementary conditions....................................................................................................122 4.5 Examples .............................................................................................................................123 4.6 Data lists ..............................................................................................................................124 4.6.1 Machine data........................................................................................................................124 4.6.1.1 Channelspecific machine data .............................................................................................124 4.6.1.2 Axis/spindlespecific machine data .......................................................................................124 Table of contents Axes and spindles 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5.2 Path feedrate F ....................................................................................................................126 5.2.1 Feedrate type G93, G94, G95..............................................................................................128 5.2.2 Type of feedrate G96, G961, G962, G97, G971..................................................................131 5.2.3 Feedrate for thread cutting (G33, G34, G35, G335, G336) ................................................135 5.2.3.1 Feedrate with G33................................................................................................................135 5.2.3.2 Linear increasing/decreasing thread pitch change with G34 and G35 ................................136 5.2.3.3 Acceleration behavior of the axis for G33, G34 and G35 ....................................................138 5.2.3.4 Programmed run-in and run-out path for G33, G34 and G35 (DITS, DITE) ........................140 5.2.3.5 Fast retraction during thread cutting ....................................................................................142 5.2.3.6 Convex thread (G335, G336)...............................................................................................146 5.2.4 Feedrate for tapping without compensating chuck (G331, G332)........................................151 5.2.5 Feedrate for tapping with compensating chuck (G63) .........................................................153 5.2.6 FGROUP and FGREF..........................................................................................................153 5.3 Feedrate for positioning axes (FA).......................................................................................156 5.4 Feedrate control...................................................................................................................157 5.4.1 Feedrate disable and feedrate/spindle stop.........................................................................157 5.4.2 Feedrate override via machine control panel.......................................................................159 5.4.3 Programmable feedrate override .........................................................................................163 5.4.4 Dry run feedrate ...................................................................................................................163 5.4.5 Multiple feedrate values in one block...................................................................................165 5.4.6 Fixed feedrate values ..........................................................................................................170 5.4.7 Programmable feedrate characteristics ...............................................................................172 5.4.8 Feedrate for chamfer/rounding FRC, FRCM........................................................................173 5.4.9 Non-modal feedrate FB........................................................................................................175 5.4.10 Influencing the single axis dynamic response .....................................................................176 5.5 Boundary conditions.............................................................................................................181 5.6 Data lists ..............................................................................................................................182 5.6.1 Machine data........................................................................................................................182 5.6.1.1 NC-specific machine data ....................................................................................................182 5.6.1.2 Channel-specific machine data............................................................................................182 5.6.1.3 Axis/Spindle-specific machine data......................................................................................183 5.6.2 Setting data..........................................................................................................................183 5.6.2.1 Channel-specific setting data...............................................................................................183 5.6.2.2 Axis/spindle-specific setting data .........................................................................................184 6 P2: Positioning axes.................................................................................................................................185 6.1 Brief description ...................................................................................................................185 6.2 Own channel, positioning axis or concurrent positioning axis..............................................187 6.2.1 Own channel ........................................................................................................................188 6.2.2 Positioning axis ....................................................................................................................188 6.2.3 Concurrent positioning axis..................................................................................................191 6.3 Motion behavior and interpolation functions.........................................................................192 6.3.1 Path interpolator and axis interpolator .................................................................................192 6.3.2 Autonomous singleaxis operations ......................................................................................193 6.3.3 Autonomous single-axis functions with NC-controlled ESR.................................................197 Table of contents Axes and spindles Function Manual, 06/2019, A5E47437747B AA 11

6.5 Programming........................................................................................................................201 6.5.1 General ................................................................................................................................201 6.5.2 Revolutional feed rate in external programming ..................................................................203 6.6 Block change........................................................................................................................204 6.6.1 Settable block change time..................................................................................................206 6.6.2 End of motion criterion with block search.............................................................................211 6.7 Control by the PLC...............................................................................................................212 6.7.1 Starting concurrent positioning axes from the PLC..............................................................214 6.7.2 PLC-controlled axes.............................................................................................................214 6.7.3 Control response of PLC-controlled axes ............................................................................216 6.8 Response with special functions..........................................................................................217 6.8.1 Dry run (DRY RUN)..............................................................................................................217 6.8.2 Single block..........................................................................................................................217 6.9 Examples .............................................................................................................................217 6.9.1 Motion behavior and interpolation functions.........................................................................217 6.10 Data lists ..............................................................................................................................218 6.10.1 Machine data........................................................................................................................218 6.10.1.1 NC-specific machine data ....................................................................................................218 6.10.1.2 Channelspecific machine data .............................................................................................219 6.10.1.3 Axis/spindlespecific machine data .......................................................................................219 6.10.2 Setting data..........................................................................................................................219 6.10.2.1 Axis/spindle-specific setting data .........................................................................................219 7 R2: Rotary axes........................................................................................................................................221 7.1 Brief description ...................................................................................................................221 7.2 Modulo 360 degrees ............................................................................................................223 7.3 Programming of rotary axes.................................................................................................228 7.3.1 General information..............................................................................................................228 7.3.2 Rotary axis with modulo conversion (continuously-turning rotary axis). ..............................229 7.3.3 Rotary axis without modulo conversion................................................................................232 7.3.4 Other programming features relating to rotary axes ............................................................234 7.4 Activating rotary axes...........................................................................................................234 7.5 Special features of rotary axes.............................................................................................236 7.6 Examples .............................................................................................................................237 7.7 Data lists ..............................................................................................................................237 7.7.1 Machine data........................................................................................................................237 7.7.1.1 General machine data..........................................................................................................237 7.7.1.2 Axis/spindlespecific machine data .......................................................................................237 7.7.2 Setting data..........................................................................................................................238 7.7.2.1 General setting data.............................................................................................................238 7.7.2.2 Axis/spindle-specific setting data .........................................................................................238 8 T1: Indexing axes .....................................................................................................................................239 8.1 Brief description ...................................................................................................................239 Table of contents Axes and 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8.2.2 Traversing of indexing axes in the JOG mode.....................................................................239 8.2.3 Traversing of indexing axes by PLC ....................................................................................241 8.3 Commissioning.....................................................................................................................242 8.3.1 Machine data for indexing axes ...........................................................................................242 8.3.2 Machine data for equidistant indexing intervals ...................................................................245 8.3.2.1 Features...............................................................................................................................245 8.3.2.2 Hirth axis ..............................................................................................................................247 8.3.3 Axis-specific system variables .............................................................................................247 8.3.4 NC/PLC interface signals.....................................................................................................248 8.4 Programming........................................................................................................................248 8.5 Supplementary conditions....................................................................................................250 8.6 Examples .............................................................................................................................253 8.6.1 Example 1: Rotary axis as indexing axis..............................................................................253 8.6.2 Example 2: Indexing axis as linear axis ...............................................................................254 8.6.3 Example 3: Rotary modulo axis as equidistant indexing axis ..............................................254 8.6.4 Example 4: Rotary axes as equidistant indexing axis with restricted traversing range........255 8.6.5 Example 5: Linear axis as equidistant indexing axis............................................................255 8.6.6 Example 6: "Hirth axis".........................................................................................................256 8.7 Data lists ..............................................................................................................................257 8.7.1 Machine data........................................................................................................................257 8.7.1.1 General machine data..........................................................................................................257 8.7.1.2 Axis/spindlespecific machine data .......................................................................................257 8.7.2 Setting data..........................................................................................................................257 8.7.2.1 General setting data.............................................................................................................257 8.7.3 System variables..................................................................................................................258 9 G1: Gantry axes .......................................................................................................................................259 9.1 Brief description ...................................................................................................................259 9.2 "Gantry axes" function..........................................................................................................260 9.2.1 Definition of a gantry grouping .............................................................................................260 9.2.2 Monitoring the synchronism difference ................................................................................261 9.2.3 Extended monitoring of the synchronism difference ............................................................262 9.2.4 Referencing and synchronization of gantry axes .................................................................262 9.2.5 Control dynamics .................................................................................................................263 9.2.6 Opening the gantry grouping................................................................................................263 9.3 Referencing and synchronization of gantry axes .................................................................264 9.3.1 Introduction ..........................................................................................................................264 9.3.2 Automatic synchronization ...................................................................................................270 9.3.3 Points to note .......................................................................................................................271 9.4 Start-up of gantry axes.........................................................................................................274 9.5 Parameter assignment: Response to faults .........................................................................278 9.6 PLC interface signals for gantry axes ..................................................................................279 9.7 Miscellaneous points regarding gantry axes........................................................................281 9.8 Examples .............................................................................................................................283 Table of contents Axes and spindles Function Manual, 06/2019, A5E47437747B AA 13

9.8.2 Setting the NC-PLC interface...............................................................................................285 9.8.3 Commencing start-up...........................................................................................................285 9.8.4 Setting warning and trip limits ..............................................................................................287 9.9 Data lists ..............................................................................................................................288 9.9.1 Machine data........................................................................................................................288 9.9.1.1 Axis/spindlespecific machine data .......................................................................................288 10 R1: Referencing........................................................................................................................................291 10.1 Brief Description...................................................................................................................291 10.2 Axisspecific referencing .......................................................................................................292 10.3 Channelspecific referencing.................................................................................................294 10.4 Reference point appraoch from part program (G74)............................................................295 10.5 Referencing with incremental measurement systems..........................................................296 10.5.1 Hardware signals .................................................................................................................296 10.5.2 Zero mark selection..............................................................................................................298 10.5.3 Time sequence.....................................................................................................................299 10.5.4 Phase 1: Traversing to the reference cam...........................................................................300 10.5.5 Phase 2: Synchronization with the zero mark......................................................................302 10.5.6 Phase 3: Traversing to the reference point..........................................................................307 10.6 Referencing with distance-coded reference marks..............................................................309 10.6.1 General overview .................................................................................................................309 10.6.2 Basic parameter assignment................................................................................................310 10.6.3 Time sequence.....................................................................................................................312 10.6.4 Phase 1: Travel across the reference marks with synchronization......................................312 10.6.5 Phase 2: Traversing to the target point................................................................................314 10.7 Referencing by means of actual value adjustment ..............................................................316 10.7.1 Actual value adjustment to the referencing measurement system.......................................316 10.7.2 Actual value adjustment for measuring systems with distance-coded reference marks......317 10.8 Referencing in follow-up mode.............................................................................................318 10.9 Referencing with absolute encoders....................................................................................321 10.9.1 Information about the adjustment.........................................................................................321 10.9.2 Calibration by entering a reference point offset ...................................................................322 10.9.3 Adjustment by entering a reference point value...................................................................323 10.9.4 Automatic calibration with probe ..........................................................................................325 10.9.5 Adjustment with BERO.........................................................................................................327 10.9.6 Reference point approach with absolute encoders..............................................................328 10.9.7 Reference point approach for rotary absolute encoders with equivalent zero mark ............328 10.9.8 Enabling the measurement system......................................................................................330 10.9.9 Referencing variants not supported .....................................................................................332 10.10 Automatic restoration of the machine reference ..................................................................332 10.10.1 Overview ..............................................................................................................................332 10.10.2 Automatic referencing ..........................................................................................................333 10.10.3 Restoration of the actual position.........................................................................................334 10.11 Supplementary conditions....................................................................................................336 10.11.1 Large traverse range............................................................................................................336 Table of contents Axes and spindles 14 Function Manual, 06/2019, 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10.12.1 Machine data........................................................................................................................337 10.12.1.1 NC-specific machine data ....................................................................................................337 10.12.1.2 Channelspecific machine data .............................................................................................337 10.12.1.3 Axis/spindlespecific machine data .......................................................................................337 11 S9: Setpoint switchover............................................................................................................................339 11.1 Brief description ...................................................................................................................339 11.2 Startup..................................................................................................................................341 11.3 Flow diagram........................................................................................................................344 11.4 Boundary conditions.............................................................................................................345 11.5 Data lists ..............................................................................................................................346 11.5.1 Machine data........................................................................................................................346 11.5.1.1 Axis/spindlespecific machine data .......................................................................................346 12 B2: Acceleration and jerk..........................................................................................................................347 12.1 Brief description ...................................................................................................................347 12.1.1 General information..............................................................................................................347 12.1.2 Features...............................................................................................................................347 12.2 Functions..............................................................................................................................349 12.2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel/axis-specific)......................349 12.2.1.1 General Information .............................................................................................................349 12.2.1.2 Parameterization..................................................................................................................350 12.2.1.3 Programming........................................................................................................................351 12.2.2 Constant traversing time (channel-specific).........................................................................352 12.2.2.1 General Information .............................................................................................................352 12.2.2.2 Parameterization..................................................................................................................353 12.2.3 Acceleration adaptation (ACC) (axis-specific)......................................................................354 12.2.3.1 General Information .............................................................................................................354 12.2.3.2 Programming........................................................................................................................354 12.2.4 Acceleration reserve (channel-specific) ...............................................................................355 12.2.4.1 General Information .............................................................................................................355 12.2.4.2 Parameterization..................................................................................................................355 12.2.5 Limiting the path acceleration (channel-specific) .................................................................355 12.2.5.1 General Information .............................................................................................................355 12.2.5.2 Parameterization..................................................................................................................356 12.2.5.3 Programming........................................................................................................................356 12.2.6 Path acceleration for real-time events (channel-specific) ....................................................357 12.2.6.1 General Information .............................................................................................................357 12.2.6.2 Programming........................................................................................................................358 12.2.7 Acceleration with programmed rapid traverse (G00) (axis-specific) ....................................359 12.2.7.1 General Information .............................................................................................................359 12.2.7.2 Parameterization..................................................................................................................359 12.2.8 Acceleration with active jerk limitation (SOFT/SOFTA) (axis-specific).................................360 12.2.8.1 General Information .............................................................................................................360 12.2.8.2 Parameterization..................................................................................................................360 12.2.9 Exceeding the acceleration with non-tangential block transitions (axis-specific).................360 12.2.9.1 General Information .............................................................................................................360 12.2.9.2 Parameterization..................................................................................................................361 Table of contents Axes and spindles Function Manual, 06/2019, A5E47437747B AA 15

12.2.10.1 General Information .............................................................................................................361 12.2.10.2 Parameterization..................................................................................................................362 12.2.11 Jerk limitation with path interpolation (SOFT) (channel-specific).........................................363 12.2.11.1 General Information .............................................................................................................363 12.2.11.2 Parameterization..................................................................................................................365 12.2.11.3 Programming........................................................................................................................365 12.2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)...................................366 12.2.12.1 Parameterization..................................................................................................................366 12.2.12.2 Programming........................................................................................................................367 12.2.13 Limiting the path jerking (channel-specific)..........................................................................367 12.2.13.1 General Information .............................................................................................................367 12.2.13.2 Parameterization..................................................................................................................368 12.2.13.3 Programming........................................................................................................................368 12.2.14 Path jerk for real-time events (channel-specific)..................................................................369 12.2.14.1 General Information .............................................................................................................369 12.2.14.2 Programming........................................................................................................................370 12.2.15 Jerk during programmed rapid traverse (G00) (axis-specific)..............................................371 12.2.15.1 General Information .............................................................................................................371 12.2.15.2 Parameterization..................................................................................................................371 12.2.16 Excessive jerk for block transitions without constant curvature (axis-specific) ....................371 12.2.16.1 General Information .............................................................................................................371 12.2.16.2 Parameterization..................................................................................................................372 12.2.17 Velocity-dependent jerk adaptation (axis-specific)...............................................................372 12.2.18 Jerk filter (position setpoint filter, axis-specific)....................................................................374 12.2.18.1 General Information .............................................................................................................374 12.2.18.2 Parameterization..................................................................................................................377 12.2.19 Knee-shaped acceleration characteristic .............................................................................379 12.2.19.1 Function: Adaptation to the motor characteristic curve........................................................379 12.2.19.2 Function: Effects on the path acceleration...........................................................................379 12.2.19.3 Function: Substitute curve....................................................................................................380 12.2.19.4 Parameterization..................................................................................................................383 12.2.19.5 Programming: Channel-specific activation (DRIVE) ............................................................386 12.2.19.6 Programming: Axis-specific activation (DRIVEA).................................................................386 12.2.19.7 Boundary conditions.............................................................................................................387 12.2.20 Acceleration and jerk for JOG motions ................................................................................388 12.2.20.1 Parameterization..................................................................................................................388 12.2.20.2 Supplementary conditions....................................................................................................389 12.3 Examples .............................................................................................................................390 12.3.1 Acceleration .........................................................................................................................390 12.3.1.1 Path velocity characteristic...................................................................................................390 12.3.2 Jerk ......................................................................................................................................392 12.3.2.1 Path velocity characteristic...................................................................................................392 12.3.3 Acceleration and jerk............................................................................................................393 12.3.4 Knee-shaped acceleration characteristic .............................................................................395 12.3.4.1 Activation..............................................................................................................................395 12.4 Data lists ..............................................................................................................................396 12.4.1 Machine data........................................................................................................................396 12.4.1.1 NC-specific machine data ....................................................................................................396 12.4.1.2 Channel-specific machine data............................................................................................396 12.4.1.3 Axis/spindlespecific machine data .......................................................................................396 Table of contents Axes and spindles 16 Function Manual, 06/2019, A5E47437747B AA

12.4.3 System variables..................................................................................................................397 13 N3: Software cams, position switching signals.........................................................................................399 13.1 Brief description ...................................................................................................................399 13.2 Cam signals and cam positions ...........................................................................................400 13.2.1 Generation of cam signals for separate output ....................................................................400 13.2.2 Generation of cam signals with gated output.......................................................................404 13.2.3 Cam positions ......................................................................................................................408 13.2.4 Lead/delay times (dynamic cam) .........................................................................................410 13.3 Output of cam signals ..........................................................................................................411 13.3.1 Activating..............................................................................................................................411 13.3.2 Output of cam signals to PLC ..............................................................................................411 13.3.3 Output of cam signals to NCK I/Os in position control cycle................................................412 13.3.4 Timer-controlled cam signal output......................................................................................413 13.3.5 Independent, timer-controlled output of cam signals ...........................................................415 13.4 Position-time cams...............................................................................................................416 13.5 Boundary conditions.............................................................................................................417 13.6 Data lists ..............................................................................................................................417 13.6.1 Machine data........................................................................................................................417 13.6.1.1 General machine data..........................................................................................................417 13.6.2 Setting data..........................................................................................................................418 13.6.2.1 General setting data.............................................................................................................418 14 M3: Coupled axes.....................................................................................................................................419 14.1 Coupled motion....................................................................................................................419 14.1.1 Brief description ...................................................................................................................419 14.1.1.1 Function ...............................................................................................................................419 14.1.1.2 Preconditions .......................................................................................................................419 14.1.2 General functionality ............................................................................................................420 14.1.3 Programming........................................................................................................................424 14.1.3.1 Definition and switch on of a coupled axis grouping (TRAILON) .........................................424 14.1.3.2 Switch off (TRAILOF)...........................................................................................................424 14.1.4 Effectiveness of PLC interface signals.................................................................................425 14.1.5 Status of coupling.................................................................................................................426 14.1.6 Dynamics limit ......................................................................................................................427 14.1.7 Supplementary conditions....................................................................................................428 14.1.8 Examples .............................................................................................................................428 14.2 Curve tables.........................................................................................................................429 14.2.1 Product brief.........................................................................................................................429 14.2.1.1 Function ...............................................................................................................................429 14.2.1.2 Preconditions .......................................................................................................................430 14.2.2 General functionality ............................................................................................................430 14.2.3 Memory organization............................................................................................................431 14.2.4 Commissioning.....................................................................................................................433 14.2.4.1 Memory configuration...........................................................................................................433 14.2.4.2 Tool radius compensation....................................................................................................434 14.2.4.3 Specification of memory type...............................................................................................434 Table of contents Axes and spindles Function Manual, 06/2019, A5E47437747B AA 17

14.2.7 Activation/deactivation .........................................................................................................445 14.2.8 Modulo-leading axis special case ........................................................................................446 14.2.9 Behavior in AUTOMATIC, MDA and JOG modes................................................................446 14.2.10 Effectiveness of PLC interface signals.................................................................................447 14.2.11 Diagnosing and optimizing utilization of resources ..............................................................447 14.2.12 Supplementary conditions....................................................................................................451 14.2.13 Examples .............................................................................................................................451 14.3 Master value coupling ..........................................................................................................453 14.3.1 Product brief.........................................................................................................................453 14.3.1.1 Function ...............................................................................................................................453 14.3.1.2 Preconditions .......................................................................................................................453 14.3.2 General functionality ............................................................................................................453 14.3.3 Programming........................................................................................................................457 14.3.4 Behavior in AUTOMATIC, MDA and JOG modes................................................................461 14.3.5 Effectiveness of PLC interface signals.................................................................................463 14.3.6 Special characteristics of the axis master value coupling function ......................................463 14.3.7 Supplementary conditions....................................................................................................464 14.4 Electronic gear (EG).............................................................................................................464 14.4.1 Product brief.........................................................................................................................464 14.4.1.1 Function ...............................................................................................................................464 14.4.1.2 Preconditions .......................................................................................................................465 14.4.2 Electronic gear (EG).............................................................................................................465 14.4.3 Definition of an EG axis group .............................................................................................473 14.4.4 Activating an EG axis group.................................................................................................474 14.4.5 Deactivating an EG axis group.............................................................................................478 14.4.6 Deleting an EG axis group ...................................................................................................479 14.4.7 Interaction between rotation feedrate (G95) and electronic gearbox...................................479 14.4.8 Response to POWER ON, RESET, operating mode change, block search........................480 14.4.9 System variables for electronic gearbox ..............................................................................481 14.4.10 Examples .............................................................................................................................482 14.4.10.1 Example using linear couplings............................................................................................482 14.4.10.2 Extended example with non-linear components ..................................................................486 14.5 Generic coupling ..................................................................................................................492 14.5.1 Brief description ...................................................................................................................492 14.5.1.1 Function ...............................................................................................................................492 14.5.1.2 Requirements.......................................................................................................................492 14.5.2 Fundamentals ......................................................................................................................495 14.5.2.1 Coupling module ..................................................................................................................495 14.5.2.2 Keywords and coupling characteristics................................................................................497 14.5.2.3 System variables..................................................................................................................499 14.5.3 Creating/deleting coupling modules.....................................................................................500 14.5.3.1 Creating a coupling module (CPDEF)..................................................................................500 14.5.3.2 Delete coupling module (CPDEL) ........................................................................................501 14.5.3.3 Defining leading axes (CPLDEF or CPDEF+CPLA) ............................................................502 14.5.3.4 Delete leading axes (CPLDEL or CPDEL+CPLA)................................................................503 14.5.4 Switching coupling on/off .....................................................................................................504 14.5.4.1 Switching on a coupling module (CPON).............................................................................504 14.5.4.2 Switch off coupling module (CPOF).....................................................................................505 14.5.4.3 Switching on leading axes of a coupling module (CPLON)..................................................506 Table of contents Axes and spindles 18 Function Manual, 06/2019, A5E47437747B AA

14.5.4.5 Implicit creation and deletion of coupling modules...............................................................507 14.5.5 Programming coupling characteristics .................................................................................508 14.5.5.1 Coupling rule (CPLNUM, CPLDEN, CPLCTID) ...................................................................508 14.5.5.2 Coupling relationship (CPLSETVAL) ...................................................................................510 14.5.5.3 Co-ordinate reference (CPFRS):..........................................................................................511 14.5.5.4 Block change behavior (CPBC) ...........................................................................................512 14.5.5.5 Synchronized position of the following axis when switching on (CPFPOS+CPON).............514 14.5.5.6 Synchronized position of the leading axis when switching on (CPLPOS)............................515 14.5.5.7 Synchronization mode (CPFMSON) ....................................................................................516 14.5.5.8 Behavior of the following axis at switch-on (CPFMON) .......................................................518 14.5.5.9 Behavior of the following axis at switch-off (CPFMOF)........................................................519 14.5.5.10 Position of the following axis when switching off (CPFPOS+CPOF) ...................................519 14.5.5.11 Condition at RESET (CPMRESET)......................................................................................520 14.5.5.12 Condition at parts program start (CPMSTART) ...................................................................521 14.5.5.13 Status during part program start in search run via program test (CPMPRT) .......................523 14.5.5.14 Offset / scaling (CPLINTR, CPLINSC, CPLOUTTR, CPLOUTSC)......................................524 14.5.5.15 Synchronism monitoring stage 1 (CPSYNCOP, CPSYNFIP, CPSYNCOV, CPSYNFIV)....527 14.5.5.16 Synchronous operation monitoring stage 2 (CPSYNCOP2, CPSYNFIP2)..........................531 14.5.5.17 Reaction to stop signals and commands (CPMBRAKE)......................................................535 14.5.5.18 Response to certain NC/PLC interface signals (CPMVDI) ..................................................536 14.5.5.19 Alarm suppression (CPMALARM)........................................................................................540 14.5.6 Coupling cascading..............................................................................................................541 14.5.7 Compatibility.........................................................................................................................542 14.5.7.1 Adaptive cycles ....................................................................................................................542 14.5.7.2 Coupling types (CPSETTYPE).............................................................................................543 14.5.7.3 Projected coupling (CPRES)................................................................................................548 14.5.8 Cross-channel coupling, axis replacement ..........................................................................549 14.5.9 Behavior with rotary axes.....................................................................................................550 14.5.10 Behavior during POWER ON, .............................................................................................551 14.5.11 CP SW limit monitoring ........................................................................................................552 14.5.11.1 Function ...............................................................................................................................552 14.5.11.2 Parameterization..................................................................................................................554 14.5.11.3 Programming........................................................................................................................555 14.5.11.4 Boundary conditions.............................................................................................................555 14.5.11.5 Examples .............................................................................................................................556 14.5.12 Disturbance characteristic....................................................................................................557 14.5.12.1 Rapid stop............................................................................................................................557 14.5.13 Tracking the deviation from synchronism.............................................................................558 14.5.13.1 Fundamentals ......................................................................................................................558 14.5.13.2 Measuring the deviation from synchronism..........................................................................559 14.5.13.3 Entering the deviation from synchronism directly.................................................................562 14.5.13.4 Synchronism correction........................................................................................................562 14.5.13.5 Diagnostics for synchronism correction ...............................................................................563 14.5.13.6 Resetting synchronism correction........................................................................................564 14.5.13.7 Limitations and constraints...................................................................................................565 14.5.14 Examples .............................................................................................................................567 14.5.14.1 Programming examples .......................................................................................................567 14.5.14.2 Adapt adaptive cycle............................................................................................................568 14.6 Dynamic response of following axis.....................................................................................569 14.6.1 Parameterized dynamic limits ..............................................................................................569 14.6.2 Programmed dynamic limits.................................................................................................570 Table of contents Axes and spindles Function Manual, 06/2019, A5E47437747B AA 19

14.6.2.2 Examples .............................................................................................................................572 14.6.2.3 System variables..................................................................................................................573 14.7 General supplementary conditions.......................................................................................573 14.8 Data lists ..............................................................................................................................574 14.8.1 Machine data........................................................................................................................574 14.8.1.1 NC-specific machine data ....................................................................................................574 14.8.1.2 Channelspecific machine data .............................................................................................574 14.8.1.3 Axis/spindlespecific machine data .......................................................................................575 14.8.2 Setting data..........................................................................................................................575 14.8.2.1 Axis/spindle-specific setting data .........................................................................................575 14.8.3 System variables..................................................................................................................575 15 P5: Oscillation...........................................................................................................................................579 15.1 Brief description ...................................................................................................................579 15.2 Asynchronous oscillation......................................................................................................580 15.2.1 Asynchronous oscillation......................................................................................................580 15.2.2 Influences on asynchronous oscillation................................................................................581 15.2.3 Asynchronous oscillation under PLC control........................................................................587 15.2.4 Special reactions during asynchronous oscillation...............................................................587 15.3 Oscillation controlled by synchronized actions.....................................................................590 15.3.1 Infeed at reversal point 1 or 2 ..............................................................................................593 15.3.2 Infeed in reversal point range...............................................................................................594 15.3.3 Infeed at both reversal points...............................................................................................595 15.3.4 Stop oscillation movement at the reversal point...................................................................596 15.3.5 Oscillation movement restarting...........................................................................................597 15.3.6 Do not start partial infeed too early ......................................................................................598 15.3.7 Assignment of oscillation and infeed axes OSCILL .............................................................599 15.3.8 Definition of infeeds POSP...................................................................................................599 15.3.9 External oscillation reversal .................................................................................................600 15.4 Marginal conditions ..............................................................................................................601 15.5 Examples .............................................................................................................................601 15.5.1 Example of asynchronous oscillation...................................................................................601 15.5.2 Example 1 of oscillation with synchronized actions .............................................................602 15.5.3 Example 2 of oscillation with synchronized actions .............................................................605 15.5.4 Examples for starting position..............................................................................................607 15.5.4.1 Define starting position via language command ..................................................................607 15.5.4.2 Start oscillation via setting data............................................................................................608 15.5.4.3 Non-modal oscillation (starting position = reversal point 1)..................................................608 15.5.5 Example of external oscillation reversal...............................................................................611 15.5.5.1 Change reversal position via synchronized action with "external oscillation reversal".........611 15.6 Data lists ..............................................................................................................................611 15.6.1 Machine data........................................................................................................................611 15.6.1.1 General machine data..........................................................................................................611 15.6.2 Setting data..........................................................................................................................612 15.6.2.1 Axis/spindle-specific setting data .........................................................................................612 15.6.3 System variables..................................................................................................................612 15.6.3.1 Main run variables for motion-synchronous actions.............................................................612 Table of contents Axes and spindles 20 Function Manual, 06/2019, A5E47437747B AA

16.1 Brief description ...................................................................................................................615 16.2 ESR executed autonomously in the drive ............................................................................615 16.2.1 Fundamentals ......................................................................................................................615 16.2.2 Configuring stopping in the drive..........................................................................................616 16.2.3 Configuring retraction in the drive ........................................................................................618 16.2.4 Configuring generator operation in the drive........................................................................619 16.2.5 ESR is enabled via system variable.....................................................................................621 16.2.6 Triggering ESR via system variable.....................................................................................621 16.2.7 Feedback of the ESR status ................................................................................................621 16.2.8 Acknowledge ESR reactions................................................................................................622 16.2.9 Configuring ESR in the part program...................................................................................623 16.2.9.1 Stopping (ESRS)..................................................................................................................624 16.2.9.2 Retraction (ESRR) ...............................................................................................................624 16.2.9.3 Boundary conditions.............................................................................................................626 16.3 Boundary conditions.............................................................................................................627 16.4 Examples .............................................................................................................................628 16.4.1 NC-controlled reactions........................................................................................................628 16.4.2 Retraction while thread cutting.............................................................................................629 16.4.3 Rapid lift using ASUB and fast input ....................................................................................630 16.4.4 Rapid lift, absolute and incremental.....................................................................................630 16.4.5 Lift fast with linear relation of axes.......................................................................................631 16.5 Data lists ..............................................................................................................................631 16.5.1 Machine data........................................................................................................................631 16.5.1.1 Channelspecific machine data .............................................................................................631 16.5.1.2 Axis/spindlespecific machine data .......................................................................................632 16.5.2 System variables..................................................................................................................632 17 H1: Manual traversing ..............................................................................................................................633 17.1 Overview ..............................................................................................................................633 17.2 Control via the PLC interface ...............................................................................................636 17.3 Parameter assignment (general)..........................................................................................637 17.4 Continuous manual traversing .............................................................................................643 17.4.1 Function ...............................................................................................................................643 17.4.2 Parameter assignment.........................................................................................................646 17.4.3 Supplementary conditions....................................................................................................646 17.5 Incremental manual traversing.............................................................................................646 17.5.1 Function ...............................................................................................................................646 17.5.2 Parameter assignment.........................................................................................................650 17.5.3 Supplementary conditions....................................................................................................651 17.6 Manual traversing using a handwheel..................................................................................651 17.6.1 Function ...............................................................................................................................651 17.6.2 Parameter assignment.........................................................................................................658 17.6.3 Travel request ......................................................................................................................664 17.7 Manual traversing of the spindle ..........................................................................................667 17.8 Manual traversing of geometry axes/orientation axes..........................................................668 Table of contents Axes and spindles Function Manual, 06/2019, A5E47437747B AA 21

17.9.1 Function ...............................................................................................................................671 17.9.2 Parameterization..................................................................................................................674 17.9.3 Programming........................................................................................................................676 17.9.4 Supplementary Conditions...................................................................................................676 17.9.5 Application example.............................................................................................................677 17.10 Position travel in JOG ..........................................................................................................678 17.10.1 Function ...............................................................................................................................678 17.10.2 Parameter setting.................................................................................................................681 17.10.3 Supplementary Conditions...................................................................................................681 17.10.4 Application example.............................................................................................................682 17.11 Circular travel in JOG...........................................................................................................683 17.11.1 Function ...............................................................................................................................683 17.11.2 Parameter setting.................................................................................................................689 17.11.3 Supplementary Conditions...................................................................................................692 17.11.4 Application example.............................................................................................................692 17.12 Retraction in the tool direction (JOG retract)........................................................................693 17.12.1 Overview ..............................................................................................................................693 17.12.2 Parameterization..................................................................................................................695 17.12.2.1 Automatic selection of JOG retract after Power On .............................................................695 17.12.2.2 Enable of the traversing direction.........................................................................................695 17.12.2.3 Measuring system status .....................................................................................................695 17.12.3 Selection ..............................................................................................................................696 17.12.4 Tool retraction ......................................................................................................................697 17.12.5 Deselection ..........................................................................................................................699 17.12.6 Repeated selection ..............................................................................................................699 17.12.7 Continuing machining...........................................................................................................700 17.12.8 State diagram.......................................................................................................................701 17.12.9 System data .........................................................................................................................701 17.12.10 Supplementary conditions....................................................................................................702 17.13 Use of handwheels in automatic mode ................................................................................703 17.13.1 Handwheel override in automatic mode...............................................................................703 17.13.1.1 General functionality ............................................................................................................703 17.13.1.2 Programming and activating handwheel override................................................................707 17.13.1.3 Special features of handwheel override in automatic mode.................................................709 17.13.2 Contour handwheel/path input using handwheel (option)....................................................710 17.13.3 DRF offset............................................................................................................................713 17.13.3.1 DRF offset............................................................................................................................713 17.13.3.2 Commissioning.....................................................................................................................716 17.13.3.3 Programming: Deselecting overlays axis-specifically (CORROF) .......................................719 17.13.4 Double use of the handwheel...............................................................................................721 17.14 Monitoring functions.............................................................................................................723 17.15 Start-up: Handwheels...........................................................................................................724 17.15.1 General information..............................................................................................................724 17.15.2 Connection via Ethernet.......................................................................................................725 17.16 Data lists ..............................................................................................................................728 17.16.1 Machine data........................................................................................................................728 17.16.1.1 General machine data..........................................................................................................728 Table of contents Axes and spindles 22 Function Manual, 06/2019, A5E47437747B AA

17.16.1.3 Axis/spindlespecific machine data .......................................................................................729 17.16.2 Setting data..........................................................................................................................730 17.16.2.1 General setting data.............................................................................................................730 17.16.2.2 Channel-specific setting data...............................................................................................730 17.16.2.3 Axis/spindle-specific setting data .........................................................................................730 17.16.3 System variable....................................................................................................................731 17.16.3.1 System variable....................................................................................................................731 17.16.4 OPI variable .........................................................................................................................731 17.16.4.1 OPI variable .........................................................................................................................731 18 S1: Spindles .............................................................................................................................................733 18.1 Brief Description...................................................................................................................733 18.2 Operating modes..................................................................................................................734 18.2.1 Overview ..............................................................................................................................734 18.2.2 Mode change .......................................................................................................................735 18.2.3 Control mode........................................................................................................................736 18.2.4 Oscillation mode...................................................................................................................739 18.2.5 Positioning mode..................................................................................................................739 18.2.5.1 General functionality ............................................................................................................739 18.2.5.2 Positioning from rotation ......................................................................................................746 18.2.5.3 Positioning from standstill ....................................................................................................751 18.2.5.4 "Spindle in position" signal for tool change ..........................................................................755 18.2.6 Axis mode ............................................................................................................................756 18.2.6.1 General functionality ............................................................................................................756 18.2.6.2 Implicit transition to axis mode.............................................................................................759 18.2.7 Initial spindle state................................................................................................................762 18.2.8 Tapping without compensating chuck..................................................................................763 18.2.8.1 Function ...............................................................................................................................763 18.2.8.2 Programming........................................................................................................................763 18.2.8.3 Example: Tapping with G331 / G332 ...................................................................................765 18.2.8.4 Example: Output the programmed drilling speed in the current gear stage.........................765 18.2.8.5 Example: Application of the second gear-stage data block .................................................766 18.2.8.6 Example: Speed is not programmed, the gearbox stage is monitored ................................766 18.2.8.7 Example: Gearbox stage cannot be changed, gearbox stage monitoring ...........................766 18.2.8.8 Example: Programming without SPOS ................................................................................767 18.2.8.9 Special case: Direction of rotation reversal via NC/PLC interface signal in the NC program................................................................................................................................767 18.2.9 Tapping with compensating chuck.......................................................................................769 18.2.9.1 Function ...............................................................................................................................769 18.2.9.2 Programming........................................................................................................................769 18.3 Reference / synchronize ......................................................................................................770 18.4 Configurable gear adaptations.............................................................................................775 18.4.1 Gear stages for spindles and gear change change .............................................................775 18.4.2 Spindle gear stage 0 ............................................................................................................786 18.4.3 Determining the spindle gear stage .....................................................................................788 18.4.4 Parameter set selection during gear step change................................................................789 18.4.5 Intermediate gear.................................................................................................................792 18.4.6 Nonacknowledged gear step change...................................................................................793 18.4.7 Gear step change with oscillation mode ..............................................................................794 18.4.8 Gear stage change at fixed position.....................................................................................799 Table of contents Axes and spindles Function Manual, 06/2019, A5E47437747B AA 23

18.4.10 Suppression of the gear stage change for DryRun, program test and SERUPRO..............807 18.5 Additional adaptations to the spindle functionality that can be configured...........................809 18.6 Selectable spindles ..............................................................................................................811 18.7 Programming........................................................................................................................815 18.7.1 Programming from the part program....................................................................................815 18.7.2 Programming via synchronized actions ...............................................................................819 18.7.3 Programming spindle controls via PLC with FC18...............................................................819 18.7.4 Programming using NC/PLC interface signals.....................................................................820 18.7.4.1 Function ...............................................................................................................................820 18.7.4.2 Commissioning: Machine data.............................................................................................821 18.7.4.3 Commissioning: NC/PLC interface signals ..........................................................................822 18.7.4.4 Speed setpoint (SD43200)...................................................................................................822 18.7.4.5 Entering a constant cutting rate (SD43202).........................................................................823 18.7.4.6 Entering the spindle speed type for the master spindle (SD43206).....................................824 18.7.5 External programming (PLC, HMI).......................................................................................825 18.8 Spindle monitoring ...............................................................................................................826 18.8.1 Permissible speed ranges....................................................................................................826 18.8.2 Axis/spindle stationary .........................................................................................................827 18.8.3 Spindle in setpoint range......................................................................................................827 18.8.4 Minimum / maximum speed of the gear stage .....................................................................828 18.8.5 Diagnosis of spindle speed limitation...................................................................................829 18.8.6 Maximum spindle speed ......................................................................................................831 18.8.7 Maximum encoder limit frequency .......................................................................................832 18.8.8 End point monitoring ............................................................................................................834 18.8.9 M40: Automatic gear stage selection for speeds outside the configured switching thresholds.............................................................................................................................835 18.9 Spindle with SMI 24 (Weiss spindle)....................................................................................837 18.9.1 General Information .............................................................................................................837 18.9.2 Sensor data..........................................................................................................................838 18.9.3 Clamped state......................................................................................................................840 18.9.4 Additional drive parameters .................................................................................................841 18.10 Boundary conditions.............................................................................................................842 18.10.1 Changing control parameters...............................................................................................842 18.11 Examples .............................................................................................................................842 18.11.1 Automatic gear step selection (M40)....................................................................................842 18.12 Data lists ..............................................................................................................................843 18.12.1 Machine data........................................................................................................................843 18.12.1.1 NC-specific machine data ....................................................................................................843 18.12.1.2 Channelspecific machine data .............................................................................................843 18.12.1.3 Axis/spindlespecific machine data .......................................................................................844 18.12.2 Setting data..........................................................................................................................845 18.12.2.1 Channelspecific setting data ................................................................................................845 18.12.2.2 Axis/spindle-specific setting data .........................................................................................846 19 S3: Synchronous spindle..........................................................................................................................847 19.1 Brief description ...................................................................................................................847 19.1.1 Function ...............................................................................................................................847 Table of contents Axes and spindles 24 Function Manual, 06/2019, A5E47437747B AA

19.1.3 Prerequisites for synchronous mode....................................................................................855 19.1.4 Selecting synchronous mode for a part program .................................................................856 19.1.5 Deselecting the synchronous mode for the part program ....................................................858 19.1.6 Controlling synchronous spindle coupling via PLC ..............................................................859 19.1.7 Monitoring of synchronous operation...................................................................................862 19.2 Programming........................................................................................................................864 19.2.1 Definition (COUPDEF) .........................................................................................................865 19.2.2 Switch the coupling (COUPON, COUPONC, COUPOF) on and off ....................................868 19.2.3 Axial system variables for synchronous spindle...................................................................869 19.2.4 Automatic selection and deselection of position control.......................................................870 19.3 Configuration........................................................................................................................871 19.3.1 Response of the synchronous-spindle coupling for NC Start...............................................872 19.3.2 Behavior of the synchronous-spindle coupling for reset ......................................................873 19.4 Special features ...................................................................................................................873 19.4.1 Special features of synchronous mode in general ...............................................................873 19.4.2 Restore synchronism of following spindle............................................................................875 19.4.3 Synchronous mode and NC/PLC interface signals..............................................................877 19.4.4 Differential speed between leading and following spindles..................................................881 19.4.5 Behavior of synchronism signals during synchronism correction.........................................886 19.4.6 Delete synchronism correction and NC reset.......................................................................886 19.4.7 Special points regarding start-up of a synchronous spindle coupling ..................................886 19.5 Boundary conditions.............................................................................................................891 19.6 Examples .............................................................................................................................891 19.7 Data lists ..............................................................................................................................892 19.7.1 Machine data........................................................................................................................892 19.7.1.1 NC-specific machine data ....................................................................................................892 19.7.1.2 Channelspecific machine data .............................................................................................892 19.7.1.3 Axis/spindlespecific machine data .......................................................................................893 19.7.2 Setting data..........................................................................................................................893 19.7.2.1 Channelspecific setting data ................................................................................................893 19.7.3 System variables..................................................................................................................894 A Appendix...................................................................................................................................................895 A.1 List of abbreviations .............................................................................................................895 Index.........................................................................................................................................................905 Table of contents Axes and spindles Function Manual, 06/2019, A5E47437747B AA 25

1 1.1 General safety instructions WARNING Danger to life if the safety instructions and residual risks are not observed If the safety instructions and residual risks in the associated hardware documentation are not observed, accidents involving severe injuries or death can occur. ● Observe the safety instructions given in the hardware documentation. ● Consider the residual risks for the risk evaluation. WARNING Malfunctions of the machine as a result of incorrect or changed parameter settings As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death. ● Protect the parameterization against unauthorized access. ● Handle possible malfunctions by taking suitable measures, e.g. emergency stop or emergency off. 1.2 Warranty and liability for application examples Application examples are not binding and do not claim to be complete regarding configuration, equipment or any eventuality which may arise. Application examples do not represent specific customer solutions, but are only intended to provide support for typical tasks. As the user you yourself are responsible for ensuring that the products described are operated correctly. Application examples do not relieve you of your responsibility for safe handling when using, installing, operating and maintaining the equipment. Axes and spindles Function Manual, 06/2019, A5E47437747B AA 27

secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial security concept. Products and solutions from Siemens constitute one element of such a concept. Customers are responsible for preventing unauthorized access to their plants, systems, machines and networks. Such systems, machines and components should only be connected to an enterprise network or the Internet if and to the extent such a connection is necessary and only when appropriate security measures (e.g. using firewalls and/or network segmentation) are in place. For additional information on industrial security measures that can be implemented, please visit: Industrial security (https://www.siemens.com/industrialsecurity) Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they become available, and that only the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customer’s exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed at: Industrial security (https://www.siemens.com/industrialsecurity) Further information is provided on the Internet: Industrial Security Configuration Manual (https://support.industry.siemens.com/cs/ww/en/ view/108862708) Fundamental safety instructions 1.3 Industrial security Axes and spindles 28 Function Manual, 06/2019, A5E47437747B AA

Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states in your system that may lead to death, serious injury, and property damage. ● Keep the software up to date. ● Incorporate the automation and drive components into a holistic, state-of-the-art industrial security concept for the installation or machine. ● Make sure that you include all installed products into the holistic industrial security concept. ● Protect files stored on exchangeable storage media from malicious software by with suitable protection measures, e.g. virus scanners. ● On completion of commissioning, check all security-related settings. ● Protect the drive against unauthorized changes by activating the "Know-how protection" converter function. Fundamental safety instructions 1.3 Industrial security Axes and spindles Function Manual, 06/2019, A5E47437747B AA 29

1.3 Industrial security Axes and spindles 30 Function Manual, 06/2019, A5E47437747B AA

loop control 2 2.1 Brief description The description of functions explains how to parameterize a machine axis in relation to: ● Actual-value/measuring systems ● Setpoint system ● Operating accuracy ● Travel ranges ● Axis velocities ● Control parameters 2.2 Velocities, traversing ranges, accuracies 2.2.1 Velocities Maximum path and axis velocities and spindle speed The maximum path and axis velocities and spindle speed are influenced by the machine design, the dynamic response of the drive and the limit frequency of the actual-value acquisition (encoder limit frequency). The maximum axis velocity is defined in machine data: MD32000 $MA_MAX_AX_VELO (maximum axis velocity) The maximum permissible spindle speed is specified using machine data: MD35100 $MA_SPIND_VELO_LIMIT (maximum spindle speed) For explanations, see Section "S1: Spindles (Page 733)". With a higher feedrate (resulting from programmed feedrates and feedrate override), the velocity is limited to Vmax. This automatic feedrate limiting can lead to a drop in velocity over several blocks with programs generated by CAD systems with extremely short blocks. Axes and spindles Function Manual, 06/2019, A5E47437747B AA 31

N10 G0 X0 Y0; [mm] N20 G0 X100 Y100; [mm] ⇒ Path length programmed in block = 141.42 mm ⇒ Vmax = (141.42 mm/12 ms) * 0.9 = 10606.6 mm/s = 636.39 m/min Minimum path, axis velocity The following restriction applies to the minimum path or axis velocity: > @ &RPSXWDWLRQDO UHVROXWLRQ  ,32F\FOH>V@ ,QFU PPRUGHJUHHV 9PLQุ  The computational resolution is defined using machine data: MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions) or MD10210 $MN_INT_INCR_PER_DEG (computational resolution for angular positions) If Vmin is not reached, no traversing is carried out. Example: MD10200 $MN_INT_INCR_PER_MM = 1000 [incr/mm] ; Interpolation cycle = 12 ms; ⇒ Vmin = 10 -3/(1000 incr/mm x 12 ms) = 0.005 mm/min; The value range of the feedrates depends on the computational resolution selected. For the standard assignment of machine data: MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions) (1000 incr./mm) or MD10210 $MN_INT_INCR_PER_DEG (computational resolution for angular positions) (1000 incr./deg.) The following value range can be programmed with the specified resolution: Range of values for path feed F and geometry axes: Metric system: Inch system: 0.001 ≤ F ≤ 999,999.999 [mm/min, mm/rev, degrees/min, degrees/rev] 0.001 ≤ F ≤ 399,999.999 [inch/min, inch/rev] G2: Velocities, setpoint / actual value systems, closed-loop control 2.2 Velocities, traversing ranges, accuracies Axes and spindles 32 Function Manual, 06/2019, A5E47437747B AA

Metric system: Inch system: 0.001 ≤ FA ≤ 999,999.999 [mm/min, mm/rev, degrees/min, degrees/rev] 0.001 ≤ FA ≤ 399,999.999 [inch/min, inch/rev] Range of values for spindle speed S: 0.001 ≤ S ≤ 999,999.999 [rpm] If the computational resolution is increased/decreased by a factor, then the value ranges change accordingly. 2.2.2 Traversing ranges Range of values of the traversing ranges The range of values of the traversing range depends on the computational resolution selected. For the standard assignment of machine data: MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions) (1000 incr./mm) or MD10210 $MN_INT_INCR_PER_DEG (computational resolution for angular positions) (1000 incr./deg.) The following value range can be programmed with the specified resolution: Table 2-1 Traversing ranges of axes G71 [mm, degrees] G70 [inch, degrees] Range Range Linear axes X, Y, Z, etc. ∓ 999,999.999 ∓ 399,999.999 Rotary axes A, B, C, etc. ∓ 999,999.999 ∓ 999,999.999 Interpolation parameters I, J, K ∓ 999,999.999 ∓ 399,999.999 The unit of measurement of rotary axes is always degrees. If the computational resolution is increased/decreased by a factor of 10, the ranges of values change accordingly. The traversing range can be limited by software limit switches and work areas (see Function Manual Monitoring and Compensations, Section Axis monitoring). For special features for a large traversing range for linear and rotary axes, see Section "R1: Referencing (Page 291)". The traversing range for rotary axes can be limited via machine data. Further information: G2: Velocities, setpoint / actual value systems, closed-loop control 2.2 Velocities, traversing ranges, accuracies Axes and spindles Function Manual, 06/2019, A5E47437747B AA 33

2.2.3 Positioning accuracy of the control system Actual-value resolution and computational resolution The positioning accuracy of the control depends on the actual-value resolution (=encoder increments/(mm or degrees)) and the computational resolution (=internal increments/(mm or degrees)). The coarse resolution of these two values determines the positioning accuracy of the control. The input resolution, interpolator and position-control cycle selections have no effect on this accuracy. As well as limiting using MD32000, the control limits the maximum path velocity in relation to the situation and according to the following formula: ,QWHUQDOLQFUHPHQWVPP (QFRGHULQFUHPHQWVPP  '5,9(B(1&B5$7,2B180(5$>Q@ '5,9(B$;B5$7,2B180(5$>Q@ '5,9(B$;B5$7,2B'(120>Q@ ,17B,1&5B3(5B00 /($'6&5(:B3,7&+ '5,9(B(1&B5$7,2B'(120>Q@ (1&B5(62/>Q@ (1&B38/6(B08/7>Q@ 2.2.4 Input/display resolution, computational resolution Resolutions: Differences Resolutions, e.g. resolutions of linear and angular positions, velocities, accelerations and jerk, must be differentiated as follows: ● Input resolution Data is input via the control panel or part programs. ● Display resolution Data is displayed via the control panel. ● Computational resolution Data input via the control panel or part program is displayed internally. G2: Velocities, setpoint / actual value systems, closed-loop control 2.2 Velocities, traversing ranges, accuracies Axes and spindles 34 Function Manual, 06/2019, A5E47437747B AA

whereby the display resolution for position values with the machine data: MD9004 $MM_DISPLAY_RESOLUTION (display resolution) can be changed. The machine data: MD9011 $MM_DISPLAY_RESOLUTION_INCH (display resolution for INCH measuring system) can be used to configure the display resolution for position values with inch setting. This allows you to display up to six decimal places with the inch setting. For the programming of part programs, the input resolutions listed in the Programming Guide apply. The desired computational resolution is defined using the machine data: MD10200 $MN_INT_INCR_PER_MM (computational resolution for linear positions) and MD10210 $MN_INT_INCR_PER_ DEG (computational resolution for angular positions). It is independent of the input/display resolution but should have at least the same resolution. The maximum number of places after the decimal point for position values, velocities, etc., in the part program and the number of places after the decimal point for tool offsets, zero offsets, etc. (and therefore also for the maximum possible accuracy) is defined by the computational resolution. The accuracy of angle and linear positions is limited to the computational resolution by rounding the product of the programmed value with the computational resolution to an integer number. To make the rounding clear, powers of 10 should be used for the calculation resolution. Example of rounding: Computational resolution: 1000 incr./mm Programmed path: 97.3786 mm Effective value: 97.379 mm Example of programming in the 1/10 μm range: All the linear axes of a machine are to be programmed and traversed within the range of values 0.1 to 1000 μm. ⇒ In order to position accurately to 0.1 μm, the computational resolution must be set to ≥ 104 incr./mm. ⇒ MD10200 $MN_INT_INCR_PER_MM = 10000 [incr./mm]: G2: Velocities, setpoint / actual value systems, closed-loop control 2.2 Velocities, traversing ranges, accuracies Axes and spindles Function Manual, 06/2019, A5E47437747B AA 35

Program code Comment N20 G0 X 1.0000 Y 1.0000 ; Axes travel to the position X=1.0000 mm, Y=1.0000 mm; N25 G0 X 5.0002 Y 2.0003 ; Axes travel to the position X=5.0002 mm, Y=2.0003 mm 2.2.5 Scaling of physical quantities of machine and setting data Input/output units Machine and setting data with a physical unit are interpreted in the input/output units stated below depending on whether the metric or inch system is selected: Physical unit Input/output units for standard basic system Metric Inch Linear position 1 mm 1 inch Angular position 1 degree 1 degree Linear velocity 1 mm/min 1 inch/min Angular velocity 1 rpm 1 rpm Linear acceleration 1 m/s2 1 inch/s2 Angular acceleration 1 rev./s2 1 rev./s2 Linear jerk 1 m/s3 1 inch/s3 Angular jerk 1 rev./s3 1 rev./s3 Time 1 s 1 s Position controller servo gain 1/s 1/s Revolutional feedrate 1 mm/rev inch/rev Compensation value linear position 1 mm 1 inch Compensation value angular position 1 degree 1 degree Internally in the control, the following units are used, whatever basic system is selected: Physical unit Unit Linear position 1 mm Angular position 1 degree Linear velocity 1 mm/s Angular velocity 1 deg./s Linear acceleration 1 mm/s2 Angular acceleration 1 degree/s2 Linear jerk 1 mm/s3 Angular jerk 1 degree/s3 Time 1 s Position controller servo gain 1/s G2: Velocities, setpoint / actual value systems, closed-loop control 2.2 Velocities, traversing ranges, accuracies Axes and spindles 36 Function Manual, 06/2019, A5E47437747B AA

1 mm Compensation value angular position 1 degree The user can define different input/output units for machine and setting data. This also requires an adjustment between the newly selected input/output units and the internal units via the following machine data: ● MD10220 $MN_SCALING_USER_DEF_MASK ● MD10230 $MN_SCALING_FACTORS_USER_DEF[n] ,QSXWRXWSXWXQLWVIRU PDFKLQHDQGVHWWLQJGDWD 'RWKHLQSXW RXWSXWXQLWV FRUUHVSRQGWR WKH VWDQGDUGEDVLF V\VWHP" )RUPDWFRQYHUVLRQ ,QWHUQDOXQLWV 1R Q@ 0'6&$/,1*B)$&7256B86(5B'()B0$6. The following applies: Selected I/O unit = (MD10230 $MN_SCALING_FACTORS_USER_DEF[n]) * internal unit The selected I/O unit, expressed in the internal units 1 mm, 1 degree, and 1 s must therefore be entered in machine data MD10230 $MN_SCALING_FACTORS_USER_DEF[n]. Example 1: Machine data input/output of the linear velocities is to be in m/min instead of mm/min (initial state). G2: Velocities, setpoint / actual value systems, closed-loop control 2.2 Velocities, traversing ranges, accuracies Axes and spindles Function Manual, 06/2019, A5E47437747B AA 37

⇒ The scaling factor for the linear velocities is to differ from the standard setting. For this, in machine data: MD10220 $MN_SCALING_USER_DEF_MASK bit number 2 must be set. ⇒ MD10220 $MN_SCALING_USER_DEF_MASK = 'H4'; (bit no. 2 as hex value) ⇒ The scaling factor for the linear velocities is to differ from the standard setting. For this, in machine data: MD10220 $MN_SCALING_USER_DEF_MASK bit number 2 must be set. ⇒ MD10220 $MN_SCALING_USER_DEF_MASK = 'H4'; (bit no. 2 as hex value) ⇒ The scaling factor is calculated using the following formula: PP 6HOHFWHGLQSXWRXWSXWXQLW ,QWHUQDOXQLW P PLQ PP V PP V V 0'6&$/,1*B)$&7256B86(5B'()>Q@ 0'6&$/,1*B)$&7256B86(5B'()>Q@ 0'6&$/,1*B)$&7256B86(5B'()>Q@          ය Index n defines the "linear velocity" in the "Scaling factors of physical quantities" list. Example 2: In addition to the change in Example 1, the machine data input/output of linear accelerations must be in ft/s2 instead of m/s2 (initial state). (The internal unit is mm/s2.) PP IW V PP V PP V V %LW1RDQG%LW1RRIH[DPSOHDVD+H[YDOXH   0'6&$/,1*B86(5B'()B0$6. + 0'6&$/,1*B)$&7256B86(5B'()>@ 0'6&$/,1*B)$&7256B86(5B'()>@      ය ය ය Index 4 defines the "linear acceleration" in the "Scaling factors of physical quantities" list. G2: Velocities, setpoint / actual value systems, closed-loop control 2.2 Velocities, traversing ranges, accuracies Axes and spindles 38 Function Manual, 06/2019, A5E47437747B AA

2.3.1 Function 2.3.1.1 Parameterized and programmed system of units SINUMERIK control systems can operate with a metric system of units as well as an inch system of units. Parameterized system of units (basic system) The basic setting of the system of units (basic system) is set in machine data MD10240 $MN_SCALING_SYSTEM_IS_METRIC (see "Commissioning (Page 41)"). Depending on the basic system, all length-related data is interpreted either as metric or inch system of units. Metric system of units: mm, mm/min, m/s2, m/s3, mm/rev. Inch system of units: inch, inch/min, inch/s2, inch/s3, inch/rev. The basic system also defines the interpretation of the programmed F value for linear axes: Feed type Metric system of units Inch system of units G94 mm/min inch/min G95 mm/rev. inch/rev. Programmed system of units Using the commands of G group 13 (system of units, inch/metric) within the part program, you can toggle between the metric and inch system of units (see "Programming (Page 45)"). The programmed system of units and the basic system may be identical or different at any time. Switchover of the system of units within a particular section of the part program could, for example, be used to machine an inch thread on a workpiece within a metric basic system. The reset setting of the G group is defined in machine data MD20150 $MC_GCODE_RESET_VALUES (see "Commissioning (Page 41)"). HMI display Data relating to length is displayed as follows on the user interface: Display in the basic system in the programmed system of units Machine data x Data in the machine coordinate system x G2: Velocities, setpoint / actual value systems, closed-loop control 2.3 System of units, metric/inch Axes and spindles Function Manual, 06/2019, A5E47437747B AA 39

in the programmed system of units Tool data x Work offsets x Data in the workpiece coordinate system x NC/PLC interface In the case of NC/PLC interface signals containing dimension information, e.g. feedrate for path and positioning axes, data exchange is carried out with the PLC in the configured basic system. Reading in external part programs If part programs, including data sets (work offsets, tool offsets, etc.), programmed in a system of units other than the basic system are read in from an external source, then the basic system must first be changed. 2.3.1.2 Extended system of units functionality From SW 5 and higher, the system of units functionality has been extended, which significantly simplifies toggling between systems of units. The functions include: ● New G commands G700/G710 (see "Programming (Page 45)") ● Data backup with system of units identifier INCH/METRIC (see "Commissioning (Page 41)") ● Automatic data conversions when the system of units is changed, e.g. for: – Work offsets – Compensation data (EEC, QEC) – Tool offsets – ... For compatibility reasons, the extended system of units functionality must be activated using a machine data (see "Commissioning (Page 41)"). 2.3.1.3 Extended system of units functionality From SW 5 and higher, the system of units functionality has been extended, which significantly simplifies toggling between systems of units. The functions include: ● System of units switchover at the user interface ● New G commands G700/G710 (see "Programming (Page 45)") G2: Velocities, setpoint / actual value systems, closed-loop control 2.3 System of units, metric/inch Axes and spindles 40 Function Manual, 06/2019, A5E47437747B AA

(Page 41)") ● Automatic data conversions when the system of units is changed, e.g. for: – Work offsets – Compensation data (EEC, QEC) – Tool offsets – ... For compatibility reasons, the extended system of units functionality must be activated using a machine data (see "Commissioning (Page 41)"). 2.3.2 Commissioning NC-specific machine data Basic system The basic system to be used by the controller for the scaling of length-dependent physical variables for data input/output is specified via the machine data: MD10240 $MN_SCALING_SYSTEM_IS_METRIC Value Meaning 0 (= FALSE) Data relating to length is interpreted as inch data. 1 (= TRUE) Data relating to length is interpreted as metric data. The system must be powered up again after changing this machine data as otherwise associated machine data, which have physical units, will be incorrectly scaled. The following procedure must be complied with: ● Changing the MD using manual entry: – 1. Power up the system. – 2. Machine data with physical units: Enter a value. ● The MD is changed using machine data: – 1. Power up the system. – 2. Load the machine data file once again so that the new physical units are taken into account. When changing MD10240, Alarm 4070 "Normalizing machine data has been changed" is output. Note When changing over the system of units at a control system, all length-related data must be converted consistently and completely into the other measuring system. G2: Velocities, setpoint / actual value systems, closed-loop control 2.3 System of units, metric/inch Axes and spindles Function Manual, 06/2019, A5E47437747B AA 41

The factor for converting from metric into the inch system of units is set in machine data: MD10250 $MN_SCALING_VALUE_INCH (conversion factor for inch) Default value: 25.4 The conversion factor becomes active when selecting the non-metric basic system (MD10240 $MN_SCALING_SYSTEM_IS_METRIC = 0). The following data are multiplied by the conversion factor: ● Length-related data for input/output (e.g. when uploading machine data, work offsets) ● Programmed F values for linear axes ● Programmed geometry of an axis (position, polynomial coefficients, radius for circle programming, ...), if the system of units programmed with G70/G71 differs from the basic system (MD10240 $MN_SCALING_SYSTEM_IS_METRIC). Note By changing the conversion factor, the control system can be adapted to customer-specific systems of units. Extended system of units functionality The extended system of units functionality can be activated using the following compatibility machine data: MD10260 $MN_CONVERT_SCALING_SYSTEM Value Meaning 0 (= FALSE) Extended system of units functionality not active (default setting; compatibil‐ ity to previous software releases) 1 (= TRUE) Extended system of units functionality active When changing MD10240, Alarm 4070 "Normalizing machine data has been changed" is output. Data backup Individual data sets that are read from the control system and contain data affected by the system of units, are assigned an identifier during reading that indicates the current setting for the system of units: ● MD10260 $MN_CONVERT_SCALING_SYSTEM ● MD10240 $MN_SCALING_SYSTEM_IS_METRIC The identifier records in which system of units the data have been read out. This ensures that no data sets are read into the control with a system of units other than that which is currently set. Since the identifier is also evaluated in part programs, these can also be "protected" against operator errors as described above. You can therefore prevent part programs containing, e.g. only metric data, from running on an inch system of units. Archive and machine data sets are downward-compatible with the following setting: G2: Velocities, setpoint / actual value systems, closed-loop control 2.3 System of units, metric/inch Axes and spindles 42 Function Manual, 06/2019, A5E47437747B AA

Note The INCH/METRIC identifier is only generated if the compatibility machine data: MD10260 $MN_CONVERT_SCALING_SYSTEM = TRUE Note Rounding machine data All length-related machine data is rounded to the nearest 1 pm when writing in the inch system of units (MD10240 $MN_SCALING_SYSTEM_IS_METRIC=0 and MD10260 $MN_CONVERT_SCALING_SYSTEM=1), to avoid rounding problems. This corrects the loss of accuracy resulting from conversion to ASCII when reading out a data backup in the inch system of units when the data is read back into the system. Input resolution and computational resolution The input and calculation resolution is defined as an internal number of increments per millimeter. MD10200 $MN_INT_INCR_PER_MM The precision of entry of linear positions is limited to the calculation resolution. The product of the programmed position value and the calculation resolution is rounded up to the next integer. To make the rounding clear and understandable, powers of 10 should be used for the calculation resolution. Example: 1 inch = 25.4 mm ⇒ 0.0001 inch = 0.00254 mm = 2.54 μm = 2540 nm To be able to program and display the last 40 nm, a value of 100000 must be parameterized for the input and calculation resolution. Only with this identical setting for both systems of units is it possible to change the system of units without a significant loss of accuracy. Once MD10200 has been set to this value, it will not need to be changed each time the measuring system is switched over. System of units for positioning tables The system of units for positional data of the indexing axis tables and switching points for software cams is configured in machine data: MD10270 $MN_POS_TAB_SCALING_SYSTEM Further information: Function Manual Axis and Spindles; Software cams, position switching signals and indexing axes G2: Velocities, setpoint / actual value systems, closed-loop control 2.3 System of units, metric/inch Axes and spindles Function Manual, 06/2019, A5E47437747B AA 43

The physical units for user-defined tool and tool cutting edge data can be set in the following machine data: ● MD10290 $MN_CC_TDA_PARAM_UNIT ● MD10292 $MN_CC_TOA_PARAM_UNIT Note When the system of units is switched over, all length-related tool data is converted to the new system of units. Channel-specific machine data Reset position For each channel, the reset position of G group 13 (system of units, inch/metric) is set in the machine data: MD20150 $MC_GCODE_RESET_VALUES[12] (reset position of G group 13) Axis/spindle-specific machine data Conversion factor (axis-specific) To make pure positioning axes independent of G70/G71, a factor for converting from metric into the inch system of units can be set in machine data: MD31200 $MA_SCALING_FACTOR_G70_G71 (conversion factor when G70/G71 is active) Default value: 25.4 Note The conversion factor should be identical for all three geometry axes. JOG and handwheel factor The following machine data comprises two values containing axis-specific increment weighting factors for each of the two system of units: MD31090 $MA_JOG_INCR_WEIGHT Depending on the actual setting in MD10240 SCALING_SYSTEM_IS_METRIC, the control system automatically selects the appropriate value. The user defines the two increment factors when the system is commissioned. G2: Velocities, setpoint / actual value systems, closed-loop control 2.3 System of units, metric/inch Axes and spindles 44 Function Manual, 06/2019, A5E47437747B AA

● Metric: MD31090 $MA_JOG_INCR_WEIGHT[ 0 ; AX1 ] = 0.001 mm ● Inch: MD31090 $MA_JOG_INCR_WEIGHT[ 1 ; AX1 ] = 0.00254 mm ≙ 0.0001 inch In this way, MD31090 does not have to be written at every inch/metric switchover. Remaining distances are not accumulated during incremental traversing with JOG when the system of units is changed, since all internal positions always refer to mm. System of units for sag compensation The system of units for sag compensation is configured using machine data: MD32711 $MA_CEC_SCALING_SYSTEM_METRIC Further information: Function Manual Monitoring and Compensating; Compensations 2.3.3 Programming 2.3.3.1 Switching over the system of units (G70/G71/G700/G710) Using the commands of G group 13 (inch/metric system of units) within a part program, you can switch over between the metric and inch system of units. Activation In order that commands G700 and G710 are available, the extended system of units functionality must be switched on (MD10260 $MN_CONVERT_SCALING_SYSTEM = 1). Syntax G70 G71 G700 G710 Meaning G70: Activating the inch system of units The inch system of units is used to read and write geometrical data in units of length. Technological data in units of length (e.g. feedrates, tool offsets, adjustable work offsets, machine data and system variables) is read and written using the parameterized basic sys‐ tem. G group: 13 Initial setting: Settable via MD20150 $MC_GCODE_RESET_VALUES Effectiveness: Modal G2: Velocities, setpoint / actual value systems, closed-loop control 2.3 System of units, metric/inch Axes and spindles Function Manual, 06/2019, A5E47437747B AA 45

The metric system of units is used to read and write geometrical data in units of length. Technological data in units of length (e.g. feedrates, tool offsets, adjustable work offsets, machine data and system variables) is read and written using the parameterized basic sys‐ tem. G group: 13 Initial setting: Settable via MD20150 $MC_GCODE_RESET_VALUES Effectiveness: Modal G700: Activating the inch system of units All geometrical and technological data in units of length is read and written using the inch system of units. G group: 13 Initial setting: Settable via MD20150 $MC_GCODE_RESET_VALUES Effectiveness: Modal G710: Activating the metric system of units All geometrical and technological data in units of length is read and written using the metric system of units. G group: 13 Initial setting: Settable via MD20150 $MC_GCODE_RESET_VALUES Effectiveness: Modal NOTICE Axis-specific data of rotary axes Axis-specific data of rotary axes is read and written using the parameterized basic system. G2: Velocities, setpoint / actual value systems, closed-loop control 2.3 System of units, metric/inch Axes and spindles 46 Function Manual, 06/2019, A5E47437747B AA

the workpiece drawing has dimensions shown in inches. This is the reason why within the part program, the inch system of units is selected. After the inch dimensions have been processed, the metric system of units is again selected.     * * * *    < ; Program code Comment N10 G0 G90 X20 Y30 Z2 S2000 M3 T1 ; X=20 mm, Y=30 mm, Z=2 mm, F=rapid traverse mm/min N20 G1 Z-5 F500 ; Z=-5 mm, F=500 mm/min N30 X90 ; X=90 mm N40 G70 X2.75 Y3.22 ; programmed system of units: inch ; X=2.75 inch, Y=3.22 inch, F=500 mm/min N50 X1.18 Y3.54 ; X=1.18 inch, Y=3.54 inch, F=500 mm/min N60 G71 X20 Y30 ; programmed system of units: Metric ; X=20 mm, Y=30 mm, F=500 mm/min N70 G0 Z2 ; Z=2 mm, F=rapid traverse mm/min N80 M30 ; end of program Further information Reading and writing data in the case of G70/G71 and G700/G710 Data area G70 / G71 G700 / G710 Read Write Read Write Display, decimal places (WCS) P P P P Display, decimal places (MCS) G G G G Feedrates G G P P Position data X, Y, Z P P P P G2: Velocities, setpoint / actual value systems, closed-loop control 2.3 System of units, metric/inch Axes and spindles Function Manual, 06/2019, A5E47437747B AA 47

G700 / G710 Read Write Read Write Interpolation parameters I, J, K P P P P Circle radius (CR) P P P P Polar radius (RP) P P P P Thread pitch P P P P Programmable FRAME P P P P Settable FRAMES G G P P Basic frames G G P P External work offsets G G P P Axial preset offset G G P P Working area limits (G25/G26) G G P P Protection areas P P P P Tool offsets G G P P Length-related machine data G G P P Length-related setting data G G P P Length-related system variables G G P P GUDs G G G G LUDs G G G G PUDs G G G G R parameters G G G G Siemens cycles P P P P Jog/handwheel increment factor G G G G P: Writing/reading is performed in the programmed system of units. G: Writing/reading is performed in the configured basic system Synchronized actions Note Reading position data in synchronized actions If a system of units has not been explicitly programmed in the synchronized action (condition component and/or action component) length-related position data in the synchronized action will always be read in the parameterized basic system. Further information: Function Manual, Synchronized Actions G2: Velocities, setpoint / actual value systems, closed-loop control 2.3 System of units, metric/inch Axes and spindles 48 Function Manual, 06/2019, A5E47437747B AA

axis/spindle: &ORVHG ORRS FRQWURO 6SHHGVHWSRLQW RXWSXW 6SHHG VHWS DVVLJQPHQW 0RWRU (QFRGHU (QFRGHU 0 ( ( $FWXDOYDOXH DVVLJQPHQW VLPOXDWLRQ VLPOXDWLRQ $FWXDOYDOXH SURFHVVLQJ $FWXDOYDOXH SURFHVVLQJ ,6SRVLWLRQPHDV V\VWHP 180B(1&6 &75/287B7<3(  (1&B7<3(  Figure 2-1 Block diagram of a control loop Setpoint output A setpoint telegram can be output for each axis/spindle. The setpoint output to the regulator is done on the controller. Actual-value acquisition A maximum of two measuring systems can be connected for each axis/spindle, e.g. a direct measuring system for machining processes with high accuracy requirements and an indirect measuring system for high-speed positioning tasks. The number of encoders used is recorded in the machine data: MD30200 $MA_NUM_ENCS (number of encoders) In the case of two actual-value branches, the actual value is acquired for both branches. The active measuring system is always used for position control, absolute value calculation and display. If both measuring systems are activated at the same time by the PLC interface, positioning measuring system 1 is chosen internally by the controller. G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles Function Manual, 06/2019, A5E47437747B AA 49

Every position measuring system must be referenced separately. For explanations of encoder monitoring, see Function Manual Monitoring and Compensations, Section Axis monitoring. For explanations of compensation functions for actual value acquisition, see: Further information: Function Manual Monitoring and Compensating; Compensations Switching between measuring systems One can switch between the two measuring systems through the following NC/PLC interface signals: DB31, ... DBX1.5 (position measuring system 1) DB31, ... DBX1.6 (position measuring system 2) Further information See Function Manual Basic Functions; Various NC/PLC interface signals and functions. It is possible to switch over measuring systems at any time, the axes do not have to be stationary to do this. Switchover only takes place if a permissible deviation between the actual values and the two measuring systems has not been violated. The associated tolerance is entered in the machine data: MD36500 $MA_ENC_CHANGE_TOL (max. tolerance on position actual value switchover) On switchover, the current difference between position measuring system 1 and 2 is traversed immediately. Monitoring The permissible deviation between the actual values of the two measuring systems is to be entered in the machine data: MD36510 $MA_ENC_DIFF_TOL For the cyclic comparison of the two measuring systems used, this difference must not be exceeded, as otherwise Alarm 25105 "Measuring systems deviate" is generated. If the axis is not referenced (at least in the current control measuring system), then the related monitoring is not active if MD36510 = 0 or if neither of the two measuring systems in the axis is active/available. Types of actual-value acquisition The used encoder type must be defined through the following machine data: MD30240 $MA_ENC_TYPE (type of actual-value acquisition (actual position value)) Simulation axes The speed control loop of an axis can be simulated for test purposes. G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles 50 Function Manual, 06/2019, A5E47437747B AA

A simulation axis is defined by setting the two following machine data to "0": MD30130 $MA_CTRLOUT_TYPE[n] (output value of setpoint) MD30240 $MA_ENC_TYPE[n] (type of actual-value acquisition) As soon as the standard machine data has been loaded, the axes become simulation axes. The setpoint and actual value can be set to the reference point value with reference point approach. The machine data: MD30350 $MA_SIMU_AX_VDI_OUTPUT (output of axis signals with simulation axes) can be used to define whether the axis-specific interface signals are to be output on the PLC during the simulation. Actual-value correction If actual-value corrections performed by the NC on the encoder selected for position control do not influence the actual value of another encoder defined in the same axis, then this encoder is to be declared as "independent" via the following machine data: MD30242 $MA_ENC_IS_INDEPENDENT Actual-value corrections include the following: ● Modulo treatment ● Reference point approach ● Measuring system comparison ● PRESET 2.4.2 Setpoint and encoder assignment Setpoint marshalling The following machine data is relevant for the setpoint assignment of a machine axis. MD30100 $MA_CTRLOUT_SEGMENT_NR Setpoint assignment: Bus segment System Value Meaning 5 PROFIBUS DP / PROFINET (default) G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles Function Manual, 06/2019, A5E47437747B AA 51

System Value Meaning x The logical I/O address of the drive is assigned from MD13050 $MN_DRIVE_LOGIC_ADDRESS[ n ] via the drive number. The drive number (x) results from the index (n) of MD13050: x = n + 1 Note The machine data is of no significance if the drive is simulated (MD30130 $MA_CTRLOUT_TYPE = 0). MD30120 $MA_CTRLOUT_NR Setpoint assignment: Setpoint output on drive module/module System Value Meaning 1 Modular drive at PROFIBUS / PROFINET with PROFIdrive profile (default) MD30130 $MA_CTRLOUT_TYPE Setpoint output type System Value Meaning 0 Simulation (operation without drive) 1 Setpoint output active Encoder assignment The following machine data is relevant for assigning the encoder information of the drive - transferred in the PROFIdrive telegram - to the encoder inputs of the machine axis: MD30210 $MA_ENC_SEGMENT_NR[ n ] Actual value assignment, bus segment System Value Meaning 5 PROFIBUS DP / PROFINET MD30220 $MA_ENC_MODULE_NR[ n ] Actual value assignment: Drive number/measuring circuit number System Value Meaning x The logical I/O address of the drive is assigned from MD13050 $MN_DRIVE_LOGIC_ADDRESS[ n ] via the drive number. The drive number (x) results from the index (n) of MD13050: x = n + 1 G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles 52 Function Manual, 06/2019, A5E47437747B AA

Actual value assignment: Input on drive module/measuring circuit module System Value Meaning x Number of the encoder interface within the PROFIdrive telegram Examples PROFIdrive telegram 103 x = 1 → 1st encoder interface (G1_ZSW, G1_XIST1, G1_XIST2) x = 2 → 2nd encoder interface (G2_ZSW, G2_XIST1, G2_XIST2) PROFIdrive telegram 118 x = 1 → 1st encoder interface (G2_ZSW, G2_XIST1, G2_XIST2) x = 2 → 2nd encoder interface (G3_ZSW, G3_XIST1, G3_XIST2) Note: For SINAMICS S120: - Encoder 1 (G1_...): Motor encoder - Encoder 2 (G2_...): Direct measuring system - Encoder 3 (G3_...): Additional measuring system MD30240 $MA_ENC_TYPE[ n ] Encoder type of the actual value acquisition (actual position value) System Value Meaning 0 Simulation (operation without encoder) 1 Incremental encoder 4 Absolute encoder Note: Corresponds to PROFIdrive parameter p979 G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles Function Manual, 06/2019, A5E47437747B AA 53

Encoder is independent System Value Meaning 0 The encoder is not independent. 1 The encoder is independent. If the actual-value corrections, which are made for the encoder selected for the position control, are not to influence the actual value of the second encoder defined in the same axis, then this should be declared as independent. Actual value corrections are: ● - Modulo treatment ● - Reference point approach ● - Measuring system alignment ● - PRESET Example: One axis, two encoders, the 2nd encoder is independent MD30200 $MA_NUM_ENCS[ AX1 ] = 2 MD30242 $MA_ENC_IS_INDEPENDENT[ 0, AX1 ] = 0 MD30242 $MA_ENC_IS_INDEPENDENT[ 1, AX1 ] = 1 Selection, position measuring system 1 / 2: DB31.DBX1.5 / 1.6 If encoder 1 is selected for closed-loop position control, then the actual value corrections are only performed on this encoder, as encoder 2 is independent. If encoder 2 is selected for position control, then the actual value corrections are performed on both encoders, as encoder 1 is not independent. This means that the machine data only has an effect on the passive encoder of a machine axis. 2 The passive encoder is dependent. The actual encoder value is changed by the active encoder. In combination with MD35102 $MA_REFP_SYNC_ENCS = 1, for reference point approach, the pas‐ sive encoder is aligned to the active encoder - but is NOT referenced. In the referencing mode MD34200 $MA_ENC_REFP_MODE = 3 (distance-co‐ ded reference marks) the passive encoder is automatically referenced with the next traversing motion after passing the zero mark distance. This is done inde‐ pendent of the actual operating mode setting. 3 The encoder is independent. For modulo rotary axes, modulo actual value corrections are also performed in the passive encoder. G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles 54 Function Manual, 06/2019, A5E47437747B AA

The machine data index [ n ] for encoder assignment has the following meaning: ● n = 0: First encoder assigned to the machine axis ● n = 1: Second encoder assigned to the machine axis The assignment is made using machine data: ● MD30220 $MA_ENC_MODULE_NR[ n ] ● MD30230 $MA_ENC_INPUT_NR[ n ] Further information Commissioning Manual, CNC Commissioning: NC, PLC, drive; communication between NC and drive > Drives: Assign axis 2.4.3 Adapting the motor/load ratios Gear types The following gear types are available for adapting the mechanical ratios: Gear type Activation Adaptation Installation location Motor/load gear Parameter set Fixed configuration Gear unit Measuring gear encoder Power On Sensor-dependent Sensor-side Load intermediate gear unit Warm restart Load-dependent Tool-side Local position of gear unit / encoder 0RWRUORDG JHDUER[ 1RRIORDGUHY 1RRIWRROUHY 1RRIPRWRUUHY 1RRIORDGUHY 0 0RWRUHQFRGHU /RDGHQFRGHU 7RROHQFRGHU 7RROV '5,9(B$;B5$7,2B180(5$ '5,9(B$;B5$7,2B'(120 '5,9(B$;B5$7,2B180(5$ '5,9(B$;B5$7,2B'(120 (1&B,6B',5(&7  (1&B,6B',5(&7  (1&B,6B',5(&7  (1&B,6B',5(&7  (1&B,6B',5(&7  (1&B,6B',5(&7  Figure 2-2 Gear unit types and encoder locations G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles Function Manual, 06/2019, A5E47437747B AA 55

● MD31060 $MA_DRIVE_AX_RATIO_NUMERA (numerator load gear) ● MD31050 $MA_DRIVE_AX_RATIO_DENOM (denominator load gear) The transmission ratio is obtained from the numerator/denominator ratio of both machine data. The associated parameter sets are used automatically as default by the control system to synchronize the position controller with the relevant transmission ratios. Since a gear stage change is not always carried out automatically, and there are also several ways to request a gear stage change, the position controller is not always incorporated via parameter sets. Note For further information about the parameter sets for gear stage change, see Section "S1: Spindles (Page 733)". Intermediate gear Additional, configurable load intermediate gears are also supported by the control system: ● MD31066 $MA_DRIVE_AX_RATIO2_NUMERA (intermediate gear numerator) ● MD31064 $MA_DRIVE_AX_RATIO2_DENOM (intermediate gear denominator) Power tools generally have their "own" intermediate gear. Such variable mechanics can be configured by multiplying the active intermediate gear and the motor/load gear. CAUTION Different gear transmission ratios for switching Unlike the motor/load gear, there is no parameter set for the intermediate gear and, therefore, no way of controlling the time-synchronized switchover to the part program or PLC (NC/PLC interface). Part machining during gear change is, therefore, ruled out. It remains the task of the user to match the synchronization of the relevant changed machine data to the corresponding mechanical switchover and activate it. On switchover during a motion, compensations cannot be ruled out due to jumps in the scaling factors. These are not monitored for violation of the maximum acceleration. Encoder directly at the tool Another connection option is possible for a "tool-side encoder" on the intermediate gear by configuring the following machine data: MD31044 $MA_ENC_IS_DIRECT2 Encoder not directly at the tool The following supplementary conditions apply to a gear change of the intermediate gear in position-control mode: The gear ratio to be changed is incorporated in a re-scaling of the encoder information in this case. G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles 56 Function Manual, 06/2019, A5E47437747B AA

● A non-abrupt gear change is only possible at zero speed. To do this, the tool-side position before and after a gear change are set equal for a change in the ratio, since the mechanical position does not (or hardly) change during a gear stage change. Recommendation: To avoid 21612 "Controller enable reset during motion", changeover should be carried out "only at zero speed". It is still permissible and expedient to switch the axis or spindle to speed-control or follow-up mode before or during a gear change. Boundary conditions If the encoder to be used for position control is connected directly at the tool, the gear stage change only affects the physical quantities at the speed interface between the NC and the drive of the motor/load gear. The internal parameter sets are not changed. Reference point and machine reference CAUTION Loss of machine reference The control cannot detect all situations that can lead to loss of the machine reference. Therefore, it is the general responsibility of the commissioning engineer or user to initiate explicit referencing of zero marker synchronization in such cases. In the case of gear changes, it is not possible to make a statement about the effect of the reference point or machine position reference on the encoder scaling. In such cases, the control partially cancels the status "Axis referenced/synchronized". If the machine reference has been lost, it must first be restored through an adjustment or referencing of the lost machine reference. See also R1: Referencing (Page 291) 2.4.4 Speed setpoint output Control direction and travel direction of the feed axes You must determine the travel direction of the feed axis before starting work. Control direction Before the position control is started up, the speed controller and current controller of the drive must be started up and optimized. Traversing direction G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles Function Manual, 06/2019, A5E47437747B AA 57

MD32100 $MA_AX_MOTION_DIR (traversing direction) the direction of motion of the axis can be reversed without affecting the control direction of the position control. Speed setpoint adjustment In the case of speed setpoint comparison, the NC is informed which speed setpoint corresponds to which motor speed in the drive, for parameterizing the axial control and monitoring. This comparison is carried out automatically. For PROFIBUS DP drives, alternatively, the manual speed setpoint comparison is also possible. ● Manual adjustment In the machine data: MD32250 $MA_RATED_OUTVAL a value not equal to zero is entered. Note Velocity adjustment and maximum speed setpoint No speed compensation is required due to the automatic speed setpoint adjustment! Maximum speed setpoint The maximum speed setpoint is defined in percent. 100% means maximum speed setpoint or maximum speed for PROFIdrive drives (manufacturer-specific setting parameters in the drive, e.g. p1082 for SINAMICS). The output of the spindle speed is implemented in the NC. Data for five gear stages are realized in the controller. These stages are defined by a minimum and maximum speed for the stage itself and by a minimum and maximum speed for the automatic gear stage changeover. A new set gear stage is output only if the new programmed speed cannot be traversed in the current gear stage. With the machine data: MD36210 $MA_CTRLOUT_LIMIT[n] (maximum speed setpoint) the speed setpoint is restricted percentage-wise. Values up to 200% are possible. When the speed is exceeded, an alarm is generated. G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles 58 Function Manual, 06/2019, A5E47437747B AA

However, due to control processes, the axes should not reach their maximum velocity (MD32000 $MA_MAX_AX_VELO) at 100% of the speed setpoint, but at 80% to 95%. In case of axes, whose maximum speed is attained at around 80% of the speed setpoint range, the default value (80%) of the machine data: MD32000 $MA_MAX_AX_VELO (maximum axis velocity) can be adopted. 2.4.5 Machine data of the actual value system Axis-specific machine data To parameterize the actual value system, the following axis-specific machine data should be set: Encoder and parameter set-independent machine data: $MA_ Meaning MD30200 NUM_ENCS Number of encoders MD30300 IS_ROT_AX Rotary axis / spindle MD30310 ROT_IS_MODULO Modulo conversion for rotary axis / spindle MD30320 DISPLAY_IS_MODULO 360-degree modulo display for rotary axis or spindle MD30330 MODULO_RANGE Size of the modulo range MD30340 MODULO_RANGE_START Start position of the modulo range MD31030 $MA_LEADSCREW_PITCH Leadscrew pitch MD31064 $MA_DRIVE_AX_RATIO2_DENOM Intermediate gear denominator MD31066 $MA_DRIVE_AX_RATIO2_NUMERA Intermediate gear numerator MD32000 $MA_MAX_AX_VELO Maximum axis velocity G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles Function Manual, 06/2019, A5E47437747B AA 59

Meaning MD30210 ENC_SEGMENT_NR[ n ] Actual value assignment: Number of bus segments MD30220 ENC_MODULE_NR[ n ] Actual value assignment: Drive number/ measuring circuit number MD30230 ENC_INPUT_NR[ n ] Actual value assignment: Input on drive module/measuring circuit module MD30240 ENC_TYPE[ n ] Encoder type of the actual value acquisition (actual position value) MD30242 ENC_IS_INDEPENDENT[ n ] Encoder is independent MD30244 ENC_MEAS_TYPE[ n ] Encoder measuring type MD30250 ACT_POS_ABS[ n ] Internal encoder position MD30260 ABS_INC_RATIO[ n ] Absolute encoder: Ratio between the abso‐ lute resolution and the incremental resolu‐ tion MD30270 ENC_ABS_BUFFERING[ n ] Absolute encoder: Traversing range exten‐ sion MD34090 $MA_REFP_MOVE_DIST_CORR[ n ] Reference point offset MD34320 $MA_ENC_INVERS[ n ] Length measuring system is in the opposite sense n: Encoder index, with n = 0, 1, ... (1st encoder, 2nd encoder, ...) Note The "Activate machine data" can be activated either in the part program with the command NEWCONF or via the user interface by pressing a softkey. 2.4.6 Actual-value resolution 2.4.6.1 Machine data of the actual value resolution Depending where the measuring system (encoder) is mounted, the following measuring system types should be taken into account: ● Load-side encoder: Direct measuring system (DM) ● Motor-side encoder: Indirect measuring system (IM) G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles 60 Function Manual, 06/2019, A5E47437747B AA

The control system calculates the actual value resolution based on the following machine data. Machine data for calculating the actual value resolution Linear axis Linear axis Rotary axis Linear scale / direct measuring system Indirect measur‐ ing system Direct measuring system: Machine/ tool Indirect measur‐ ing sys‐ tem Direct measur‐ ing sys‐ tem: Ma‐ chine/tool MD30300 $MA_IS_ROT_AX 0 0 0 1 1 MD31000 $MA_ENC_IS_LINEAR[ n ] MD31010 $MA_ENC_GRID_POINT_DIST[ n ] MD34320 $MA_ENC_INVERS[ n ] 1 Spacing 1) 0 - - 0 - - 0 - - 0 - - MD31020 $MA_ENC_RESOL[ n ] - Pulses/ rev Pulses/ rev Pulses/ rev Pulses/ rev MD31025 $MA_ENC_PULSE_MULT[ n ] Encoder multipli‐ cation MD31030 $MA_LEADSCREW_PITCH - mm/rev. mm/rev. - - MD31040 $MA_ENC_IS_DIRECT[ n ] - / 1 0 1 0 1 MD31044 $MA_ENC_IS_DIRECT2[ n ] - / 1 0 1 0 1 MD31050 $MA_DRIVE_AX_RATIO_DENOM[ n ] - Load rev. - / 1 Load rev. 2) MD31060 $MA_DRIVE_AX_RATIO_NUMERA[ n ] - Motor rev. if in‐ feed gear avail‐ able - / 1 Motor rev. 2) MD31070 $MA_DRIVE_ENC_RATIO_DENOM[ n ] - Encoder rev. Encoder rev. Encoder rev. Encoder rev. MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[ n ] - Motor- side en‐ coder 3) Motor rev. Motor rev. Load rev. - Not relevant 1) For distance-coded measuring systems 2) These machine data are not required for encoder matching (path evaluation). However, they must be entered correctly for the setpoint calculation! Otherwise the required servo gain factor (KV) will not be set. The load revolutions are entered into machine data MD31050 $MA_DRIVE_AX_RATIO_DENOM and the motor revolutions in machine data MD31060 $MA_DRIVE_AX_RATIO_NUMERA. 3) The encoder on the motor side is a built-in encoder and, therefore, does not have a measuring gear unit. The transmission ratio is always 1:1. G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles Function Manual, 06/2019, A5E47437747B AA 61

The actual-value resolution results from the design of the machine, whether gearboxes are available and their gear ratio, the leadscrew pitch for linear axes and the resolution of the encoder being used. The following machine data must be set for this on the control system: Encoder and parameter set-independent machine data: $MA_ Meaning MD30300 IS_ROT_AX Axis is a rotary axis / spindle MD31010 ENC_GRID_POINT_DIST Distance between reference marks of the linear scale MD31030 LEADSCREW_PITCH Leadscrew pitch MD31064 DRIVE_AX_RATIO2_DENOM Denominator of attached gearbox MD31066 DRIVE_AX_RATIO2_NUMERA Numerator of attached gearbox Encoder-dependent machine data: $MA_ Meaning MD31000 ENC_IS_LINEAR[ n ] Measuring system is a linear scale MD31020 ENC_RESOL[ n ] Encoder pulses per revolution MD31025 ENC_PULSE_MULT[ n ] Encoder multiplication (high resolution) MD31040 ENC_IS_DIRECT[ n ] Direct or indirect measuring system MD31044 ENC_IS_DIRECT2[ n ] Encoders installed at the attached gearbox MD31070 DRIVE_ENC_RATIO_DENOM[ n ] Measuring gearbox denominator MD31080 DRIVE_ENC_RATIO_NUMERA[ n ] Measuring gearbox numerator n: Encoder index, with n = 0, 1, ... (1st encoder, 2nd encoder, etc.) Parameter-set-dependent machine data: $MA_ Meaning MD31050 $MA_DRIVE_AX_RATIO_DENOM[ m ] Denominator load gearbox MD31060 $MA_DRIVE_AX_RATIO_NUMERA[ m ] Numerator load gearbox m: Parameter set index, with m = 0, 1, ... (1st parameter set, 2nd parameter set, etc.) Parameterizing the computational resolution The ratio of control-internal computational resolution to the actual-value resolution is an indication of how exactly the values calculated by the control system can be implemented on the machine. Computational resolution: Linear axes &RPSXWDWLRQDOUHVROXWLRQ $FWXDOYDOXHUHVROXWLRQ ,QWHUQDOLQFUHPHQWVPP (QFRGHULQFUHPHQWVPP G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles 62 Function Manual, 06/2019, A5E47437747B AA

&RPSXWDWLRQDOUHVROXWLRQ $FWXDOYDOXHUHVROXWLRQ ,QWHUQDOLQFUHPHQWVGHJUHH (QFRGHULQFUHPHQWVGHJUHH Machine data General machine data: $MN_ Meaning MD10200 INT_INCR_PER_MM Computational resolution for linear positions MD10210 INT_INCR_PER_DEG Computational resolution for angular posi‐ tions Recommended setting The above components and settings that are responsible for the actual-value resolution, should be selected so that the actual-value resolution is higher than the parameterized computational resolution. $FWXDOYDOXHUHVROXWLRQ &RPSXWDWLRQDOUHVROXWLRQ ื 2.4.6.2 Example: Linear axis with linear scale 0 /RDGJHDUER[ 7DEOH OLQHDUHQFRGHU FRXQWHUFORFNZLVH /LQHDUVFDOH %DOOVFUHZ 0',6B527B$;  0'(1&B,6B/,1($5  0'(1&B*5,'B32,17B',67 0'(1&B,19(56 Figure 2-4 Linear axis with linear scale The ratio of the internal increments to the encoder increments per mm is calculated as follows: (QFRGHULQFUHPHQWVPP ,QWHUQDOLQFUHPHQWVPP (1&B*5,'B32,17B',67>Q@ ,17B,1&5B3(5B00 (1&B38/6(B08/7>Q@ G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles Function Manual, 06/2019, A5E47437747B AA 63

1XPEHURIPRWRUUHYROXWLRQV 1XPEHURIHQFRGHUUHYROXWLRQV 1XPEHUPRWRUUHYV 1XPEHUVSLQGOHUHYV 0HDVXULQJ JHDUER[ /RDG JHDUER[ Q(QFRGHU Q6SLQGOH %DOOVFUHZ 7DEOH ( 0 (1&B,6B/,1($5  (1&B,6B',5(&7  ,6B527B$;  (1&B5(62/ /($'6&5(:B3,7&+ '5,9(B(1&B5$7,2B180(5$ '5,9(B(1&B5$7,2B'(120 '5,9(B$;B5$7,2B180(5$ '5,9(B$;B5$7,2B'(120 Figure 2-5 Linear axis with rotary encoder on motor The ratio of the internal increments to the encoder increments per mm is calculated as follows: ,QWHUQDOLQFUHPHQWVPP (QFRGHULQFUHPHQWVPP  '5,9(B(1&B5$7,2B180(5$>Q@ '5,9(B$;B5$7,2B180(5$>Q@ '5,9(B$;B5$7,2B'(120>Q@ ,17B,1&5B3(5B00 /($'6&5(:B3,7&+ '5,9(B(1&B5$7,2B'(120>Q@ (1&B5(62/>Q@ (1&B38/6(B08/7>Q@ Example Assumptions: ● Rotary encoder on the motor: 2048 pulses/revolution ● Internal pulse multiplication: 2048 ● Gearbox, motor / ball screw: 5:1 ● Leadscrew pitch: 10 mm/revolution ● Computational resolution: 10000 increments per mm G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles 64 Function Manual, 06/2019, A5E47437747B AA

increments correspond to an internal increment. 2.4.6.4 Example: Linear axis with rotary encoder on the machine ,6B527B$;  Q Q '5,9(B(1&B5$7,2B180(5$ '5,9(B(1&B5$7,2B'(120 /($'6&5(:B3,7&+ (1&B,6B',5(&7  (1&B5(62/ (1&B,6B/,1($5  * 0 1RRIVSLQGOHUHYV 1RRIHQFRGHUUHYV /RDG JHDU 6SLQGOH 0HDV JHDU %DOOVFUHZ  7DEOH (QFRGHU Figure 2-6 Linear axis with rotary encoder on the machine The ratio of the internal increments to the encoder increments per mm is calculated as follows: G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles Function Manual, 06/2019, A5E47437747B AA 65

( 0 / 5RWDU\WDEOH Q0RWRU Q(QFRGHU Q/RDG 0HDVXULQJJHDUER[ /RDGJHDUER[ 1XPEHURIPRWRUUHYROXWLRQV 1XPEHURIHQFRGHUUHYROXWLRQV 1XPEHUPRWRUUHYV 1XPEHUORDGUHYV (1&B,6B/,1($5  (1&B5(62/ (1&B,6B',5(&7  '5,9(B(1&B5$7,2B180(5$ '5,9(B(1&B5$7,2B'(120 ,6B527B$;  '5,9(B$;B5$7,2B180(5$ '5,9(B$;B5$7,2B'(120 Figure 2-7 Rotary axis with rotary encoder on motor The ratio of the internal increments to the encoder increments per degree is calculated as follows: GHJUHHV ,QWHUQDOLQFUHPHQWVGHJUHH (QFRGHULQFUHPHQWVGHJUHH '5,9(B(1&B5$7,2B180(5$>Q@ '5,9(B$;B5$7,2B180(5$>Q@ '5,9(B$;B5$7,2B'(120>Q@ ,17B,1&5B3(5B'(* '5,9(B(1&B5$7,2B'(120>Q@ (1&B5(62/>Q@ (1&B38/6(B08/7>Q@ G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles 66 Function Manual, 06/2019, A5E47437747B AA

● Internal pulse multiplication: 2048 ● Gearbox, motor / rotary axis: 5:1 ● Computational resolution: 1000 increments per degree Machine data Value MD30300 $MA_IS_ROT_AX 1 MD31000 $MA_ENC_IS_LINEAR[0] 0 MD31040 $MA_ENC_IS_DIRECT[0] 0 MD31020 $MA_ENC_RESOL[0] 2048 MD31025 $MA_ENC_PULSE_MULT 2048 MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[0] 1 MD31070 $MA_DRIVE_ENC_RATIO_DENOM[0] 1 MD31060 $MA_DRIVE_AX_RATIO_NUMERA[0] 5 MD31050 $MA_DRIVE_AX_RATIO_DENOM[0] 1 MD10210 $MN_INT_INCR_PER_DEG 1000 ,QWHUQDOLQFUHPHQWVGHJUHH (QFRGHULQFUHPHQWVGHJUHH LQFGHJUHH GHJUHHV          An encoder increment corresponds to 0.017166 internal increments or 58.254689 encoder increments correspond to an internal increment. 2.4.6.6 Example: Rotary axis with rotary encoder on the machine ( 0 / 5RWDU\WDEOH Q(QFRGHU Q/RDG 0HDVXULQJJHDUER[ /RDGJHDUER[ 1XPEHUORDGUHYV 1XPEHUHQFRGHUUHYV (1&B5(62/ (1&B,6B/,1($5  (1&B,6B',5(&7  ,6B527B$;  '5,9(B(1&B5$7,2B180 '5,9(B(1&B5$7,2B'(120(5$ Figure 2-8 Rotary axis with rotary encoder on the machine The ratio of the internal increments to the encoder increments per degree is calculated as follows: G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles Function Manual, 06/2019, A5E47437747B AA 67

'ULYHQWRRO ,QWHUPHGLDWHJHDUER[ ( 0 7RRO Q0RWRU Q(QFRGHU Q7RRO 0HDVXULQJJHDUER[ /RDGJHDUER[ 1XPEHURIPRWRUUHYROXWLRQV 1XPEHURIHQFRGHUUHYROXWLRQV 1XPEHUPRWRUUHYV 1XPEHUVSLQGOHUHYV 1XPEHUORDGUHYV 1XPEHUVSLQGOHUHYV (1&B5(62/ (1&B,6B',5(&7  (1&B,6B',5(&7  (1&B,6B',5(&7  (1&B,6B',5(&7  (1&B,6B',5(&7  (1&B,6B',5(&7  '5,9(B(1&B5$7,2B180(5$ '5,9(B(1&B5$7,2B'(120 '5,9(B$;B5$7,2B180(5$ '5,9(B$;B5$7,2B'(120 '5,9(B$;B5$7,2B180(5$ '5,9(B$;B5$7,2B'(120 Figure 2-9 Intermediate gear with encoder directly on the rotating tool The ratio of the internal increments to the encoder increments per degree is calculated as follows: GHJUHHV ,QWHUQDOLQFUHPHQWVGHJUHH (QFRGHULQFUHPHQWVGHJUHH '5,9(B(1&B5$7,2B180(5$>Q@ ,17B,1&5B3(5B'(* '5,9(B(1&B5$7,2B'(120>Q@ (1&B5(62/>Q@ (1&B38/6(B08/7>Q@ G2: Velocities, setpoint / actual value systems, closed-loop control 2.4 Setpoint/actual-value system Axes and spindles 68 Function Manual, 06/2019, A5E47437747B AA

The closed-loop control of an axis consists of the current and speed control loop of the drive plus a higher-level position control loop in the NC. The basic structure of an axis/spindle position control is illustrated below: 3DWKFRQWURO LQWHUSRODWRU ),32 0' 3RVLWLRQ FRQWUROOHU 3KDVHILOWHU 0' '\QDPLF UHVSRQVH DGDSWDWLRQ 0' -HUNILOWHU 0' 'ULYHDQG PHFKDQLFDO V\VWHP [Y [ [ [ [ [DFW QDFW [VHW [DFW MD32410 $MA_AX_JERK_TIME MD32910 $MA_DYN_MATCH_TIME MD32895 $MA_DESVAL_DELAY_TIME MD32200 $MA_POSCTRL_GAIN x Position setpoint v Velocity setpoint xact Position actual value nact Speed actual value nset Speed setpoint Figure 2-10 Block diagram of the setpoint processing and closed-loop control For information on the jerk limitation, see Section "B2: Acceleration and jerk (Page 347)". For a description of the feedforward control, backlash, friction compensation, and leadscrew error compensation, see: Further information Function Manual Monitoring and Compensating; Compensations Fine interpolation Using the fine interpolator (FIPO), the contour precision can be further increased by reducing the staircase effect in the speed setpoint. You can set three different types of fine interpolation: G2: Velocities, setpoint / actual value systems, closed-loop control 2.5 Closed-loop control Axes and spindles Function Manual, 06/2019, A5E47437747B AA 69

Example of a dynamic response adaptation of three axes without speed feedforward control The equivalent time constant of the position control loop is: Axis 1: 30 ms Axis 2: 20 ms Axis 3: 24 ms With an equivalent time constant of 30 ms, axis 1 is the dynamically weakest axis. This results in the following new equivalent time constants for the axes: Axis 1: MD32910 $MA_DYN_MATCH_TIME = 0 ms Axis 2: MD32910 $MA_DYN_MATCH_TIME = 30 ms - 20 ms = 10 ms Axis 3: MD32910 $MA_DYN_MATCH_TIME = 30 ms - 24 ms = 6 ms Approximation formulas for the equivalent time constant of the position control loop of an axis The equivalent time constant Tequiv of the position control loop of an axis is approximately calculated depending on the type of feedforward control: ● Without feedforward control: 7(TXLY  0'326&75/B*$,1>V@ ป G2: Velocities, setpoint / actual value systems, closed-loop control 2.5 Closed-loop control Axes and spindles Function Manual, 06/2019, A5E47437747B AA 71

7(TXLY 0'(48,9B63(('&75/B7,0( ป ● For combined torque/speed feedforward control 7(TXLY 0'(48,9B&855&75/B7,0( ป Note If dynamic response adaptation is realized for a geometry axis, then all other geometry axes must be set to the same dynamic response. Further information Commissioning Manual CNC: NC, PLC, drives 2.5.2 Switchable position setpoint filter circuits Benefits Two switchable position setpoint filter circuits allow the damping effect of the filters to be adapted to the specific machining type, and these can also be selected during machining. For example, filters that provide very high damping (Blackman filters) and very high axial jerk factors ($MA_MAX_AX_JERK, $MA_PATH_TRANS_JERK_LIM) can be used, e.g. for motion outside the workpiece or when roughing so that processing times can be significantly reduced. The relatively high contour deviation in conjunction with the powerful filters have an excessively high negative impact for these machining types. It is advantageous to couple the filter switchover to the dynamic G code groups DYNNORM, DYNROUGH, DYNFINISH and DYNPREC and initiate it via a cycle (e.g. CUST_832). The status and values of the filter changeover can be queried using the following system variables. ● $VA_DESVAL_FILTERS_ACTIVE; status of the setpoint filter circuits ● $VA_DESVAL_FILTERS_DELAY_1/2; effective delay time of the 1st/2nd setpoint filter circuit ● $VA_DESVAL_FILTERS_DELTA_POS; position difference between the setpoint filter circuits. Option You require the following options in order to use this function: G2: Velocities, setpoint / actual value systems, closed-loop control 2.5 Closed-loop control Axes and spindles 72 Function Manual, 06/2019, A5E47437747B AA

Function Position control of an axis/spindle with switchable position setpoint filter circuit: 3DWKFRQWURO LQWHUSRODWRU ),32 0'>@ 3RVLWLRQ FRQWUROOHU 3KDVHILOWHU 0'>@ '\QDPLF UHVSRQVH DGDSWDWLRQ 0'>@ -HUNILOWHU 0' 'ULYHDQG PHFKDQLFDO V\VWHP [Y [ [ [ [DFW QDFW [VHW [DFW 0'>@ 3KDVHILOWHU 0'>@ '\QDPLF UHVSRQVH DGDSWDWLRQ 0'>@ -HUNILOWHU [ [ [ [ $$B'(69$/B),/7(56B6(/(&7>D[LV!@ MD32410 $MA_AX_JERK_TIME MD32910 $MA_DYN_MATCH_TIME MD32895 $MA_DESVAL_DELAY_TIME MD32200 $MA_POSCTRL_GAIN x Position setpoint v Velocity setpoint xact Position actual value nact Speed actual value nset Speed setpoint Figure 2-12 Switchable position setpoint filter circuits Selection and/or preassignment of filter types for every filter circuit The switchable position setpoint filter circuits are activated by entering a two-digit value in machine data MD32402 $MA_AX_JERK_MODE (filter type for axial jerk limiting). This allows two alternative jerk filters to be selected. G2: Velocities, setpoint / actual value systems, closed-loop control 2.5 Closed-loop control Axes and spindles Function Manual, 06/2019, A5E47437747B AA 73

● The jerk filter type of the first filter circuit is selected in the "Ones position" of machine data MD32402 AX_JERK_MODE, and the associated filter settings are set in index 0 of the machine data to parameterize the filter. ● The jerk filter type of the second filter circuit is selected in the "Tens position" of machine data MD32402 AX_JERK_MODE, and the associated filter settings are set in index 1 of the machine data to parameterize the filter. ● The following machine data has two indices: – MD32402 AX_JERK_FIR_FREQ – MD32408 AX_JERK_FIR_ORDER – MD32409 AX_JERK_FIR_WINDOW – MD32410 AX_JERK_TIME – MD32411 AX_JERK_TIME_ADD – MD32412 AX_JERK_FREQ – MD3414 AX_JERK_DAMP Boundary conditions Filter circuits can only be parameterized if the following conditions are satisfied: ● MD33000 $MA_FIPO_TYPE = 1 or 3 ● MD32220 $MA_POSCTRL_INTEGR_ENABLE = 0 ● MD32930 $MA_POSCTRL_OUT_FILTER_ENABLE = 0 ● MD32610 $MA_VELO_FFW_WEIGHT = 1.0 ● MD32620 $MA_FFW_MODE = 0, 3 or 4 ● MD32648 $MA_SPLINES_CONTROL_CONFIG = 0 2.5.3 Commissioning Switching over filter circuits Select two filter types to preassigned filter types for the filter circuits. To switch over the parameterized filter circuits, use the system variable $AA_DESVAL_FILTERS_SELECT[]. G2: Velocities, setpoint / actual value systems, closed-loop control 2.5 Closed-loop control Axes and spindles 74 Function Manual, 06/2019, A5E47437747B AA

● $VA_DESVAL_FILTERS_ACTIVE - to determine the currently active filter circuit. ● $VA_DESVAL_FILTERS_DELTA_POS indicates the actual position difference between the filter circuits in order to determine a suitable switchover point. Suitable switchover points include motion with Constant velocity (acceleration = 0) - or when an axis is at a standstill, in which the position difference is small. If a switchover is made while an axis is accelerating, then an acceleration step (jump) can occur, which under certain circumstances can trigger the contour monitoring function. The switchover is made immediately when requested. ● You can determine the effective delay time of the first and second filter circuit using the following variables: $VA_DESVAL_FILTERS_DELAY_1 $VA_DESVAL_FILTERS_DELAY_2 Example Two switchover position setpoint filter circuits are parameterized with the following attributes using MD32402 $MA_AX_JERK_MODE = 25: ● With a value of 5, a position setpoint filter, filter type 5 = FIR lowpass is parameterized in the first position setpoint filter circuit. ● With a value of 20, a position setpoint filter, filter type 2 = moving average calculation parameterized in the second position setpoint filter circuit. ● To approximate the total delay times of the two filter circuits to each other, use MD32895 $MA_DESVAL_DELAY_TIME. ● 2.5.4 Parameter sets of the position controller Six parameter sets per machine axis are available to quickly adapt the position control to the changed machine properties during operation, e.g. a gear change of the spindle, or to adjust the dynamic response to another axis, e.g. during tapping. Machine data A parameter set comprises the following machine data: Number Identifier $MA_ Meaning 31050 DRIVE_AX_RATIO_DENOM Denominator load gearbox 31060 DRIVE_AX_RATIO_NUMERA Numerator load gearbox 32200 POSCTRL_GAIN Servo gain factor (KV) 32452 BACKLASH_FACTOR Backlash compensation 32610 VELO_FFW_WEIGHT Feedforward control factor 36012 STOP_LIMIT_FACTOR Exact stop coarse/fine factor and zero speed 32800 EQUIV_CURRCTRL_TIME Equivalent time constant, current control loop for feed‐ forward control G2: Velocities, setpoint / actual value systems, closed-loop control 2.5 Closed-loop control Axes and spindles Function Manual, 06/2019, A5E47437747B AA 75

forward control 32910 DYN_MATCH_TIME Time constant for dynamic response adaptation 36200 AX_VELO_LIMIT Threshold value for velocity monitoring Tapping, thread cutting For tapping or thread cutting, the following applies with regard to the parameter sets of axes: ● For machine axes that are not involved in tapping or thread cutting, parameter set 1 (index = 0) is active. The other parameter sets do not have to be taken into account. ● For machine axes that are involved in tapping or thread cutting, the same parameter set number as that of the current gear stage of the spindle is active. All parameter sets correspond to the gear stages and must therefore be parameterized. The current parameter set is displayed on the user interface at: Operating Area "Diagnostics" > "Service axis" Parameter sets during gear stage change Each gear stage of a spindle is assigned a separate parameter set. The gear stage is selected via the following NC/PLC interface signal: DB31, ... DBX16.0 - 2 = Actual gear stage DB31, ... DBX16.0 - 2 Parameter set 1st gear stage 000 2 (Index=1) 1st gear stage 001 2 (Index=1) 2nd gear stage 010 3 (Index=2) 3rd gear stage 011 4 (Index=3) 4th gear stage 100 5 (Index=4) 5th gear stage 101 110 111 6 (Index=5) For further information on gear stages for spindles, see Section "S1: Spindles (Page 733)". 2.5.5 Relevant system data Axis machine data Axis machine data for the jerk filter: Number Name Effect MD32400 $MA_AX_JERK_ENABLE Axial jerk limitation MD32402 $MA_AX_JERK_MODE Filter type for axial jerk limitation G2: Velocities, setpoint / actual value systems, closed-loop control 2.5 Closed-loop control Axes and spindles 76 Function Manual, 06/2019, A5E47437747B AA

MD32408 $MA_AX_JERK_FIR_ORDER Filter order, axial jerk filter, type 5 MD32409 $MA_AX_JERK_FIR_WINDOW Window type, axial jerk filter, type 5 MD32410 $MA_AX_JERK_TIME Time constant for the axial jerk filter MD32411 $MA_AX_JERK_TIME_ADD Time constant for the second axial jerk filter, type 4 MD32412 $MA_AX_JERK_FREQ Blocking frequency of the axial jerk filter MD32414 $MA_AX_JERK_DAMP Damping, axial jerk filter MD32890 $MA_DESVAL_DELAY_ENABLE Axial position setpoint phase filter MD32895[] $MA_DESVAL_DELAY_TIME[] Time constant for the axial phase position set‐ point phase filter System variables The following system variables are added with the function "Switchable position setpoint filter circuits": Name Effect Access $AA_DESVAL_FILTERS_SELECT System variable that controls the switchover between the filter cir‐ cuits. r/w $VA_DESVAL_FILTERS_ACTIVE System variable in which the currently active filter circuit is located. r $VA_DESVAL_FILTERS_DELTA_POS System variable that provides the position difference between the two filter circuits. r $VA_DESVAL_FILTERS_DELAY_1 System variable that provides the effective delay time between the 1st or 2nd filter circuit. r $VA_DESVAL_FILTERS_DELAY_2 r 2.6 Optimization of the control 2.6.1 Position controller, position setpoint filter: Balancing filter Function With feedforward control active, the position setpoint is sent through a so-called balancing filter before it reaches the controller itself. It is thus possible to control the speed setpoint to 100% in advance, without resulting in overshoots when positioning. Activation The feedforward control variant is selected and so also the filter activated using the axis- specific machine data: G2: Velocities, setpoint / actual value systems, closed-loop control 2.6 Optimization of the control Axes and spindles Function Manual, 06/2019, A5E47437747B AA 77

Value Meaning 3 Speed precontrol 4 Combined torque/speed precontrol Activating and deactivating via the part program Part programs can be used to activate and deactivate the feedforward control for all axes, using commands FFWON and FFWOF. If the feedforward control of the individual axes should not be influenced by FFWON/FFWOF, the setting in the following machine data must be changed for these axes: MD32630 $MA_FFW_ACTIVATION_MODE (activate feedforward control from program) Parameterization Recommended setting for recommissioning If recommissioning, or if default values have been loaded (switch position 1 on commissioning switch and POWER ON), the following machine data default values apply: ● MD32620 $MA_FFW_MODE = 3 ● MD32610 $MA_VELO_FFW_WEIGHT (feedforward control factor for the velocity feedforward control) = 1 The balancing time for the speed feedforward control then just has to be adjusted in the following machine data: MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop for feedforward control) Setting the equivalent time constant of the speed control loop (MD32810) We recommend that the axis be allowed to move in and out in "AUTOMATIC" mode with a part program and that travel-in to the target position, i.e. the actual position value of the active measuring system, be monitored with the servo trace. The initial value for setting is the time constant of the speed control loop. This can be read from the reference frequency characteristic of the speed control loop. In the frequent case of a PI controller with speed setpoint smoothing, an approximate equivalent time can be read from drive machine data p1414, p1415, p1416 and p1421. This start value (e.g. 1.5 ms) is now entered: MD32810 $MA_EQUIV_SPEEDCTRL_TIME = 0.0015 The axis then travels forward and backward and the operator monitors a greatly-magnified characteristic of the actual position value at the target position. G2: Velocities, setpoint / actual value systems, closed-loop control 2.6 Optimization of the control Axes and spindles 78 Function Manual, 06/2019, A5E47437747B AA

Monitoring Measure Effect Overshoot Increase MD32810 The position controller responds more slowly. ⇒ The tendency to overshoot decreases. Problem: The contour error (deviation from the program‐ med contour) increases at curves. Excessively slow approach Reduce MD32810 The position controller responds faster. ⇒ The contour error at curves decreases. Problem: The tendency to overshoot increases. Note The effects are similar to modification of the position controller gain (MD32200 $MA_POSCTRL_GAIN). They can be observed on the user interface in the operating section "Diagnostics" > "Axis service" using the computed KV value. MD32810 fine adjustment Therefore, MD32810 should be assigned as small a value as possible, with the overshoot setting the limit during positioning. Furthermore, the initial value is only modified slightly during fine adjustment, typically by adding or deducting 0.25 ms. For example, if the initial value is 1.5 ms, the optimum value calculated manually is usually within the range 1.25 ms to 1.75 ms. In the case of axes equipped with direct measuring systems (load encoders) and strong elasticity, you may possibly accept small overshoots of some micrometers. These can be reduced with the help of the position setpoint filter for dynamic response adaptation (MD32910 $MA_DYN_MATCH_TIME) and for jerk (MD32410 $MA_AX_JERK_TIME), which also reduces the axis speed. Identical axis data within an interpolation group All the axes within an interpolation group should have identical settings in the following data: ● MD32200 $MA_POSCTRL_GAIN (adapted using MD32910) ● MD32620 $MA_FFW_MODE ● MD32610 $MA_VELO_FFW_WEIGHT ● MD32810 $MA_EQUIV_SPEEDCTRL_TIME (or MD32800 $MA_EQUIV_CURRCTRL_TIME) (dependent on the mechanical system and drive) ● MD32400 $MA_AX_JERK_ENABLE ● MD32402 $MA_AX_JERK_MODE ● MD32410 $MA_AX_JERK_TIME The servo gain display (KV) of the user interface in operating section "Diagnostics" > "Axis service" is used for checking. Non-identical axis data within an interpolation group If identical values are not possible for the above data, the following machine data can be used to make an adjustment: G2: Velocities, setpoint / actual value systems, closed-loop control 2.6 Optimization of the control Axes and spindles Function Manual, 06/2019, A5E47437747B AA 79

This allows the same servo gain value (KV) to be displayed. Different servo gain display values (KV) usually point to the following: ● The gear ratios do not match in one or several axes. ● The feedforward control setting data does not match. Setting the equivalent time constant of the current control loop (MD32800) The activation of the torque feedforward control filter is performed with: MD32620 $MA_FFW_MODE = 4 The same rules and recommendations apply to setting the time constant of the current control loop MD32800 $MA_EQUIV_CURRCTRL_TIME as to the speed feedforward control. Limitation to stiff machines Experience has shown that this expenditure is only worthwhile in the case of very stiff machines, and requires appropriate experience. The elasticities of the machine are often excited due to the injection of the torque so strongly that the existing vibrations neutralize the gain in contour accuracy. In this case, it would be worth trying the function "Dynamic Stiffness Control" (DSC) as an alternative: MD32640 $MA_STIFFNESS_CONTROL_ENABLE = 1 Note The following conditions apply to use of DSC: ● In the NC, no actual value inversion (MD32110 $MA_ENC_FEEDBACK_POL = -1) must be parameterized. Actual-value inversion in the drive (SINAMICS parameter p0410) is permissible. ● The function must be activated for all axes that are in an interpolation relationship (path motion or coupling) (MD32640 = 1). ● If one of the axes is parameterized as a simulated axis (MD30130 $MA_CTRLOUT_TYPE = 0, MD30240 $MA_ENC_TYPE = 0), DSC cannot be applied. In this case, the function must be deactivated for all axes that are in an interpolation relationship (MD32640 = 0). CAUTION Exception error condition An exception error condition may occur if p1192 is set for a non-existing measuring system and DSC is activated! For service situations in which an additional measuring system has to be disabled and DSC is active, it must be assured that p1192 is also adapted. G2: Velocities, setpoint / actual value systems, closed-loop control 2.6 Optimization of the control Axes and spindles 80 Function Manual, 06/2019, A5E47437747B AA

In the case of POWER ON and RESET, as well as with "Enable machine data", the setting data of the feedforward control is read in again (see the appropriate values of the relevant machine data). Mode change, block search and REPOS have no influence on the feedforward control. 2.6.2 Position controller, position setpoint filter: Phase filter Function The axis-specific phase filter setpoint (dead time / delay) implements a pure phase shifter with which the setpoint phase response can be influenced. Together with the axis-specific jerk filter setpoint (MD32402_$MA_AX_JERK_MODE[] = 2; see Function Manual "Axes and Spindles", Section "Jerk filter") it is possible to adapt the amplitude response and the phase response independently of one another to the dynamically weakest of several axes, which should proceed along a programmed path together.   6HWSRLQW 7LPHW ① Position controller cycle clock: 2 ms ② Time constant of the axis-specific phase filter setpoint: 19.2 ms Figure 2-13 Effect of the axis-specific phase filter setpoint Parameterization: Time constant The time constant for the axis-specific phase filter setpoint can be set in the range: (0 to 64) * position controller cycle clock (MD10061 $MN_POSCTRL_CYCLE_TIME) The value of the time constants must be entered in seconds [s] in the machine data: MD32895 $MA_DESVAL_DELAY_TIME[] G2: Velocities, setpoint / actual value systems, closed-loop control 2.6 Optimization of the control Axes and spindles Function Manual, 06/2019, A5E47437747B AA 81

Note The time constant of the phase filter setpoint delays the axis' response characteristics for tapping, retractions, and exact stops / block changes, etc. It is therefore recommended to set the time constant as low as possible. Limiting to a maximum value A greater time constant than the permitted maximum value (64 * position controller cycle clock) is limited internally to the maximum value. No message / alarm is displayed. Parameterization: Activation The function of the axis-specific phase filter setpoint must be activated with the following machine data: MD32890 $MA_DESVAL_DELAY_ENABLE[] = "TRUE" Examples Assumption: Position controller cycle clock = 2 ms 1. MD32890 $MA_DESVAL_DELAY_ENABLE[] = "FALSE" MD32895 $MA_DESVAL_DELAY_TIME[] = – Phase filter setpoint: Not active – Time constant: Irrelevant 2. MD32890 $MA_DESVAL_DELAY_ENABLE[] = TRUE MD32895 $MA_DESVAL_DELAY_TIME[] = 0.002 – Phase filter setpoint: Active – Time constant: 2 ms ⇒ the setpoint output is delayed by a position controller cycle clock. 3. MD32890 $MA_DESVAL_DELAY_ENABLE[] = TRUE MD32895 $MA_DESVAL_DELAY_TIME[] = 0.256 – Phase filter setpoint: Active – Set time constant: 256 ms; maximum possible time constant: 64 * 2 ms = 128 ms ⇒ internally effective time constant: 128 ms Boundary conditions SINUMERIK Safety Integrated The phase filter setpoint delays the output of axis-specific setpoints; e.g. for retractions (ESR for Stop E). However, the phase filter setpoint has no influence over shutdown processes; e.g. the SBH activation time. G2: Velocities, setpoint / actual value systems, closed-loop control 2.6 Optimization of the control Axes and spindles 82 Function Manual, 06/2019, A5E47437747B AA

Preconditions ● The function can only be used on axes with two encoders: MD30200 $MA_NUM_ENCS = 2 One of the encoders must be parameterized as an indirect measuring system and the other as a direct measuring system: – Direct measuring system: MD31040 $MA_ENC_IS_DIRECT[1]=1 The encoder for position actual-value acquisition is connected directly to the machine (load encoder). – Indirect measuring system: MD31040 $MA_ENC_IS_DIRECT[0]=0 The encoder for position actual-value acquisition is located on the motor (motor encoder). ● Telegram type 136 or 138 must be configured as standard telegram type for PROFIdrive both in the drive and also in the NC (MD13060 $MN_DRIVE_TELEGRAM_TYPE). Function For active injected positional deviation, the difference position between the direct and the indirect measuring system of an axis is determined and in accordance with the weighting-factor setting is applied as additional current setpoint for the feedforward control in the position control cycle. The resulting oscillation damping improves the stability and positioning behavior of the axis. Application The function is used for axes with strong tendency to vibrate. Effectiveness The function acts only for axes with small natural frequency (to approximately 20 Hz). Activation/parameterization The function is activated by specifying the weighting factor: MD32950 $MA_POSCTRL_DAMPING (damping of the speed control loop) = Value range: -100% ... +100% G2: Velocities, setpoint / actual value systems, closed-loop control 2.6 Optimization of the control Axes and spindles Function Manual, 06/2019, A5E47437747B AA 83

parameter p2003 is applied when the determined position difference between the two measuring systems reaches the following value: ● With linear motors: 1 mm ● With linear axis with rotary motor: MD31030 $MA_LEADSCREW_PITCH (leadscrew pitch) ● For rotary axis/spindle: 360 degrees Standard setting is 0. In this case, the injection of positional deviation is inactive. Note The weighting factor MD32950 $MA_POSCTRL_DAMPING can be set on the basis of step responses, for example. If the control approaches the stability limit (vibration inclination increases), the parameter is too large or the value has the incorrect sign. 2.6.4 Position control with proportional-plus-integral-action controller Function As standard, the core of the position controller is a P controller. It is possible to switch-in an integral component for special applications (such as an electronic gear). The resulting proportional-plus-integral-action controller then corrects the error between setpoint and actual positions down to zero in a finite, settable time period when the appropriate machine data is set accordingly. CAUTION Overshootings of the actual position for activated PI controller In this instance, you must decide whether this effect is admissible for the application in question. Knowledge of the control technology and measurements with servo trace are an absolute prerequisite for using the function. If the appropriate machine data is incorrectly set, then machines could be damaged due to instability. G2: Velocities, setpoint / actual value systems, closed-loop control 2.6 Optimization of the control Axes and spindles 84 Function Manual, 06/2019, A5E47437747B AA

described in the previous subsections. 2. Increase the tolerances of the following machine data while measurements are being taken to determine the quality of the position control with proportional-plus-integral-action controller: – MD36020 $MA_POSITIONING_TIME – MD36030 $MA_STANDSTILL_POS_TOL – MD36040 $MA_STANDSTILL_DELAY_TIME – MD36400 $MA_CONTOUR_TOL 3. Activate the position control loop as a proportional-plus-integral-action controller by setting the following machine data: MD32220 $MA_POSCTRL_INTEGR_ENABLE ; set value 1 MD32210 $MA_POSCTRL_INTEGR_TIME ; integral time [sec.] Effect of integral time: – Tn → 0: The control error is corrected quickly; however, the control loop can become instable. – Tn → ∞: Effectiveness of the integral component is almost 0. Behavior of the controller like a pure proportional controller. 4. Find the right compromise for Tn between these two extreme cases for the application. Note Tn must not be chosen too near the stability limit because the occurrence of an instability can cause machine damage. It is therefore recommended to set Tn to no less than 1 s. Use servo trace to trace the travel-in of an automatic program traveling to and from a target position. 5. Set the servo trace to display the following: – Following error – Actual velocity – Actual position – Reference position 6. Reset the tolerance values in the following machine data to the required values, once the optimum value for Tn has been identified: – MD36020 $MA_POSITIONING_TIME – MD36030 $MA_STANDSTILL_POS_TOL – MD36040 $MA_STANDSTILL_DELAY_TIME – MD36400 $MA_CONTOUR_TOL G2: Velocities, setpoint / actual value systems, closed-loop control 2.6 Optimization of the control Axes and spindles Function Manual, 06/2019, A5E47437747B AA 85

Example Setting result after several iterative processes for KR and Tn. Machine data settings: ● MD32220 $MA_POSCTRL_INTEGR_ENABLE = 1 ● MD32210 $MA_POSCTRL_INTEGR_TIME = 0.003 ● MD32200 $MA_POSCTRL_GAIN[1] = 5.0 Parameter set selection 0 Each of the following quantities - following error, actual velocity, actual position, and position setpoint - has been recorded by servo trace. When traversing in JOG mode, the characteristic of the individual data shown in the following figure was then drawn. *UDSKLF7U$[LV;7U$[LV;! *UDSKLF7U$[LV;7U$[LV;! 7U)ROORZLQJHUURU 7U$FWXDOSRVLWLRQPHDVXULQJV\VW 7U$FWXDOYHORFLW\ 7U3RVLWLRQVHWSRLQW 0DUNHU; 0DUNHU; G2: Velocities, setpoint / actual value systems, closed-loop control 2.6 Optimization of the control Axes and spindles 86 Function Manual, 06/2019, A5E47437747B AA

Number Identifier: $MM_ Description 9004 DISPLAY_RESOLUTION Display resolution 9010 SPIND_DISPLAY_RESOLUTION Display resolution for spindles 9011 DISPLAY_RESOLUTION_INCH Display resolution for INCH system of measurement 2.7.1.2 NC-specific machine data Number Identifier: $MN_ Description 10000 AXCONF_MACHAX_NAME_TAB Machine axis name 10050 SYSCLOCK_CYCLE_TIME System basic cycle 10070 IPO_SYSCLOCK_TIME_RATIO Factor for interpolator cycle 10060 POSCTRL_SYSCLOCK_TIME_RATIO Factor for position-control cycle 10200 INT_INCR_PER_MM Computational resolution for linear positions 10210 INT_INCR_PER_DEG Computational resolution for angular positions 10220 SCALING_USER_DEF_MASK Activation of scaling factors 10230 SCALING_FACTORS_USER_DEF Scaling factors of physical quantities 10240 SCALING_SYSTEM_IS_METRIC Basic system metric 10250 SCALING_VALUE_INCH Conversion factor for switchover to inch system 10260 CONVERT_SCALING_SYSTEM Basic system switchover active 10270 POS_TAB_SCALING_SYSTEM Measuring system of position tables 10290 CC_TDA_PARAM_UNIT Physical units of the tool data for CC 10292 CC_TOA_PARAM_UNIT Physical units of the tool edge data for CC 13050 DRIVE_LOGIC_ADDRESS Logical drive addresses 13060 DRIVE_TELEGRAM_TYPE Standard message frame type for PROFIBUS DP 13070 DRIVE_FUNCTION_MASK DP function used 13080 DRIVE_TYPE_DP Drive type PROFIBUS DP 2.7.1.3 Channelspecific machine data Number Identifier: $MC_ Description 20150 GCODE_RESET_VALUES Initial setting of the G groups G2: Velocities, setpoint / actual value systems, closed-loop control 2.7 Data lists Axes and spindles Function Manual, 06/2019, A5E47437747B AA 87

Number Identifier: $MA_ Description 30110 CTRLOUT_MODULE_NR Setpoint assignment: Drive number 30120 CTRLOUT_NR Setpoint assignment: Setpoint output on drive module 30130 CTRLOUT_TYPE Output type of setpoint 30200 NUM_ENCS Number of encoders 30220 ENC_MODULE_NR Actual value assignment: Drive module number 30230 ENC_INPUT_NR Actual value assignment: Input on the drive module 30240 ENC_TYPE Type of actual value acquisition (actual position value) 30242 ENC_IS_INDEPENDENT Encoder is independent 30300 IS_ROT_AX Rotary axis 31000 ENC_IS_LINEAR Direct measuring system (linear scale) 31010 ENC_GRID_POINT_DIST Distance between reference marks on linear scales 31020 ENC_RESOL Encoder pulses per revolution 31030 LEADSCREW_PITCH Leadscrew pitch 31040 ENC_IS_DIRECT Encoder is connected directly to the machine 31044 ENC_IS_DIRECT2 Encoder on intermediate gear 31050 DRIVE_AX_RATIO_DENOM Denominator load gearbox 31060 DRIVE_AX_RATIO_NUMERA Load gear numerator 31064 DRIVE_AX_RATIO2_DENOM Intermediate gear denominator 31066 DRIVE_AX_RATIO2_NUMERA Intermediate gear numerator 31070 DRIVE_ENC_RATIO_DENOM Measuring gear denominator 31080 DRIVE_ENC_RATIO_NUMERA Measuring gear numerator 31090 JOG_INCR_WEIGHT Weighting of increment for INC/handwheel 31200 SCALING_FACTOR_G70_G71 Factor for converting values when G70/G71 is active 32000 MAX_AX_VELO Maximum axis velocity 32100 AX_MOTION_DIR Travel direction 32110 ENC_FEEDBACK_POL Sign actual value (feedback polarity) 32200 POSCTRL_GAIN Servo gain factor (KV) 32210 POSCTRL_INTEGR_TIME Integrator time position controller 32220 POSCTRL_INTEGR_ENABLE Activation of integral component of position controller 32250 RATED_OUTVAL Rated output voltage 32260 RATED_VELO Rated motor speed 32400 AX_JERK_ENABLE Axial jerk limitation 32402 AX_JERK_MODE Filter type for axial jerk limitation 32407 AX_JERK_FIR_FREQ Corner frequency axial jerk filter, type 5 32408 AX_JERK_FIR_ORDER Filter order, axial jerk filter, type 5 32409 AX_JERK_FIR_WINDOW Window type, axial jerk filter, type 5 32410 AX_JERK_TIME Time constant for the axial jerk filter 32411 AX_JERK_TIME_ADD Time constant for the second axial jerk filter, type 4 32412 AX_JERK_FREQ Blocking frequency of the axial jerk filter G2: Velocities, setpoint / actual value systems, closed-loop control 2.7 Data lists Axes and spindles 88 Function Manual, 06/2019, A5E47437747B AA

32450 BACKLASH Backlash 32500 FRICT_COMP_ENABLE Friction compensation active 32610 VELO_FFW_WEIGHT Feedforward control factor for speed feedforward con‐ trol 32620 FFW_MODE Feedforward control mode 32630 FFW_ACTIVATION_MODE Activate feedforward control from program 32650 AX_INERTIA Moment of inertia for torque feedforward control 32652 AX_MASS Axis mass for torque precontrol 32711 CEC_SCALING_SYSTEM_METRIC System of units for sag compensation 32800 EQUIV_CURRCTRL_TIME Equivalent time constant current control loop for feed‐ forward control 32810 EQUIV_SPEEDCTRL_TIME Equivalent time constant speed control loop for feed‐ forward control 32890 DESVAL_DELAY_ENABLE Axial position setpoint phase filter 32895 DESVAL_DELAY_TIME Time constant for the axial phase position setpoint phase filter 32900 DYN_MATCH_ENABLE Dynamics matching 32910 DYN_MATCH_TIME [n] Time constant for dynamic response adaptation 32930 POSCTRL_OUT_FILTER_ENABLE Activation of low-pass filter at position controller output 32950 POSCTRL_DAMPING Damping of the speed control loop 33000 FIPO_TYPE Fine interpolator type 34320 ENC_INVERS[n] Length measuring system is inverse 35100 SPIND_VELO_LIMIT Maximum spindle speed 36200 AX_VELO_LIMIT [n] Threshold value for velocity monitoring 36210 CTRLOUT_LIMIT[n] Maximum speed setpoint 36400 AX_JERK_ENABLE Axis-specific jerk limitation 36410 AX_JERK_TIME Time constant for the axis-specific jerk filter 36500 ENC_CHANGE_TOL Max. tolerance for position actual-value switchover 36510 ENC_DIFF_TOL Measuring system synchronism tolerance 36700 ENC_COMP_ENABLE[n] Interpolatory compensation G2: Velocities, setpoint / actual value systems, closed-loop control 2.7 Data lists Axes and spindles Function Manual, 06/2019, A5E47437747B AA 89

2.7 Data lists Axes and spindles 90 Function Manual, 06/2019, A5E47437747B AA

3 3.1 Brief description Function With the "Travel to fixed stop" function, moving machine parts, e.g. tailstock or sleeve, can be traversed so that they can apply a defined torque or force with respect to other machine parts over any time period. Characteristics ● Programmability using commands in the part program or synchronized action: – Activating and deactivating the "Travel to fixed stop" function – Setting the clamping torque – Setting the monitoring window ● Manual intervention option using setting data: – Activating and deactivating the "Travel to fixed stop" function – Setting the clamping torque – Setting the monitoring window ● Presettings using machine data – Clamping torque – Monitoring window ● Identifying the function status via NC/PLC interface signals ● Enable or acknowledgment options via NC/PLC interface signals ● Reading the reference and actual status of the function via system variable ● "Travel to fixed stop" is possible for axes and spindles. ● "Travel to fixed stop" is possible simultaneously for several axes and parallel to the traversing of other axes. ● Multi-channel block search can be performed with calculation of all the required additional data (SERUPRO). ● Simulated axis traversal in conjunction with "travel to fixed stop" and "torque reduction" possible. ● "Vertical" axes can also be moved with FXS to a fixed stop. Axes and spindles Function Manual, 06/2019, A5E47437747B AA 91

The "Travel to fixed stop" function is controlled via the FXS, FXST and FXSW commands. The activation can also be performed without traversing motion of the relevant axis. The torque is immediately limited. The fixed stop is monitored as soon as the axis is traversed. Note Synchronized actions The "Travel to fixed stop" function can also be controlled via synchronized actions. Further information Function Manual Synchronized Actions Travel with limited torque/force Travel with limited torque/force can be controlled via the FOCON, FOCOF and FOC commands (see Section "Traveling with limited torque/force FOC"). Syntax FXS[]= FXST[]= FXSW[]= Meaning Parameter Meaning FXS: "Travel to fixed stop" function, effectiveness: modal : 0 = switch off 1 = switch on FXST: Set clamping torque : Clamping torque in % of the maximum drive torque. SINAMICS S120: p2003 FXSW: Set monitoring window : Width of the tolerance window around the fixed stop Unit: mm, inch or degrees : Name of the channel axis, type: AXIS F1: Travel to fixed stop 3.2 Detailed description Axes and spindles 92 Function Manual, 06/2019, A5E47437747B AA

The torque limit value can be changed in each block. The change becomes effective before executing the traversing motion programmed in the block. The torque limitation acts in addition to the acceleration limitation (ACC). Ramp-shaped change A time can be set using the machine data, within which the torque limit value is linearly changed: MD37012 $MA_FIXED_STOP_TORQUE_RAMP_TIME (time until the new torque limit is reached) Changes to the monitoring window (FXSW) The monitoring window can be changed in each block. The change becomes effective before executing the traversing motion programmed in the block. When the monitoring window is changed, not only does the window width change, but also the reference point of the window to the actual axis position. "Travel to fixed stop" when the continuous-path mode is active (G64) The following machine data can be used to set that with the selection of the (FXS) function during active continuous-path mode (G64), no exact stop is triggered at the block change (G60): MD37060 $MA_FIXED_STOP_ACKN_MASK (monitoring PLC acknowledgements for travel to fixed stop) Bit Value Meaning 0 0 Start of the traversing motion without acknowledgement by the PLC 1 Start of the traversing motion after acknowledgement by the PLC Boundary conditions ● The traversing motion to the fixed stop can be programmed as a path- or block-related or modal positioning axis motion. ● Travel to fixed stop can be selected for several machine axes simultaneously. ● For a machine axis, which is traversed to a fixed stop, it is not permissible that transformation, coupling and frame functions are active: ● The travel path and the activation of the function must be programmed in one block in the part program. ● If "Travel to fixed stop" is activated via synchronized actions, the travel path and the activation of the function can be programmed in separate blocks. F1: Travel to fixed stop 3.2 Detailed description Axes and spindles Function Manual, 06/2019, A5E47437747B AA 93

Procedure The NC detects that the function "Travel to fixed stop" is selected via the command FXS[x]=1 and signals the PLC using the IS DB31, ... DBX62.4 ("Activate travel to fixed stop") that the function has been selected. If the machine data: MD37060 $MA_FIXED_STOP_ACKN_MASK (monitoring PLC acknowledgements for travel to fixed stop) is set correspondingly, the system waits for the acknowledgement of the PLC using the IS DB31, ... DBX3.1 ("Enable travel to fixed stop"). The programmed target position is then approached from the start position at the programmed velocity. The fixed stop must be located between the start and target positions of the axis/ spindle. A programmed torque limit (clamping torque specified via FXST[]) is effective from the start of the block, i.e. the fixed stop is also approached with reduced torque. Allowance for this limitation is made in the NC through an automatic reduction in the acceleration rate. If no torque has been programmed in the block or since the start of the program, then the value is valid in the axis-specific machine data: MD37010 $MA_FIXED_STOP_TORQUE_DEF (default for fixed stop clamping torque) is entered. F1: Travel to fixed stop 3.2 Detailed description Axes and spindles 94 Function Manual, 06/2019, A5E47437747B AA

Detecting the fixed stop Detecting the fixed stop or identifying that the machine axis has reached the fixed stop can be set using the following machine data: MD37040 $MA_FIXED_STOP_BY_SENSOR = (fixed stop detection via sensor) Meaning 0 The fixed stop has been reached when the contour deviation of the machine axis has ex‐ ceeded the value set in the machine data: MD37030 $MA_FIXED_STOP_THRESHOLD (threshold for fixed stop detection) 1 An external sensor detects when the fixed stop has been reached and informs the control via the following axial NC/PLC interface signal: DB31, ... DBX1.2 == 1 (sensor for fixed stop) 2 The fixed stop has been reached, if one of the conditions, specified under == 0 OR == 1 applies. Ineffective NC/PLC interface signals When the axis is in the "Fixed stop reached" state, the following NC/PLC interface signals have no effect: ● DB31, ... DBX1.3 (axis/spindle disable) ● DB31, ... DBX2.1 (controller enable) Actions when the fixed stop is reached The following actions are executed when the fixed stop is reached: ● The torque in the drive is increased up to the programmed clamping torque (FXST) ● The remaining distance to go is deleted ● The position setpoint is tracked ● The NC/PLC interface signal is set: DB31, ... DBX62.5 = 1 ("fixed stop reached") ● Executing a block change: – Executing a block change when the fixed stop is reached: MD37060 $MA_FIXED_STOP_ACKN_MASK, Bit 1 = 0 The block change is immediately executed after reaching the fixed stop. – Block change is only executed after the acknowledgment by the PLC user program: MD37060 $MA_FIXED_STOP_ACKN_MASK, Bit 1 = 1 After reaching the fixed stop, the block is not changed until acknowledgment by the PLC user program: DB31, ... DBX1.1 == 1 (acknowledge fixed stop reached) In order to also maintain the clamping torque after the block change, the NC still outputs a setpoint for the machine axis. ● Activating the fixed stop monitoring or the monitoring window F1: Travel to fixed stop 3.2 Detailed description Axes and spindles Function Manual, 06/2019, A5E47437747B AA 95

value for the monitoring window is programmed with FXSW then the value set in the machine data is active: MD37020 $MA_FIXED_STOP_WINDOW_DEF (default for fixed stop monitoring window) If the axis leaves the position it was in when the fixed stop was detected by more than the specified window, then alarm 20093 "Fixed stop monitoring has responded" is displayed and the "Travel to fixed stop" function is deselected. The monitoring window must be selected by the user such that the alarm is activated only when the axis leaves the fixed stop position. NOTICE "Fixed stop reached" and when the fixed stop breaks As soon as the "fixed stop reached" state is identified, then a speed setpoint derived from the axis-specific machine data servo gain factor (KV) (MD32200) and the threshold for the fixed stop detection (MD37030) is entered for the drive. If the fixed stop breaks in this state, then the axis accelerates until it reaches the monitoring window limit. The velocity that is then reached is proportional to the values set in the specified machine data. For appropriately high values, it is possible that the drive accelerates up to the maximum motor speed. F1: Travel to fixed stop 3.2 Detailed description Axes and spindles 96 Function Manual, 06/2019, A5E47437747B AA

3.2.2.3 Fixed stop is not reached Alarm suppression Alarms for various causes of breakage can be suppressed using the machine data: MD37050 $MA_FIXED_STOP_ALARM_MASK = Value Description: Suppressed alarms 0 Alarm 20091 "Fixed stop not reached" 2 Alarm 20091 "Fixed stop not reached" Alarm 20094 "Fixed stop aborted" 3 Alarm 20094 "Fixed stop aborted" F1: Travel to fixed stop 3.2 Detailed description Axes and spindles Function Manual, 06/2019, A5E47437747B AA 97

The following actions are executed when a fault occurs or for a breakage: ● The NC/PLC interface signal is reset: DB31, ... DBX62.4 = 0 (activate travel to fixed stop) ● Depending on the setting in the machine data, the system waits for acknowledgment: – MD37060 $MA_FIXED_STOP_ACKN_MASK – DB31, ... DBX3.1 == 0 (enable travel to fixed stop) ● Withdrawing torque limits ● Executing a block change Overview )ROORZLQJHUURU '%'%; DFWLYDWH7UDYHOWRIL[HG VWRS '%'%; )L[HGVWRSUHDFKHG %ORFNFKDQJH W           9$B);6 Figure 3-3 Fixed stop is not reached 3.2.2.4 Deselection The "travel to fixed stop" function is deselected using the command FXS[] = 0 in a block of an NC program. F1: Travel to fixed stop 3.2 Detailed description Axes and spindles 98 Function Manual, 06/2019, A5E47437747B AA

When deselecting the function, the following actions are executed: ● A preprocessing stop is initiated (STOPRE) ● The NC/PLC interface signals are reset – DB31, ... DBX62.4 = 0 (activate travel to fixed stop) – DB31, ... DBX62.5 = 0 (fixed stop reached) ● Depending on the machine data, the system waits for acknowledgment from the PLC user program: – MD37060 $MA_FIXED_STOP_ACKN_MASK – DB31, ... DBX3.1 == 0 (enable travel to fixed stop) – DB31, ... DBX1.1 == 0 (acknowledge fixed stop reached) ● Exiting the follow-up mode ● Axis resumes closed-loop position control Pulse enable The pulse enable or pulse inhibit can be canceled via: ● Drive: Via terminal EP (enable pulses) ● NC/PLC interface signal: DB31, ... DBX21.7 ("pulse enable") The behavior at the fixed stop can be set via the following machine data: MD37002 $MA_FIXED_STOP_CONTROL, bit 0 and bit 1 (sequence control for traversing to fix stop) Bit Val‐ ue Meaning 0 Behavior for pulseinhibit at the fixed stop 0 "Travel to fixed stop" is aborted 1 "Travel to fixed stop" is interrupted, i.e. the drive is without power. 1 Behavior for pulseenable at the fixed stop 0 The torque is injected suddenly. 1 The torque is linearly ramped-up over the time specified in the machine data: MD37012 $MA_FIXED_STOP_TORQUE_RAMP_TIME Special case: Deleting the pulse enable during deselection If, during deselection, the function in state: "Waiting for PLC acknowledgements" the pulse enable is deleted, the torque limit is reduced to 0. In this phase, if pulse enable is set again torque is no longer established in the drive. Once the deselection has been completed the axis can be traversed normally again. F1: Travel to fixed stop 3.2 Detailed description Axes and spindles Function Manual, 06/2019, A5E47437747B AA 99

Figure 3-4 Fixed stop deselection F1: Travel to fixed stop 3.2 Detailed description Axes and spindles 100 Function Manual, 06/2019, A5E47437747B AA