Siemens SINUMERIK 840D sl Function Manual

Synchronized actions Function Manual Valid for Control SINUMERIK 840D sl / 840DE sl / 828D CNC software Version 4.8 SP3 08/2018 6FC5397-5BP40-6BA2 Preface Fundamental safety instructions 1 Brief description 2 Detailed description 3 Examples 4 Data lists 5 NC/PLC interface signals 6 Appendix A

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 Division Digital Factory Postfach 48 48 90026 NÜRNBERG GERMANY Document order number: 6FC5397-5BP40-6BA2 Ⓟ 08/2018 Subject to change Copyright © Siemens AG 1994 - 2018. 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). Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 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. 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 Synchronized actions 4 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

Preface.........................................................................................................................................................3 1 Fundamental safety instructions...................................................................................................................9 1.1 General safety instructions.......................................................................................................9 1.2 Warranty and liability for application examples........................................................................9 1.3 Industrial security...................................................................................................................10 2 Brief description..........................................................................................................................................13 3 Detailed description....................................................................................................................................15 3.1 Definition of a synchronized action........................................................................................15 3.2 Components of synchronized actions....................................................................................16 3.2.1 Validity, identification number (ID, IDS).................................................................................16 3.2.2 Frequency (WHENEVER, FROM, WHEN, EVERY)..............................................................17 3.2.3 G command (condition)..........................................................................................................18 3.2.4 Condition................................................................................................................................19 3.2.5 G command (action)...............................................................................................................19 3.2.6 Action (DO)............................................................................................................................20 3.3 System variables for synchronized actions............................................................................20 3.3.1 Reading and writing...............................................................................................................21 3.3.2 Operators and arithmetic functions .......................................................................................22 3.3.3 Type conversions...................................................................................................................25 3.3.4 Marker/counter ($AC_MARKER)...........................................................................................26 3.3.5 Parameters ($AC_PARAM)....................................................................................................27 3.3.6 R parameters ($R).................................................................................................................28 3.3.7 Machine and setting data ($$M, $$S)....................................................................................29 3.3.8 Timer ($AC_TIMER)...............................................................................................................30 3.3.9 FIFO variables ($AC_FIFO)...................................................................................................31 3.3.10 Path tangent angle ($AC_TANEB).........................................................................................36 3.3.11 Override ($A...OVR)...............................................................................................................36 3.3.12 Capacity evaluation ($AN_IPO ... , $AN/AC_SYNC ... , $AN_SERVO).................................38 3.3.13 Working-area limitation ($SA_WORKAREA_ ... )...................................................................41 3.3.14 SW cam positions and times ($$SN_SW_CAM_ ...)..............................................................41 3.3.15 Path length evaluation / machine maintenance ($AA_TRAVEL ... , $AA_JERK ... )..............42 3.3.16 Polynomial coefficients, parameters ($AC_FCT ...)...............................................................43 3.3.17 Overlaid movements ($AA_OFF)...........................................................................................45 3.3.18 Online tool length compensation ($AA_TOFF)......................................................................48 3.3.19 Current block in the interpolator ($AC_BLOCKTYPE, $AC_BLOCKTYPEINFO, $AC_SPLITBLOCK)...............................................................................................................51 3.3.20 Initialization of array variables (SET, REP)............................................................................54 3.3.21 Grinding-specific system variables ($AC_IN_KEY_G...)........................................................54 3.3.22 Status Synchronized action disabled ($AC_SYNA_STATE)..................................................57 3.4 User-defined variables for synchronized actions...................................................................58 3.5 Language elements for synchronized actions and technology cycles...................................60 Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 5

3.7 Actions in synchronized actions.............................................................................................67 3.7.1 Output of M, S and H auxiliary functions to the PLC..............................................................67 3.7.2 Reading and writing of system variables................................................................................68 3.7.3 Polynomial evaluation (SYNFCT)..........................................................................................68 3.7.4 Online tool offset (FTOC).......................................................................................................73 3.7.5 Programmed read-in disable (RDISABLE).............................................................................75 3.7.6 Cancel preprocessing stop (STOPREOF).............................................................................76 3.7.7 Delete distance-to-go (DELDTG)...........................................................................................76 3.7.8 Traversing axes, to position (POS)........................................................................................78 3.7.9 Setting the measuring system (G70, G71, G700, G710).......................................................81 3.7.10 Position in specified reference range (POSRANGE).............................................................82 3.7.11 Traversing axes, endless (MOV)............................................................................................83 3.7.12 Axial feedrate (FA).................................................................................................................84 3.7.13 Axis replacement (GET, RELEASE, AXTOCHAN)................................................................85 3.7.14 Traversing spindles (M, S, SPOS).........................................................................................90 3.7.15 Withdrawing the enable for the axis container rotation (AXCTSWEC)..................................92 3.7.16 Actual value setting with loss of the referencing status (PRESETON)..................................94 3.7.17 Actual value setting without loss of the referencing status (PRESETONS)...........................99 3.7.18 Couplings (CP..., LEAD..., TRAIL..., CTAB...)......................................................................105 3.7.19 Measurement (MEAWA, MEAC)..........................................................................................109 3.7.20 Travel to fixed stop (FXS, FXST, FXSW, FOCON, FOCOF, FOC)......................................112 3.7.21 Channel synchronization (SETM, CLEARM).......................................................................114 3.7.22 User-specific error reactions (SETAL).................................................................................115 3.7.23 Cancel the actual subprogram level (CANCELSUB)...........................................................116 3.8 Technology cycles................................................................................................................116 3.8.1 General................................................................................................................................116 3.8.2 Processing mode (ICYCON, ICYCOF)................................................................................118 3.8.3 Definitions (DEF, DEFINE)...................................................................................................120 3.8.4 Parameter transfer...............................................................................................................120 3.8.5 Context variable ($P_TECCYCLE)......................................................................................120 3.9 Protected synchronized actions...........................................................................................121 3.10 Coordination via part program and synchronized action (LOCK, UNLOCK, CANCEL).......122 3.11 Coordination via PLC...........................................................................................................123 3.12 Configuration........................................................................................................................124 3.13 Control behavior in specific operating states.......................................................................125 3.13.1 Power On.............................................................................................................................125 3.13.2 NC reset...............................................................................................................................126 3.13.3 NC stop................................................................................................................................126 3.13.4 Operating mode change.......................................................................................................127 3.13.5 End of program....................................................................................................................128 3.13.6 Block search.........................................................................................................................128 3.13.7 Program interruption by ASUB.............................................................................................129 3.13.8 REPOS.................................................................................................................................129 3.13.9 Response to alarms.............................................................................................................130 3.14 Diagnostics (HMI Advanced only)........................................................................................130 3.14.1 Displaying the status of synchronized actions.....................................................................131 3.14.2 Displaying main run variables..............................................................................................132 Table of contents Synchronized actions 6 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

4 Examples..................................................................................................................................................137 4.1 Examples of conditions in synchronized actions..................................................................137 4.2 Reading and writing of SD/MD from synchronized actions..................................................137 4.3 Examples of adaptive control...............................................................................................139 4.3.1 Clearance control with variable upper limit..........................................................................139 4.3.2 Feedrate control...................................................................................................................141 4.3.3 Control velocity as a function of normalized path.................................................................142 4.4 Monitoring a safety clearance between two axes................................................................143 4.5 Store execution times in R parameters................................................................................143 4.6 "Centering" with continuous measurement..........................................................................144 4.7 Axis couplings via synchronized actions..............................................................................147 4.7.1 Coupling to leading axis.......................................................................................................147 4.7.2 Non-circular grinding via master value coupling..................................................................148 4.7.3 On-the-fly parting.................................................................................................................152 4.8 Technology cycles position spindle......................................................................................153 4.9 Synchronized actions in the TC/MC area.............................................................................154 5 Data lists...................................................................................................................................................159 5.1 Machine data........................................................................................................................159 5.1.1 General machine data..........................................................................................................159 5.1.2 Channelspecific machine data.............................................................................................159 5.1.3 Axis-specific machine data...................................................................................................159 5.2 Setting data..........................................................................................................................160 5.2.1 Axis/spindle-specific setting data.........................................................................................160 5.3 Signals.................................................................................................................................160 5.3.1 Signals to channel................................................................................................................160 5.3.2 Signals from channel............................................................................................................161 6 NC/PLC interface signals.........................................................................................................................163 6.1 Signals to channel (DB21, ...)..............................................................................................163 6.2 Signals from channel (DB21, ...)..........................................................................................164 A Appendix...................................................................................................................................................167 A.1 Overview..............................................................................................................................167 Index.........................................................................................................................................................169 Table of contents Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 7

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 (parameter assignments) 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. Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 9

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. Siemens’ products and solutions 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. firewalls and/or network segmentation) are in place. For additional information on industrial security measures that may be implemented, please visit: Industrial security (http://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 are available and that 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 (http://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 Synchronized actions 10 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

Software manipulations (e.g. viruses, trojans, malware 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. ● Protect the drive against unauthorized changes by activating the "know-how protection" drive function. Fundamental safety instructions 1.3 Industrial security Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 11

1.3 Industrial security Synchronized actions 12 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

called cyclically in the interpolator clock cycle synchronously to the machining blocks. A synchronized action is essentially divided into two parts, the optional condition and the obligatory action part. The time at which the actions are executed can be made dependent on a specific system state using the condition part. The conditions are evaluated cyclically in the interpolator clock cycle. The actions are then a reaction to user-definable system states. Their execution is not bound to block limits. Furthermore, the validity of the synchronized action (non-modal, modal or static) and the frequency of the execution of the actions (once, repeatedly) can be defined. Examples of permissible actions ● Output of auxiliary functions to PLC ● Writing and reading of main run variables ● Traversing of positioning axes ● Activation of synchronous procedures, such as: – Read-in disable – Delete distance-to-go – End preprocessing stop ● Activation of technology cycles ● Calculation of function values ● Tool offsets ● Activating/deactivating couplings ● Measuring ● Enabling/disabling of synchronized actions Examples of non-permissible actions ● Traversing of path axes Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 13

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A synchronized action is defined in a block of a part program. Any further commands that are not part of the synchronized action, must not be programmed within this block. Components of a synchronized action A synchronized action consists of the following components: Validity, ID no. (Page 16) (optional) Condition part (optional) Action part Frequency (Page 17) G command (Page 18) (optional) Condition (Page 19) Keyword G command (Page 19) (optional) Actions (Page 20) --- 1) ID= IDS= --- 1) WHENEVER FROM WHEN EVERY G... Logical expression DO G... Action 1 ... Action n 1) not programmed Syntax Examples: 1. DO 2. [] DO 3. ID= [] DO 4. IDS= [] DO Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 15

3.2.1 Validity, identification number (ID, IDS) Validity The validity defines when and where the synchronized action will be processed: Validity Meaning --- 1) Non-modal synchronized action A non-modal synchronized action applies: ● As long as the main run block following the synchronized action is active ● Only in the AUTOMATIC mode Example: The synchronized action from N10 takes effect as long as N20 is active. N10 WHEN $A_IN[1]==TRUE DO $A_OUTA[1]=10 N20 G90 F1000 X100 ID= Modal synchronized action A modal synchronized action applies: ● Until the part program has been completed ● Only in the AUTOMATIC mode Range of values: See the paragraph below "Identification number" > "Value range" Example: N20 ID=1 EVERY $A_IN[1]==TRUE DO $A_OUTA[1]=10 IDS= Static synchronized action A static synchronized action applies: ● In all operating modes for an unlimited period of time Range of values: See the paragraph below "Identification number" > "Value range" Example: N30 IDS=1 EVERY $A_IN[1]==TRUE DO $A_OUTA[1]=10 1) Not programmed Note Static synchronized actions Static synchronized actions (IDS) can be defined in an ASUB and activated at any time by activation of the ASUB via the PLC user program. Detailed description 3.2 Components of synchronized actions Synchronized actions 16 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

Range of values The identification numbers ID/IDS are in various number ranges. The number ranges are assigned to different users. ID/IDS User Directory 1 ... 999 "General area" Any directory "Safety Integrated" function /_N_CST_DIR/_N_SAFE_SPF 1000 ... 1199 Machine manufacturer /_N_CMA_DIR 1200 ... 1399 Siemens /_N_CST_DIR Parallelization If several synchronized actions are to be active in parallel in a channel, their identification numbers ID/IDS must be different. Synchronized actions with the same identification number replace each other within a channel. Sequence of execution Modal and static synchronized actions are executed in the order of their identification numbers ID/IDS. Non-modal synchronized actions are executed after execution of the modal synchronized actions in the order of their programming. Coordination via part programs and synchronized actions Synchronized actions can be coordinated via part programs and synchronized actions based on the identification numbers ID/IDS (see Section "Coordination via part program and synchronized action (LOCK, UNLOCK, CANCEL) (Page 122)"). Coordination via PLC Synchronized actions with identification numbers ID/IDS in the range from 1 to 64 can be coordinated via the NC/PLC interface from the PLC user program (see Section "Coordination via PLC (Page 123)"). 3.2.2 Frequency (WHENEVER, FROM, WHEN, EVERY) The frequency specifies how often the condition is queried and, when the condition is fulfilled, how often the action should be executed. The frequency is part of the condition. Frequency Meaning --- 1) If no frequency is specified, the action is executed cyclically in every interpolator clock cycle. WHENEVER If the condition is fulfilled, the action is executed cyclically in every interpolator clock cycle. FROM After the condition has been fulfilled once, the action is executed cyclically in every interpolator clock cycle for as long as the synchronized action is active. Detailed description 3.2 Components of synchronized actions Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 17

EVERY In the following cases, the action is executed once: ● The condition is already satisfied at the start of the synchronized action (state: TRUE) ● At every state transition of the condition from FALSE to TRUE (rising edge) 1) Not programmed See also Technology cycles (Page 116) 3.2.3 G command (condition) Defined initial state With regard to the part program sequence, synchronized actions can be executed at any time depending on fulfillment of the condition. It is therefore recommended that the measuring system (inch or metric) be defined in a synchronized action before the condition and/or in the action part. This generates a defined initial position for the evaluation of the condition and the execution of the action, irrespective of the current part program state. G commands The following G commands are permissible: ● G70 (Inch dimensions for geometric specifications (lengths)) ● G71 (Metric dimensions for geometric specifications (lengths)) ● G700 (Inch dimensions for geometric and technological specifications (lengths, feedrate)) ● G710 (Metric dimensions for geometric and technological specifications (lengths, feedrate)) Note No other G commands are permitted in synchronized actions except G70, G71, G700 and G710. Validity A G command programmed in the condition part also applies for the action part even if no G command has been programmed in the action part itself. A G command programmed in the action part only applies within the action part. Detailed description 3.2 Components of synchronized actions Synchronized actions 18 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

the synchronized action is active, the condition is checked cyclically in the interpolator clock cycle. If no condition is specified, the action is executed cyclically in every interpolator clock cycle. All operations that return a truth value (TRUE/FALSE) as the result can be programmed as a condition: ● Comparisons of system variables with constants ● Comparisons of system variables with system variables ● Comparisons of system variables with results of arithmetic operations ● Linking of comparisons through Boolean expressions Examples Comparisons Program code ID=1 WHENEVER $AA_IM[X] > $$AA_IM[Y] DO ... ID=2 WHENEVER $AA_IM[X] > (10.5 * SIN(45)) DO ... Boolean operations Program code ID=1 WHENEVER ($A_IN[1]==1) OR ($A_IN[3]==0) DO ... See also Reading and writing (Page 21) Examples of conditions in synchronized actions (Page 137) System variables for synchronized actions (Page 20) 3.2.5 G command (action) Defined initial state With regard to the part program sequence, synchronized actions can be executed at any time depending on fulfillment of the condition. Therefore, it is advisable to define the required measuring system (inch or metric) in the action part in a synchronized action. This generates a defined initial position for the execution of the action, irrespective of the current part program state. Detailed description 3.2 Components of synchronized actions Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 19

● G70 (Inch dimensions for geometric specifications (lengths)) ● G71 (Metric dimensions for geometric specifications (lengths)) ● G700 (Inch dimensions for geometric and technological specifications (lengths, feedrate)) ● G710 (Metric dimensions for geometric and technological specifications (lengths, feedrate)) Validity A G command programmed in the condition part also applies for the action part even if no G command has been programmed in the action part itself. A G command programmed in the action part only applies within the action part. 3.2.6 Action (DO) The action part of a synchronized action is initiated with the keyword DO. One or more actions can be programmed in the action part. These are executed when the appropriate condition is fulfilled. If several actions are programmed in one synchronized action, they are all executed in the same interpolator clock cycle. Example: If the actual value of the Y axis is greater than or equal to 35.7, the auxiliary function M135 is output on the PLC and, at the same time, digital output 1 = 1 is set. Program code WHEN $AA_IM[Y] >= 35.7 DO M135 $A_OUT[1]=1 Technology cycle A technology cycle can be called as an action (see Section "Technology cycles (Page 116)"). 3.3 System variables for synchronized actions The system variables of the NC are listed in the "System Variables" Parameter Manual with their respective properties. System variables that can be read or written in synchronized actions, are marked with an "X" in the corresponding line (Read or Write) of the "SA" (synchronized action) column. Note System variables used in synchronized actions are implicitly read and written synchronous to the main run. Detailed description 3.3 System variables for synchronized actions Synchronized actions 20 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

found in: ● System Variables Parameter Manual 3.3.1 Reading and writing The reading and writing of variables is performed in the main run in synchronized actions with a few exceptions. Exceptions are: ● User-defined variables: LUD, GUD ● Machine data: $M... ● Setting data: $S... ● R parameters: R or R[] These variables are already read and written during the preprocessing. System variables Generally, all system variables that can be used in synchronized actions are read/written in the main run. These system variables are marked with an "X" in the "Read" and/or "Write" line of the "SA" (synchronized action) column in the "System Variables" Parameter Manual. References: System Variables Parameter Manual System of the identifiers The identifiers of the system variables that are read/written in the main run have the following system: $A... Current main run data $V... Servo data $R... R parameters to be read/written in the main run $$M... Machine data to be read/written in the main run $$S... Setting data to be read/written in the main run Detailed description 3.3 System variables for synchronized actions Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 21

Operators Arithmetic operators System variables of the REAL and INT type can be linked by the following operators: Operator Meaning + Addition - Subtraction * Multiplication / ● Division in synchronized actions: INT / INT ⇒ INT ● Division in synchronized actions with REAL result by using the function ITOR(): ITOR( INT ) / ITOR( INT ) ⇒ REAL ● Division in NC programs: INT / INT ⇒ REAL DIV Integer division: INT / INT ⇒ INT MOD Modulo division (only for type INT) supplies remainder of an INT division Example: 3 MOD 4 = 3 Note Only variables of the same type may be linked by these operations. Relational operators Operator Meaning == Equal to <> Not equal to < Less than > Greater than <= Less than or equal to >= Greater than or equal to Boolean operators Operator Meaning NOT NOT AND AND OR OR XOR Exclusive OR Detailed description 3.3 System variables for synchronized actions Synchronized actions 22 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

Operator Meaning B_OR Bit-by-bit OR B_AND Bit-by-bit AND B_XOR Bit-by-bit exclusive OR B_NOT Bit-by-bit negation Priority of the operators The operators have the following priorities for execution in the synchronized action (highest priority: 1): Priori‐ ty Operators Meaning 1 NOT, B_NOT Negation, bit-by-bit negation 2 *, /, DIV, MOD Multiplication, division 3 +, - Addition, subtraction 4 B_AND Bit-by-bit AND 5 B_XOR Bit-by-bit exclusive OR 6 B_OR Bit-by-bit OR 7 AND AND 8 XOR Exclusive OR 9 OR OR 10 << Concatenation of strings, result type STRING 11 ==, <>, <, >, >=, <= Relational operators Note It is strongly recommended that the individual operators are clearly prioritized by setting parentheses "( … )" when several operators are used in an expression. Example of a condition with an expression with several operators: Program code ... WHEN ($AA_IM[X] > VALUE) AND ($AA_IM[Y] > VALUE1) DO ... Arithmetic functions Operator Meaning SIN() Sine COS() Cosine TAN() Tangent ASIN() Arc sine ACOS() Arc cosine ATAN2() Arc tangent 2 SQRT() Square root Detailed description 3.3 System variables for synchronized actions Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 23

TRUNC() Integer component The accuracy for comparison commands can be set using TRUNC ROUND() Round to an integer LN() Natural logarithm EXP() Exponential function A detailed description of the functions can be found in: References Programming Manual, Job Planning; Section "Flexible NC programming" ff. Indexing The index of a system variable of type "Array of …" can in turn be a system variable. The index is also evaluated in the main run in the interpolator clock cycle. Example Program code ... WHEN … DO $AC_PARAM[$AC_MARKER[1]]=3 Restrictions ● It is not permissible to nest indices with further system variables. ● The index must not be formed via preprocessing variables. The following example is therefore not permitted since $P_EP is a preprocessing variable: $AC_PARAM[ 1 ] = $P_EP[ $AC_MARKER[ 0 ] ] Detailed description 3.3 System variables for synchronized actions Synchronized actions 24 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

assignments and parameter transfers with different data types: ● REAL ● INT ● BOOL Note Conversion REAL to INT For the conversion from REAL to INT, a decimal place value ≧ 0.5 rounded up to the next higher integer. For a decimal place value < 0.5, rounding is to the next lower integer. Behavior in accordance with the ROUND function. If the REAL value is outside the INT value range, an alarm is displayed and a conversion is not performed. Conversion from REAL or INT to BOOL ● Value <> 0 → TRUE ● Value == 0 → FALSE Examples Conversion: INT $AC_MARKER → REAL $AC_PARAM Program code $AC_MARKER[1]=561 ID=1 WHEN TRUE DO $AC_PARAM[1] = $AC_MARKER[1] Conversion: REAL $AC_PARAM → INT $AC_MARKER Program code $AC_PARAM[1]=561.0 ID=1 WHEN TRUE DO $AC_MARKER[1] = $AC_PARAM[1] Conversion: INT $AC_MARKER → BOOL $A_OUT Program code $AC_MARKER[1]=561 ID=1 WHEN $A_IN[1] == TRUE DO $A_OUT[0]=$AC_MARKER[1] Conversion: REAL $R401 → BOOL $A_OUT Program code R401 = 100.542 WHEN $A_IN[0] == TRUE DO $A_OUT[2]=$R401 Conversion: BOOL $A_OUT → INT $AC_MARKER Program code ID=1 WHEN $A_IN[2] == TRUE DO $AC_MARKER[4] = $A_OUT[1] Detailed description 3.3 System variables for synchronized actions Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 25

Program code WHEN $A_IN[3] == TRUE DO $R10 = $A_OUT[3] 3.3.4 Marker/counter ($AC_MARKER) The $AC_MARKER[] variables are channel-specific arrays of system variables for use as markers or counters. Data type: INT (integer) : Array index: 0, 1, 2, ... (max. number – 1) Number per channel The maximum number of $AC_MARKER variables per channel can be set via the machine data: MD28256 $MC_MM_NUM_AC_MARKER = Storage location The storage location of the $AC_MARKER variables can be defined channel-specifically via the machine data: MD28257 $MC_MM_BUFFERED_AC_MARKER = Value Storage location 0 Dynamic memory (default setting) 1 Static memory Note Data backup and memory space ● The $AC_MARKER variables created in the static memory can be saved channel- specifically via the data backup. Data block: _N_CH_ACM ● Please ensure that sufficient memory is available in the selected memory area. An array element requires 4 bytes of memory space. Reset behavior The reset behavior depends on the storage location of the $AC_MARKER variables: ● Dynamic memory: Initialization with the value "0" Static memory: Retention of the current value Detailed description 3.3 System variables for synchronized actions Synchronized actions 26 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

as general buffers. Data type: REAL : Array index: 0, 1, 2, ... (max. number - 1) Number per channel The maximum number of $AC_PARAM variables per channel can be set via the machine data: MD28254 $MC_MM_NUM_AC_PARAM = Storage location The storage location of the $AC_PARAM variables can be defined channel-specifically via the machine data: MD28255 $MC_MM_BUFFERED_AC_PARAM = Value Storage location 0 Dynamic memory (default setting) 1 Static memory Note Data backup and memory space ● The $AC_PARAM variables created in the static memory can be saved channel-specifically via the data backup. Data block: _N_CH_ACP ● Please ensure that sufficient memory is available in the selected memory area. An array element requires 4 bytes of memory space. Reset behavior The reset behavior depends on the storage location of the $AC_PARAM variables: ● Dynamic memory: Initialization with the value "0" ● Static memory: Retention of the current value Detailed description 3.3 System variables for synchronized actions Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 27

Whether R parameters are treated as preprocessing or main run variables depends on whether they are written with or without $ characters. In principle, the notation is freely selectable. For use in synchronized actions, R parameters should be used as main run variables, i.e. with $ characters: ● $R[] ● $R Data type: REAL : Array index: 0, 1, 2, ... : Number of the R parameter: 0, 1, 2, ... The notations with index or number are equivalent. Parameterizable number per channel The maximum number of R parameters per channel can be set via the machine data: MD28050 $MC_MM_NUM_R_PARAM = Reset behavior R parameters are saved persistently in the static memory of the NC. Therefore, R parameters retain their values with all reset types: ● Power on reset ● NC reset ● End of part program reset Example Value assignment to R10 in the action part of the synchronized action and subsequent evaluation in the part program WHEN $A_IN[1]==1 DO $R[10]=$AA_IM[Y] ; assignment G1 X100 F150 STOPRE IF R[10] > 50 ... ; evaluation in the part program Detailed description 3.3 System variables for synchronized actions Synchronized actions 28 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

Reading and writing MD and SD When machine and setting data is used in synchronized actions, a distinction must be made as to whether this remains unchanged during the execution of the synchronized action, or is changed through parallel processes. Data that remains unchanged can already be read or written by the NC during preprocessing. Data that is changed can only be read or written by the NC during the main run. Data access during preprocessing Machine and setting data that can already be read and written in synchronized actions during preprocessing, is programmed with the same identifiers as in the part program: $M ... or $S ... Program code ; The reversal position of the Z axis $SA_OSCILL_REVERSE_POS2[Z] ; remains unchanged over the entire machining period ID=2 WHENEVER $AA_IM[z]<$SA_OSCILL_REVERSE_POS2[Z]–6 DO $AA_OVR[X]=0 Data access during the main run An additional "$" is added as prefix for machine and setting data that may only be read or written in synchronized actions during the main run: $$M… or $$S… Program code ; The reversal position of the Z axis $SA_OSCILL_REVERSE_POS2[Z] ; can be changed by operator input at any time ID=1 WHENEVER $AA_IM[z] < $$SA_OSCILL_REVERSE_POS2[Z] DO $AA_OVR[X] = 0 Writing during the main run The following requirements must be satisfied for writing during the main run: ● The access authorization at the time of writing must be sufficient for writing. ● The machine or setting data must have the property "Effective immediately". Program code ; The switching position of the SW cam $SN_SW_CAM_ ... must, ; depending on the current setpoint of the X axis in WCS $AA_IW[X], ; only be written during the main run ID=2 WHEN $AA_IW[X] > 10 DO $$SN_SW_CAM_PLUS_POS_TAB_1[0] = 20 $$SN_SW_CAM_MINUS_POS_TAB_1[0]=20 A complete overview of the properties of the machine and setting data can be found in: Detailed description 3.3 System variables for synchronized actions Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 29

● Parameter Manual: Detailed Machine Data Description 3.3.8 Timer ($AC_TIMER) The $AC_TIMER[] variables are channel-specific arrays of system variables. Data type: REAL : Array index: 0, 1, 2, ... (max. number - 1) Unit: Seconds Number per channel The maximum number of $AC_TIMER variables per channel can be set via the machine data: MD28258 $MC_MM_NUM_AC_TIMER = Function Starting A timer is started by assigning a value ≥ 0: $AC_TIMER[] = ; with starting value ≥ 0 Incrementing The value of the timer is incremented by the duration of the set interpolator clock cycle (MD10071 IPO_CYCLE_TIME) for each interpolator clock cycle. $AC_TIMER[] += Stopping A timer is stopped by assigning a value < 0: $AC_TIMER[] = ; with stopping value < 0 When a stopping value is assigned, only the further incrementing of the timer is stopped. The stopping value is not assigned. After the timer is stopped, the last valid value is retained and can still be read. Note The current value of a timer can be be read when the timer is running or stopped. Detailed description 3.3 System variables for synchronized actions Synchronized actions 30 Function Manual, 08/2018, 6FC5397-5BP40-6BA2

after the detection of digital input $A_IN[1]: Program code Comment WHEN $A_IN[1] == 1 DO $AC_TIMER[1]=0 ; Start timer, starting value 0 WHEN $AC_TIMER[1]>=0.5 DO $A_OUTA[3]=$AA_IM[X] $AC_TIMER[1]=-1 3.3.9 FIFO variables ($AC_FIFO) A FIFO variable provides a complex data structure based on R parameters. The data structure comprises one administration part and one user data part. The user data part is structured as a stack according to the FIFO principle (first in, first out). Using the index of the FIFO variables, the different functions are addressed in the administration part as well as the user data.  0' 0&B67$57B$&B),)2 5Q 5Q 5Q0' $&B),)2>@ $&B),)2>@ $&B),)2>@ $&B),)2>P@ 5 5    0' 0&B/(1B$&B),)2 5Q     ① Administration part ② User data part ③ R parameter range above the FIFO variables: Read and write permitted ④ R parameter range below the FIFO variables: Only read permitted Note The statements regarding R parameters also apply to FIFO variables. See Chapter "R parameters ($R) (Page 28)". Syntax Write $AC_FIFO[] = Detailed description 3.3 System variables for synchronized actions Synchronized actions Function Manual, 08/2018, 6FC5397-5BP40-6BA2 31