Heidenhain Itnc 530 Hsci Technical Manual 1966 PDF
Heidenhain Itnc 530 Hsci Technical Manual 1966 PDF
Heidenhain Itnc 530 Hsci Technical Manual 1966 PDF
NC Software
606 420-03
606 421-03
July 2013
2 HEIDENHAIN Technical Manual iTNC 530 HSCI
Content
2 Introduction...............................................71
2.1 Meaning of the symbols used in this manual ................................71
2.2 Proper and intended operation........................................................71
2.3 Trained personnel .............................................................................71
2.4 General information..........................................................................72
2.4.1 HSCI interface .....................................................................75
2.5 Overview of components .................................................................76
2.5.1 MC 6xxx main computer, HDR or SSDR hard disk and SIK 76
2.5.2 CC 61xx controller unit ........................................................84
2.5.3 UEC 11x, UMC 11x controller unit with integrated
inverter and PLC..................................................................86
2.5.4 PL 6xxx PLC input/output systems with HSCI interface .....89
2.5.5 SPI expansion modules .......................................................93
2.5.6 PSL 13x low-voltage power supply unit ..............................94
2.5.7 TE 6xx keyboard units .........................................................96
2.5.8 BF 2xx visual display units................................................101
2.5.9 MB 6xx machine operating panel......................................103
2.5.10 HSCI adapter for PLB 6001 OEM-specific machine
operating panel..................................................................105
2.5.11 HR 4xx(FS), HR 5xx(FS) handwheels ................................106
2.5.12 Industrial PC with Windows 7 ...........................................113
2.5.13 Key symbols ......................................................................114
2.5.14 Touch probes.....................................................................119
2.5.15 MS 110 / MS 111 installation kit .......................................122
2.5.16 Other accessories .............................................................123
2.5.17 Documentation..................................................................126
July 2013 3
2.6 Brief description ..............................................................................127
2.7 Software ..........................................................................................139
2.7.1 Designation of the software..............................................139
2.7.2 PLC software ....................................................................140
2.7.3 Additional control loops or software options.....................140
2.7.4 Upgrade functions (feature content level) .........................150
2.7.5 NC software exchange on the iTNC 530...........................152
2.7.6 Availability of software versions, software options
and FCL .............................................................................164
2.7.7 Installing a service pack ....................................................167
2.7.8 Special features of the software .......................................169
2.7.9 HEROS 5 operating system ..............................................172
2.7.10 Functional safety (FS) ........................................................174
2.7.11 Monitoring hardware changes ..........................................174
2.7.12 SELinux .............................................................................175
2.7.13 Data backup ......................................................................179
2.8 Released NC software ....................................................................180
July 2013 5
3.25 Analog nominal value output ........................................................308
3.25.1 CMA-H 04-04-00—Pin layout ............................................310
3.26 Touch probes...................................................................................313
3.27 MB 620 machine operating panel..................................................317
3.28 Data interfaces ................................................................................325
3.28.1 USB interface (USB 2.0)....................................................328
3.28.2 HDL interface ....................................................................329
3.29 MB 720 (FS) machine operating panel ..........................................330
3.30 HSCI adapter for PLB 6001 (FS) OEM-specific machine
operating panel ...............................................................................341
3.31 TE 620 keyboard unit ......................................................................355
3.32 TE 630 keyboard unit ......................................................................356
3.33 TE 635Q (FS) keyboard unit ...........................................................359
3.34 TE 645Q (FS) keyboard unit ...........................................................360
3.35 TE 730, TE 720 keyboard unit.........................................................364
3.36 TE 735 (FS) keyboard unit ..............................................................367
3.37 TE 740 keyboard unit ......................................................................370
3.38 TE 745 (FS) keyboard unit ..............................................................373
3.39 BF 250 15-inch TFT screen..............................................................377
3.40 BF 260 19-inch TFT display unit .....................................................379
3.41 Handwheel input.............................................................................383
3.41.1 HR 4xx (FS) or HR 5xx (FS) portable handwheel ...............383
3.41.2 HR 520FS, HR 410FS safety-oriented electronic
handwheels.......................................................................387
3.41.3 HR 550 handwheel with wireless transmission ................393
3.41.4 HR 410 portable handwheel..............................................411
3.41.5 HR 130 panel-mounted handwheel...................................413
3.41.6 HRA 110 handwheel adapter ............................................414
3.42 CML 110 capacitor module.............................................................416
3.43 Connecting cables: Specifications.................................................418
3.44 Dimensions ......................................................................................419
3.44.1 MC 6241 ...........................................................................420
3.44.2 MC 6341, MC 6x51, IPC 6341 ..........................................421
3.44.3 MC 6242 ...........................................................................422
3.44.4 MC 6222 ...........................................................................423
3.44.5 MC 7222 ...........................................................................424
3.44.6 MB 720 (FS) ......................................................................425
3.44.7 TE 635Q (FS) .....................................................................426
3.44.8 TE 645Q (FS) .....................................................................427
3.44.9 TE 720 ...............................................................................428
3.44.10 TE 730 ...............................................................................429
3.44.11 TE 735 (FS)........................................................................430
3.44.12 TE 630 ...............................................................................431
3.44.13 TE 620 ...............................................................................432
3.44.14 TE 740 ...............................................................................433
3.44.15 TE 745 ...............................................................................434
3.44.16 BF 250...............................................................................435
3.44.17 BF 750...............................................................................436
3.44.18 BF 260...............................................................................437
July 2013 7
4 Machine parameters...............................475
4.1 What is a Machine Parameter? ......................................................475
4.2 The Machine Parameter Programming mode of operation ........477
4.3 Input and output of machine parameters.....................................478
4.3.1 Input format ......................................................................478
4.3.2 Activating the machine parameter list...............................480
4.3.3 Changing the input values.................................................480
4.4 List of machine parameters ...........................................................494
4.4.1 Encoders and machines ....................................................494
4.4.2 Positioning.........................................................................502
4.4.3 Operation with velocity feedforward control.....................510
4.4.4 Servo control with following error .....................................511
4.4.5 Integrated speed and current control................................512
4.4.6 Spindle ..............................................................................526
4.4.7 Integrated PLC ..................................................................530
4.4.8 Configuration of the data interface....................................533
4.4.9 3-D touch probe ................................................................535
4.4.10 Tool measurement with TT ...............................................537
4.4.11 Tapping..............................................................................542
4.4.12 Display and operation........................................................543
4.4.13 Colors ................................................................................553
4.4.14 Machining and program run ..............................................557
4.4.15 Hardware...........................................................................566
4.4.16 Second spindle..................................................................582
July 2013 9
6.10 Contouring behavior.......................................................................891
6.10.1 Radial acceleration ............................................................891
6.10.2 Contour velocity at corners ...............................................892
6.11 Monitoring functions ......................................................................894
6.11.1 Position monitoring ...........................................................896
6.11.2 Nominal speed value monitoring.......................................898
6.11.3 Movement monitoring ......................................................899
6.11.4 Standstill monitoring .........................................................900
6.11.5 Positioning window ...........................................................900
6.11.6 Monitoring of the power supply unit .................................902
6.11.7 Temperature monitoring ...................................................904
6.11.8 Internal power supply and housing fan .............................907
6.11.9 I2t monitoring ....................................................................908
6.11.10 Momentary utilization of drive motors ..............................918
6.11.11 Determining the current torque of a drive.........................920
6.11.12 Status of HEIDENHAIN power modules ...........................922
6.11.13 Controlling the motor brakes.............................................925
6.11.14 Emergency stop monitoring..............................................930
6.11.15 EN 13849-1 on the iTNC 530 HSCI without
functional safety (FS).........................................................943
6.12 Spindle .............................................................................................944
6.12.1 Position encoder of the spindle.........................................945
6.12.2 Speed encoder of the spindle ...........................................950
6.12.3 Analog and digital closed-loop spindle control ..................952
6.12.4 Coded output of spindle speed .........................................965
6.12.5 Volts-per-hertz control mode .............................................967
6.12.6 Oriented spindle stop........................................................968
6.12.7 Tapping with floating tap holder and nominal speed
output................................................................................974
6.12.8 Tapping with floating tap holder and coded
spindle-speed output.........................................................976
6.12.9 Rigid tapping .....................................................................977
6.12.10 Switching the modes of operation ....................................980
6.12.11 Operating a second spindle...............................................985
6.12.12 C-axis operation.................................................................987
6.12.13 Software option 96—Advanced spindle interpolation .......991
6.13 Integrated oscilloscope ..................................................................992
6.14 Commissioning .............................................................................1004
6.14.1 Tables for power modules, supply modules and motors 1004
6.14.2 Field orientation...............................................................1019
6.14.3 Preparation ......................................................................1020
6.14.4 Commissioning digital control loops with TNCopt ..........1023
6.14.5 Commissioning of digital axes ........................................1026
6.14.6 Commissioning the digital spindle ..................................1055
6.14.7 Commissioning an analog axis ........................................1060
6.14.8 Commissioning the analog spindle .................................1064
6.15 Block diagram for iTNC 530 with CC 61xx..................................1065
July 2013 11
8 Machine interfacing ..............................1147
8.1 Display and operation...................................................................1147
8.1.1 Position and status display ..............................................1147
8.1.2 Operating modes ............................................................1165
8.1.3 Operating times ..............................................................1169
8.1.4 Error messages ...............................................................1176
8.1.5 Service files .....................................................................1185
8.1.6 Help.................................................................................1189
8.1.7 PLC pop-up window........................................................1192
8.1.8 TNCguide – context-sensitive help system for the
iTNC 530 (user documentation) ......................................1195
8.1.9 Machine datum ...............................................................1205
8.1.10 NC program.....................................................................1210
8.1.11 Adaptive feed control (AFC) ............................................1218
8.1.12 Global program settings (PGM) .......................................1236
8.1.13 Cycles..............................................................................1241
8.1.14 End of program run .........................................................1244
8.1.15 Returning to the contour .................................................1244
8.1.16 M functions .....................................................................1251
8.1.17 Powering up and shutting down the control ...................1260
8.1.18 Arc end-point tolerance ...................................................1263
8.1.19 Limit-switch tolerance for M140 / M150.........................1263
8.1.20 Radius compensation......................................................1264
8.1.21 User parameters .............................................................1264
8.1.22 Code numbers.................................................................1265
8.1.23 Programming station mode.............................................1267
8.1.24 Color settings ..................................................................1267
8.1.25 Graphic display ................................................................1275
8.1.26 Special characters ...........................................................1277
8.1.27 iTNC character set...........................................................1278
8.1.28 Conversational language .................................................1283
8.1.29 Logs ................................................................................1286
8.1.30 Diagnostic functions........................................................1298
8.1.31 BUS diagnosis .................................................................1320
8.1.32 Expanded PLC module interface for 18 axes ..................1329
8.1.33 Window manager ............................................................1332
8.1.34 Software option 133—Remote Desktop Manager..........1338
8.2 PLC window ..................................................................................1354
8.2.1 Small PLC window ..........................................................1354
8.2.2 Large PLC window .........................................................1358
8.3 PLC soft keys .................................................................................1372
8.3.1 Soft-key project file for screen ........................................1372
8.3.2 Soft-key project file for HR 420, HR 5xx .........................1385
8.3.3 Soft-key rows ..................................................................1389
8.4 Keystroke simulation....................................................................1392
8.4.1 iTNC control panel...........................................................1392
8.4.2 Machine operating panel.................................................1404
8.4.3 Touchpad on USB port ....................................................1405
July 2013 13
9 PLC Programming.................................1661
9.1 PLC Functions................................................................................1661
9.1.1 Selecting the PLC mode .................................................1667
9.1.2 PLC main menu...............................................................1667
9.1.3 File management ............................................................1670
9.1.4 The WATCH LIST function ..............................................1671
9.1.5 The I/O-FORCE LIST .......................................................1674
9.1.6 The TABLE function ........................................................1676
9.1.7 The TRACE function........................................................1678
9.1.8 The logic diagram ............................................................1680
9.1.9 The COMPILE function ...................................................1682
9.1.10 ADVANCED SETUP.........................................................1683
9.2 Conditional Compilation ..............................................................1684
9.3 Hard-Disk Organization ................................................................1689
9.3.1 Encrypted PLC partition (PLCE:)......................................1690
9.4 System Files ..................................................................................1701
9.4.1 OEM.SYS ........................................................................1701
9.4.2 NCMACRO.SYS ..............................................................1709
9.4.3 MGROUPS.SYS ..............................................................1712
9.4.4 MSPLIT.SYS ....................................................................1712
9.4.5 PLCSOFTK.SYS...............................................................1712
9.4.6 CYCLE.SYS .....................................................................1712
9.4.7 TNC.SYS..........................................................................1712
9.5 Data Transfer NC > PLC, PLC > NC ..............................................1713
9.5.1 Data transfer NC program > PLC (FN19: PLC =) .............1713
9.5.2 Data transfer PLC > NC program (Q-parameters) ...........1714
9.5.3 Data transfer NC program > NC (FN17: SYSWRITE) ......1716
9.5.4 Data transfer NC > NC program (FN18: SYSREAD) ........1725
9.5.5 Data transfer of machine parameters > PLC...................1737
9.5.6 Interrogate PLC operands in the NC program (FN20:
WAIT FOR) ......................................................................1740
9.5.7 Data transfer PLC operand <=> NC program .................1741
9.6 Operands........................................................................................1744
9.6.1 Overview of operands.....................................................1744
9.6.2 Operand addressing (byte, word and double word) ........1747
9.6.3 Timers .............................................................................1748
9.6.4 Counters..........................................................................1751
9.6.5 Fast PLC inputs ...............................................................1753
9.7 Program Creation..........................................................................1754
9.7.1 ASCII editor .....................................................................1755
9.7.2 Program format ...............................................................1755
9.7.3 Program structure ...........................................................1756
9.7.4 Logical names for files ....................................................1757
July 2013 15
9.8.54 SHIFT LEFT (<<)..............................................................1806
9.8.55 SHIFT RIGHT (>>) ...........................................................1807
9.8.56 BIT SET (BS)....................................................................1808
9.8.57 BIT CLEAR (BC)...............................................................1809
9.8.58 BIT TEST (BT) ..................................................................1810
9.8.59 PUSH DATA ONTO THE DATA STACK (PS) ...................1811
9.8.60 PULL DATA FROM THE DATA STACK (PL) ....................1812
9.8.61 PUSH LOGIC ACCUMULATOR ONTO THE DATA
STACK (PSL)....................................................................1812
9.8.62 PUSH WORD ACCUMULATOR ONTO THE DATA
STACK (PSW) ..................................................................1813
9.8.63 PULL LOGIC ACCUMULATOR FROM THE DATA
STACK (PLL)....................................................................1813
9.8.64 PULL WORD ACCUMULATOR FROM THE DATA
STACK (PLW) ..................................................................1814
9.8.65 UNCONDITIONAL JUMP (JP) .........................................1814
9.8.66 JUMP IF LOGIC ACCUMULATOR = 1 (JPT)...................1815
9.8.67 JUMP IF LOGIC ACCUMULATOR = 0 (JPF)...................1815
9.8.68 CALL MODULE (CM) ......................................................1816
9.8.69 CALL MODULE IF LOGIC ACCUMULATOR = 1 (CMT)..1816
9.8.70 CALL MODULE IF LOGIC ACCUMULATOR = 0 (CMF)..1817
9.8.71 END OF MODULE, END OF PROGRAM (EM) ...............1818
9.8.72 END OF MODULE IF LOGIC ACCUMULATOR = 1
(EMT)...............................................................................1818
9.8.73 END OF MODULE IF LOGIC ACCUMULATOR = 0
(EMF)...............................................................................1818
9.8.74 LABEL (LBL)....................................................................1818
9.9 INDEX register (X register)...........................................................1819
9.10 Commands for String Processing................................................1821
9.10.1 LOAD String (L) ...............................................................1823
9.10.2 ADD String (+) .................................................................1823
9.10.3 STORE String (=) .............................................................1823
9.10.4 OVERWRITE String (OVWR) ...........................................1824
9.10.5 EQUAL TO Command for String Processing (==)...........1825
9.10.6 LESS THAN Command for String Processing (<)............1825
9.10.7 GREATER THAN Command for String Processing (>) ....1825
9.10.8 LESS THAN OR EQUAL TO Command for String
Processing (<=) ...............................................................1826
9.10.9 GREATER THAN OR EQUAL TO Command for String
Processing (>=) ...............................................................1826
9.10.10 NOT EQUAL Command for String Processing (<>) ........1827
9.10.11 Modules for string processing ........................................1828
9.11 Submit Programs ..........................................................................1831
9.11.1 Calling the submit program (SUBM) ...............................1832
9.11.2 Interrogating the status of a submit program (RPLY)......1832
9.11.3 Canceling a submit program (CAN) .................................1833
9.12 Cooperative multitasking.............................................................1835
9.12.1 Starting a parallel process (SPAWN) ...............................1835
9.12.2 Control of events.............................................................1836
9.13 Constants field (KF).......................................................................1841
July 2013 17
11 iTNC 530 and Windows ........................1931
11.1 General information and important notes .................................1931
11.2 IPC 6341—Industrial PC with Windows 7 ...................................1931
1.1 Overview
Note
Option Description ID
#144 Motion Adaptive Control (MAC) 800546-01
The MAC option provides a way to change machine
parameters depending on motion-dependent input
quantities (e.g speed or following error). This makes
it possible, for example, to realize a velocity-
dependent adaptation of the kV factor on motors
whose stability changes through the various
traversing velocities.
#145 Active Chatter Control (ACC) 800547-01
With the ACC option you can significantly reduce a
machine's inclination to chattering and increase the
attainable metal removal rate during heavy cutting by
25 % and more, depending on the type of machine.
Note
Please note that until now MP7620 bit 3 was evaluated only if the
keyboard unit did not have a rapid-traverse override. Now bit 3 is always
evaluated.
MP7620 bit 4 used to be reserved and has now been assigned a function.
If bit 4 was set in your MP file, this can now have an effect on the
evaluation of the overrides.
Further constraints:
• If there is only one handwheel in the HSCI system, this is the standard
handwheel. In this case, the behavior of software version 03 is
completely compatible with the previous versions without the need for
any modifications.
• If one of the display handwheels is active, the other handwheels are
disabled, and this is indicated by a corresponding dialog in the display.
• If there is more than one display handwheel in the system, control can
be handed over only if override control is also withdrawn from this
handwheel.
• If there are several handwheels in the system and one of them is an
HR 110, the panel-mounted handwheel is automatically the standard
handwheel.
Note
The PLC program must ensure that only one of the operating units
(handwheels, machine operating panels) is active at any one time so as to
avoid danger to the operator.
Please note that it may be necessary for the operator to confirm which
operating unit is active before it can actually be used. The risk assessment
of your machine must show whether this is necessary. Such a requirement
could be realized, for example, by pressing the permissive button of the
respective operating unit. Then the operating unit that should be active
according to the PLC program cannot be used for any machine functions
until the permissive button of this operating unit has been pressed.
The emergency stop function of the individual operating stations must
always be active, however!
1: Crossover position filter (CPF) with high-pass (HP) and low-pass (LP)
2: Position controller
3: Speed controller
4: Current controller – power module
5: Motor
6: Machine
7: Linear encoder
ohne M A C m itM A C
M
M M otor M
M M otor
M
M max
m ax M
M max
m ax
M
M V1 M
M V1
À
# a Tisch À
# a Tisch
aa1max
1m ax aa1max
1m ax a
a2max
2m ax
M
M V2 M
M V2
aa2max
2m ax > a
a1max
1m ax
Column Meaning
Name Host name of the device. If the device logs on to the DHCP server using a
host name, this name will be used. If the device does not report a name, the
standard name will be generated from the MAC address (all colons will be
replaced by hyphens). For DHCP devices, the device name can be
overwritten using the Properties button.
IP address The dynamically assigned IP address of the device in the internal network
MAC address The MAC address of the device in the internal network
Type For external devices, the type DHCP must be entered if they request a dynamic
IP address. Devices with static IP in the internal network are not shown
because these devices do not log on to the DHCP server.
Active If the device replies to an ICMP echo request (ping), a green dot is entered
here. If the device is not available or does not react, a red dot is entered.
Valid up to Time at which the validity of the IP address will expire without being
renewed. If you subtract the Lease Time from this time you can ascertain at
what time the device last booted or extended the validity of the IP address.
Column Meaning
Additional options Here you can enter the additional options.
Messages If you confirm the window with OK, the options entered are checked. If an
error is found, the error is described here and the window will not be closed.
If no error is found, the window will be closed. The window can always be
closed with Cancel. All changes are rejected in this case.
The PLC Modules 9286, 9287 and 9288 enable you to use the PLC program to
control the focus assignment.
For multiple clients or operating units, the focus assignment procedure
depends on the design and the operating situation of the machine. The task of
realization of and the responsibility for the focus assignment therefore lies
with the machine tool builder.
All external VNC clients (non-HEIDENHAIN devices) have read-only rights to
display the screen contents, and not write rights.
Diagnostics In order to make debugging in PLC programs easier, the following markers can
be used to record additional PLC module calls and their parameters. The data
are written to the new log file PLC:\JHPLCLOG\PLCMODULES.LOG. If one of
the three markers is set, this results in the one-time NC error message "Debug
functions of the PLC are active." The existing log files PLC:\PLCDEBUG.LOG,
PLC:\MYDEBUG.LOG, PLC:\VERSION.TXT and PLC:\MakeCycle.log are now
contained in the directory PLC:\JHPLCLOG\. Also, the file PLC:\VERSION.TXT
was renamed to PLC:\VERSION.LOG. When updating the software, the
previous log files will be identified by the extension .OLD and will be copied to
the new directory. Then they will be deleted from the previous directory PLC:\.
New: M4751
Recording of transfer and return parameters of PLC modules that are called
in the cyclic PLC program.
New: M4752
Recording of transfer and return parameters of PLC modules that are called
in submit/spawn processes.
Modified: M4753
The existing function no longer writes the recorded data to the previous file
PLC:DEBUG.LOG, but to the new file
PLC:\JHPLCLOG\PLCMODULES.LOG.
If the PLC program Basic_54 is used and the message "Debug functions of
the PLC are active" occurs, you need to correct the PLC project with respect
to M4753 or set MP4020 bit 17, because M4753 is set permanently in this
version of the PLC basic program.
More information on the use of M4751, M4752 and M4753:
The markers may be used for debugging only temporarily and must not
be set in the factory default setting of a PLC.
M4753 is/was set permanently by the PLC basic program Basic_54.
MP 4020 bit 17 must be set in order to suppress the message without
having to modify the PLC program.
A maximum of 1 MB of data can be written to the file
PLCMODULES.LOG; any data exceeding this limit will be copied to
.OLD.
A maximum of 2 MB is available for both the file PLCMODULES.LOG and
the file PLCMODULES.LOG.OLD. With the PLC basic program for
example, the 2 MB are exhausted some seconds after the power
interrupted message has been acknowledged if all debug markers are
set.
During debugging in the PLC program, it is advisable to position the
markers as close as possible to the code position to be examined, and
not for the complete PLC scan.
On OEM machines, PLC debug code that has been output for debugging
must afterwards be replaced by the original code again.
Note
Danger
Failure to comply with this information could result in most serious or fatal
injuries, and/or in substantial material damage.
Attention
Note
Tips and tricks for operation as well as important information, for example
about standards and regulations as well as for better understanding of the
document.
The iTNC 530 offers digital control for up to 18 axes and 1 spindle at spindle
speeds up to 100 000 min–1.
The iTNC 530 is designed for connection of a compact or modular inverter
system. A complete control package, including drives and HEIDENHAIN
motors, can be delivered (see the "Inverter Systems and Motors" Technical
Manual).
The MC 6222 or MC 7222, the compact main computer of the iTNC 530, takes
up very little space, as it is housed in the operating console, directly behind the
integrated 15-inch TFT display.
DATA
DATA
CLOCK
CLOCK
5V
UN
UP *)
UN *)
Rotary Encoder
Linear Encoder
HSCI EnDat 2.2
EnDat 2.2
EnDat 2.2
HSCI
PL
2.5.1 MC 6xxx main computer, HDR or SSDR hard disk and SIK
The iTNC 530 HSCI always includes at least the following components:
MC 6xxx main computer
(MC = Main Computer)
and either:
CC 61xx controller unit
(CC = Controller Computer)
PL 620x system PL
Modular or compact HEIDENHAIN inverter system
and / or
UEC 11x controller unit with integrated inverter and PLC
MC 6241 ID 573398-xx
MC 6241
with Profibus ID 653220-xx
MC 6341 ID 671226-xx
MC 6341
with Profibus ID 735873-xx
MC 6222 ID 634109-xx
MC 6222
with Profibus ID 634113-xx
MC 7222 ID 806868-xx
MC 7222
with Profibus ID 806869-xx
MC 6242
ID 804780-xx
The following sizes are valid for the partitions on HDR hard disks for the
iTNC 530 that were delivered with the NC software 60642x-01:
SSDR
The following sizes are valid for the partitions on the SSDR solid state disk for
the iTNC 530 that were delivered with the NC software 60642x-01:
Note
If desired, you can enable the software options 1 and 2 as well as all further
software options afterward with code numbers.
In addition to the control loops of the basic version and the control-loop
groups, up to eight individual control loops can be enabled through software
options. These can also be enabled in addition to the control-loop groups:
SW option: ID
#49: Double speed for control loops 632223-01
CC 6106 ID 662636-xx
CC 6108 ID 662637-xx
CC 6110 ID 662638-xx
UEC 11x
Controller unit with integrated inverter and
PLC for up to 5 control loops for providing
line voltage. Compact unit for machines
with limited number of axes and low
power demands.
It is equipped with:
HSCI interface
4 (UEC 111) or 5 (UEC 112) speed
encoder inputs
4 (UEC 111) or 5 (UEC 112) position
encoder inputs
Connection for 3 axes plus spindle
(UEC 111) or
Connection for 4 axes plus spindle
(UEC 112)
Braking resistor
Connection for TS and TT touch probes if
the first PLB is in the HSCI chain
38 PLC inputs, 23 PLC outputs
(expandable via PL 61xx)
Integrated power supply unit 24 V NC /
3.5 A for supplying the HSCI
components
Weight: 20 kg
Note
The MC xxxx main computer of the iTNC 530 HSCI does not have an
integrated PLC, and has no connections for TS or TT touch probes. In order
to operate the control, at least the PL 62xx system PL (when using a
CC 6106) or the UEC 11x controller unit with integrated inverter and PLC is
necessary (the system PL is integrated in the UEC).
System PL
PL 62xx
System PL, consisting of PLB 620x basic
module and I/O modules.
One module must be in the HSCI
system if no UEC 11x is used
Available with 4, 6 or 8 slots
HSCI interface
Connections for TS and TT touch probes
Safety-relevant PLC inputs/outputs
For an overview of the available I/O
modules, see "I/O modules" on page 91.
Mounted on standard NS 35 rails
(DIN 46 227 or EN 50 022)
PLB 6204 ID 591832-xx
PLB 6206 ID 630054-xx
PLB 6208 ID 630055-xx
PLB 6204 FS ID 586789-xx
PLB 6206 FS ID 622721-xx
PLB 6208 FS ID 620927-xx
PL 61xx
Expansion PL, consisting of PLB 620x
basic module and I/O modules.
Available with 4, 6 or 8 slots
HSCI interface
Up to 7 PL 61xx can be present in the
HSCI system
For an overview of the available I/O
modules, see "I/O modules" on page 91.
Mounted on standard NS 35 rails
(DIN 46 227 or EN 50 022)
PLD-H xx–xx–xx
Digital I/O module:
PLD-H 16-08-00:
I/O module with 16 digital inputs and 8
digital outputs
PLD-H 08-16-00
I/O module with 8 digital inputs and 16
digital outputs
PLD-H 04-08-00 FS:
I/O module with 4 digital dual-channel
inputs and 8 digital dual-channel outputs
PLD-H 08-04-00 FS
I/O module with 8 digital dual-channel
inputs and 4 digital dual-channel outputs
PLD-H 16-08-00 ID 594243-xx
PLD-H 08-16-00 ID 650891-xx
PLD-H 04-08-00 FS ID 727219-xx
PLD-H 08-04-00 FS ID 675572-xx
PLA-H xx–xx–xx
Analog I/O module:
PLA-H 08-04-04:
Analog module with 4 analog inputs for
PT 100 thermistors and 8 analog inputs
±10 V and 4 analog outputs ±10 V.
Empty housing
...for partial assembly. Empty housing for
slots of a PL 6xxx
ID 383022-11
PSL 130
PSL 130 power supply unit for HSCI
components with +24 V power supply when
using a HEIDENHAIN inverter system.
TE 620
NC control panel:
The IV and V keys, the blank key to the left of V
and the blank key above MOD in the operating
panel are snap-ons.
USB interface
Weight: 2.2 kg
Fulfills IP54 degree of protection when installed
TE 620 ID 625806-xx
TE 630
NC control panel:
Same features as TE 620
The IV and V keys, the blank key to the left of V
and the blank key above MOD in the operating
panel are snap-ons.
USB interface
Touchpad
Weight: 2.2 kg
Fulfills IP54 degree of protection when installed
TE 630 ID 617976-xx
TE 635Q ID 617975-xx
TE 645Q ID 682104-xx
TE 730 ID 805488-xx
TE 735 (FS)
NC control panel:
like TE 730
Suitable for BF 750 (15-inch)
Keys IV and V can are snap-ons
Contouring keys
Operating mode keys
Spindle-speed and feed-rate override
potentiometers
USB interface
HSCI interface
Touchpad
Machine operating panel (same as MB720)
Weight: 3.4 kg
Fulfills IP54 degree of protection when installed
TE 735 ID 771898-xx
TE 735FS ID 805493-xx
TE 740 ID 805488-xx
TE 745 (FS)
NC control panel:
like TE 740
Suitable for BF 760 (19”)
Keys IV and V can are snap-ons
Contouring keys
Operating mode keys
Spindle-speed, feed-rate and rapid-traverse
override potentiometers
USB interface
HSCI interface
Touchpad
Machine operating panel (same as MB720)
Power supply 24 V-NC/ approx. 4 W
HSCI interface
Handwheel connection X23
36 snap-on (exchangeable) keys, see "Key
symbols" on page 114. The key functions are
freely definable via the PLC
TE 745: 7 free PLC inputs and 5 free PLC
outputs
TE 745FS: 4 free FS inputs and 5 free PLC
outputs
Weight: 4.2 kg
Fulfills IP54 degree of protection when installed
TE 745 ID 771898-xx
TE 745FS ID 805493-xx
BF 250
Technical characteristics:
15-inch design
Resolution: 1024 x 768 pixels
8 horizontal soft keys, 6 vertical soft keys for
PLC
3 soft keys for switching soft-key rows
Key for screen layout and operating mode
switching
Additional USB interface (USB 2.0) on the front
of the visual display unit
Integrated USB hub with (USB 2.0) with 4 USB
interfaces on the back of the display unit
HDL connection
Weight: 5.2 kg
Fulfills IP54 degree of protection when installed
BF 250 ID 599916-xx
BF 260
Technical characteristics:
19-inch design
Resolution: 1280 x 1024 pixels
1 x 10 horizontal NC soft keys
1 x 8 soft keys for PLC to the right and
1 x 10 soft keys to the left of the screen
(vertical)
3 soft keys for switching soft-key rows
Key for screen layout and operating mode
switching
Integrated USB hub with 6 USB interfaces on
the back of the display unit
HDL connection
Weight: 7.8 kg
Fulfills IP54 degree of protection when installed
BF 260 ID 617978-xx
BF 750 ID 785080-xx
BF 760
Technical characteristics:
19-inch design
Power supply 24 V-NC/ approx. 65 W
Resolution: 1280 x 1024 pixels
1 x 10 horizontal NC soft keys
1 x 8 soft keys for PLC to the right and
1 x 10 soft keys to the left of the screen
(vertical)
3 soft keys for switching soft-key rows
Key for screen layout and operating mode
switching
Integrated USB hub with 6 USB interfaces on
the back of the display unit
HDL connection
Weight: 7.8 kg
Fulfills IP54 degree of protection when installed
BF 760 ID 732589-xx
MB 620
The MB 620 is equipped with:
HSCI interface
Handwheel connection X23
21 snap-on (exchangeable) keys, see "Key
symbols" on page 114. The key functions are
freely definable via the PLC
8 PLC inputs and 8 PLC outputs
Two bore holes for additional keys or keylock
switches
15-inch design
Weight: 1.2 kg
Fulfills IP54 degree of protection when installed
Controls and displays:
12 axis keys
16 function keys
NC start1
NC stop1
EMERGENCY STOP key
Control Voltage ON1
1) Keys illuminated
MB 620 ID 617973-xx
MB 720 ID 784803-xx
MB 720FS ID 805474-xx
PLB 6001
The PLB 6001 is equipped with:
HSCI interface
Handwheel connection X23
64 PLC inputs, 32 PLC outputs for keys / key
illumination
Connection for spindle-speed and feed-rate
override potentiometers
Screw fastening or top-hat-rail mounting
Weight: 1.2 kg
Note
Due to the changed logic of the permissive buttons, do not replace the
HR 520FS and HR 410FS with the respective variant without FS.
Please note that even if servicing is required, an HR 520FS may not be
replaced by an HR 520. This also applies to replacing an HR 410FS with
an HR 410, and vice versa.
Please note that the dummy plug for FS handwheels may not be
exchanged for the respective variant without FS.
For reasons of technical safety, only dummy plugs for FS handwheels (ID
271958-05) may be used on systems that have an FS handwheel.
For reasons of technical safety, only dummy plugs for standard
handwheels (ID 271958-03) may be used on systems that have a
standard handwheel (without FS).
HR 550FS handwheel
Portable electronic handwheel with wireless
transmission:
Graphic display,
resolution: 128 x 64 pixels, 6-line display
Six NC keys
Six PLC keys with LEDs that are controlled
through the PLC
Two override potentiometers (feed rate and
spindle speed)
Two permissive buttons
Exchangeable snap-on keys for PLC functions
and maintenance
Integrated emergency stop button
Vibration alarm when leaving the radio range
Battery warning
Display of radio field strength
Weight: Approx. 1 kg
Without mechanical detent:
ID 598515-xx
With mechanical detent:
ID 606622-xx
Accessories (1 x included with the HR 550FS):
Handwheel batteries
(battery pack, 4-tray)
ID 623166-xx
HR 130 handwheel
Panel-mounted handwheel
ID 254040-05 With ergonomic knob,
radial cable outlet
The TS touch trigger probe has a stylus with which it probes workpieces. The
iTNC 530 provides standard routines for datum setting and workpiece
measurement and alignment. The touch probes are available with various
taper shanks. Assorted styli are available as accessories.
ID 293488-xx TS 220
ID 573757-xx TS 740
ID 620189-xx TS 640
ID 653217-xx TS 642
ID 620046-xx TS 440
ID 588008-xx TS 444
SE 640 SE 642
Further components ID
Adapters for encoder signals
TTL (HEIDENHAIN layout)/1 VPP 317505-01
TTL (SIEMENS layout)/1 VPP 317505-02
User's Manual ID
HEIDENHAIN conversational programming 679351-xx
ISO Programming 679355-xx
Cycle Programming 679295-xx
The HEIDENHAIN inverters and motors for the iTNC 530 are described in the
"Inverter Systems and Motors" Technical Manual.
The components required for operating the iTNC 530 with non-HEIDENHAIN
inverter systems are described in "Technical Information for Operation of
SIMODRIVE and POWER DRIVE Inverter Systems."
User functions You will find the user functions of the iTNC 530 HSCI in the User's Manuals
and the brochure for end users (ID 363807-xx).
Due to restrictions on the export of the iTNC 530, HEIDENHAIN can also
supply a special export version. This export version differs from the standard
control through the installed NC software type. HEIDENHAIN releases a new
NC software type whenever it introduces extensive new functions.
Note
If you replace the MC 6xxx, you must also replace the SIK in order to ensure
that the enabled control loops and software options will also be enabled on
the new hardware.
There are different versions of SIKs for the iTNC 530 HSCI, depending on the
MC main computer used and the number of required control loops. Additional
control loops (up to the maximum permissible number) can be enabled at any
later time. See "SIK MC 62xx, MC 63xx" on page 82.
Software options can be used to adapt the scope of functions of the control to
the respective needs and applications. See "Software options" on page 136.
If you want the code number for enabling additional control loops or software
options, please contact HEIDENHAIN for the code number. HEIDENHAIN can
give you the code number after you state your SIK number.
In order to enable additional control loops or software options, proceed as
follows:
While in the Programming and Editing operating mode, press the MOD key.
Enter the code number SIK and confirm your entry with the ENT key.
The display gives you the following information and possibilities for settings:
NC Information:
Display Meaning
ID Number Software
Display Meaning
Display Meaning
Set Pressing the Set button or the SET GENERAL KEY soft
key opens a window in which you press the Apply
button or the SET GENERAL KEY button again to enable
all options for 90 days.
If this is done successfully, the General key has been
set message appears and the expiration date of the
general key is shown in the State field.
Danger
If you reduce the feature content level, then all new FCL functions and
enhanced functions will be set to the desired lower version. Only error fixes
remain active. This action can only be reversed by entering a valid code
number again.
Display Meaning
Set Pressing the Set button or the SET FCL soft key
opens a window in which you can enter the code
number for the desired feature content level
under Enter Key Code. HEIDENHAIN can give
you the code number after you state your SIK
number.
Then press the Set FCL button or the SET FCL soft
key to confirm the entry. If this is done
successfully, the message
Feature Content Level has been set appears.
When you leave this table of SIK functions by pressing the END soft key or the
END key, you are requested to reboot the control if you have made any
changes. Press the emergency stop button and press the Reboot Now! button
or the REBOOT NOW soft key to reboot the control and activate the changes.
Display Meaning
Set OEM Key Press the Set OEM Key button or the SET OEM KEY
TEMP. OPT. soft key to open a window in which you
can enter the OEM Key.
Keep in mind that this process cannot be undone.
The OEM Key must consist only of numbers.
Confirm your entry by pressing the Apply button, or
by pressing the SET OEM KEY TEMP. OPT. soft key
again.
If the OEM Key was set successfully, the message
OEM Key has been set appears, and the status in OEM
Key for temp. options changes to SET.
OPT: %xxxxxxxxxxxxxxxx
Options for The SIK options 101 to 130 are available as OEM-specific options for you, the
the OEM machine tool builder. You can assign your own OEM-specific software options
to these options.
This makes it possible for you to enable your own applications (e.g. cycles) for
the end user via the SIK from HEIDENHAIN.
The options can be enabled by entering a code number. HEIDENHAIN can give
you the code number after having been informed of the SIK number. You also
have the possibility of creating a temporary key for these OEM-specific
options in order to enable the options for a period of max. 90 days.
The PLC Module 9067 enables you to request the status of the SIK options.
Use this module to request information from the SIK about whether certain
software options are enabled via the SIK. Depending on the response, you can
activate the software option via the PLC program.
In the past, each new NC software version contained error fixes as well as
expanded functions. Users who wanted only the NC software update to
eliminate the errors often felt bothered by the enhanced functions. For this
reason, error fixes and expanded functions within the software are now
handled in part separately.
The upgrade functions can then be enabled by entering a code number.
HEIDENHAIN can give you the code number after it is informed of the SIK
number and NC software version.
The upgrade functions are defined as "feature content level" (FCL) in the
SIK under option 53.
The first time an NC software with upgrade functionality is installed on a
control (i.e. no FCL has been set in the SIK), then the entire scope of
functions can be used (including the upgrade functions).
The FCL is then automatically set after 255 restarts, or by entry of the code
number 0 under option #53, and all upgrade functions belonging to this
software version are enabled as well.
A note appears asking to confirm the installed NC software as the initial
version, or if another initial software version is to be installed.
If the FCL has already been set in the SIK of a control, then after a software
update the new upgrade functions of the newer software version can be
used only after entry of a code number from HEIDENHAIN under option
#53 (see "Software options" on page 136).
After pressing the MOD key, the current status of the FCL is displayed in
addition to the software versions.
The FCL is incremented with each new version of the NC software.
If the upgrade functions are enabled via the FCL for a software version,
then all upgrade functions of this software version and all its predecessors
are available. For example, if the FCL for version 606420-03 is set, then all
upgrade functions from version 606420-02 are also available immediately.
If a newer software version, e.g. 606620-06, is simply loaded onto a control,
then the already existing upgrade functions remain available, but the
upgrade functions of the newer version cannot be used. They must be
enabled by entering a new code number.
60642x-01 FCL 04
60642x-02 FCL 04
60642x-03 FCL 04
Note
General The following files are necessary for an update, and must be located in the
Notes same directory:
- setup.zip
- setup.elf (setup.exe, as an alternative to setup.omf)
- setup.ini (this is to be created by the OEM, and is only necessary if the
update is to occur according to a specific sequence)
Please note that this currently means that the version of the software to be
installed is not displayed in advance.
Note
You can download the two files required for the update (setup.zip,
setup.elf) from the HEIDENHAIN HESIS-Web including Filebase and unzip
them in your update directory.
Software updates and service packs are loaded in the same manner.
Automated updating is possible. If your directories are structured
appropriately and you use a setup.ini control file, this method makes it
possible to update the control automatically when it is booted (see
"Automated update (setup.ini)" on page 153).
Copying of the update files (setup.elf and setup.zip) to the system partition
occurs automatically as part of the update program in directories with the
following naming convention:
• iTNC 530 HSCI
- Software update: SYS:\zip\<ID no.>_<ver>
- Service pack: SYS:\zip\<ID no.>_<ver>_SP<n>
Attention
Automated update Automated updating is possible with the iTNC 530. In order to automate an
(setup.ini) update as much as possible, a control file with the name setup.ini is
necessary in addition to the setup.zip and setup.elf files. If your directories
are structured appropriately and you use this setup.ini control file, this
method makes it possible to update the control automatically when it is
booted. If there is a certain "install" directory on your iTNC containing a
setup.ini control file in addition to the update files, an update is performed
automatically according to the instructions in this control file.
The following directories are checked during booting for the presence of a
control file:
iTNC 530
- TNC:\install\
or, if a USB memory device is connected
- USB0:\install\ (USB0: first partition of the first USB memory device)
The setup.ini file can be created with a simple text editor.
An example of a setup.ini file:
Interactive=1
Confirm=1
Language=ENGLISH
SavePlc=TNC:\backup\606420_001.zip
The following settings are possible:
Parameter Description
Interactive=[0, 1] Deletion of the NC software archive (old software
versions) and binary to ASCII conversion must be
confirmed by the user.
0: No
1: Yes [default]
Confirm=[0, 1] Start of update and reboot process must be
confirmed by the user
0: No
1: Yes [default]
Note
If a setup.ini file exists in the setup directory when you update manually,
then the update is performed according to the instructions in this file. See
"Automated update (setup.ini)" on page 153.
Note
Exchange NC software.
Attention
After you have changed the NC software from the standard version to the
export version, you must delete the packed files of the standard version
from the hard disk, since the packed files are also subject to export
authorization.
After the export version has been started, a prompt appears, asking if the
compressed files of the standard version are to be deleted from the hard
disk. If you answer with YES, all compressed files with the names of the
standard version are deleted from the hard disk.
The procedure for deleting compressed files is on page 162.
Note
Software options The table shows which software option is available as of which software
version.
# 41 Additional language
Slovenian 60642x-01
Norwegian 60642x-01
Slovak 60642x-01
Latvian 60642x-01
Korean 60642x-01
Estonian 60642x-01
Turkish 60642x-01
Romanian 60642x-01
Lithuanian 60642x-01
# 48 KinematicsOpt 60642x-01
# 52 KinematicsComp 60642x-01
# 92 3D-ToolComp 60642x-01
Danger
Attention
If a service pack has already been installed, it will not be possible to install
a service pack with a lower index. This will be checked during the
installation of a service pack for the software and a message will be
displayed if an error is found.
Note
Note
Firmware HSCI components have their own firmware, which must match the currently
installed NC software version. Every time the control software is started, the
NC software checks the firmware versions of the individual HSCI
components. After a software update, during initial operation or after replacing
a hardware component a firmware update may be required.
Note
Note
All information required for using the IOconfig PC software and configuring
HSCI and PROFIBUS components is contained in the IOconfig Technical
Information, which is available for registered customers from the
HEIDENHAIN HESIS-Web including Filebase on the Internet.
Danger
Note
HEIDENHAIN recommends updating all IOC files and EAZ projects with the
IOconfig version 2.2.02. This is the only way to make sure that you can use
all of the features provided by the new HSCI components, see page 291.
Boot manager A selection menu for selecting the operating mode is provided temporarily
when the control is booting. If you press one of the arrow keys of the ASCII
keyboard, the booting process is interrupted at this point and the control
expects you to select an operating mode ("runlevel"). If the booting process is
not interrupted at this point, the control continues booting in Runlevel 5 and
starts the NC control software. You can select one of the following operating
modes:
Runlevel 5: Start Control (standard mode of operation)
After the HEROS 5 operating system has booted, the NC control software
is started automatically. The iTNC 530 is started in the standard condition.
Runlevel 4: Service Mode (graphics)
This operating mode is only for trained service personnel!
After the HEROS 5 operating system has booted, the booting process is
stopped. The NC control software is not started. The iTNC 530 is now in the
graphic desktop of the operating system.
Runlevel 3: Service Mode (text)
This operating mode is only for trained service personnel!
After the HEROS 5 operating system has booted, the booting process is
stopped. The NC control software is not started. The iTNC 530 is in a text
console of the operating system.
Select the desired operating mode with the arrow keys and press the ENTER
key to start it.
HE Logging In controls with HSCI, the TRACE settings in MP7691.x are replaced by the
HE Logging settings. These are settings for internal diagnostic files (FILO
memory) for finding errors. These files can only be evaluated by HEIDENHAIN.
You can access HE Logging as follows if HEIDENHAIN service personnel
requests you to do so:
Make the taskbar at the bottom of the screen visible by moving the mouse
pointer over it.
Press the green HEIDENHAIN button to open the JH menu.
Select the Diagnostics menu item.
Select the HE Logging menu item.
This takes you to the HE Logging menu containing tabs for possible settings
for Syslog, FTrace and TCPDump. These possibilities for diagnostics and the
associated settings are to be used only together with HEIDENHAIN service
personnel.
Proceed as follows if HEIDENHAIN requests you to send one of the diagnosis
files:
Open the corresponding tab Syslog, FTrace or TCPDump.
Under View at the bottom of the respective tab, select the file requested by
HEIDENHAIN.
Press the Copy button to the right of the file selection in the View settings.
This opens the Savepath... file browser with which you can select the
target folder for the diagnostic file. Keep in mind that the file is saved in the
folder that is open in the file browser.
Tools The HeROS 5 operating system provides additional software tools that make
it possible to also open external file types and edit some of these file types.
These tools are not software tools from HEIDENHAIN. They are tools from
external suppliers. HEIDENHAIN will not provide any support or guarantee for
the proper functioning of these tools. The following tools are available:
File manager
File manager of the operating system
Mousepad
Text editor for opening and editing TXT and INI files
PDFViewer
Viewer software for opening PDF files
Ristretto
Viewer software for opening GIF, JPG, PNG and BMP files
Gnumeric
Editor for opening and editing XLS and CSV files
Firefox
Web browser for opening HTML files
If file types that are not known to the NC control software are selected in the
file manager of the control, then the operating system automatically uses the
corresponding tools to open the file types it knows. The tools themselves can
only be opened in the PLC mode of operation. Proceed as follows:
While in the Programming and Editing operating mode, press the MOD key.
Enter the code number 807 667 to switch to the PLC operating mode.
Make the taskbar at the bottom of the screen visible by moving the mouse
pointer over it.
Press the green HEIDENHAIN button to open the JH menu.
Select the Tools menu item.
Start the desired tool.
Note
You will find the special features and limitations of the hardware and software
for functional safety in the Technical Manual for the iTNC 530 with functional
safety (FS). Your contact person at HEIDENHAIN will be glad to answer any
questions concerning the iTNC 530 HSCI with functional safety.
Note
NC software 606 42x has not yet been approved for applications that use
the integrated functional safety (FS) of the control. Separate approval is
required for the use of integrated functional safety (FS) according to EN ISO
13849-1!
Password Protection
Partitions to Relabel
Relabel the Sets a new label only for the SYS partition
system
partition „/“
Attention
Danger
Ensure that the main switch of the control or machine is switched off when
you engage or disengage connecting elements or connection clamps.
Danger
Danger
Attention
The interfaces for the PLC inputs/outputs, machine operating panel and PL
connection comply with the requirements for basic insulation in accordance
with IEC 742 EN 50 178.
Only units that comply with the requirements of IEC 742 EN 50 178 for basic
insulation may be connected, otherwise damage to persons or property may be
caused. The maximum dc voltage mean value of the PLC inputs is 31 V.
Note
All components of the OEM operating panel must also comply with protection
class IP54, just like the HEIDENHAIN operating panel components.
Likely sources of Interference is mainly produced by capacitive and inductive coupling from
interference electrical conductors or from device inputs/outputs, such as:
Strong magnetic fields from transformers or electric motors
Relays, contactors and solenoid valves
High-frequency equipment, pulse equipment and stray magnetic fields from
switch-mode power supplies
Power lines and leads to the above equipment
Protective Keep a minimum distance of 20 cm from the control and its leads to
measures interfering equipment.
Keep a minimum distance of 10 cm from the control and its leads to cables
that carry interference signals. For cables in metallic ducting, adequate
decoupling can be achieved by using a grounded separation shield.
Shielding according to EN 50 178.
Use equipotential bonding conductors with a cross section of 6 mm2
Use only genuine HEIDENHAIN cables, connectors and couplings
Note
The following are some points covered in the above mentioned standards:
When handling electrostatically endangered components or assemblies
(e.g. exchange, installation, shipping), always comply with the precautionary
measures described in IEC 61340-5-1, IEC 61340-5-2 and IEC 61340-4-1.
Store and transport ESD-sensitive components in ESD protective
containers.
Ensure during handling the proper grounding of the working area (e.g. tool,
workbench, packaging) and the person.
Inspect the ESD protection system regularly.
The following figure shows how a suitable working area could look in
accordance with IEC 61340.
1 2
3 4
Limit values
Attention
The temperature of the air inside the panel, which flows into the HEIDENHAIN
devices, must not exceed a maximum temperature of +50 °C.
Ensure that the operating panel is designed in such a way that the air
approaching the MC does not exceed a max. temperature of +50 °C. Please
verify this through an appropriate temperature measurement.
With the recommended temperature limits, active cooling is not required for
a typical panel. If the maximum permissible temperature for the integrated
components is exceeded, however, HEIDENHAIN recommends using heat
exchangers. They ensure appropriate heat dissipation for the components in
the operating panel.
Note
Humidity during
operation
Attention
Condensation can form, for example, if warm, moist air flows along cool
surfaces of the electronics. Therefore, cooling units with discontinuous
(e.g.two-position) temperature control must not be used. The resulting cyclic
changes in temperature and humidity can cause condensation on the cool
surfaces of the electronics. Furthermore, you must prevent condensate from
reaching the electronics and ensure that it can drain away without causing
damage.
In tropical areas it is recommended that the control not be switched off, so
that condensation is avoided on the circuit boards.
Danger
Be sure to take the measures required for preventing dust or water from
entering the electrical cabinet or the housing.
Dust depositing inside electrical devices may cause them to fail and impair
the safety of the system. Max. contamination level 2 is permitted for the
components.
Incorrect Correct
CC 61xx
Inverter
CC 61xx
Blocking
Inverter
elements
Elements with
considerable heat
generation
Attention
Air in
Attention
Attention
Attention
Air out
20
15
Leave space for air
circulation and servicing!
15
Air in
Attention
Air out
Air in
Attention
Air out
100
100
Air in
Shipping brace of The HDR hard disks of the MC 6x4x are equipped with a shipping brace.
the hard disk Before putting the iTNC 530 HSCI into service, the shipping brace of the hard
disk must be removed.
Attention
Do not transport the HDR with the MC 6x4x after you have installed the
HDR. If the entire machine is being transported, or the MC is being
transported inside the electrical cabinet, the shipping brace for the hard disk
is usually not required. However, if the possibility exists that the hard disk
could be subject to increased shock or vibration loads, then you must
remove the hard disk from the MC for transport, reinstall the shipping brace
in the HDR, and send the HDR separately in the original packaging.
Should servicing become necessary (i.e. the HDR is being shipped on its own),
the hard disk must be secured with the shipping brace.
Note
When handling the HDR disk and the SIK, ensure electrostatic discharge
protection. Improper handling can result in damage to the components or
assemblies due to ESD!
Note
When handling the Solid State Disk (SSD), ensure electrostatic discharge
protection. Improper handling can result in damage to the components or
assemblies due to ESD!
Hardware component ID
MC 6241 Main computer 1.8 GHz with HDR, electrical cabinet version, 573398-xx
without Profibus
MC 6241 Main computer 1.8 GHz with HDR, electrical cabinet version, 653220-xx
with Profibus
MC 6222 Main computer with 15-inch TFT display, 1.8 GHz with SSDR, 634109-xx
operating-panel version, without Profibus
MC 6222 Main computer with 15-inch TFT display, 1.8 GHz with SSDR, 634113-xx
operating-panel version, with Profibus
MC 7222 Main computer with 15-inch TFT display, 1.8 GHz with SSDR, 806868-xx
operating-panel version, without Profibus
MC 7222 Main computer with 15-inch TFT display, 1.8 GHz with SSDR, 806869-xx
operating-panel version, with Profibus
MC 6341 Main computer with 15-inch TFT display, 2.2 GHz dual core with 671226-xx
HDR, electrical-cabinet version
MC 6341 Main computer with 15-inch TFT display, 2.2 GHz dual core with 735873-xx
HDR, electrical-cabinet version, with Profibus
HDR iTNC Hard disk for MC 6x41, 160 GB, NC software 60642x-xx 682272-0x
HDR iTNC Hard disk for MC 6x41 (export version), 160 GB, NC software 682272-5x
60642x-xx
SSDR iTNC Solid State Disk for MC 6222 or MC 7222, 32 GB, NC software 736591-0x
60642x-xx
SSDR iTNC Solid State Disk for MC 6222 or MC 7222 (export version), 32 GB, 736591-5x
NC software 60642x-xx
SIK iTNC SIK for MC 61x1, single-processor version 617776-01
SIK iTNC SIK for MC 61x1, single-processor version (export version) 617776-51
SIK iTNC SIK for MC 62xx, MC 63xx single-processor version 586084-01
SIK iTNC SIK for MC 62xx, MC 63xx single-processor version (export 586084-51
version)
BF 760 19-inch TFT display with HDL connection, stainless-steel design 732589-xx
BF 250 15-inch TFT display with HDL connection 599916-xx
BF 260 19-inch TFT display with HDL connection 617978-xx
CC 6106 Controller unit for HSCI for max. 6 control loops 662636-xx
CC 6108 Controller unit for HSCI for max. 8 control loops 662637-xx
CC 6110 Controller unit for HSCI for max. 10 control loops 662638-xx
Connecting Ribbon cable for connecting four X69 connectors of the CC (with 325816-22
cables each other: two CC 6108, or two CC 6110, or one CC 6108 to one
CC 6110)
PSL 130 Low-voltage power supply unit, 750 W, for +24 V NC and +24 V PLC 575047-xx
PSL 135 Low-voltage power supply unit, 750 W, for +24 V NC and +24 V 627032-xx
PLC, also suitable for non-HEIDENHAI6N systems
CMA-H 04-04-00 SPI expansion module for CC/UEC for analog axes/spindles for 688721-01
HSCI, 4 analog outputs ±10 V
Attention
In HSCI systems with integrated functional safety (FS) you may use only
devices that have been certified for use in such systems. For components
and devices permitted for use in systems with functional safety, please
refer to the Technical Manual for Functional Safety (FS). Upon request, your
contact partner at HEIDENHAIN can provide you with the manual.
The other control components (MC 6xxx or MC 7xxx, CC 6xxx, PSL 13x, MS
1xx, BF 2xx) can be used regardless of whether the system is a system with
or without functional safety (FS).
Attention
In HSCI systems with integrated functional safety (FS) you may use only
devices that have been certified for use in such systems. For components
and devices permitted for use in systems with functional safety, please
refer to the Technical Manual for Functional Safety (FS). Upon request, your
contact partner at HEIDENHAIN can provide you with the manual.
3.6.1 Introduction
The main computer is connected to the controller units (CC or UxC) and the
PLB 6xxx PLC basic modules in the electrical cabinet via HSCI (HEIDENHAIN
Serial Controller Interface). The MB machine operating panel is also connected
via HSCI. The connection of the various control components via HSCI offers
numerous benefits, including:
Simple and uncomplicated wiring
High noise immunity
Comprehensive yet straightforward possibilities for diagnostics
The logic area of the control system is supplied with power via two separate
power loops:
The MC, MB, PLs and BF are supplied with power via the PSL 130 power
supply unit. The voltages of the PSL 130 correspond to the PELV system as
per EN 50178.
The logic voltages of the CC are voltages derived from the DC-link voltage
of the inverters, and are transmitted via connector X69 "NC supply voltages
and control signals." These voltages also correspond to PELV as per
EN 50178.
MC 1 in the system
(HSCI master)
Danger
If you use more than one operating station or machine operating panel, the
PLC program must ensure that only one of the operating devices is active
at any one time so as to avoid danger to the operator.
The order of the HSCI participants at X500 of the main computer can be freely
chosen. Each HSCI participant is assigned its HSCI address based on its
position in the HSCI chain:
• First device after the master (main computer): Bus address 1
• Second device after the master (main computer): Bus address 2, etc.
The main computer selects a master controller unit, based on the position of
the controller unit in the HSCI network. The first controller unit in the system
(nearest the main computer) becomes the master controller unit.
Danger
If you use more than one operating station or machine operating panel, the
PLC program must ensure that only one of the two operating devices is
active at any one time so as to avoid danger to the operator.
Constraints:
The override potentiometers are selected by selecting the machine
operating panel to which the potentiometers are connected.
The numbering of the machine operating panels starts with 0 and is based
on the arrangement or sequence in the IOC configuration or the HSCI chain.
A machine operating panel or PLB 6001 at connector X501 of the MC always
receives the last, i.e. the highest number of the machine operating panels in
the HSCI system.
After the control has been restarted and the PLC has been restarted/
compiled, the potentiometers on the machine operating panel with the
number 0 or the assignment with the number 0 are active (first operating
panel in the chain).
If you want the previously active operating panel to be active again, the PLC
program must write the corresponding information to the nonvolatile
memory and evaluate it during a restart of the PLC. For safety reasons,
HEIDENHAIN recommends setting the override values to 0 (PLC words
W752, W764 and W766) for the time it takes the PLC program to complete
this task.
There is no basic switchover of operation between the machine operating
panels or the keyboard units. Only the evaluation of the potentiometers is
switched.
Call:
PS K/B/W/D <Number of machine operating panel or assignment>
0...n
PS K/B/W/D <Mode>
0: Selection of the active machine operating panel or the
active keyboard unit
PS K/B/W/D <Reserved>
CM 9132
Error code:
Note
An HSCI segment always starts from the connector X500 or X501. The first
HSCI segment starts at X500 of the MC and ends at the last HSCI component
connected to X500 of the MC. The second HSCI segment starts at X501 of the
MC and ends at the machine operating panel or a PLB 6001. The HSCI cabling
used within an HSCI segment must not exceed a total length of 70 m. The
individual cables can have any length, as long as the sum of their lengths does
not exceed 70 m.
Note
The maximum permissible total length of the HSCI cables used within an
HSCI segment is 70 m.
ID 618893-xx
Female Color Assignment Female
1 White/Green Data 1
2 Green Data 2
3 White/Orange Data 3
4 Vacant Vacant 4
5 Vacant Vacant 5
6 Orange Data 6
7 Vacant Vacant 7
8 Vacant Vacant 8
3.7.1 MC 6241
X143 X116
X600 Reserved –
X144
X125
X500
X249 HDL interface for visual 329
X501 display unit
X601
X121 MC 6x4x: Profibus (option) 288
X600 X249
Attention
MC 6242: Main computer for integration in the operating panel or electrical cabinet
Pin layout Connector Function Page
X29, Reserved –
X26, X116 Ethernet data interface 325
X27 RS-232-C/V.24 data interface 327
X141, X142 USB 2.0 interface (Type A) 380
X101 +24 V NC power supply 253
X29 X101 X500 HSCI output 1 208
24V
0V (synchronized) to CC, PL,
X27 MB
X142 (not with MC 6x5x)
X141 X26
X702
X501 HSCI output 2, only to MB or 208
X500 PLB 6001
X501 (not with MC 6x5x)
X28
X600
X249
X600 Reserved –
X249 HDL interface for visual 329
X601 display unit
X121 MC 6x4x: Profibus (option) 288
X125
X121
Attention
Note
Attention
X600 Reserved
X600 X601 Reserved
X116 Reserved
Attention
X143 X116
X600 Reserved –
X144
X125
X500
X249 HDL interface for visual 329
X501 display unit
X601
X121 MC 6x4x: Profibus (option) 288
X600 X249
Attention
X600 X249
Attention
Note
Apart from that, the same operating conditions apply as for the MC 6xxx
main computer units.
X141 to X144: For commissioning and maintenance purposes, USB devices (for example
mouse and keyboards) can be attached to connectors X141 to X144.
Pin layout for USB 2.0 connection (Type A):
3.7.7 CC 6106
X74
X74 + 5 V supply 235
5V
X7 Bridge for signal ground 236
0V
(= functional ground)
X69 (on bottom)
X201 X205 Protective ground –
X203
X500
X502 X202 X206
X204
Attention
Attention
X16A
X51A - X54A PWM output 307
X16B X20B
Drive-control motherboard A
X18A X18B
X51B - X56B PWM output 307
X51A X51B X55B Drive-control motherboard B
Attention
UMC 111 FS: Compact controller unit with inverter, external DC-link power supply, PLC I/Os and
functional safety (FS)
Pin layout Connector Function Page
X4, X5 Single-channel PLC inputs 279
X6 Single-channel PLC outputs 279
X344 X15 to X18 Speed encoder 300
X394 X33 DC-link power supply 258
X81 Motor connection for axis 1 260
(9 A rated current at 3.3 kHz)
X82 Motor connection for axis 2 260
(9 A rated current at 3.3 kHz)
X83 Motor connection for axis 3 260
(9 A rated current at 3.3 kHz)
X84 Motor connection for axis 4 260
X33
(9 A rated current at 3.3 kHz)
X5
X106 X103 24 V power supply 261
X83
X4 X104 Single/dual-channel PLC 261
X104
inputs
X82
X18
X106 Single/dual-channel PLC 284
X81 X205 outputs
X17
X19
X112 Reserved (do not use) –
X80
X16
X204 X113 Reserved (do not use) –
X203
X15
X344 24 V supply for motor
X202
holding brake
X113
X103 X394 Motor holding brake 1 to 4
X201
X112
X500 HSCI output 208
X502 HSCI input 208
B Signal ground –
(= functional ground)
Protective ground M5 –
X502
X500
X6
Attention
UMC 111: Compact controller unit with inverter, external DC-link power supply, PLC I/Os
Pin layout Connector Function Page
X4, X5 Single-channel PLC inputs 279
X6 Single-channel PLC outputs 279
X344 X15 to X18 Speed encoder 300
X394 X33 DC-link power supply 258
X81 Motor connection for axis 1 260
(9 A rated current at 3.3 kHz)
X82 Motor connection for axis 2 260
(9 A rated current at 3.3 kHz)
X83 Motor connection for axis 3 260
(9 A rated current at 3.3 kHz)
X84 Motor connection for axis 4 260
(9 A rated current at 3.3 kHz)
X33
X5
X106 X103 24 V power supply 261
X83
X4 X112 Reserved (do not use) –
X104
X82
X113 Reserved (do not use) –
X18
X344 24 V supply for motor
X81 X205 holding brake
X17
X19
X394 Motor holding brake 1 to 4
X80
X204 X16
X500 HSCI output 208
X203
X15 X502 HSCI input 208
X202 B Signal ground –
X113
X103 (= functional ground)
X201
X112
Protective ground M5 –
X502
X500
X6
Attention
UEC 11x: Compact controller unit with integrated inverter and PLC I/Os (without functional safety (FS))
Pin layout Connector Function Page
X4, X5 PLC inputs 279
X6 PLC outputs 282
X344 X15 to X19 Speed encoder 300
X89 X90
X394 X31 Supply voltage for UEC 11x 258
(3 x 400 V ± 10 %)
X71 Safety relay for spindle 260
(pulse inhibitor for spindle)
X72 Safety relay for axes (pulse 260
inhibitor for axes)
X80 Motor connection for 260
spindle
(24 A rated current at 3.3
X20
kHz)
X5
X81 Motor connection for axis 1 260
X19
X4
(6 A rated current at 3.3 kHz)
X84
X82 Motor connection for axis 2 260
X83
X18 (6 A rated current at 3.3 kHz)
X206
X83 Motor connection for axis 3 260
X17
X82 X205 (9 A rated current at 3.3 kHz)
X204 X16
X84 Motor connection for axis 4 260
X81
(6 A rated current at 3.3 kHz)
X203
X80 X15 X89 Braking resistor 261
X202
X113 X90 24 V NC output / 3.5 A 261
X201
X72 X71 X112 X112 TS touch trigger probe 313
X113 TT touch trigger probe 313
X201 to X205 Position encoder 297
X344 24 V supply for motor 261
holding brake
X394 Motor holding brake 1 to 4 261
X500 HSCI output 208
X502
X500
X502 HSCI input 208
Protective ground M5 –
X6
Attention
System module
Pin layout Connector Function Page
X500 HSCI output 208
X9 X502 HSCI input 208
X500
X9 Safety-related PLC inputs/outputs 273
X502
X2 Reserved –
X3 + 24 V NC, + 24 V PLC power supply 267
X112 TS or TT touch trigger probe 313
X112 X113 TS or TT touch trigger probe 313
X2
Diagnosis: For meanings of the LEDs, see page 268
X113
X3
System module
Pin layout Connector Function Page
X500 HSCI output 208
X9 X502 HSCI input 208
X500
S
a
X9 Safety-related PLC inputs/outputs 274
X502 f
e X2 Reserved –
t
y
X3 + 24 V NC, + 24 V PLC power supply 267
X112 TS or TT touch trigger probe 313
X112 X113 TS or TT touch trigger probe 313
X2
On the PL 62xx FS, the I/O terminals of connector X9 are dual-channel
terminals and can therefore be used for safety-related applications.
PLD-Hs with functional safety (FS) can be used only in the PL 62xx FS. A
X113
safety-related PLD must not be inserted after a PLD without FS, or after an
X3 empty slot. Safety-related PLDs must be inserted—one after the other—
into successive slots without interruption (empty slot). The normal PLDs or
PLAs must not be inserted until all PLDs with FS have been inserted.
Diagnosis: For meanings of the LEDs, see page 268
Expansion module
Pin layout Connector Function Page
X500 HSCI output 208
X502 HSCI input 208
X500
X2 Reserved –
X502
X3 + 24 V NC, + 24 V PLC power supply 267
Diagnosis: For meanings of the LEDs, see page 268
X2
X3
PLD-H 16-08-00
Pin layout Connector Function Page
X11 PLC inputs, channel A 275
X12 PLC inputs, channel A 275
X21 PLC outputs, channel A 277
X11
Diagnosis (meanings of the LEDs):
Red (X11/pin 1) status LED
• Flashes: status of I/O module OK
• Continuously on or off: error on I/O module
X12
Yellow (per output): Status of the output
Error recognition:
Short circuit: A short circuit is reported when a current >= 20 A flows
X21 for approximately 3 ms. Both the output-specific message and the group
message are modal.
After the short circuit has been removed, the PLC must reset the output
before it can be activated again.
PLD-H 08-16-00
Pin layout Connector Function Page
X11 PLC inputs, channel A 275
X21 PLC outputs, channel A 277
X22 PLC outputs, channel A 277
X11
Diagnosis (meanings of the LEDs):
Red (X11/pin 1) status LED
• Flashes: status of I/O module OK
• Continuously on or off: error on I/O module
X21
Yellow (per output): Status of the output
Error recognition:
Short circuit: A short circuit is reported when a current >= 20 A flows
X22 for approximately 3 ms. Both the output-specific message and the group
message are modal.
After the short circuit has been removed, the PLC must reset the output
before it can be activated again.
X27
PLD-H 04-08-00 FS
Pin layout Connector Function Page
X17 PLC inputs, channel A/B 275
Safety
X21 PLC outputs, channel A 277
X24 PLC outputs, channel B 277
X17
PLD-Hs with functional safety (FS) can be used only in the PL 62xx FS. A
safety-related PLD must not be inserted after a PLD without FS, or after an
empty slot. Safety-related PLDs must be inserted—one after the other—
into successive slots without interruption (empty slot). The normal PLDs or
PLAs must not be inserted until all PLDs with FS have been inserted.
X21
X24
X47
X48
X49
X81
X82
Note
Danger
Note
The line cross section of the +24 V NC power supply must be designed for
the power consumption of the connected devices. EN 60204-1 lists the
protection provided by line cross sections.
Minimum cross section of the +24 V NC power supply: 0.75 mm2
Note
The motor brakes are controlled by 24 V PLC voltage. The trigger circuit and
the brake itself are usually separated from the line power only by basic
insulation according to EN 618100-5-1 (also EN 50178). Also, other add-on
devices that are controlled by PLC circuits usually have only basic insulation
from the line power.
MB 620 (S)
operating
Keyboard
Machine
Screen
TE 6xx
BF 250
panel
Panel
X101
X101
Cabinet
X101
MC 6xxx
PL 62xx
PL 6xxx
X3
X3
CC 6108
+24V PLC
+24V NC
PE
L1
L2
L3
PSL 130 Power moduls
W
V
POWER MODULE
U
READY
RESET
X90
X33
Note
Please also refer to the Technical Manual for your control and the "Inverter
Systems and Motors" Technical Manual.
MC 6341 1.8 A
PLD 0.05 A
PLA 0.1 A
BF 260 2.5 A
BF 750 2.1 A
BF 250 2.1 A
HR 520 0.05 A
HR 130 0.05 A
Assignment
Connecting Assignment
terminal X90
+ or terminal 1 +24 V NC (max. 3.5 A)
– or terminal 2 0V
Attention
Load capacity
Current
consumption of the
HSCI components Device Current consumption of the 24 V NC
supply
MC 6110 or MC 7110 1.8 A
MB 620 or MB 720 1.0 A
(including all PLC outputs)
PL 62xx 0.5 A
(incl. TS and TT)
PL 61xx 0.2 A
A PSL 130 unit is not needed for this application. The +24 V NC supply of the
UEC 11x (X90) suffices for the connected components.
Attention
Ensure that either the DC-link power supply unit is switched off or the line
power is disconnected before connecting the power cables!
Power consumption:
Note
If USB components that are connected to X141/X142 require more than 0.5
A, a separate power supply becomes necessary for these components.
One possibility is the USB hub from HEIDENHAIN (582884-02).
Ribbon cable
ID 325 816-24 on
two CC 6106
controller units
ID 325 816-22
on two CC 6108
controller units
If several CC 61xx controller units are connected via a cable with ID 325 816-
xx, the +5 V power must usually only be supplied by connector X74 of the
rightmost CC controller unit. This +5 V supply must be tested.
Attention
The +5 V NC supply via X74 from the supply module is mandatory for the
CC 61xx!
Attention
If the system includes several CCs 61xx that are connected to the same
supply bus (X69) via a UV supply module, it is usually sufficient to connect only
the last CC 61xx (usually the unit at the extreme right) to the UV via X74. The
other CC 61xx units are then supplied via supply bus X69.
If several CC 61xx units are supplied by more than one UV supply module,
which means that they are connected to different supply bus systems (X69),
then the last CC 61xx (usually the unit at the extreme right) of the respective
supply bus must also be supplied with the additional + 5 V of the UV via X74.
If the +5 V power supply to the CC 61xx is too low, the error message Self-
test cannot be started appears after the control has booted. In this case,
please open the bus diagnosis on your control to display more detailed
information on the cause of the error:
Press the MOD key
Press the DIAGNOSIS soft key.
Press the BUS DIAGNOSIS soft key.
If the error was caused by too low a supply voltage, the error (PF.BOARD)
Error in the supply voltage is displayed for the affected CC controller unit(s)
in the bus diagnosis. In these cases, check the wiring of the power supply at
X74 and contact your HEIDENHAIN service agency.
X33
Attention
Attention
Danger
For the entire HSCI system, the +24 V NC power supply voltage is
required to be safely separated voltage and must not be connected with
the +24 V PLC voltage of the system.
Protective Extra Low Voltage (PELV) according to EN 61800-5-1 must be
complied with for the +24 V NC power supply of the machine.
The 0 V signal of the PLC power supply must be connected by a 6 mm2
conductor to the machine's central protective ground (PE).
Refer to your control's grounding diagram!
Danger
UZ DC-link current Since the power to the PSL 130 is supplied through the DC-link, the voltage
fed into the DC-link by the motors that are still running can be used during line
voltage failures. The PSL 130 uses the supply voltage buffered via the DC-link
to maintain the power supply for the control until the non-HEIDENHAIN
inverter system has been shut down properly by the control.
If the PSL is connected over litz wires instead of the DC-link conductor bars, a
wire cross section of at least 1.5 mm2 must be used. Fuses or a motor
protection switch of 6.3 A or greater for conductor protection must be
selected depending on the wire cross section used. The PSL 130 is protected
internally by a fuse (4 A).
Connecting Assignment
terminals
–UZ DC-link voltage –
+UZ DC-link voltage +
HEIDENHAIN offers insulated conductor bars if you want to position the PSL
130 next to the left of the UVR inverter and connect it to the DC-link via
conductor bars. Two conductor bars are required for each connection. The
conductor bars are shipped in packaging units. Also, this position makes it
possible to connect the grounding conductor of the PSL via conductor bars.
Therefore, angulated non-insulated conductor bars are also included in this
packaging unit. This makes it possible to continue using the straight conductor
bar included with the UVR for the grounding conductor connection from the
UVR to the inverters via the right side.
Note
Tightening torque for the screws of the DC-link conductor bars = 3.5 Nm.
Through the connection to the 400 V AC line voltage (L1, L2) via X33, the
output voltages of the PSL 130 are available as soon as the machine’s main
switch has been turned on. The connection of L1 and L2 is absolutely essential
for booting the control.
Since the power to the PSL 130 is supplied through the DC-link, the voltage
fed into the DC-link by the motors that are still running can be used during line
voltage failures. The PSL 130 uses the supply voltage buffered via the DC-link
to maintain the power supply for the control until the inverter system has been
shut down properly by the control.
Note
Through the connection to 400 V (L1, L2) via X31, the output voltages of the
PSL 135 are available as soon as the machine's main switch has been turned
on. These voltages are indispensable to be able to boot the control.
Since the power to the PSL 135 is supplied through the DC-link, the voltage
fed into the DC-link by the motors that are still running can be used during line
voltage failures. The PSL 135 uses the supply voltage buffered via the DC-link
to maintain the power supply for the control until the inverter system has been
shut down properly by the control.
Note
Note
Attention
Attention
Signal ground Connections for signal ground, which are connected internally in the PSL 13x
(= functional to 0 V NC and 0 V PLC signals.
ground)
Connection:
Note
Fuse
L1
400 V +/ 10 %
50 Hz
L2 X31/X33
B
1
Turoidal core
X90.1 24V-NC
0V-NC
X90.2
24V-PLC
X90.3
X90.4 0V-PLC
2
2 2
6 mm 6 mm
Connection between
central functional earth
and central
protective earth
Note
With the MS 111, an additional power supply unit must be used for the 24 V
power supply of the fans.
July 2013 3.9 MS 110 / MS 111 installation kit for double-row configuration 247
3.9.2 Double-row configuration
Components and cables for double-row configuration:
Component/Cable ID
Unit bus cable (shielded, round) with 37-pin D-sub at both ID 664023-xx
ends; max. length: 3 m
PWM cable (round) with ribbon connector at both ends; ID 664332-xx
max. length: 5 m
Supply bus cable (round) with ribbon connector at both ID 361508-xx
ends; max. length: 5 m
(only necessary if the UV(R) 1xxD is not in the same row
as the CC/MC)
Wire for DC-link (16 mm2, shielded, color: red); max. ID 655440-xx
length: 3 m
Wire for DC-link (16 mm2, shielded, color: blue); max. ID 655438-xx
length: 3 m
July 2013 3.9 MS 110 / MS 111 installation kit for double-row configuration 249
3.9.3 Connection overview
X79
X79C
Attention
X79
X101
X79C
Attention
July 2013 3.9 MS 110 / MS 111 installation kit for double-row configuration 251
X79: Unit bus Connection:
Danger
Danger
Connecting Assignment
terminals
+ / terminal 1 +24 V NC
– / terminal 2 0 V NC
July 2013 3.9 MS 110 / MS 111 installation kit for double-row configuration 253
3.10 UxC 11x (FS): Power supply and motor connection
Note
The integrated logic part, the inverter electronics and the integrated
controller unit of the UMC are supplied via X103. The UMC generates the
individual internal supply voltages with an integrated power supply unit,
which complies with Protective Extra Low Voltage (PELV) according to EN
61800-5-1. The internally generated voltages thus have double basic
insulation. This means that a +24 V PLC voltage with simple basic insulation
(ELV as per EN 61800-5-1) is sufficient as supply via X103.
Note
X344: 24 V supply
for motor holding
brakes Connecting terminals Assignment
1 +24 V PLC
2 0 V PLC
X394: Motor
holding brakes
Connecting terminals Assignment
1 Holding brake X80
2 0 V PLC
3 Holding brake X81
4 0 V PLC
5 Holding brake X82
6 0 V PLC
7 Holding brake X83
8 0 V PLC
July 2013 3.10 UxC 11x (FS): Power supply and motor connection 255
Mounting the To suppress conducted interference, toroidal cores must be mounted in the
toroidal cores motor leads (X80 to X83).
UMC 11x
Control of
the motor brakes
via X394
Shield
PE power cable
Pass W, V, U of the axes three
times through the toroidal core. Shield for motor brake
Strain relief
Arrange the wires in parallel.
To motor
Note
For more information about the controller groups of the UEC 11x (FS), see
page 1067.
July 2013 3.10 UxC 11x (FS): Power supply and motor connection 257
X31: UEC power
supply
Danger
Note
Note
July 2013 3.10 UxC 11x (FS): Power supply and motor connection 259
X80: Spindle motor Connection:
X81: Axis motor 1
X82: Axis motor 2 Connecting Assignment
X83: Axis motor 3 terminals
X84: Axis motor 4
U Motor connection U
V Motor connection V
W Motor connection W
X71: Safety relay For information on the wiring and function, see the Basic Circuit Diagram for
for spindle your control. Registered customers can download the Basic Circuit Diagram
X72: Safety relay from the HEIDENHAIN FileBase on the Internet.
for axes
Connecting terminals Assignment
X71 to X72
1 +24 V pulse release output (max. 250 mA) for
control of the relays at X71.3 and X72.3 for drive
enabling (Axis ON, Spindle ON).
2 0 V for pulse release output
3 +24 V pulse release input for Axis ON,
Spindle ON
4 Do not assign
5 Do not assign
6a Normally closed contact (OE1, OE1A or OE1S)
7a Normally closed contact (OE2, OE2A or OE2S)
a. Max. 125 V
Note
The +24 V pulse release voltage at terminals X71.1 and X72.1 is generated
internally by a separate power supply unit of the UxC 11x (FS). Use this
voltage exclusively for drive enabling—for supplying the relay coils that are
internally connected to X71.3 and X72.3.
Attention
The +24 V pulse release voltage must not be linked with other voltages
(e.g. +24 V NC or +24 V PLC) of the HEIDENHAIN control system.
Attention
On the UEC 11x compact inverters, there must be no bridge at connector X89.
A bridge at X89 would cause the internal braking resistor to be bridged and
lead to a short circuit of the DC-link voltage. If necessary, you can connect an
external braking resistor (PW 210) via X89 in parallel to the internal braking
resistor.
X90: 24 V
NC output
Connecting Assignment
terminal X90
+ or terminal 1 +24 V NC (max. 3.5 A)
– or terminal 2 0V
Attention
X344: 24 V supply
for motor holding
brakes Connecting terminals Assignment
1 +24 V PLC
2 0 V PLC
X394: Motor
holding brakes
Connecting terminals Assignment
1 Holding brake X80
2 0 V PLC
3 Holding brake X81
4 0 V PLC
5 Holding brake X82
6 0 V PLC
7 Holding brake X83
8 0 V PLC
9 Holding brake X84
10 0 V PLC
July 2013 3.10 UxC 11x (FS): Power supply and motor connection 261
Mounting the To suppress conducted interference, toroidal cores must be mounted in the
toroidal cores motor leads (X80 to X84) and in the voltage supply lead (X31).
PE
Pass L1, L2, and L3 four
times through the
double toroidal core.
Arrange the wires in
parallel.
UEC 1xx
Controlling the
motor brakes
through
X394
Shield
PE power cable
Pass W, V, U of the axes three
times through the toroidal core. Strain relief Shield for motor brake
Pass W, V, U of the spindle
three times through the double
toroidal core. Arrange the wires
in parallel.
To motor
X71
July 2013 3.11 UxC 11x (FS): Meaning of the LEDs 263
UxC 11x LED Meaning Signal Signal
direction
LED at X9 on top surface of PL green PL not ready Off
the UxC PL ready On
PL initialization Slow blinking
Error with SS2 reaction is Blinking twice
present
Error with SS1F reaction is Fast blinking
present
HSCI green Not ready for HSCI Off
communication
Ready for HSCI On
communication
Error in HSCI Blinking twice
communication
No HSCI communication Fast blinking
Note
EN 61 131-2:1994 permits:
Minimum absolute value: 20.4 V–
Maximum absolute value: 25.4 V– at 200 W power output
Maximum absolute value: 28.8 V– at 100 W power output
Attention
Power If half of the outputs are switched at the same time, the following are the
consumption values for power consumption:
PL 6xxx: approx. 485 W
UxC 11x: 48 W
Power output The maximum permissible power output of a PLD-H xx-xx-xx is 200 W.
Note
X3: +24 V NC, +24 V Power consumption of the PL 6xxx via X3 if every slot is used, including the
PLC power supply TS, TT:
At +24 V NC: max. 48 W
At +24 V PLC: max. 21 W
For more details regarding the power supply, see page 229.
The power to the PLC outputs is also supplied via the corresponding terminals
on the respective I/O module connectors for PLC outputs. The power
consumption of the +24 V PLC via X3 and the power consumption of the PLC
outputs add to each other.
Pin layout of X3:
Supply voltage for logic and PLC outputs
July 2013 3.13 Power supply for PLB 6xxx (FS) 267
3.14 Meaning of the LED on PLB 6xxx
X9: Power supply The control-is-ready signal output is powered by 24 V– provided by the
for control-is-ready UE 2xxB inverter or the UV 1xx power supply unit. The voltage is connected
signal with terminal X9 of the PLB 620x.
Pin layout:
Power consumption via X9, +24 V PLC: max. 120 W (depending on the
connection of PLC outputs to X9)
Output signals and The switching outputs are transistor outputs with current limitation.
addresses
Please note:
Permissible load: Resistive load (ohmic load). Inductive loads (e.g. relay,
contactor) with an energy content of up to 100 mJ do not require a
quenching diode. If the energy content exceeds 100 mJ: only with
quenching diode parallel to inductance. Pay attention to the manufacturer's
specification of the energy content when selecting the switching devices.
For the rated operating currents of the PLC outputs, see "Rated operating
current per output" on page 266.
If an output is operated with an inductive load without a quenching diode
and is read back to an input, the input must be protected by varistors or RC
circuits.
PLD-H: The outputs are short-circuit proof.
For component-related reasons, the switching outputs should be loaded
with at least 5 mA in "1" state. They conform to EN 61131-2. If a resistive
load consumes less than 5 mA, it is necessary to either insert a relay or
perform a usability test in accordance with the calculation described in the
following, see "Calculation of the voltage drop in "0" state" on page 270.
For component-related reasons, a current of IOff = 500 µA flows through the
switching outputs also in "0" state. If high-impedance loads with a low-level
lower switching threshold are connected directly to the output, the voltage
drop can lead to a "1" state. In such a case, a shunt resistor must be
connected to the output, see "Calculation of the voltage drop in "0" state" on
page 270.
If the holding brakes of motors are not driven exclusively over the inverter
outputs for brakes, a protective circuit in the form of a varistor must be used.
Due to the inductance of the holding brakes and any relays used, a voltage
peak that may exceed 1000 V occurs when the exciting current is switched
off. This may destroy other electronics, such as connected PLC inputs/
outputs.
A protective circuit is not necessary only if the holding brakes are driven
exclusively over the inverter outputs for brakes, because the voltage is
limited internally by electronic switches in the inverters.
PLD-H
Min. output voltage for "1" signal 3 V below supply voltage
Attention
Calculation of the Current (IOff = 500 µA) also flows in "0" state of the PLC output for component-
voltage drop in "0" related reasons.
state
If resistive loads with high input impedance (> 15 kOhm) and a low-level lower
switching threshold are operated directly (without an interconnected relay) on
the PLC output, a shunt resistor may be necessary under certain
circumstances. Typical values of the shunt resistor are e.g. 5 kOhm or 10
kOhm. The voltage at the output in "0" state should be clearly (approx. 50 %)
below the lower switching threshold of the resistive load.
Calculation example—Resistive load does not require shunt resistor:
Reversing load relay directly on PLC output, data sheet specifications:
Rated control voltage Uc: 24 V DC
Rated operating current Ic: 3 mA
Switching threshold "0" state ULow: 9.6 V
Switching threshold "1" state UHigh: 19.2 V
In "0" state of the output, the voltage drop has to be less than 9.6 V. Calculation
of the input resistance Rc of the reversing load relay:
Uc 24 V
Rc = ---------
Ic
= ------------------ = 8 kΩ
3 mA
With 4 V, the voltage drop is clearly below the switching threshold for the "0"
state (9.6 V). The reversing load relay can be operated directly at the PLC
output.
Uc 28 V 12.73 kΩ
Rc = ---------
Ic
= 2.2
--------------- =
mA
The shunt resistor at the output should be such that the voltage drop at the
output in "0" state goes clearly below the lower switching threshold, e.g. Rp =
5 kW:
1 1 1
-------------------- = -------- + ---------
R Total Rc Rp
1 1 1
-------------------- = ------------------------ + ----------------
R Total 12.73 kΩ 5 kΩ
With a voltage drop of 1.79 V in "0" state, the value falls below the lower
switching threshold of the interlocking switch. If the shunt resistor of 5 kW is
used, operation directly at the PLC output is possible in this case.
Terminal X9 on PLB
62xx (FS)
Properties Socket connectors on the PLA-H
08-04-04
Connection: Socket connector with tension clamp
connection, type:
Weidmüller B2L 3.5/30 SN SW
2-row, 30-pin
Connectable conductors: Usable conductor cross sections
without wire-end sleeve:
0.08 mm2 to 1.0 mm2
Usable conductor cross sections with
wire-end sleeve:
0.14 mm2
0.34 mm2
0.5 mm2 (only with Weidmüller PZ 6/
5 crimping pliers)
HEIDENHAIN recommends:
Preferably use a conductor cross section of 0.34 mm2 if you use stranded
wires with wire-end sleeves. This cross section can be clamped
appropriately and ensures a reliable terminal connection.
If you use stranded wires with wire-end sleeves and a conductor cross
section of 0.5 mm2, the Weidmüller PZ 6/5 crimping pliers (setting 0.25–0.5
mm2) must be used for crimping. In this case, orient the crimped wire-end
sleeve before inserting it into the socket connector. If crimping pliers from
other manufacturers are used for crimping conductors with a cross section
of 0.5 mm2, the crimped wire-end sleeves cannot be inserted into the
socket connector and clamped appropriately, and therefore do not result in
a reliable terminal connection.
PLC inputs on the Pin layout on the PLD-H xx-xx-xx input/output module:
PLD-H
Note
The 0 V terminals of X11, X12 and X14 of the PLD-H are connected
internally. These connections are used for connecting the potential of the
electronics and for operating the LEDs. Since only a low current is required
(max. 50 mA), it is sufficient to establish only one 0 V connection
(preferably at X11).
Fast PLC inputs Only the first four slots of a PL 6xxx can be used for fast PLC inputs. The fifth
slot and the successive slots (on PL 6x06, PL 6x08) must not be defined as
fast PLC inputs.
The configuration of fast PLC inputs in the HSCI system corresponds to the
previous configuration using machine parameters.
Please note that a system with functional safety (FS) permits up to 126 safe,
dual-channel outputs (channels A and B). Connector X9 of a system PL
requires three of the outputs. This means that max. 123 safe outputs can be
distributed to the PLD-H xx-xx-xx FS.
"Channel A" or ".A" of the PLC outputs needs to be entered only for I/O
modules with functional safety (FS).
Type of terminals
on the UxC 11x (FS)
Socket connectors X4, X5, X6, X104, X106 on the UxC 11x (FS)
Connection: Socket connector with tension clamp
connection, type:
Weidmüller B2L 3.5/24 SN SW
2-row, 24-pin
Connectable conductors: Usable conductor cross sections
without wire-end sleeve:
0.08 mm2 to 1.0 mm2
Usable conductor cross sections with
wire-end sleeve:
0.14 mm2
0.34 mm2
0.5 mm2 (only with Weidmüller PZ 6/
5 crimping pliers)
Note
HEIDENHAIN recommends:
Preferably use a conductor cross section of 0.34 mm2 if you use stranded
wires with wire-end sleeves. This cross section can be clamped
appropriately and ensures a reliable terminal connection.
If you use stranded wires with wire-end sleeves and a conductor cross
section of 0.5 mm2, the Weidmüller PZ 6/5 crimping pliers (setting 0.25–0.5
mm2) must be used for crimping. In this case, orient the crimped wire-end
sleeve before inserting it into the socket connector. If crimping pliers from
other manufacturers are used for crimping conductors with a cross section
of 0.5 mm2, the crimped wire-end sleeves cannot be inserted into the
socket connector and clamped appropriately, and therefore do not result in
a reliable terminal connection.
The digital inputs/outputs described below are available on the UxC 11x (FS).
Note
If the integrated PLC inputs do not suffice for your application, you can
connect up to 7 additional external PL 61xx expansion PLs to the
UxC 111FS via the HSCI interface.
Note
If the integrated PLC inputs do not suffice for your application, you can
connect up to 7 additional external PL 61xx expansion PLs to the
UxC 111FS via the HSCI interface.
Note
Each output of the UxC 11x can be loaded with a maximum current of
150 mA.
Note
If the integrated PLC outputs do not suffice for your application, you can
connect up to 7 additional external PL 61xx expansion PLs to the UxC 11x
via the HSCI interface.
Note
Each output of the UxC 11x can be loaded with a maximum current of
150 mA.
Note
If the integrated PLC outputs do not suffice for your application, you can
connect up to 7 additional external PL 61xx expansion PLs to the UxC 11x
via the HSCI interface.
Note
Each output of the UxC 11x (FS) can be loaded with a maximum current of
150 mA.
Note
If the integrated PLC outputs do not suffice for your application, you can
connect up to 7 additional external PL 61xx expansion PLs to the
UxC 111FS via the HSCI interface.
Note
Specifications:
Note
If the module has not been correctly configured with the IOconfig software
for PCs or if errors occur during measurement (measuring range exceeded,
broken cable, loose connection, etc.), the module transmits the value 0.000
V for voltages or 120 °C for temperatures to the control, along with a
diagnostic message. To avoid excessive temperature measurement
values, these 120 °C values must not be taken into account in averaging
the measured values. For values below the measuring range, the module
transmits the value –4 °C to the control.
Note
HEIDENHAIN recommends:
Preferably use a conductor cross section of 0.34 mm2 if you use stranded
wires with wire-end sleeves. This cross section can be clamped
appropriately and ensures a reliable terminal connection.
If you use stranded wires with wire-end sleeves and a conductor cross
section of 0.5 mm2, the Weidmüller PZ 6/5 crimping pliers (setting 0.25–0.5
mm2) must be used for crimping. In this case, orient the crimped wire-end
sleeve before inserting it into the socket connector. If crimping pliers from
other manufacturers are used for crimping conductors with a cross section
of 0.5 mm2, the crimped wire-end sleeves cannot be inserted into the
socket connector and clamped appropriately, and therefore do not result in
a reliable terminal connection.
Note
Pin layout of connectors X621 and X622 on the PROFINET interface board:
Note
Definition of all I/Os freely available to the OEM on PLD-Hs, PLA-Hs and MB
6xx/7xx and UEC 11x.
Assignment of symbolic names, PLC operand addresses and other
properties of the individual terminals (I/Os)
For more information about using IOconfig and configuring the HSCI I/Os,
please refer to the program's online help.
July 2013 3.20 Configuring the PLC inputs/outputs with IOconfig 291
HEIDENHAIN provides device files (HDD files) for all HSCI components with
the technical characteristics of these components. These HDD files are of
critical importance for the configuration of the HSCI system. You should
therefore make sure that you always use the latest version of IOconfig and the
HDD files for the configuration.
When configuring a project, the IOconfig program takes the description of the
HSCI components from the HDD file and transfers it to the configuration file
(IOC file).
Note
HEIDENHAIN recommends updating all IOC files and EAZ projects with the
IOconfig version 2.2.02. This is the only way to ensure that you can use all
of the features provided by the new HSCI components.
For more information about using IOconfig, please refer to the program’s on-
line help.
Do the following steps manually in order to be able to use all available features
of new HSCI components:
1. Transfer the HDD files
Check where the standard directory and the project directory for HDD files are
located. The two directories should usually be identical:
Extras -> Options: Standard directory for HDD library: xxxxxxx
Project -> Project Settings: Directory of HDD library: xxxxxxx
Move or delete all HDD files being used.
Then copy all current HDD files from IOconfig (e.g. from
C:\Programs\HEIDENHAIN\IOconfig\HDD ) to the standard directory or the
project directory of the HDD library.
July 2013 3.20 Configuring the PLC inputs/outputs with IOconfig 293
3.21 Buffer battery
Note
Danger
Buffer battery in
MC 6x41
Buffer battery
in the MC 6222
Exchange the buffer battery. The new battery can be inserted in only one
position.
Note
On controller units with HSCI interface (e.g. CC 61xx, UEC 11x) you can no
longer directly connect encoders with 11 µA signals. You need an adapter
ID 313119-xx to adjust the signals; see "Adapters for encoder signals" on
page 304.
Please use only HEIDENHAIN encoder cables, connectors and couplings. For
maximum cable lengths, see "Cable Overview" at the end of this chapter.
Note
Keep in mind the line count of the speed encoders when choosing the
motors:
f ⋅ 60 ⋅ 1000
x = -------------------------------
n
Example:
f = 350 kHz; n = 10 000 min–1
350 ⋅ 60 ⋅ 1000
x = --------------------------------------- ≈ 2048
10000
Note
The interface complies with the requirements of EN 50178 for "low voltage
electrical separation."
10 Vacant 10 3 3 Red 3 3
0V
11 (sensor) 11 White 4 4 White 4 4 White 6b
12 Vacant 12 2 2 Black 2 2
Internal Internal Internal Internal
13 shield 13 shield 11 11 shield 11 11 shield
Note
The interface complies with the requirements of EN 50178 for "low voltage
electrical separation."
Note
For cable lengths > 10 m between the CC 61xx or UxC 11x and the
encoders with EnDat interfaces (EnDat 2.1), a line-drop compensator
(336697-xx) is required (efficiency = 75 %).
3 A+ 3 Vacant
4 A– 4 Vacant
5 Data 5 Gray 2
6 B+ 6 Vacant
7 B– 7 Vacant
8 Data 8 Pink 1
+5 V (sensor)
9 9 Blue 14
10 Vacant 10 Vacant
0 V (sensor)
11 11 White 13
12 Vacant 12 Vacant
Internal shield
13 13 Vacant
14 Clock 14 Violet 10
15 Clock 15 Yellow 9
External
Hsg. Housing Hsg. shield Hsg.
Note
The interface complies with the requirements of EN 50178 for "low voltage
electrical separation."
Attention
Note
Note
Danger
Note
Note
4 ... 9 VSS
4 ... 9 VSS
Note
Please note:
The adapters adjust only the levels, not the signal shape.
The contamination signal of the square-wave encoder cannot be
evaluated.
A square-wave signal can be subdivided no more than 4-fold.
Adapter connector Pin layout of D-sub connector (female) and D-sub connector (male):
TTL (SIEMENS)/1 VPP
D-sub Assignment D-sub Assignment
connection connection
(female) 15-pin (male) 15-pin
1 Not assigned 1 Not assigned
2 0V 2 0V
3 A+ 3 Ua1
4 A– 4 –Ua1
5 Not assigned 5 Not assigned
6 B+ 6 Ua2
7 B– 7 –Ua2
8 Not assigned 8 Not assigned
9 Not assigned 9 Not assigned
10 R+ 10 Not assigned
11 Not assigned 11 Not assigned
12 R– 12 Ua0
13 Not assigned 13 –Ua0
14 Not assigned 14 Not assigned
15 Not assigned 15 Not assigned
For more information on the controller groups of the CC 61xx, see page 1067.
Note
July 2013 3.24 Connecting the motor power modules (only CC 61xx) 307
3.25 Analog nominal value output
In the HSCI system, analog nominal-value outputs are available via the
CMA-H 04-04-00, e.g. for controlling spindles and auxiliary axes.
The CMA-H 04-04-00 is an optional SPI expansion module (ID 688721-xx). It
adds four analog nominal-value outputs to the CC 61xx controller unit or the
UEC 1xx.
The CMA-H 04-04-00 is supported by the following CC 61xx and UEC 11x:
CC 6106 as of ID 662636-01 (as of index A, 29.06.2010)
CC 6108 as of ID 662637-01 (as of Index A, 29.06.2010)
CC 6110 as of ID 662638-01 (as of Index A, 29.06.2010)
UEC 111 as of ID 625777-02 (as of Index A, 03.02.2010)
UEC 112 as of ID 625779-02 (as of Index A, 03.02.2010)
Note
The analog nominal value outputs can only be accessed via the NC, and
not via the PLC. The PL 6xxx provides PLC analog outputs, see "Analog
PLC inputs/outputs" on page 285.
With software version 60642x-02 and higher, the CMA-H can generally
also be used to control axes that are interpolated together with other
digital axes. However, please discuss such applications with your contact
person at HEIDENHAIN beforehand.
Note
HEIDENHAIN recommends:
Preferably use a conductor cross section of 0.34 mm2 if you use stranded
wires with wire-end sleeves. This cross section can be clamped
appropriately and ensures a reliable terminal connection.
If you use stranded wires with wire-end sleeves and a conductor cross
section of 0.5 mm2, the Weidmüller PZ 6/5 crimping pliers (setting 0.25–0.5
mm2) must be used for crimping. In this case, orient the crimped wire-end
sleeve before inserting it into the socket connector. If crimping pliers from
other manufacturers are used for crimping conductors with a cross section
of 0.5 mm2, the crimped wire-end sleeves cannot be inserted into the
socket connector and clamped appropriately, and therefore do not result in
a reliable terminal connection.
Each CMA-H 04-04-00 has four analog outputs, see "CMA-H 04-04-00—Pin
layout" on page 310.
X46
X47
X66
1 2 3 X67
1 2
b
3
1 2 3
1 2 a
3
CMA-H
Analog outputs
X66: Analog outputs 1 and 2
Function Analog output 1
Connecting terminal 1a 2a 3a
Assignment ±10 V 0V Shield
Function Analog output 2
Connecting terminal 1b 2b 3b
Assignment ±10 V 0V Shield
Note
The terminals X46 and X47 on the CMA-H 04-04-00 are reserved for future
functions and are not yet supported by the NC software. Please do not
assign them.
Please note:
Connect the shield of the connecting cable leading to the nominal-value
output both to pin 3 a/b on the CMA-H and to the ground potential of the
housing of the CC 61xx or UEC 11x.
HEIDENHAIN recommends using EMC shielding terminals. The max.
distance between the CMA-H and the ground point is 500 mm.
On the analog servo amplifier, you also connect the shield of the
connecting cable to the ground potential of the housing via an EMC
shielding terminal.
Use only shielded twisted-pair connecting cables.
The connecting cables to the nominal-value outputs must not have more
than one intermediate terminal.
Configuration with Use MP120.x to assign analog auxiliary axes to the nominal-value outputs on
MP120 and MP121 the CMA-H 04-04-00, and MP121.x to assign analog spindles to the nominal-
value outputs on the CMA-H 04-04-00.
One CC 61xx has slots for up to two CMA-H 04-04-00 modules. MP12x.x =
1...4 is used to address the first CMA-H, and MP12x.x = 5...8 is used to
address the second CMA-H (see table below):
During rigid tapping with digital axes and analog spindle using the CMA-H, the
following must be considered:
MP7160 bit#4 = 0 (tool axis follows the spindle) is supported
MP7160 Bit#4 = 1 (tool axis and spindle interpolated) is not supported
Analog Drives
±10V
CC / UEC
0V
Shield
1 Axis
±10V
0V
EMC Shield
X 66/67
1 Analog axis ±10V 0V Shield
1b 2b 3b
CMA
1a 2a 3a
1 Analog axis
EMC
Shielding clamp
Note
The touch probes are connected to the PLB 620x PLC system module or
UEC 11x at X112 (TS) and X113 (TT).
Note
For the PLB 62xx up to and including variant -02, please note:
Variant -02:
To connect a TT touch probe to the PLB 62xx, you have to connect the
touch probe adapter, ID 667674-01 to X113, see "Adapter for connection of
a TT touch probe to X113" on page 316. The adapter is supplied with the PL.
For suitable connecting cables, see "Cable Overview" at the end of the
chapter.
X112/X113:
Triggering touch
probe
Note
The touch probes are connected to the PLB 620x PLC system module or
UEC 11x at X112 (TS) and X113 (TT).
Note
Note
Danger
Please note that the outputs of connectors X112 and X113 are supplied
internally with 24 V NC and thus supply NC voltages derived from it at the
outputs.
For the entire HSCI system, the +24 V NC supply voltage is required to be
safely separated voltage. The +24 V NC supply voltage must not, under any
circumstances, be connected with the +24 V PLC supply voltage, because
this removes the double basic insulation.
X17
X30
X31
X101
X6
X7
Besides the snap-on keys, there are also keys with switch contacts that can
be wired by the machine tool builder depending on the application.
Specifications of the switch contacts on keys such as EMERGENCY STOP,
NC start, NC stop, Control voltage on:
Rated voltage: +24 V DC
Maximum current: 1.2 A
Connecting Assignment
terminals
1 Power supply for emergency stop channel A (–TEST.A)
2 Emergency stop channel A
3 Power supply for emergency stop channel B (–TEST.B)
4 Emergency stop channel B
Connecting Assignment
terminals
1 O0 (illumination for the NC start key)a
2 O1 (illumination for the NC Stop key)a
3 O2 (illumination for the Control Voltage ON key)a
4 O3
5 O4
6 O5
7 O6
8 O7
9 +24 V NC (available here)
10 0 V NC (available here)
a. With standard wiring
Danger
Please note that the outputs of connector X7 are powered internally by +24
V NC, and therefore supply +24 V NC at HIGH level.
For the entire HSCI system, the +24 V NC supply voltage is required to be
safely separated voltage. The +24 V NC supply voltage must not, under any
circumstances, be connected with the +24 V PLC supply voltage, because
this removes the double basic insulation.
Each of the switching outputs at X7 supplies up to 150 mA of output current
and are provided for driving the lamps on the MP 620.
Note
Immediately after the supply voltage has been switched on, all switching
outputs at X7 switch to HIGH level for approx. 100 ms, which is indicated
by short flashing of the connected lamps. Keep this characteristic in mind
if you connect inductive loads or other consumers to the MB 620.
HEIDENHAIN recommends:
Connect inductive loads and other consumers to the PLC outputs of the
PL 6xxx or UxC 11x. The described effect during switch-on does not occur
there. Use the outputs at X7 only for the control of lamps.
Connecting Assignment
terminals
1 I0
2 I1
3 I2 (Control Voltage ON, CVO)a
4 I3
5 I4
6 I5
7 I6
8 I7
9 Reserved (do not use)
10 Reserved (do not use)
a. With standard wiring
Connecting Assignment
terminals
1 I0.A
2 I1.A
3 I2.A (Control Voltage ON, CVO.A)a
4 I3.A
5 I0.B
6 I1.B
7 I2.B (Control Voltage ON, CVO.B)a
8 I3.B
9 Power supply for channel A (–TEST.A)
10 Power supply for channel B (–TEST.B)
a. With standard wiring
Danger
Connecting Assignment
terminals
1 Optional: Permissive button channel A / terminal 1 (+24 V)
2 Optional: Permissive button channel A / terminal 2
3 Optional: Permissive button channel B / terminal 1 (+24 V)
4 Optional: Permissive button channel B / terminal 2
5 NC Start channel A / terminal 1a
6 NC Start channel B / terminal 2a
7 NC Start shared terminal (+24 V NC)a
8 NC Stop channel A / terminal 1a
9 NC Stop channel B / terminal 2a
10 NC Stop shared terminal (+24 V NC)a
a. With standard wiring
Danger
Attention
Connecting Assignment
terminals
1a Potentiometer 1
2a Potentiometer 3
3a Do not assign
4a Do not assign
5a Do not assign
6a +5V
7a 0V
1b Potentiometer 2
2b ---
3b Do not assign
4b Do not assign
5b ---
6b +5V
7b 0V
Connecting Assignment
terminals
+ / terminal 1 +24 V NC
– / terminal 2 0 V NC
X30: Handwheel With the MB 620 without functional safety (FS), the permissive buttons and
connection, the EMERGENCY STOP of the handwheel must be wired externally in
permissive button / corresponding safety circuits as before.
emergency stop
Pin layout of MB 620 FS:
Connecting Assignment
terminals
1 Permissive button channel A / terminal 1 (+24 V NC)
2 Permissive button channel A / terminal 2
3 Permissive button channel B / terminal 1 (+24 V NC)
4 Permissive button channel B / terminal 2
5 Emergency stop channel A / supply for channel A (–TEST.A)
6 Emergency stop channel A / terminal 2
7 Emergency stop channel B / supply for channel B (–TEST.B)
8 Emergency stop channel B / terminal 2
The emergency stop inputs (pin 6 and pin 8) are active even if the HR
handwheel has been deactivated via machine parameter MP7640. It is
therefore always necessary to wire the emergency stop inputs correctly.
Emergency stop buttons are to be used exclusively for emergency stop
purposes. Under normal operating conditions, a machine must not be
switched off via the emergency stop buttons. The proper functioning of all
emergency stop buttons is to be tested annually by pressing these buttons.
Danger
S14 S15 S16 S17 S18 S19 S20 S21 S22 S23 S24 S25 S26
S27 S28 S29 S30 S31 S32 S33 S34 S35 S36 S37 S38 S39
Danger
For more information on the Ethernet interface, see "X26, X116: Ethernet
interface RJ45-port (100BaseT)" on page 1863.
Note
The interface complies with the requirements of EN 50178 for "low voltage
electrical separation."
For more information on the USB interface, see "iTNC Serial Data Interfaces"
on page 1899.
X141, X142, X143, Pin layout for USB connection (type A):
X144
USB connection (female) 4-pin Assignment
1 +5 V
2 USBP–
3 USBP+
4 GND
Note
If USB components that are connected to one of the USB ports require
more than 0.5 A, a separate power supply becomes necessary for these
components. One possibility is the USB hub (USB 2.0) from HEIDENHAIN
(582884-02).
If a USB hub is connected to one of the USB ports, the maximum permissible
length of the USB cable (ID 624775-xx) is reduced to 20 m.
USB hub The power supply for the USB hub must comply with EN 50 178, 5.88
requirements for "low voltage electrical separation."
For more information on the USB interface, see "The USB Interface of the
iTNC" on page 1894.
Note
The current HDD files of the HEIDENHAIN operating panel components are
a part of the installation package of IOconfig. You can download the current
HDD files as a ZIP archive from the HESIS-Web Including Filebase on the
Internet (http://hesis.heidenhain.de).
For this area you need access rights.
As an alternative, please get in touch with your contact partner at
HEIDENHAIN to obtain the current HDD file.
On the underside of the machine operating panel are terminal strips bearing
the PLC inputs as well as the PLC outputs. Also, connection X23 for HR
handwheels is on the underside of the MB 720.
It must be ensured that negative pressure cannot develop in the panel in
which the machine operating panel is installed. Negative pressure in the panel
can lead to increased contamination of the machine operating panel, which
must be avoided by enabling pressure compensation, for example via the
cable duct between the electrical cabinet and the panel.
(pre-assigned by HEIDENHAIN)
X14 Connection for the NC start key
(pre-assigned by HEIDENHAIN)
X14
X15
Besides the snap-on keys, there are also keys with switch contacts that can
be wired by the machine tool builder depending on the application.
Specifications of the switch contacts on keys such as EMERGENCY STOP, NC
start, NC stop, Control voltage on:
Rated voltage: +24 V DC
Maximum current: 1.2 A
In standard wiring configuration, these keys are supplied with +24 V NC and
the lamps in these keys are driven with +5 V-NC / 10 mA. The keys and switch
contacts are not designed to power the two switch contacts or the LED with
different voltages, e.g. on contact with 24 V NC and the other with 24 V PLC.
Note
If the key information is needed for external systems that are supplied with
24 V PLC, HEIDENHAIN recommends forwarding the information through
the PLC program and a normal PLC output.
Note
With the MB 720 without FS, the EMERGENCY STOP must be wired
externally in the EMERGENCY STOP chain as before.
Pin layout of the emergency stop button, only relevant to MB 720 without FS:
Connecting Assignment
terminals
11 Emergency stop contact 1 / terminal 1
12 Emergency stop contact 1 / terminal 2
21 Emergency stop contact 2 / terminal 1
22 Emergency stop contact 2 / terminal 2
MB 720 FS:
With the MB 720 FS, the EMERGENCY STOP is evaluated through two
channels by the control via HSCI and is normally wired via connector X18.
General information on the emergency stop button:
Emergency stop buttons are to be used exclusively for emergency stop
purposes. Under normal operating conditions, a machine must not be
switched off via the emergency stop buttons. The proper functioning of all
emergency stop buttons is to be tested annually by pressing these buttons.
Connecting Assignment
terminals
1 O0
2 O1
3 O2
4 O3
5 O4
6 O5
7 O6
8 O7
9 +24 V NC (available here)
10 0 V NC (available here)
Danger
Please note that the outputs of connector X7 are powered internally by +24
V NC, and therefore supply +24 V NC at HIGH level.
For the entire HSCI system, the +24 V NC supply voltage is required to be
safely separated voltage. The +24 V NC supply voltage must not, under any
circumstances, be connected with the +24 V PLC supply voltage, because
this removes the double basic insulation.
Each of the switching outputs at X7 supplies up to 150 mA of output current
and are provided for driving the lamps on the MP 720.
Note
Immediately after the supply voltage has been switched on, all switching
outputs at X7 switch to HIGH level for approx. 100 ms, which is indicated
by short flashing of the connected lamps. Keep this characteristic in mind
if you connect inductive loads or other consumers to the MB 720.
HEIDENHAIN recommends:
Connect inductive loads and other consumers to the PLC outputs of the
PL 6xxx or UxC 11x. The described effect during switch-on does not occur
there. Use the outputs at X7 only for the control of lamps.
Connecting Assignment
terminals
1 I0
2 I1
3 I2
4 I3
5 I4
6 I5
7 I6
8 I7
9 Reserved (do not use)
10 Reserved (do not use)
Connecting Assignment
terminals
1 I0.A
2 I1.A
3 I2.A
4 I3.A
5 I0.B
6 I1.B
7 I2.B
8 I3.B
9 Power supply for channel A (–TEST.A)
10 Power supply for channel B (–TEST.B)
Danger
Connecting Assignment
terminals
1 Reserved (do not use)
2 Reserved (do not use)
3 Reserved (do not use)
4 Reserved (do not use)
5 Reserved, only use if X14 terminal is vacant:
NC start
6 Reserved (do not use)
7 Reserved, only use if X14 terminal is vacant:
NC start power supply (+24 V NC)
8 Reserved, only use if X15 terminal is vacant:
NC stop
9 Reserved (do not use)
10 Reserved, only use if X15 terminal is vacant:
NC stop power supply (+24 V NC)
Connecting Assignment
terminals
1 Optional: Permissive button channel A / terminal 1 (+24 V)
2 Optional: Permissive button channel A / terminal 2
3 Optional: Permissive button channel B / terminal 1 (+24 V)
4 Optional: Permissive button channel B / terminal 2
5 Reserved, only use if X14 terminal is vacant:
NC start channel A / terminal 1
6 Reserved, only use if X14 terminal is vacant:
NC start channel B / terminal 2
7 Reserved, only use if X14 terminal is vacant:
NC start shared terminal (+24 V NC)
8 Reserved, only use if X15 terminal is vacant:
NC stop channel A / terminal 1
9 Reserved, only use if X15 terminal is vacant:
NC stop channel B / terminal 2
10 Reserved, only use if X15 terminal is vacant:
NC stop shared terminal (+24 V NC)
Danger
Attention
Connecting Assignment
terminals
1a Potentiometer 1
2a Potentiometer 3
3a Do not assign
4a Do not assign
5a Do not assign
6a +5V
7a 0V
1b Potentiometer 2
2b ---
3b Do not assign
4b Do not assign
5b ---
6b +5V
7b 0V
Connecting Assignment
terminals
+ / terminal 1 +24 V NC
– / terminal 2 0 V NC
Note
With the MB 720 without FS, the permissive buttons and the EMERGENCY
STOP of the handwheel must remain externally wired in corresponding
safety circuits!
MB 720 FS:
Pin layout of MB 720 FS:
Connecting Assignment
terminals
1 Permissive button channel A / terminal 1 (+24 V NC)
2 Permissive button channel A / terminal 2
3 Permissive button channel B / terminal 1 (+24 V NC)
4 Permissive button channel B / terminal 2
5 Emergency stop channel A / supply for channel A (–TEST.A)
6 Emergency stop channel A / terminal 2
7 Emergency stop channel B / supply for channel B (–TEST.B)
8 Emergency stop channel B / terminal 2
Danger
O14 O15 O16 O17 O18 O19 O20 O21 O22 O23 O24 O25 O26
S14 S15 S16 S17 S18 S19 S20 S21 S22 S23 S24 S25 S26
NC-Start
O27 O28 O29 O30 O31 O32 O33 O34 O35 O36 O37 O38 O39
S27 S28 S29 S30 S31 S32 S33 S34 S35 S36 S37 S38 S39
Y CVO
Danger
Please note that the PLB 6001 (FS) is supplied with +24 V NC.
For the entire HSCI system, the +24 V NC supply voltage is required to be
safely separated voltage. The +24 V NC supply voltage must not, under any
circumstances, be connected with the +24 V PLC supply voltage, because
this removes the double basic insulation.
July 2013 3.30 HSCI adapter for PLB 6001 (FS) OEM-specific machine operating panel 341
PLB 6001 pin layout Connect Function Page
or
X500 HSCI output 208
X502 HSCI input 208
X161
X172
X173
X23
X500
X502
X18 Reserved –
X164
X174
X30 Reserved –
X31 Permissive button, NC start, NC stop 348
X111
X166
X10
X30
X112
X31
+ 24V
X121
X167
X101
X6
X123
X18
Attention
X172
X173
X23
X500
X502
X174
X166
X10
X30
X31
+ 24V
X121
X122
X101
X6
X123
X18
July 2013 3.30 HSCI adapter for PLB 6001 (FS) OEM-specific machine operating panel 343
X7: PLC outputs Pin layout:
Connecting Assignment
terminals
1 O0
2 O1
3 O2
4 O3
5 O4
6 O5
7 O6
8 O7
9 +24 V NC (available here)
10 0 V NC (available here)
Current carrying capacity of the outputs: Maximum 150 mA per output. In the
event of an overload or short circuit and as a consequence of excessive
temperature, the individual PLC outputs switch off automatically. Then the
outputs will try to switch on again cyclically.
Danger
Please note that the outputs of connector X7 are powered internally by +24 V
NC, and therefore supply +24 V NC at HIGH level.
For the entire HSCI system, the +24 V NC supply voltage is required to be
safely separated voltage. The +24 V NC supply voltage must not, under any
circumstances, be connected with the +24 V PLC supply voltage, because
this removes the double basic insulation.
Each of the switching outputs at X7 supplies up to 150 mA of output
current. They are provided for driving the lamps on the operating panel.
Connecting Assignment
terminals
1 I0
2 I1
3 I2
4 I3
5 I4
6 I5
7 I6
8 I7
9 Reserved (do not use)
10 Reserved (do not use)
Connecting Assignment
terminals
1 I0.A
2 I1.A
3 I2.A
4 I3.A
5 I0.B
6 I1.B
7 I2.B
8 I3.B
9 Power supply for channel A (–TEST.A)
10 Power supply for channel B (–TEST.B)
Danger
Please note that the PLB 6001 is supplied with +24 V NC.
For the entire HSCI system, the +24 V NC power supply voltage is required
to be safely separated voltage. It must also be safely separated from the
+24 V PLC!
July 2013 3.30 HSCI adapter for PLB 6001 (FS) OEM-specific machine operating panel 345
X10: Interface to Designation of the terminals:
keyboard and
potentiometers
Connecting Assignment
terminals
1a Potentiometer 1
2a Potentiometer 3
3a Do not assign
4a Do not assign
5a Do not assign
6a +5V
7a 0V
1b Potentiometer 2
2b ---
3b Do not assign
4b Do not assign
5b ---
6b +5V
7b 0V
Connecting Assignment
terminals
1 Power supply for emergency stop channel A (–TEST.A)
2 Emergency stop channel A
3 Power supply for emergency stop channel B (–TEST.B)
4 Emergency stop channel B
Attention
Danger
The connector for the handwheel on the machine operating panel, as well
as the connector on the handwheel itself, may be removed only by trained
and qualified personnel, even if it can be removed without using a tool.
If the handwheel connector is removed, only basic insulation from line
power (230 V) is provided!
July 2013 3.30 HSCI adapter for PLB 6001 (FS) OEM-specific machine operating panel 347
X30: Permissive Pin layout of PLB 6001 FS:
button,
EMERGENCY STOP Connecting Assignment
on handwheel terminals
1 Permissive button channel A / terminal 1 (+24 V NC)
2 Permissive button channel A / terminal 2
3 Permissive button channel B / terminal 1 (+24 V NC)
4 Permissive button channel B / terminal 2
5 Emergency stop channel A / supply for channel A (–TEST.A)
6 Emergency stop channel A / terminal 2
7 Emergency stop channel B / supply for channel B (–TEST.B)
8 Emergency stop channel B / terminal 2
Connecting Assignment
terminals
1 Optional: Permissive button channel A / terminal 1 (+24 V)
2 Optional: Permissive button channel A / terminal 2
3 Optional: Permissive button channel B / terminal 1 (+24 V)
4 Optional: Permissive button channel B / terminal 2
5 NC start channel A / terminal 1
6 NC start channel B / terminal 2
7 NC start shared terminal (+24 V NC)
8 NC stop channel A / terminal 1
9 NC stop channel B / terminal 2
10 NC stop shared terminal (+24 V NC)
Please note that the PLB 6001 (FS) is supplied with +24 V NC.
For the entire HSCI system, the +24 V NC supply voltage is required to be
safely separated voltage. The +24 V NC supply voltage must not, under any
circumstances, be connected with the +24 V PLC supply voltage, because
this removes the double basic insulation.
Attention
July 2013 3.30 HSCI adapter for PLB 6001 (FS) OEM-specific machine operating panel 349
X101: Power supply Pin layout:
Connecting Assignment
terminals
+ / terminal 1 +24 V NC
– / terminal 2 0 V NC
July 2013 3.30 HSCI adapter for PLB 6001 (FS) OEM-specific machine operating panel 351
X171 to X174: PLB 6001 with or without FS:
PLC outputs
X171: PLC outputs
Assignment Terminal
1 2 3 4 5 6 7 8 9
PLB 6001 O0 O1 O2 O3 O4 O5 O6 O7 24 V PLC for
O0 to O7
July 2013 3.30 HSCI adapter for PLB 6001 (FS) OEM-specific machine operating panel 353
X168: PLC inputs, channel B
Assignment Terminal
1 2 3 4 5 6 7 8 9
PLB 6001 FS 0V I24.B I25.B I26.B I27.B I28.B I29.B I30.B I31.B
PLC
Connection
overview
X40: USB Typ B
USB Typ B
USB Typ A
X1
X52
S
X61 F
E X51
X55 E
F X62
X60
Connector Function
USB Type B USB connection to BF 2xx. The TE 6xx is connected to
the USB hub of the BF 2xx. The maximum permissible
cable length for this USB connection is 3 m. The USB
hub of the TE 6xx only supports USB 1.1.
USB Type A Freely available USB connection (USB 1.1)
Maximum load capacity of USB output: 1 x 100 mA
X1 Screen soft keys of BF 2xx X3 via ribbon cable to
keyboard unit X1
X60 Potentiometer of keyboard unit via ribbon cable to
machine operating panel X10
X52 (S) Connection for spindle-speed override potentiometer
X51 (F) Connection for feed-rate override potentiometer
X62 (E) Connection for rapid-traverse override potentiometer,
alternative to X61 (not with TE 63x)
X55 Connection for feed-rate override potentiometer;
alternative to X51 (not with TE 63x)
X61 Connection for rapid-traverse override potentiometer
Protective ground (M5)
The TE keyboard units are supplied with power via the USB port.
Connection
overview
X40: USB Typ B
USB Typ B
USB Typ A
X1
X52
S
X61 F
E X51
X55 E
F X62
X60
Connector Function
USB Type B USB connection to BF 2xx. The TE 6xx is connected to
the USB hub of the BF 2xx. The maximum permissible
cable length for this USB connection is 3 m. The USB
hub of the TE 6xx only supports USB 1.1.
USB Type A Freely available USB connection (USB 1.1)
Maximum load capacity of USB output: 1 x 100 mA
X1 Screen soft keys of BF 2xx X3 via ribbon cable to
keyboard unit X1
X60 Potentiometer of keyboard unit via ribbon cable to
machine operating panel X10
X52 (S) Connection for spindle-speed override potentiometer
X51 (F) Connection for feed-rate override potentiometer
X62 (E) Connection for rapid-traverse override potentiometer,
alternative to X61 (not with TE 63x)
X55 Connection for feed-rate override potentiometer;
alternative to X51 (not with TE 63x)
X61 Connection for rapid-traverse override potentiometer
Protective ground (M5)
Machine operating The description of the TE 635Q machine operating panel is the same as that
panel of the MB 620, see page 317. The TE 635Q, too, is also available in a
TE 635Q FS version, in which the machine operating panel is designed for use
with functional safety (FS).
Danger
Keyboard unit The description of the TE 635Q control panel corresponds to the description
of the TE 630, see page 356.
Machine operating The description of the TE 635Q machine operating panel is the same as that
panel of the MB 620, see page 317. The TE 635Q, too, is also available in a
TE 635Q FS version, in which the machine operating panel is designed for use
with functional safety (FS).
Danger
Keyboard unit The description of the TE 635Q control panel corresponds to the description
of the TE 630, see page 356.
X40
USB Typ B
USB Typ A
X1
X52
X61 X51
X62
X65 X60
X101 X10
X23
X30 X502
X500
X7 X6 X31
Connector Function
USB Type B USB connection to BF 2xx. The TE 6xx is connected to
the USB hub of the BF 2xx. The maximum permissible
cable length for this USB connection is 3 m. The USB hub
of the TE 6xx only supports USB 1.1.
X40: USB Type B USB connection to USB connector on the front of the TE
USB Type A Freely available USB connection (USB 1.1)
Maximum load capacity of USB output: 1 x 100 mA
X1 Screen soft keys of BF 2xx X3 via ribbon cable to
keyboard unit X1
X60 Potentiometer of keyboard unit via ribbon cable to
machine operating panel X10
X52 (S) Connection for spindle-speed override potentiometer
X51 (F) Connection for feed-rate override potentiometer
X62 (E) Connection for rapid-traverse override potentiometer,
alternative to X61
X55 Connection for feed-rate potentiometer, alternative to
X51
X61 Connection for rapid-traverse override potentiometer
Protective ground (M5)
TE 730, TE 720
NC operating panel in stainless steel design, for 15-inch, with touchpad
TE 730, TE 720 pin layout
X1
X27
X2
X17 E
X19 F
X60 S X11
F X16
E X22
Connector Function
X2: USB Type B USB connection with BF 750. The TE is connected with
the USB hub of the BF 750. The maximum permissible
cable length for this USB connection is 3 m. The USB hub
of the TE only supports USB 1.1.
X1 Screen soft keys of BF 750 X3 via ribbon cable to
keyboard unit X1
X60 Potentiometer of keyboard unit via ribbon cable to
machine operating panel X10
S, X11 Connection for spindle-speed override potentiometer
(pre-assigned by HEIDENHAIN)
F, X19 Connection for feed-rate override potentiometer. There
are two connections—preassigned by HEIDENHAIN
depending on the arrangement of the feed-rate
potentiometer.
E, X17 Connection for rapid-traverse override potentiometer.
There are two connections—preassigned by
HEIDENHAIN depending on the arrangement of the rapid-
traverse potentiometer.
F, X16 Connection for feed-rate potentiometer, alternative to
X19
E, X22 Connection for rapid-traverse override potentiometer,
alternative to X17
X27 Not used
Protective ground (M5)
X1
X27
X2
X17 E
X19 F
X60 S X11
F X16
E X22
X31 X6 X7
X500
X14 X502
X15 X30
X23
X10 X101
Connector Function
X2: USB Type B USB connection with BF 750. The TE is connected with
the USB hub of the BF 750. The maximum permissible
cable length for this USB connection is 3 m. The USB hub
of the TE only supports USB 1.1.
X1 Screen soft keys of BF 750 X3 via ribbon cable to
keyboard unit X1
X60 Potentiometer of keyboard unit via ribbon cable
(enclosed) to machine operating panel X10
S, X11 Connection for spindle-speed override potentiometer
(pre-assigned by HEIDENHAIN)
F, X19 Connection for feed-rate override potentiometer. There are
two connections—preassigned by HEIDENHAIN depending
on the arrangement of the feed-rate potentiometer.
E, X17 Connection for rapid-traverse override potentiometer. There are
two connections—preassigned by HEIDENHAIN depending on
the arrangement of the rapid-traverse potentiometer.
F, X16 Connection for feed-rate potentiometer, alternative to X19
E, X22 Connection for rapid-traverse override potentiometer,
alternative to X17
X27 Not used
Protective ground (M5)
X10 Potentiometer of X60 keyboard unit via ribbon cable (enclosed) 338
X40
X27
X1
X2
X17 E
X19 F
X60 S X11
F X16
E X22
Connector Function
X2: USB Type B USB connection with BF 760. The TE 740 is connected
with the USB hub of the BF 760. The maximum
permissible cable length for this USB connection is 3 m.
The USB hub of the TE 740 only supports USB 1.1.
X40: USB Type B USB connection for execution of the USB connection from
the BF 760 to the USB connector in the front of the TE
X1 Screen soft keys of BF 760 X3 via ribbon cable to
keyboard unit X1
X60 Potentiometer of keyboard unit via ribbon cable to
machine operating panel X10
S, X11 Connection for spindle-speed override potentiometer
(pre-assigned by HEIDENHAIN)
F, X19 Connection for feed-rate override potentiometer. There are
two connections—preassigned by HEIDENHAIN depending
on the arrangement of the feed-rate potentiometer.
E, X17 Connection for rapid-traverse override potentiometer. There are
two connections—preassigned by HEIDENHAIN depending on
the arrangement of the rapid-traverse potentiometer.
F, X16 Connection for feed-rate potentiometer, alternative to X19
E, X22 Connection for rapid-traverse override potentiometer,
alternative to X17
X27 Not used
Protective ground (M5)
X40
X27
X1
X2
X17 E
X19 F
S X11
X60
F X16
E X22
X31 X6 X7
X500
X14 X502
X15 X30
X23
X10 X101
TE connector Function
X2: USB Type B USB connection with BF 760. The TE 745 is connected with the USB hub of the
BF 760. The maximum permissible cable length for this USB connection is 3 m.
The USB hub of the TE 745 only supports USB 1.1.
X40: USB Type B USB connection for execution of the USB connection from the BF 760 to the
USB connector in the front of the TE
X1 Screen soft keys of BF 760 X3 via ribbon cable to keyboard unit X1
X60 Potentiometer of keyboard unit via ribbon cable (enclosed) to machine operating
panel X10
S, X11 Connection for spindle-speed override potentiometer
(pre-assigned by HEIDENHAIN)
F, X19 Connection for feed-rate override potentiometer. There are two connections—
preassigned by HEIDENHAIN depending on the arrangement of the feed-rate
potentiometer.
E, X17 Connection for rapid-traverse override potentiometer. There are two
connections—preassigned by HEIDENHAIN depending on the arrangement of
the rapid-traverse potentiometer.
F, X16 Connection for feed-rate potentiometer, alternative to X19
E, X22 Connection for rapid-traverse override potentiometer, alternative to X17
X27 Not used
The TE keyboard units are supplied with power via the USB port (USB type B).
USB cables that are connected to the USB ports of the TE keyboard units must
be fixed with the corresponding cable tie to protect the USB connectors from
mechanical load (strain relief).
Note
The current HDD files of the HEIDENHAIN operating panel components are
a part of the installation package of IOconfig. You can download the current
HDD files as a ZIP archive from the HESIS-Web Including Filebase on the
Internet (http://hesis.heidenhain.de).
For this area you need access rights.
As an alternative, please get in touch with your contact partner at
HEIDENHAIN to obtain the current HDD file.
On the underside of the machine operating panel are terminal strips bearing
where further PLC outputs and PLC inputs are located. Also, connection X23
for HR handwheels is on the underside of the MB.
It must be ensured that negative pressure cannot develop in the panel in
which the machine operating panel is installed. Negative pressure in the panel
can lead to increased contamination of the machine operating panel, which
must be avoided by enabling pressure compensation, for example via the
cable duct between the electrical cabinet and the panel.
Danger
Please note that the integrated machine operating panel of the TE 745 (FS)
is powered by +24 V NC.
For the entire HSCI system, the +24 V NC supply voltage is required to be
safely separated voltage. The +24 V NC supply voltage must not, under any
circumstances, be connected with the +24 V PLC supply voltage, because
this removes the double basic insulation.
X2
X140
X142 X141
X144 X143
X1
24V
X3
X1: +24 V-power Connection for the +24 V power supply of the BF 2xx. The screen can be
supply for BF-2xx powered by +24 V NC or +24 V PLC through the integrated power supply unit
of the BF 2xx.
Connecting Assignment
terminals
+ / terminal 1 +24 V
– / terminal 2 0V
X3: Connection of Connection of the screen soft keys to the TE 6xx keyboard unit connector X1
screen soft keys via ribbon cable.
X140: USB input Connection for the integrated USB hub to the MC 6xxx connector X141 or
X142. The USB hub of the BF 2xx supports USB 2.0.
X141 to X146: BF 250: Five freely available connections for additional USB devices. One of
USB output them on the front of the BF 250.
Maximum load of the five USB outputs of the BF 250:
4 x 500 mA, 1 x 100 mA, distributed as desired
X140
X142 X141
X144 X143
X146 X145
X1 24V
X3 X5
X1: +24 V power Connection for the +24 V power supply of the BF 2xx. The screen can be
supply for BF 2xx powered by +24 V NC or +24 V PLC through the integrated power supply unit
of the BF 2xx.
Connecting Assignment
terminals
+ / terminal 1 +24 V
– / terminal 2 0V
X3: Connection of Connection of the screen soft keys to the TE 6xx keyboard unit connector X1
screen soft keys via ribbon cable.
X140: USB input Connection for the integrated USB hub to the MC 6xxx connector X141 or
X142.
X141 to X146: USB BF 260: Six freely available connections for additional USB devices.
output
Maximum load capacity of the six USB outputs of the BF 260:
4 x 500 mA, 2 x 100 mA, distributed as desired
Settings To be able to use the entire 19-inch screen, you first have to adjust the
resolution setting.
You must enter GRAPHICSRESOLUTION = 1280x1024 in the OEM.SYS for this. This
setting goes into effect after you have restarted the control.
Soft keys The introduction of the 19-inch screen made it possible to offer a second
vertical soft-key row. It is on the left edge of the screen. The keystrokes are
evaluated and processed by the PLC program or a Python program. The table
below shows the key codes of the soft keys in word W274:
Also, new parameters and keywords were introduced for the left soft-key row.
The left soft-key row is displayed as a pop-up menu.
Keywords in the
soft-key menus
Entry in *.SPJ Meaning
Keywords for menu definition:
ROWDEF Specifies the position of a soft-key menu that does
not span the entire soft-key row.
SKPREVDEF Defines the key that triggers the page left/up
function.
SKNEXTDEF Defines the key that triggers the page right/down
function.
Note
Danger
Note
HEIDENHAIN would like to point out that the permissive buttons on the
HR 520, HR 420 and HR 410 handwheels are not cross-circuit proof. If your
machine requires a handwheel with cross-circuit proof permissive buttons,
you must use a HR 410FS or HR 520FS handwheel.
You must calculate the probability of failure according to EN 13849-1 for the
safety circuit with permissive-button information. This value is used to
determine a maximum testing time for this safety circuit, which must not be
exceeded. The control must be turned off and on again within this testing
time.
Additional components ID
Dummy plug for emergency stop circuit 271958-03
Connecting cable
Spiral cable 312879-01
Normal cable 296467-xx
Metal armor tubing 296687-xx
Note
Due to the changed logic of the permissive buttons, do not replace the
HR 520FS and HR 410FS with the respective variant without FS.
Please note that even if servicing is required, an HR 520FS may not be
replaced by an HR 520. This also applies to replacing an HR 410FS with
an HR 410, and vice versa.
Note
Please note that the dummy plug for FS handwheels may not be
exchanged for the respective variant without FS.
For reasons of technical safety, only dummy plugs for FS handwheels
(ID 271958-05) may be used on systems that have an FS handwheel.
For reasons of technical safety, only dummy plugs for standard
handwheels (ID 271958-03) may be used on systems that have a
standard handwheel (without FS).
No cross-circuit safety
for permissive buttons
X2/ X1/ X1/ X1/ X2/ Handwheel adapter X2/ X1/ X1/ X1/ X2/
1 3 3 1 2 4 2 ID 296 466-xx 1 3 3 1 2 4 2
0 0 No 0 0 Noa
0 1 No 0 1 No
1 0 No 1 0 Yes
1 1 Yes 1 1 Noa
a. Invalid state: Error (broken wire or cross circuit). This state should
be interrogated in the PLC program, and a corresponding error
message should be displayed.
The safety circuit (e.g. safety contactor combination) and the PLC program
must evaluate the new logic behind the permissive buttons. Only the state X1/
1 = 1 and X1/2 = 0 at the handwheel adapter (ID 296466-xx) is valid for
permission.
X2/ X1/ X1/ X1/ X2/ Handwheel adapter X2/ X1/ X1/ X1/ X2/
1 3 3 1 2 4 2 ID 296 466-xx 1 3 3 1 2 4 2
0 0 No 0 1 No
General notes on Please note the following information when using handwheels and dummy
handling and plugs, and also give this information to your customers:
operation
Note
max. 2m
50m
749 369-xx 749 368-xx HRA 551 FS
731 928-xx
296 467-xx HR 550 FS
20m 598 515-xx
606 622-xx
296 466-xx
50m
312 879-01 HR 520 HR 520 FS
3m 670 302-xx 670 304-xx
670 303-xx 670 305-xx
MB 720 296 466-xx 296 467-xx
HR 410 HR 410 FS
MB 620 296 687-xx 296 469-xx 337 159-xx
535 220-xx 578 114-xx
TE 735 VL
TE 745 281 429-xx HR 130
540 940-01
TE 645Q 50m -03
X23
PLB 6001 HRA 110
261 097-xx max. 20 m
683 259-xx HR 150
3 inputs
540 940-06
-07
Pin layout for the various extension cables, adapter cables, connecting cables,
and the handwheel:
Danger
Danger
If the machine operator moves with the HR too far away from the HRA, a
vibration alarm announces that transmission is weak before the machine
operator has actually left the radio range. If the machine operator leaves the
radio range anyway, or if radio communication is interrupted for other reasons,
the HRA relay contacts for emergency stop and for the permissive buttons will
open. You must ensure through appropriate wiring that this triggers an
emergency stop on the control.
HEIDENHAIN also recommends that you always place the wireless
handwheel into the HRA 551FS adapter when you are not using it. This
prevents you from confusing the different handwheels. It also ensures that
the handwheel battery is recharged and prevents an unexpected emergency
stop reaction triggered by an empty battery.
Note
This device must not be co-located or operated in conjunction with any other
antenna or transmitter.
Note
Revised variants:
HR 550FS mobile wireless handwheel: ID 598 515-03
HR 550FS mobile wireless handwheel (with detent)ID 606 622-03
HRA 551FS base and charging station for HR 550FS: ID 731 928-02
In mid-2012, the wireless handwheel system was revised with respect to the
radio connection. During this modification, the transmitter-receiver electronics
of the wireless handwheel system was improved significantly regarding the
sensitivity to interference.
Please note that the previous versions of the HR550FS and HRA551 and the
new, revised versions cannot be exchanged with each other anymore. This
means that both units (HR and HRA) must be replaced if replacement of a HR
550FS (variant -02 by -03) or HRA 551FS (variant -01 by -02) is necessary.
Moreover, HEIDENHAIN recommends an update of the control hardware to
the NC software 34049x-07 SP5, NC-Software 60642x-02 SP5 or higher due
to further improvements in communication with the control.
50m
max. 2m
HRA 551 FS HR 550 FS
749 368-xx
731 928-xx 598 515-xx
606 622-xx
296 467-xx
20m
749 369-xx
296 466-xx
50m
312 879-01
HR 520
3m 670 302-xx
296 467-xx 670 303-xx
296 466-xx HR 410
296 687-xx 296 469-xx
535 220-xx
VL
281 429-xx HR 130
540 940-01
50m -03
X23
HRA 110
683 259-xx 261 097-xx max. 20 m HR 150
3 Eingänge
540 940-06
-07
The relay contacts for the permissive buttons and emergency stop button on
the HRA are four individual, normally open contacts. This information can then
be picked up at the cable adapter.
Behavior of the emergency stop contacts
When the emergency stop button is not pressed, the relays are actuated,
and therefore the relay contacts are closed. If an emergency stop is
triggered, the control voltage of the relays will be switched off and the relay
contacts will open. For the control and the associated safety circuits, the
relay contacts have the same effect as normally closed contacts.
If the batteries of the wireless handwheel are empty or if the wireless
handwheel is out of range, the relay contacts are open.
Behavior of the contacts for the permissive buttons
Depending on the setting in MP7645.3, the permissive buttons are
represented as two normally open contacts, or as one normally open
contact and one normally closed contact. This makes it possible to adapt the
handwheel (permissive buttons) to the requirements of the planned safety
design of the respective machine.
HEIDENHAIN recommends setting the MP7645.3 to 1 to make the
handwheel permissive buttons cross-circuit proof. To ensure compatibility
with previous machine designs, MP7645.3 is set to 0 by default.
• MP7645.3 = 0:
When neither of the two permissive buttons is pressed, both relays are
without control voltage, and therefore the relay contacts are open.
When at least one permissive button is pressed, both relays are
actuated and both relay contacts close.
• MP7645.3 = 1:
When neither of the two permissive buttons is pressed, one of the
relays is without control voltage, and relay contact A is open. When at
least one of the permissive button is pressed, the relay is actuated and
relay contact A closes. When neither of the two permissive buttons is
pressed, control voltage is applied to the other relay and relay contact B
is closed. When at least one of the permissive button is pressed, the
relay is not actuated anymore and relay contact B opens. MP7645.3
must be set to 1 for machines with HEIDENHAIN functional safety.
Note
Extension cable, ID Adapter cable, ID For connecting cable ID, HRA 551FS
281429-xx 296466-xx see "Introduction"
chapter.
D-sub D-sub D-sub Mounted Cnnctr. (male) Cnnctr.
connector connector connector coupling (5+7)-pin (female)
(male) 9-pin (female) (male) 9-pin (female) (5+7)-pin
9-pin (5+7)-pin
Hsg. Shield Housing Hsg. Shield Housing Hsg. Shield Housing Hsg. Internal
X230
2 White 2 2 White E E White E E
4 Brown 4 4 Brown D D Brown D D
6 Yellow 6 6 Yellow B B Yellow B B
7 Gray 7 7 Gray A A Gray A A
8 Green 8 8 Green C C Green C C
WH/BK 6 6 BK 6 6 8
YL/BK 7 7 RD/BL 7 7 7
WH/RD 5 5 Red 5 5 5
WH/BL 4 4 Blue 4 4 6
WH/GN 2 2 WH/GN 2 2 3
WH/YL 3 3 BN/GN 3 3 1
WH/BN 1 1 GY/PK 1 1 4, 2
WH/BN X1/3 Contacts A + B
WH/YL X1/1 Contact B (permissive button)
WH/GN X1/2 Contact A (permissive button)
WH/BL X2/1 Contact A/Terminal 1 (EMERGENCY STOP)
WH/RD X2/2 Contact A/Terminal 2 (EMERGENCY STOP)
YL/BK X2/4 Contact B/Terminal 1 (EMERGENCY STOP)
WH/BK X2/3 Contact B/Terminal 2 (EMERGENCY STOP)
Note
Danger
MP 7645.3 = 0
Cable Adapter
Contact 2
Contact 1 X2
Contact1
Contact 2
ConatctA+B
Conatct B X1
Contact A
MP 7645.3 = 1
Cable Adapter
Contact 2
Contact 1 X2
Contact1
Contact 2
ConatctA+B
Conatct B X1
Contact A
Additional components ID
Connecting cable
Spiral cable 312879-01
Normal cable 296467-xx
Metal armor tubing 296687-xx
WLAN networks In production environments, the ISM band is most frequently used by WLAN
networks. Due to their transmitting/receiving characteristics and the
transmitting power to be expected, these networks are not suitable for being
operated in the same frequency range as a wireless handwheel system. A
wireless handwheel system must always be operated outside the frequency
range of a WLAN network.
Note
Formula for the next vacant wireless handwheel channel (TNC channel)
depending on a WLAN channel:
TNC channel+ = WLAN channel + 3
TNC channel– = WLAN channel – 2
Example:
TNC channel+ = 6 + 3 = 9
TNC channel– = 6 – 2 = 4
Pin layout Pin layout for the various extension cables, adapter cables, connecting cables,
and the handwheel:
contact 1
contact 2
cable adapter
contact 2
contact 1
contact 1
contact 2
contact 1+2
contact 2
contact 1
Additional components ID
Dummy plug for emergency stop circuit 271958-03
Connecting cable
Spiral cable 312879-01
Normal cable 296467-xx
Metal armor tubing 296687-xx
Attention
Attention
Attention
Attention
The power supply of the PLC must not be used simultaneously for the HRA
110, otherwise the galvanic isolation of the PLC inputs/outputs would be
bridged.
HRA 110
Connecting terminal Assignment
1 +24 V– (PELV as per EN 61800-5-1)
2 0V
Danger
Before service or maintenance work, you must ensure that the CML 110
has been completely discharged.
The CML 110 (Capacitor Module Low Voltage) can be used to realize the
LIFTOFF function if line power fails.
The LIFTOFF function can protect workpieces and tools from damage. When
a power failure occurs and the LIFT OFF function is active, the iTNC 530 HSCI
tries to lift the tool off of the contour, using the residual energy of the DC-link.
In this case, the various releases for operating the control system must be
maintained during the LIFTOFF. The CML 110 ensures the 24 V supply for
this.
Connection The CML 110 capacitor module is connected via X1 parallel to the 24 V power
supply (++/- -).
The two ++ and - - terminals of the CML 110 are each connected to each other
internally. This makes it possible to connect several CMLs 110 in parallel
without needing to use additional external terminals.
where:
t = time until UC is reached
RL = ohmic load of the consumers
C = capacitance of the CML (for CML 110 = 8.3 F)
ln = natural logarithm
UO = output load of the power supply unit with which the CML is operated
UC = lowest voltage at which the consumers still fulfill their function
Cables— Keep the following in mind for wiring inside the electrical cabinet:
Instructions for
The stray magnetic field of a KDR 1xx commutating reactor can disturb
wiring
conductors routed in its proximity. This means that no conductors (such as dc-
voltage lines and signal lines), except for the power connections of the motor
and the connections between the UVR 1xx and KDR 1xx, should be routed in
the proximity of the KDR 1xx. HEIDENHAIN recommends leaving a space of
20 cm around the commutating reactor. This distance is to be maintained
regardless of the KDR 1xx used.
Note
59.5+0.5
25
¬ 5.5
24.75
¬ 12 280.5
7
30
456+5
480
420
24.75
265.5
59.5+0.5
25
¬ 5.5
24.75
¬ 12 280.5
7
30
30
456+5
420
480
420
24.75
269
59.5+0.5
25
¬ 12 21.5 30 170±0.2
7
¬
4.8
30
319+5
343
300±0.3
283
24.75
225.5
¬ 10
¬ 8+1
42
1
84+2
34+2
8.5±1 8.5±1
400
376±0.2 12 20
15
10
29±1
332±0.2
350
9.5±1
¬ 5.5
15
4x M5
f 331.5+1
332±0.2
0.5 m
(4.75) 15x45°
376±0.2
f 385.5+1
90°
28+2
86+2
9.25±0.1 9.25±1
400
¬ 8+1
20
376±0.2 12
15
10
19±1
M5
287±1
332±0.2
350
¬ 10
15
R5
¬ 5.5 1.4
b
2
4.75 376±0.2 4x M5
f 331.5
15x45°
332±0.2
0.5 m
f 385.5
37.4
400 45+5
376±0.2 12 2-0.5
8
90°
M5
94±0.2
110
¬ 10
R5
¬ 8+1
¬ 5.5 1.4
5.4
4 376±0.2 4x M5
12x45°
94±0.2
f 94
0.5 m
f 384
400 62 +10
8
0
M5
354±0.2
370
294.5
X
339
¬ 10
¬ 8 +10
¬ 5.5 1
76.50
4
M5
11x45° X (2x)
354 +10
2:1
354±0.2
2.2 +0.4
0
4
+0.
f
m 2.3 0
¬2
376±0.2
24.1 +0.4
+1
f 384 0
0
500
60
476±0.2 12 45.1 +10
8
M5
384±0.2
400
¬ 10
¬ 8 +10
¬ 5.5 1
4
8 0.5
0
M5
X (4x)
2:1
3.2 +0.2
0
370 +10
4
+0.
2.3 0
¬2
384±0.2
m
24.1 +0.4
0
476±0.2
+1
f 484 0
24.5
400 30+5
376±0.2 12 2-0.5
8
90°
258±0.2
274
M5
¬ 10
R5 ¬ 8+1
¬ 5.5 1.4
5.4
4 376±0.2 4x M5
f 258
11x45°
258±0.2
0.5 m
f 384
24.5
400 30+5
376±0.2 12 2-0.5
8
90°
258±0.2
274
M5
¬ 10
R5
¬ 8+1
¬ 5.5 1.4
5.4
4 376±0.2 4x M5
f 258
11x45°
258±0.2
0.5 m
f 384
37.4
400 45+5
376±0.2 12 2-0.9
8
90°
M5
354±0.2
370
¬ 10
R5
¬ 8+1
¬ 5.5 1.4
5.4
4 376±0.2 4x M5
f 354
13x45°
354±0.2
0.5 m
f 384
30+1
25+1
30+1
25+1
24.5
500 30+5
476±0.2 12 2-0.5
8
90°
284±0.2
300
M5
¬ 10
R5
¬ 8+1
¬ 5.5 1.4
5.4
4 476±0.2 4x M5
f 284
11x45°
284±0.2
0.5 m
f 484
37.4
500 45+5
476±0.2 12 2-0.9
8
90°
M5
334±0.2
350
¬ 10
R5
¬ 5.5 ¬ 8+1 1.4
5.4
4 476±0.2 4x M5
f 334
13x45°
334±0.2
0.5 m
f 484
400
78.5
12 376±0.2
¬ 5.5 76.5
10
25
20
332±0.2
350
25
34
X
335
15x45°
2.5
17
M5
67
4x M5
f 331.5+1
332±0.2
309
276.5
4.8
0.5 m 20
376±0.2
f 385.5+1
74.1
400 72.1
376±0.2 12 2-0.5
10
25
90°
20
X
332±0.2
350
25
¬ 10
b
R5
¬ 5.5 1.4
5.4
X
11
4.8 376±0.2
4x M5
2.5
15x45°
306
f 331.5
332
146
m
4
0.5
20
f 385.5+1
9.3 381.5
380
186 211
500
476±0.2 12
8
384±0.2
400
¬ 5.5
476
2 4x M5
2
14x45°
384±0.2
f 380±0.5
f 480±0.5 0.5 m
20
10
373.25
245
14.75
¬ 10
67
72+2
500 28.2
476±0.2 12 2-0.5
8+1
10
8
90°
20
X
384±0.2
400
245
¬ 10
67
R5
¬ 5.5 1.4
b
X 5.4
478
11
11.5
476
2 4x M5
2
88
14x45°
f 380±0.5
384±0.2
376.25
245
0.5 m
f 480±0.5
211 186
74.5+0.5
25 ¬ 5.5
24.75 ¬ 12
30
7
280.5 22.5+1
456+5
480
420
99.5+0.5
50±0.2
24.75
¬ 5.5
¬ 12
30
280.5 22.5+1
7
456+5
480
420
100±0.2 24.75
¬ 12
7
10
433
480
456
5.5 280
149.5
¬ 5.5
¬ 12
7
456+5
480
430
280.5
284.5
5.5
100±0.2 24.75+0.5
149.5
100
2.75
136
51 119
PL 6x04: 139, PL 6x06: 183, PL6x08: 227 132
100
148
40
24
¬
7
109.5±0.2
133+2
3.4
288.4
295
304
300+1 ¬ 12
280+1 ¬ 5.5
7
M4
30
10
85.1
M6
198±0.2
212
B
162
M5
5.5
24.75
49
234.9
¬ 12
¬ 5.5 280.5+1
7
M4
30
0
10
73.4
170.9
456±0.2
480
420
354.6
M6
B
M5
5.5
303+1
24.75
50
300+1
280.5+1
7
29
10
480
421
456±0.2
303+1 5.5
24.75
50
38+1
156+1
1
181.5±0.5
10.5
¬ 3.5
60
5
0
118.5+0.5
140
120±0.2
130±0.2
0
5.25
171±0.2
34
64
12.5
36
¬9
¬5
58
46
29
*)
20
32
15
127
*)
3.44.32 Handwheels
HR 520
79.7
78.7
46
90
311.7
336
120 46.5
83±0.2 27
¬ 5.5
71°
56
137±0.2
44
180
HR 550FS
79.7
78.7
46
90
312
136
76.5
120 57
83±0.2 4
12
6
192±0.2
204
180
323
M5 38 14 64 23
32x15
¬ 55
Ø 36
4
32
19
¬ 34
44
44
M4
¬ 37
¬ 5.5 S S
Mounting opening for wall thickness S £ 4 Mounting opening for wall thickness S > 4
TT 130 / TT 140
Ø 72
Ø 60
116.2
41.2
29.2
Ø 25.2
102.5
106.5
Hutschiene 35 mm EN 50 022
Mounting rail 35 mm EN 50 022
55 14.9 2
4
50
M3
40
28
17.5
109 80
100±0.2
A
70±0.2
50±0.2
¬ 3.4 m
¬ 2.5
68
¬ 3.5
17.5
30±0.2
37
19
93.2
A 180°
42
60±0.2
July 2013 3.45 iTNC 530 HSCI grounding diagram with modular HEIDENHAIN inverter system—External PSL 13x 465
3.46 iTNC 530 HSCI grounding diagram with modular HEIDENHAIN inverter system—Power supply unit integrated in UV(R)
_ p
July 2013 3.46 iTNC 530 HSCI grounding diagram with modular HEIDENHAIN inverter system—Power supply unit integrated in UV(R) 466
3.47 iTNC 530 HSCI basic circuit diagram
You can find the current basic circuit diagrams in the download area of the HEIDENHAIN HESIS-Web including Filebase on the Internet at http://portal.heidenhain.de.
For this area you need access rights that you can request via e-mail.
July 2013 3.47 iTNC 530 HSCI basic circuit diagram 467
468 HEIDENHAIN Technical Manual iTNC 530 HSCI
3.48 iTNC 530 HSCI cable overview—Basic configuration, MC in electrical cabinet
Please note that the cable overviews already contain components in the new design (Design 7).
HSCI
X502
618 893-xx
HSCI
618 893-xx
360 974-xx (LS x87) max. 20m
cabinet 298 429-xx (LB, LF 183) max. 12m
298 430-xx (LF 481) max. 12m
HSCI 722 414-xx M12 688 144-xx 625 901-xx
1 VPP 60m
max. 20m
X500
USB 2.0 354 770-xx max. 5m USB 310 199-xx
USB 1.1 624 775-xx max. 20m 1 VPP
X500
MC 6xxx
X201A ... X204A
Position inputs
X502A X201B ... X206B*)
X502 3) LC x83
558 714-xx max. 30m
PL 610x
X500A
CC 6xxx 4)
3) EnDat with incremental signals
X502B***) ***) CCs with 2nd controller board 673 459-xx max. 20m 4) Pure serial EnDat 2.2
HSCI 30m
X500B***) X15A ... X18A VL
3) 3)
X15B ... X20B*) 332 115-xx 323 897-xx
60m
X51A...X54A X51B...X56B* 4) 4)
533 627-xx 368 330-xx 1m RCN 729
PWM RCN 226
out RCN 228
1) Adapter connector 544 703-01
for spindle (if necessary) 3) LC x83
533 631-xx max. 9m
2) only for connection of the KTY
4)
1 VPP 533 661-xx max. 16m
1)
60m
Speed inputs
VL 289 440-xx
336 847-xx 509 667-xx 1m RCN 729
RCN 226
Axes + spindle: 60m RCN 228
Voltage controller 5 V
368 210-01 VL
2) LC x83
336 376-xx 323 897-xx 533 631-xx max. 6m
KTY 60m
EnDat 2.1 interface Voltage controller 5 V
383 951-01
340 302-xx 336 376-xx 289 440-xx LB/LS
max. 9m
1 VPP
Axes: 60m KTY
July 2013 3.48 iTNC 530 HSCI cable overview—Basic configuration, MC in electrical cabinet 469
3.49 iTNC 530 HSCI cable overview—Basic configuration, MC in operating panel
Please note that the cable overviews already contain components in the new design (Design 7).
HSCI
X502
310 199-xx
1 VPP
PL 620x
X500 309 783-xx 1 VPP
X500A
KTY 60m
Voltage controller 5 V
EnDat 2.1 interface 383 951-01
340 302-xx 336 376-xx 289 440-xx LB/LS
max. 9m
1 VPP
Axes: 60m KTY
July 2013 3.49 iTNC 530 HSCI cable overview—Basic configuration, MC in operating panel 470
3.50 iTNC 530 HSCI cable overview—Basic configuration, MC in electrical cabinet, UEC 1xx
Please note that the cable overviews already contain components in the new design (Design 7).
X1
BF 760
X1 ribbon cable for sk *) X3
BF 750 Bold (e.g. BF 760) Design 7,
available as of mid-2012
ribbon cable for sk *)
X10
633 299-04
BF 2xx Normal (e.g. BF 250) Design 6
HSCI
618 893-xx X502
HSCI
618 893-xx
X500
UEC 11x Position inputs
X502 3) LC x83
X201 ... X204 (UEC 111) 558 714-xx max. 30m
X500 X201 ... X205 (UEC 112)
X502 4)
3) EnDat with incremental signals
PL 610x 673 459-xx max. 20m 4) Pure serial EnDat 2.2
30m
PLC I/O 332 115-xx
3)
VL
323 897-xx
3)
60m
40 Eingänge 4) 4)
HSCI 533 627-xx 368 330-xx 1m RCN 729
X15 ... X18 (UEC 111)
24 Ausgänge RCN 226
X15 ... X19 (UEC 112)
RCN 228
X80 ... X84
3) LC x83
1) Adapter connector 544 703-01 533 631-xx max. 9m
for spindle (if necessary)
4)
2) Only for connection of the KTY 533 661-xx max. 16m
1 VPP
60m
1)
Speed inputs
KTY 60m
EnDat 2.1 interface Voltage controller 5 V
383 951-01
340 302-xx 336 376-xx 289 440-xx LB/LS
max. 9m
1 VPP
Axes: 60m KTY
July 2013 3.50 iTNC 530 HSCI cable overview—Basic configuration, MC in electrical cabinet, UEC 1xx 471
3.51 iTNC 530 HSCI cable overview—Basic configuration, MC in operating panel, UEC 1xx
Please note that the cable overviews already contain components in the new design (Design 7).
X10
HSCI total length 70 m
ribbon cable for pots **)
X500 *) included with the MC (1,5m)
X10
X502 **) included with the MB (0,5m)
MB 720 12.04.2012
MB 620
HSCI
X502
HSCI
1 VPP 60m
HSCI
310 199-xx
Cabinet 1 VPP
X502
UEC 11x
X502 Position inputs
X500 PL 610x X201 ... X204 (UEC 111)
3) LC x83
X500 558 714-xx max. 30m
X201 ... X205 (UEC 112)
4)
3) EnDat with incremental signals
673 459-xx max. 20m 4) Pure serial EnDat 2.2
30m
HSCI PLC I/O 3)
VL
3)
332 115-xx 323 897-xx
40 inputs 60m
X15 ... X18 (UEC 111) 4) 4)
24 outputs 533 627-xx 368 330-xx 1m RCN 729
X15 ... X19 (UEC 112) RCN 226
X80 ... X84 RCN 228
1) Adapter connector 544 703-01
3) LC x83
for spindle (if necessary) 533 631-xx max. 9m
2) only for connection of the KTY 4)
1 VPP 533 661-xx max. 16m
1)
60m
Speed inputs
VL 289 440-xx
336 847-xx 509 667-xx 1m RCN 729
RCN 226
RCN 228
Axes + spindle: 60m Voltage controller 5 V
368 210-01 2) VL
336 376-xx 323 897-xx LC x83
533 631-xx max. 6m
KTY 60m
EnDat 2.1 interface Voltage controller 5 V
383 951-01
340 302-xx 336 376-xx 289 440-xx LB/LS
max. 9m
1 VPP
Axes: 60m KTY
July 2013 3.51 iTNC 530 HSCI cable overview—Basic configuration, MC in operating panel, UEC 1xx 472
3.52 Cable overview for iTNC 530 HSCI with HEIDENHAIN inverter systems
V~ power supply
(L1, L2, L3) Compact inverter (nonregenerative) KDR 120
Compact inverter (regenerative)
250 479-07...-16 X51 ... X62 250 479-07...-16 X51 ... X62
PW 210 Three-phase
X51A ... X54A ac capacitor X51A ... X54A
250 479-07...-16 X51B ... X56B 348 993-01 250 479-07...-16 X51B ... X56B
Line filter
X69 325 816-xx X69 X69 325 816-xx X69
EPCOS 35 A
15m 15m
V~ power supply
See Motors catalog (L1, L2, L3) See Motors catalog
for power cable to motor for power cable to motor
V~ power supply
Modular inverter (nonregenerative) (L1, L2, L3) Modular inverter (regenerative)
UV UM 1xx UM 1xx UM 1xx CC 42x UVR UM 1xx UM 1xx ZKF 1xx UM 1xx UP 110 CC 42x
130 D CC 61xx 1xx D (if needed) CC 61xx
Line filter
EPCOS xx
250 479-07...-16 X51 ... X62 250 479-07 ... -16 X51 ... X62
PW 210
X51A ... X54A X51A ... X54A
250 479-07...-16 X51B ... X56B 250 479-07 ... -16 X51B ... X56B
(if needed)
V~ power supply
(L1, L2, L3)
15m 15m
KDR 1xx
See Motors catalog See Motors catalog
for power cable to motor for power cable to motor
July 2013 3.52 Cable overview for iTNC 530 HSCI with HEIDENHAIN inverter systems 473
3.53 iTNC 530 HSCI cable overview—Accessories
Please note that the cable overviews already contain components in the new design (Design 7; in boldface type).
max. 2m
50m
749 369-xx 749 368-xx HRA 551 FS
731 928-xx
296 467-xx HR 550 FS
20m 598 515-xx
100m 606 622-xx
PL 550 296 466-xx
50m
312 879-01 HR 520 HR 520 FS
3m 670 302-xx 670 304-xx
670 303-xx 670 305-xx
MB 720 296 466-xx 296 467-xx
HR 410 HR 410 FS
515 845-01 516 670-01
MB 620 296 687-xx 296 469-xx 337 159-xx
535 220-xx 578 114-xx
TE 735 VL
516 670-01 TE 745 281 429-xx HR 130
540 940-01
TE 645Q 50m -03
X23
PLB 6001 HRA 110
261 097-xx max. 20 m
683 259-xx HR 150
3 inputs
540 940-06
-07
X121 Ethernet Adapter 9 pin
(Option) 363 987-02 20m
355 484-xx 366 964-xx
X26
5m
354 770-xx Bold (e.g. MB 720) Design 7
X141 USB hub Normal (e.g. MB 620) Design 6
X142 582 884-01
624 775-xx
Connector housing must be mounted
12.04.2012
30m
CC 6xxx CMA-H 04-04-00
analog axis
20m with connection of a USB hub
633 608-xx
X112
517 375-xx
633 613-xx
TS 220
293 488-xx With NC software 606 42x-01 for iTNC 530 HSCI
and 340 56x-xx for TNC 620: only TS 64x / not TT 449
PL 620x X113
633 616-xx
TS 44x
588 008-xx As of NC software 606 42x-02 for iTNC 530 HSCI:
TS and TT possible via SE 642
50m 30m SE 540
626 001-xx TT 449 TS 642
TT 140
593 007-xx 653 217-xx
527 797-xx
50m SE 642
PLC xxx xxx-xx
652 792-xx
Enter into OEM.SYS, using the code word AXISNUMBER =, the number of axes
being used, so that only the necessary index parameters are displayed.
With other machine parameters you can activate specific functions. In this
case, the parameters serve as on/off switches for these functions. These
parameters are bit-encoded. Each bit is assigned either to an axis or a function.
July 2013 4.2 The Machine Parameter Programming mode of operation 477
4.3 Input and output of machine parameters
If the machine parameters have not yet been entered in a HEIDENHAIN
contouring control (e.g., before commissioning), the iTNC presents the list of
machine parameters after the memory test:
Enter the values for the machine parameters either by hand on the keyboard
or download them through the data interface.
The soft keys for datum tables and text files are to be disabled:
0: Do not disable
1: Disable
Variable:
Example:
MP1054.0: x*0.1^6+15 (x in 0.0001 mm)
Entering a formula in MP1054.x is only useful if a position encoder is
connected to the axis.
For machine parameters with formula input (e.g. MP1054), the formula can be
indicated in an ASCII file. For identification, the character "@", followed by the
absolute path name, is entered in the machine parameter.
Example:
@PLC:\MP\1054-X.A
The file must contain only the formula. Comments are not allowed. The
formula in the file may consist of several lines and contain blank lines. The first
1024 characters of the file are evaluated.
If the control does not recognize any errors, it automatically exits the machine
parameter editor and is ready for operation.
If you do not make any entries in the machine parameter list during initial
commissioning and exit the editor with the END key, the iTNC generates a
standard machine parameter list (MP NAME). In this list the iTNC is defined as
a programming station with the HEIDENHAIN standard colors. In all other
machine parameters a default value is entered.
You can enter more than one machine parameter list in the iTNC:
Select the lists with the PGM MGT key and the SELECT soft key. The last
selected machine parameter list becomes active when you exit the machine
parameter editor.
User parameters You can access some machine parameters without first entering a code
number.
In MP7330.x, define up to 16 machine parameters and define the associated
dialog in MP7340.x. The dialog is shown whenever the USER PARAMETERS
soft key is pressed (up to 37 characters).
Select the MOD function USER PARAMETER.
Protecting the To protect the current machine parameter list from being edited through the
machine parameter code number 95148:
list
In the OEM.SYS file, define a new code number in the entry MPPASSWORD =
for editing the machine parameter list. Then it is no longer possible to edit
through the code number 95148.
To protect individual machine parameters against editing:
In the MPLOCKFILE = entry in the OEM.SYS file, enter the path of a machine-
parameter subfile. Then it is only possible to edit those machine parameters
that have no value assigned in this file. If there is a difference between the
current MP value and the MP value in this subfile, the control displays an
error message and a window offering the value from the subfile for your
acceptance.
Attention
Changing the input You can also change the machine parameters through the PLC. The following
values via PLC modules are available for this purpose:
Module 9031 Overwrite machine parameter
Module 9032 Read machine parameter
Module 9310 Read the machine parameter from the run-time memory
Module 9033 Select machine parameter file
Module 9034 Load machine parameter subfile
Module 9312 Overwrite machine parameters in the active MP file or in the
run-time memory
Module 9313 Read machine parameters from the active MP file or from the
run-time memory
Module 9314 Activate/Deactivate machine parameters
The machine parameters that you can change with Module 9031, Module
9034 or Module 9312 are indicated with PLC in the overview.
Attention
The module does not take any existing safety problems into account when
setting off a control reset (e.g., axes and spindle coasting to a stop).
The file to be selected is checked; a faulty file is not selected. If file selection
is successful, there is no return to the calling PLC program.
The file name is transferred in a string that must contain the complete path,
name and file extension. Further characters, even space characters, are not
permitted.
If the PLC program is created externally, ensure that lower-case letters are not
used for the file name!
The path for the MP (sub)file can only be entered as absolute path
(e.g. PLC:\BASIS\PROGRAM\MP\subfile1.A) or relative to the directory of the
PLC main program (e.g. \MP\subfile1.A). If a relative path is entered, the MP
(sub)file must be located in the directory of the PLC main program or an
associated subdirectory. The possibility of entering a relative path eliminates
the need for adapting the source code of the PLC program if the PLC program
is moved to the encrypted PLCE partition.
Once the NC program has started, the module operates only during the output
of an M/S/T/Q strobe.
Call only in a submit job.
Call:
PS B/W/D/K <String number>
CM 9033
Note: If a new file is selected, program execution ends here.
PL B/W/D <Error code>
0: No error. File was already selected
1: String does not contain a valid file name
2: File not found
3: File is faulty
4: Incorrect string number transferred
5: Call was not in a submit job
6: Call during running program without strobe
MP2100.x Type of axis power modules (change possible without PLC 1007
automatic restart)
RUN
Input: Name from file <Motor.amp>
MP2160.x Field weakening with synchronous motors 889,
882
Input: 0: No voltage-protection module
1: Voltage-protection module present
2: Limited field weakening without voltage-protection
module for EcoDyn motors
9: Weakened-field operation permitted, alternative to 1
10: Feed axis in EcoDyn mode, alternative to 2
MP2170 Waiting time between the switch-on of the drive and the 863
drive’s standby signal
Input: 0.001 to 4.999 [s]
0: 2 [s]
MP2172 Delay of the STO.A.x signal (inverter enable) at internal 931
emergency stop (e.g. standstill monitoring, PLC via error
table...)
Input: 0 to 60 [s] as an integer
0: 3 [s] default
MP2173.x Pulse switch-off of the power modules 934
Input: 0.2 to 100.000 [s]
0: 3 [s] default
Input: %00000000000000000
0: Not active
1: Active
MP2710.x ACC: Principle of function of automatic mode 606 42x-03 700
Input: 0 to 2
0: Robust standard mode with an average application of a
damping signal (recommended setting)
1: Chatter damping is increasedfor the selected axis; this
can sometimes be advisable for one axis or two
axes (e.g. vertical axes) and results in slightly
reduced control accuracy (following error
increases slightly)
2: Chatter damping is significantly increased for the
selected axis; this is usually advisable for no
more than one axis and results in slightly
reduced control accuracy (following error
increases)
Screen display You can define how the axes are shown on the screen:
In MP100.x, assign a designation to each logical axis.
Define in MP7291.x the screen line in which the axis is to be displayed.
Rules for the display:
NC axes are designated with uppercase letters.
PLC axes are designated with lowercase letters.
Axes that are not present are given a hyphen "-".
Demo operation for Operation of NC axes with MP12 enables the simulation of axis motors that
NC axes are not present on the machine. This permits you to put into operation and test
axes that have not yet been mounted on the machine.
The following is required for this:
The axis to be simulated must be completely configured in the machine
parameters.
For safety reasons, the PLC may not output any "drive and axis group
enables" for the axes to be simulated while in demo operation. This might
necessitate very comprehensive changes to the PLC program.
MP12 Axis-specific demo operation for NC axes
Format: %xxxxxxxxxxxxxx
Input: Bits 0 to 17 represent axes 1 to 18
0: Demo operation not active
1: Demo operation active
Principal axes X, Y, The coordinate axes and their directions of motion are defined in the
Z international standard ISO 841.
An easy way to remember this system is to use the "right-hand rule":
+Z
+X
+Y
+X
+X´
Rotary axes A, B, C The directions of the rotary axes A, B and C follow the "right-fist rule." The
fingers of the closed right hand point in the proper rotational direction of an
axis when the thumb points in the direction of the associated linear axis:
+Z
+Y
+C
+B
+X
+A
+Z
+W +Y
+V
+X
+U
6.1.3 Encoders
Position encoders report positions and movements of the machine to the
control. The iTNC 530 operates with incremental and absolute encoders with
EnDat interface.
Signal period For any given distance the position encoder supplies a fixed number of signal
periods. In addition, the signal is interpolated in the control.
To calculate the signal period, the control requires the following data:
In MP331.x, enter for each axis the length required for the number of signal
periods given in MP332.x.
In MP332.x, enter for each axis the number of signal periods for the length
given in MP331.x.
Note
Large input values in MP331.x and MP332.x cannot be read by the PLC!
MP331.x
Signal period = ------------------------
MP332.x
Note
Digital axes:
If no position encoder (MP110.x = 0) is connected, the data of the speed
encoder must be entered in MP331.x and MP332.x. This also applies to
speed encoders with EnDat interface, since the incremental track of the
speed encoder is used for position feedback control.
External If you connect encoders with TTL signals and an external interpolation unit
interpolation through the TTL/1 VPP adapter to the control:
In MP340.x, enter the interpolation factor of the external interpolation unit.
MP340.x Interpolation factor for external interpolation
Input: 0 to 99
0 = 1: No external interpolation
Set Reset
W1030/1112 Current direction of traverse NC NC
Bits 0 to 17 represent axes 1 to 18
0: Positive traverse direction
1: Negative traverse direction
Note
The counting direction of the speed encoder signals is defined in the motor
table (DIR column). If the error message C3B0 Motor <AXIS> does
not rotate appears, you must change this entry.
Note
Please note:
For digital axes, the speed encoders are always monitored if the drive is
switched on via PLC Module 9162
For more information on error messages from speed encoders, see the
"Error Messages" section.
Speed encoder The iTNC 530 uses the Type of encoder entry in the "motor.mot" motor table.
If an encoder with Z1 track is entered in the motor table, the message C310 Z1
track error appears in the event of an error. If an encoder with EnDat
interface is entered in the motor table, the control attempts to communicate
with the encoder. If this fails, the error message C3F0 EnDat not found <axis>
appears.
Attention
If you use the HEIDENHAIN standard motor table motor.mot and motors
with EnDat encoders, you might have to change the entry for the motor in
the SYS column (type of encoder) of the motor table or enter a new motor.
SYS = 1: Incremental rotary encoder with Z1 track
SYS = 2: Absolute speed encoder with EnDat interface
Note
Encoders with EnDat 2.2 interface do not supply any incremental signals.
Only a purely digital measured value is transferred to the control. The
number of increments per encoder revolution (MP332.x) must therefore be
set to the value "1".
The controller unit assumes that the rotary encoder has only one line per
encoder revolution. Enter the following data:
M331.x: For each axis, enter the distance traversed per motor revolution.
MP332.x: Enter the value "1".
MP1054.x: For each axis, enter the distance traversed per motor revolution.
Enter the value "1" in the STR column (line count of the motor encoder) of the
motor table.
If the temperature signal of the EnDat2.2 encoder is transmitted via the
additional lines for a KTY in the cable to the speed input of the control, and not
via the EnDat2.2 protocol, this can be configured with MP2222 bit 2 = 1. If you
use an external temperature sensor, you always need to use a KTY84-130.
Note
Large input values in MP331.x and MP332.x cannot be read by the PLC!
Note
HEIDENHAIN recommends:
The optimum manufacturing precision can only be attained with linear
encoders. A control without linear encoders finds the axis position through
the pitch of the ball screw. The problem is, the ball screw gets hot during
machining and expands. And the result is a position measurement that
deviates from the actual position, causing error. With linear encoders, the
control always determines the correct slide position. This means that your
machine positions its axes with constantly high precision.
More information is available on the Internet at:
http://www.heidenhain-shows-the-way.com
MP2222.x Bit 2 – Temperature signal from KTY input, and not from EnDat
2.2 protocol
Format: %xxxxxxxxxxxxxxxx
Input: 0: Inactive
1: Temperature signal from KTY input
Input of MP120.x/MP121.x: 51 52 53 54 55 56
PWM output
Input in MP120.x: 80 81 82 83 84 85
Speed output:
PWM output
Note
Input of MP120.x/MP121.x: 51 52 53 54 55 56
PWM output
Status Meaning
information
0 0: Axis (spindle) not active (MP10 or MP3010 or no encoder)
1: Axis (spindle) active
1 Depending on the current traverse range:
0: NC axis or not active
1: PLC axis
2 0: No closed-loop axis (spindle), only display or not active
1: Closed-loop axis (spindle)
3 Maximum temperature of the motor [°C]
4 0: Not a Hirth axis
1: Hirth axis (MP420)
5 Hirth grid [1/10 µm] (MP430)
6 Modulo value (MP810)
7 0: Linear axis or not active
1: Rotary axis in at least one of the traverse ranges
8 0: Analog axis (spindle) or not active
1: Digital axis (spindle)
9 0: Not a slave axis
1: Slave axis
Call:
PS B/W/D/K <Axis>
Axis-specific: Dependence on MP4020 bit 14
Bit-encoded output for all axes: –1
PS B/W/D/K <Status information>
See table above
CM 9038
PL B/W/D <Information>
Error code:
In the PLC you can interrogate the current tool axis via markers (only axis 0 to
9) or via module: This information is only available after each tool call with
"TOOL CALL," and is then updated after each tool call.
Set Reset
M4526 Axis 1 is tool axis NC NC
M4527 Axis 2 is tool axis NC NC
M4528 Axis 3 is tool axis NC NC
M4529 Axis 4 is tool axis NC NC
M4530 Axis 5 is tool axis NC NC
M4531 Axis 6 is tool axis NC NC
M4532 Axis 7 is tool axis NC NC
M4533 Axis 8 is tool axis NC NC
M4534 Axis 9 is tool axis NC NC
Error code:
Determining range You can determine the current range of traverse with Module 9035
of traverse
Module 9035 Read status information
Call:
PS B/W/D/K <27>
CM 9035
PL B/W/D <Range of traverse>
0 to 2: Traverse ranges 1 to 3
Error code:
If the axis traverse limits are changed by the user (after pressing the MOD
key), marker M4624 is set. The marker must then be reset by the PLC
program.
Set Reset
M4574 Select the traverse range (with PLC PLC
M4575)
M4575 Select the traverse range (with PLC PLC
M4574)
M4135 Strobe marker for selecting the PLC NC
traverse range
M4624 Strobe marker for selecting the NC PLC
traverse range
Note
Set Reset
W1034/1120 Positive software limit switch was NC NC
approached
Bits 0 to 17 represent axes 1 to 18
W1036/1124 Negative software limit switch was NC NC
approached
Bits 0 to 17 represent axes 1 to 18
Set Reset
W1056/1164 Lubrication pulse: Value in MP4050.x NC NC
exceeded
Bits 0 to 17 represent axes 1 to 18
W1058/1168 Reset the accumulated distance PLC PLC
Bits 0 to 17 represent axes 1 to 18
With MP100.x you define for every traverse range which axes the PLC
controls and which the NC controls. Uppercase letters represent NC axes, and
lowercase letters represent PLC axes. To indicate axes that are not present,
mark them with a hyphen (-).
Furthermore, based on the settings in MP810.x, the control detects whether
the PLC axis is a rotary axis.
MP100 Designation of axes
Format: XYZABCUVWxyzabcuvw-
Input: Bits 0 to 17 represent axes 1 to 18
MP100.0 Traverse range 1
MP100.1 Traverse range 2
MP100.2 Traverse range 3
Call:
PS B/W/D/K <Axis>
0 to 17 represent axes 1 to 18
PS B/W/D/K <Target position>
Input unit: [0.0001 mm]
PS B/W/D/K <Feed rate>
Input unit: [mm/min]
PS B/W/D/K <Mode>
Bit 0: Type of target position input
0: Absolute, i.e. relative to the machine datum
1: Incremental
CM 9120
PL B/W/D <Error code>
0: No error. Positioning was started.
1: Axis does not exist
2: Not a PLC axis
3: Axis is already being positioned
4: Absolute position is outside of modulo range
5: Programmed axis not in closed loop
6: Feed rate not permitted
Module 9121 Stop PLC axis
Stops a running PLC positioning process in an axis.
Condition:
Status changes through a PLC positioning command are not detected until
the next PLC scan.
Call:
PS B/W/D/K <Axis>
0 to 17 represent axes 1 to 18
CM 9121
PL B/W/D <Error code>
0: Positioning is canceled
1: Axis does not exist
2: Not a PLC axis
3: Axis was already stationary
Call:
PS B/W/D/K <Axis>
0 to 17 represent axes 1 to 18
PS B/W/D/K <Override>
Input unit: 0 to 10 000, corresponds to 0 to 100 % in 0.01 %
steps.
CM 9124
PL B/W/D <Error code>
0: No error, override value was set
1: Axis does not exist
2: Not a PLC axis
3: Override value incorrect
Module 9125 Stop PLC axis at next Hirth grid position
Stop an already started PLC positioning movement of an axis at the next Hirth
grid position.
Call:
PS B/W/D/K <Axis>
0 to 17 represent axes 1 to 18
CM 9125
PL B/W/D <Error code>
0: Positioning is canceled
1: Axis does not exist
2: Not a PLC axis
3: Axis was already stationary
4: Axis is not a Hirth axis (MP420.x)
EM
The following process must be realized by the PLC program:
Positioning the PLC axis to a suitable starting position
Activating the coupling function
Moving the first PLC axis appropriately (by means of positioning movements
through the PLC), the other PLC axes are automatically corrected.
Deactivating the coupling function when the respective positioning
movement has been completed
Note
For the coupled axis (axes), the software limit switches are not monitored!
When activating the coupling function you should set the software limit
switches of the principal such that also the coupled axes that are not
monitored cannot exceed the actual limit position. When you rescind the
coupling function, you must set the default values of the software limit
switches again.
Note
Limit switches are not monitored for the coupled axis. The machine tool
builder must ensure that the coupled axis only moves within the
permissible area.
Programming You start a PLC positioning movement with Module 9221 or 9227, interrogate
the status with Module 9222, and stop it ahead of time with Module 9224.
After Module 9221 or 9227 has been called, markers M4120 to M4128 are set.
If you reset these markers directly or program Module 9224 accordingly,
positioning is canceled at the desired point in time. This is necessary if you
would like to change a parameter, such as the feed rate, during positioning.
The following conditions apply to a PLC positioning command:
If more than one axis is moved simultaneously, the axes will be interpolated.
If you start another axis during a PLC positioning movement,
• the first positioning command will be canceled and
• the resulting positioning movement will be executed in all axes.
Tool compensation is not included. Before a PLC positioning command you
must end any tool compensation.
A PLC positioning movement is not displayed in the test graphics.
PLC positioning is done without nominal position value filter.
Error code:
PLC positioning To ensure compatibility, a PLC positioning command is permissible for axes 1
through markers to 9 with M4120 to M4128, D528 to D544 and W560 to W568.
and words
Attention
Programming:
Enter the target position in the double words D528 to D544 in the unit
[0.0001 mm].
Enter the feed rate in words W560 to W568 [mm/min].
To start the PLC positioning movement: Set markers M4120 to M4124 for
the desired axis.
Set Reset
D528-544 Target position for PLC positioning PLC PLC
W560-568 Feed rate for PLC positioning PLC PLC
M4120 PLC positioning axis 1 active NC/PLC NC/PLC
M4121 PLC positioning axis 2 active NC/PLC NC/PLC
M4122 PLC positioning axis 3 active NC/PLC NC/PLC
M4123 PLC positioning axis 4 active NC/PLC NC/PLC
M4124 PLC positioning axis 5 active NC/PLC NC/PLC
M4125 PLC positioning axis 6 active NC/PLC NC/PLC
M4126 PLC positioning axis 7 active NC/PLC NC/PLC
M4127 PLC positioning axis 8 active NC/PLC NC/PLC
M4128 PLC positioning axis 9 active NC/PLC NC/PLC
Cause outside of During a reversal in axis direction, there is often a little play between the rotary
the control loop encoder and table. This play is referred to as backlash.
Positive backlash: The rotary encoder reading is ahead of the table. The table
traverse is too short.
Negative backlash: The rotary encoder reading is behind the table. The table
traverse is too long.
MP710.x
Nominal value
Reversal point
Nominal value
MP709.x = 0
Compensation:
In MP750.x, enter the reversal error in mm.
In MP752.x, enter the time in which the distance to be compensated should
be traversed.
MP750.x Backlash in axes 1 to 9
Input: –9.9999 to +9.9999 [mm] or [°]
MP752.x Compensation time for reversal error
Input: 0 to 1000 [ms]
Example:
MP750.x: 0.03 mm
MP752.x: 15 ms
For every change in direction, a nominal speed command signal is output for
15 ms, which corresponds to a feed rate of 120 mm/min:
0.03 mm
= 120 mm/min
15 ms
Note
For every linear axis you can compensate a linear axis error.
Positive linear axis error: The table moves too far.
Negative linear axis error: The table moves short.
Error
[mm]
0.02
0.01
0
-0.01 Ref. mark 500 1000 Encoder
[mm]
-0.02
Compensation:
In MP720, enter the axis error in [mm/m].
With MP730, activate the linear axis error compensation.
MP720.x Linear axis error compensation
Input: –1.000 to +1.000 [mm/m]
MP730 Selection of linear/nonlinear axis error compensation
Format: %xxxxxxxxxxxxxxxxx
Input: 0 to 17 represent axes 1 to 18
0: Linear axis error compensation
1: Nonlinear axis error compensation
The best way to measure nonlinear axis error is with a comparator measuring
system such as the HEIDENHAIN VM 101.
Note
The iTNC can compensate screw-pitch error and axis sag simultaneously.
Nonlinear axis error compensation is also effective for an open loop. In this
case the compensation value is considered when the control loop is closed.
Error in Z
[mm]
0.05
0.04
0.03
Machine
0.02 datum
Datum
0
0.01 Y
[mm]
–0.02
–0.03
–0.04
–0.05
Axis Y:
Ball screw-pitch
error in
column 2 = F(),
Sag error in
column 3 = F()
Axis Z:
Ball screw pitch
error in
column 3 = F()
Error code:
Special case: With MP732, the non-linear axis-error compensation can be projected onto the
Rotary axis actual traverse range for a specific axis, not only from 0° to 360°. This means
that traverse ranges from –90° to +90°, for example, can be entered for rotary
axes.
MP732 Nonlinear axis-error compensation for rotary axes
Format: %xxxxxxxxxxxxxx
Input: Bits 0 to 17 represent axes 1 to 18
0: Not active (conventional compensation, only 0° to 360°)
1: Active (mapped to traverse range)
Set Reset
W576 - 584 Lag-tracking axis-error compensation PLC PLC
For axes 1 to 5
Input: –32768 to +32767 [1/10 µm]
Limiting the In machines with very high static friction, a position deviation at standstill can
integral factor lead to the accumulation of a very high integral factor. This can lead to a jump
in the position value when the axis "tears loose." In such cases you can limit
the integral-action component of the speed controller with MP2512.x.
The limitation is effective as soon as the axis is in position (W1026/W1104). If
high utilization occurs when an axis is at standstill (e.g. due to static friction),
the current is also limited.
MP2512.x Limit of integral factor of the speed controller
Input: 0.000 to 30.000 [s] (realistically: 0.1 to 2.0)
1: Torsion compensation
2: Position controller
3: Speed controller
4: Current controller – power module
5: Motor
6: Elastic coupling
7: Machine
8: Linear encoder
Adjustment of MP2640.x is only worthwhile once all other feedforward-
control parameters MP2600.x to MP2630.x have been adjusted. Furthermore,
stick-slip friction compensation via MP2640.x should not be used if stick-slip
friction compensation only takes place via MP2612.x (MP2614.x=0).
Torsion compensation via machine parameter MP2640.x is now as of 340 49x-
06 also added in machines without position encoder if a value that is not equal
to 0 is defined in MP2640.x. The adjustment remains unchanged, i.e. a
position encoder must be used. However, the compensation values can now
also be used for dimensionally identical machines without position encoder.
Moreover, the compensation value is filtered before it is added. This improves
the behavior of the axis after direction reversal, for example.
A0Y
B0Z
C0Y
Designation Error
EXX Positioning error
EYX Straightness error
EZX Straightness error
Rotational deviations:
Designation Error
EAX Roll
EBX Pitch
ECX Yaw
Z
EAX
(rollen)
EZX
EBX P0
(nicken) Y
EYX
EXX ECX
(gieren)
Designation Error
X0C Position error
Y0C Position error
Rotational deviations:
Designation Error
A0C Angular error
B0C Angular error
C0C Angular error (offset)
A0C
B0C
C0C
X
X0C
Y0C
Designation Error
EXC Radial error in X
EYC Radial error in Y
EZC Axial error
Rotational deviations:
Designation Error
EAC Wobble relative to X (roll)
EBC Wobble relative to Y (pitch)
ECC Positioning error
Z
EAC
EZC
P0 EYC
EXC Y
EBC
ECC
Previous The kinematics model of the machine must always be described in the new
kinematics table format (columns: KEY, AXIS, COORD, ...). In this kinematics model, the
description machine axes are described and the positions of the rotary axes are defined.
An ideal model is described, in which only the positions of the rotary axes are
adapted to the actual conditions.
Enhanced kinematics In the enhanced kinematics description, the transformation chain is linked with
description the nonlinear compensation entries. The geometry errors can be described in
the column COMPTAB.
The effective directions are determined by the transformation chain.
The compensation function corrects the position of the TCP Tool Center Point.
The compensation rate depends on MP4070.
The *.COM files have been extended by the columns C1 to C6. These
columns are addressed by a corresponding link in the transformation chain.
MP732 must be activated for rotary axes, because the kinematics
compensation (C1 to C6) is only applied to the traverse range of the axis.
In this example, there is a link to "A5C4". This links to axis 5 or to column 5 of
the CMA file, and to column C4 in the COM file saved there:
EAX X
EBX X
ECX X
Positioning error X
EAA
EBA X
ECA X
Tool
...
Axis 1
...
Axis 3
...
Workpiece
Tool
...
Position (only rotary axes, with respect to the preceding element)
Position error (absolute versus ideal) --> Constant value
Component error --> Function depending on the axis position
Axis 1
Negative component error of zero position --> Constant value
Negative position error (absolute versus ideal) --> Constant value
...
Axis 3
...
Workpiece
The position errors calculated and averaged from several axis positions are
entered here.
The position error X0X cannot be corrected in machine parameter MP960.
Inverse transformation is necessary to be able to compensate one specific
axis (if information about all axes is not available, for example). Describing this
axis therefore restores the ideal kinematics model.
Reduced error model using a component error (with integrated position
errors) of a linear axis (e.g. X axis) – Recommendation for transformation
chain:
The error EXX can be corrected conventionally in the COM file. The position
errors B0X and C0X that are relative to the home position of the X axis are
integrated in the compensation values of the COM file (component errors).
These values must be re-transformed to be able to return to the ideal model
after the definition of the axis (MachAxis X). This reduced error model has the
disadvantage that the position errors cannot be shown separately from the
component errors.
The position errors calculated and averaged from several axis positions are
entered here.
The position error C0C can be corrected in machine parameter MP960.
Inverse transformation is necessary to be able to compensate one specific
axis (if information about all axes is not available, for example). Describing this
axis therefore restores the ideal kinematics model.
Reduced error model using a component error (with integrated position
errors) of a linear axis (e.g. X axis) – Recommendation for transformation
chain:
The error ECC must be corrected conventionally in the COM file (columns 1 - 18).
The position errors A0C and B0C that are relative to the home position of the
C axis are integrated in the compensation values of the COM file (component
errors). These values must be re-transformed to be able to return to the ideal
model when the axis is in home position.
Error model using a position error of the spindle in tool axis direction Z
with rotary head axes – Recommendation for transformation chain:
If the dynamic deviations depending on the axis acceleration are known, they
can be compensated with the CTC software option and thus be minimized.
Often, the resulting error at the TCP depends not only on the acceleration but
also on the position or orientation of the axes in the working space. CTC can
also take this into account.
The CTC software option permits compensations in the following format:
Δsi = kij(sk) * aj
Checking the To verify the compensation values, the measurement program must then be
compensation run with active CTC. For test purposes you can activate and deactivate CTC
axis-specifically with MP2700 bit 0.
Blue curve = s_actl (W) without CTC, Green curve = s_actl (W) with CTC
ohne M A C m itM A C
M
M M otor M
M M otor
M
M max
m ax M
M max
m ax
M
M V1 M
M V1
À
# a Tisch À
# a Tisch
aa1max
1m ax aa1max
1m ax a
a2max
2m ax
M
M V2 M
M V2
aa2max
2m ax > a
a1max
1m ax
Note
The 3-D ROT function must be inactive during the entire measuring
process.
Step 1a
Bring tilting axes B and C into 0° position
Probe surface X1
Set X = 0
Step 2
Position C to 180
Probe surface Z
Entry for the kinematics
• Via table: <Line no. [0] Column COORD> = –determined value – probe length + ball radius
Step 4a
Position C to 0
Probe surface X2
L = determined value
Step 4c
Position B to –90
Probe surface Z
Set Z = 0
Position B to +90
Probe surface Z
Entry for the kinematics
• Via table: <Line no. [6] Column COORD> = (–0.5 * determined value) – <Line no. [1] Column
COORD>
Step 5
Probe surfaces X1, X2, Y2 and Z in a tilted working plane with the tilting angles B = –90, B = +90
and C = 180
If there are differences between the individual tilting angles, the offsets from line numbers [0] and
[3] in the kinematics table should be determined with a different process (steps 6 to 8), and the
averages from both processes should be entered in line numbers [0] and [3] in the kinematics table.
Step 7
Position C to 180
Probe surface Y2
ΔY2 = determined value
Z1 = ΔY2 – probe length + ball radius
Entry for the kinematics if the results differ for
• <Line no. [0] Column COORD> and Z1, then COORD = 0.5 * (<Line no. [0] Column COORD> + Z)
Z Z
Y X
Input values for mechanical offset (via description table in the kinematics, ##
are the values to be determined):
Step 1b
Determining the Y1 offset:
Position A = +90
Offset = 0.5 * determined
value
If the determined value > 0,
then <Line no. [1] Column
COORD> = - offset
If the determined value < 0,
<Line no. [1] Column
COORD> = - offset
Step 1c
Checking the settings for the Y1 offset:
Position A = +90
Activate 3-D ROT
Set the dial gauge to 0
Set datum Y = 0
Position A = –90
Probe same position again
Display and dial gauge must read 0
Step 2b
Determining the Z offset:
Position A = 0
Move the Z axis until the dial
gauge reads 0 at the spindle
tip
<Line no. [0] Column
COORD> = "determined value" –
cylinder radius
Position A = 0
Position C = 0 (basic setting)
Set the dial gauge to 0
Position C to 180
Read Y offset from the dial
gauge
<Line no. [4] Column
COORD> = (0.5 * determined
value) – <Line no. [1]
Column COORD>;
(<Line no. [1] Column
COORD> = Offset Y1)
0
Step 4
Determining the X offset: 180°
C = Position to –90
Set the dial gauge to 0
Position C = 270
Read X offset from the dial
gauge
<Line no. [3] Column
COORD> = 0.5 * determined
value
0
C C
Input values for mechanical offset (via description table in the kinematics):
Step 3
Determining the Z offset:
Position A = –90
Probe at test mandrel
ΔZ = radius of test mandrel +
Z display
Step 4
Determining the Y offset:
Probe surface Z
ΔY = Display Y
Step 4
0.5 * (ΔZ – ΔY)
0.5 * (ΔZ + ΔY)
Entry of the values in the description table as indicated above
Note
The description of the kinematics is only taken into account for tilting
functions, such as TCPM or the Tilt Working Plane function.
Description
tables
Note
File paths should be entered as absolute paths. If only the file name is
entered, the kinematics path from OEM.SYS is valid (e.g. KINEMATIC =
PLC:\Kinemat\Kinelist.TAB).
Another SUBFILE or TOOLFILE cannot be called from a SUBFILE or
TOOLFILE, respectively
File names can be entered with paths and the extension (.TAB) in the
SUBFILE1, SUBFILE2 and FILE columns. If the path is missing, the path
of the assignment table is used. If the file name extension is missing,
*.TAB is amended (internally).
With MP7506 you can make an advance selection of which entry in the
kinematics table is to become active when the control is booted. Selection is
made by entering the line number of the desired kinematics in KINELIST.TAB.
MP7506 Selection of kinematics at booting of the control
Input: 0 to 999
–1: Function not active
Note
Please note that with this feature, the same kinematics are always active
whenever the control is booted. If you change the actual kinematics of the
machine before booting, this is not taken into account. The kinematics set
via MP7506 are still active after booting even after this change.
Description table
The description table contains the actual definition of the kinematics. The
transformations are described here, subkinematics (SUBFILE1, SUBFILE2,
TOOLFILE) are connected if necessary, and if software option 40 (DCM -
"Dynamic Collision Monitoring") is available, objects for collision monitoring are
included. Any number of description tables can be used.
Note
Note
The active description table is indicated with the status "M" in program
management.
Time at which changes to the descriptions become effective:
the iTNC is restarted
the kinematics are selected via the code number KINEMATIC
the kinematics are activated with FN17: SYSWRITE ID290 NR1 = ...
the kinematics are selected with PLC Module 9097
the description table is changed with WRITE TO KINEMATIC
the description table is changed with WRITE KINEMATICS
Example:
A = 105 mm, B = 96 mm, tool alignment in X axis
A
The tool holder of the tool carrier stated above (tool reference point) is now the
initial point for viewing the kinematics with the included TOOLFILE. The
subsequent kinematics description is based on this. This means that the
algebraic signs of the shift are now determined by the new tool reference
point.
Attention
The position of the W axis must be considered in the kinematics table in order
to use the tilting functions. For example, an NC macro can be programmed
before the tilting function. This macro includes the current position of the W
axis in the calculations of the kinematics table.
Example:
Deactivation of an active COM table so that collision monitoring is deactivated
for a certain action, such as a tool change.
Table in the kinematics description before overwriting:
Comment:
0 BEGIN PGM N545TCM MM
:
4 WRITE TO KINEMATIC AT COLUMN "ON/OFF" Overwrite cell in the
CAPTURE "FILE" KEY "CMO_Portal" = 1 kinematics table
:
Table after overwriting with collision monitoring switched off for the
CMO_Portal object:
Z1 = 150.5 mm
Z2 = 251.5 mm
A1 = 45°
A2 = 45°
X1 = 1.2 mm
X2 = 0.8 mm
1 to 6: Sequence of transformation
Y1 = 2.7 mm
Z1 = 331.3 mm
Z2 = 125.9 mm
Coordinates (with respect to machine datum) of the center of rotation of
table C when all tilting axes are in their home position:
XR = 420.0 mm
YR = 151.2 mm
ZR = –395.4 mm
Selecting a In order for the machine operator to be able to select another geometry
geometry description in case of an error, abbreviations for the geometry descriptions can
description in case be entered in the DOC column of the assignment table.
of an error
To select another geometry description in case of an error:
While in the Programming and Editing operating mode, press the MOD key.
Enter the code number KINEMATIC.
A pop-up window appears with the abbreviation from the DOC column in the
assignment table:
Use the arrow keys to select the appropriate geometry description.
Press the ENT key
The control resets and activates the selected geometry description.
Z1
Note
Permanent The permanent temperature compensation with the formula from the
temperature TEMPCOMP column is only effective if the description table is active. The
compensation algebraic sign of the compensation must match that of the axis error
compensation in Words W576 to W584.
The variables are monitored every second and changes are reported to the
position controller. The position controller uses the formula in the TEMPCOMP
column and the current angle of the rotary axes to calculate the compensation
values.
For temperature compensation, only rows with an entry in the TEMPCOMP
column are considered, including the entry 0. Any missing entry (NO ENT)
interrupts temperature compensation at this point, meaning that the
subsequent rows will not be taken into account. If rows 1 to 7 in the following
example contained no entries instead of the entry 0, the temperature
compensation would only be applied to the Z axis. The tilting axes would not
be considered. You can use this interruption of the temperature
compensation to reduce processing time if, for example, a swivel head and
tilting table follow each other in a table, but the temperature compensation is
only to be applied to the swivel head. You would then make no entry for the
tilting table in the TEMPCOMP column.
With Module 9040 or 9041, transfer value 8, the value of the temperature
compensation can be determined.
The formula is only entered for the transformations where compensation is to
occur.
The arrows in the figure show the effective directions of the entries in the
column TEMPCOMP. NR x shows the respective line number of the entries:
N
R
3
NR 11
NR 0
N
R
9
NR 10
Note
Note
Functions Testing the static tilting accuracy by probing different points on a calibration
sphere with a 3-D workpiece touch probe.
Optimizing the static tilting accuracy by adjusting the kinematics description.
Backing up and restoring the kinematics data that can be changed with this
software.
SUBFILE1:
Tolerance limit In MP6600 you can enter the maximum permissible amount of change for the
cycles used in KinematicsOpt. The amount of change prevents you from
accidentally changing the machine kinematics too much with KinematicsOpt.
Whenever optimization requires a change greater than what is permitted in
MP6600, a message appears and the change must be confirmed with NC
start.
Danger
After optimization the position of the presets relative to the workpiece may
have changed. It is essential that you check or reset the datum points.
PLC positioning Some rotary axes cannot be moved by the NC, e.g. Hirth axes that can be
positioned only by the PLC.
In MP 6602, you can also enter an M number that is used for positioning all
rotary axes. This M function will be executed instead of the positioning
movements through the NC. The rotary-axis angles required for this are saved
in the Q parameters Q120 to 122. As a result, a positioning movement must
always be initiated by an M macro. This is a very simple example of how this
M macro may look like:
BEGIN PGM MM
FN 19: PLC =+4 / Q120 ;the PLC positions the A axis
FN 19: PLC =+6 / Q122 ;the PLC positions the C axis
END PGM MM
Note
Only local Q parameters (QL) are allowed in the M macro and in the NC
programs called by the M macro. Otherwise, there is a great potential
danger of collision during the further execution of the cycle.
The cycles cannot verify that the correct position has been reached.
Be sure to remember while programming that the rotary axes must be pre-
positioned to 0° degrees before the execution of the cycles if you use a PLC
positioning movement. Since, in this case, there is also a great danger of
collision if automatic presetting is used, this prerequisite must be confirmed
by the operator.
This macro is called from all KinematicsOpt cycles when rotary axes are
positioned. If an M function macro is specified, the target coordinates, not the
rotary-axis positioning movement, are saved in the Q parameters 120 to 122
(axis angles) and the M function is called. The M function must ensure the
correct positioning of the rotary axes to the nominal positions, as defined in
Q120 to Q122.
Deselect rotary axis Through measuring points 0 – 12 it is possible to "hide" a rotary axis (0 = axis).
The angle of incidence of this axis is considered nevertheless.
Note
Positioning The positioning direction of the rotary axis to be measured is determined from
direction the start angle and the end angle. Because +270° is identical to –90° for
example, the same angles can result in different measuring positions.
Examples:
Start angle = –90°
End angle = +90°
Measuring points = 4
Angle increment = (end angle – start angle) / (measuring points – 1)
= (90° - -90°) / 3
= +60°
Therefore: P1 = –90°; P2 = –30°; P3 = +30°; P4 = +90°
Start angle = +270°
End angle = +90°
Measuring points = 4
Angle increment = (end angle – start angle) / (measuring points – 1)
= (90° - 270°) / 3
= –60°
Therefore: P1 = –90°; P2 = –120°; P3 = –210°; P4 = –270°
Touch probe cycle Use this cycle to save the values of the active kinematics description in order
450 (SAVE to be able to restore the active kinematics description if required. For a
KINEMATICS) detailed description of Cycle 450 SAVE KINEMATICS, refer to the Touch Probe
Cycles User's Manual.
Note
As a machine tool builder, you can save the shipping data for example.
You enter the standard PLC code number (807667) and save the data to
any memory location.
When an NC software version is installed, the backup file of the
kinematics description that was created with Cycle 450 is overwritten.
After installing the software, you must save the kinematics description
again with Cycle 450 if required.
Meanwhile, all axis and transformation entries containing numerical values are
saved. Along with the entries in the column COORD, now also numerical entries
in the optional column COMPTAB are saved and restored. When restoring the
COMPTAB files, the compensation limit from MP6600 is considered,
independently of whether it is a translation or a rotation.
A link to a column in a compensation file can be entered in the column
COMPTAB. These non-numeric entries are neither saved nor restored.
If, after backing up, such an entry is manually replaced by a numerical value,
then this manually entered value is not changed when the old data are
restored (the manual change is kept).
The text log also contains the COORD entries that were backed up. Upon
restoration, the text log shows the previous and the new, restored entries
together. The entries in the COMPTAB column do not appear in the log.
After the A axis has been measured, its angular position is determined and
optimized. Adjustments are only possible through compensations in the
COMPTAB column if a numerical value is entered in the corresponding lines. This
is the case in lines 8 and 9 of this example, where the position errors B0A and
C0A can be defined. After the A axis has been defined, Cycle 451 tries to
cancel the rotations, which have just been performed. This is done by the
compensations defined in lines 11 and 12 immediately afterwards. The two
rotations are arranged inversely to the way they are arranged in lines 8 and 9.
This simplifies traceability, but it is not absolutely necessary. After the angular
position has been adjusted, a measurement is performed, in which the
position of the rotary axis (Y0A and Z0A) is determined. The position is
corrected in lines 6 and 7.
During measurements in mode 2, the angular errors B0A and C0A in lines 5
and 6 of the COMPTAB column are compensated. Inverse transformation of
the two angular errors B0A and C0A is not possible, because no corresponding
rotations are defined. This means that the tool coordinate system is rotated
from the ideal system. After the angular position has been adjusted, a
measurement is performed, in which the position of the rotary axis (Y0A and
Z0A) is determined. The position is corrected in lines 2 and 3.
During measurements in mode 2, the angular errors A0B and C0B in lines 6
and 7 of the COMPTAB column are compensated. Inverse transformation of
the two angular errors A0B and C0B is not possible, because no corresponding
rotations are defined. This means that the tool coordinate system is rotated
from the ideal system. After the angular position has been adjusted, a
measurement is performed, in which the position of the rotary axis (X0B and
Z0B) is determined. The position is corrected in lines 2 and 3.
Then the C axis is measured and its angular position is optimized. The position
errors A0C and B0C can be corrected in lines 16 and 17 through the
compensations in the COMPTAB column. An inverse transformation is not
defined, and therefore the workpiece coordinate system is rotated from the
ideal system.
For a detailed description of Cycle 451 MEASURE KINEMATICS, refer to the
Touch Probe Cycles User's Manual.
Once a head has been optimized (A and C axis, SUBFILE Head 1 and
MAINFILE), it must be used to set the preset in the center of the calibration
sphere (Cycle 451). Then Cycle 452 is simply used in combination with the
second head (SUBFILE: Head 2) to optimize the A axis with preset
compensation.
The transformations shown in green are recognized as compensation
transformations, and the preset is thus placed at the sphere center.
Example 2 for the application of Cycle 452:
Compensation of thermal behavior
Trans X
Trans Y
Trans Z
MachAxis Y
MachAxis X
MachAxis Z
Assignment of With MP7500 bit 1 you define whether the input applies to the position of the
input values tilted axes (bit 1 = 0) or the position of the working plane (bit 1 = 1).
(Cycle 19)
If the input value applies to the position of the working plane, the iTNC
calculates the position of the tilting axes and saves the coordinates in
Q parameters:
Q120: Coordinate of the A axis
Q121: Coordinate of the B axis
Q122: Coordinate of the C axis
With FN17:SYSWRITE ID990 NR5 IDX5 you can determine if a principal axis is
shown on top of another principal axis in an untilted coordinate system due to
a tilt motion.
Automatic After the coordinate transformation, the Z axis remains parallel to the
positioning tool axis, perpendicular to the X/Y plane. With MP7500 bit 2 you define
whether the "tilted working plane" function automatically positions the tilting
axes (bit 2 = 1). In this case the user can enter the feed rate and setup
clearance in the cycle.
The iTNC then moves automatically to the setup clearance and interpolates
the swivel and principle axes so that the tool point remains in the same
position in the tilted coordinate system.
With MP7682 bit 9 you control whether the status of the Tilt working plane
function in an NC program is applied to the Manual operating mode during a
program interruption.
(2)
(1)
Z
X
Behavior during datum setting can also be influenced via MP7500 bit 5:
MP7500 bit 5 = 0 (is entered in the kinematics description table)
During datum setting in X, Y and Z with an active tilted working plane, the
current rotary-axis coordinates are checked to see if they are correct for the tilt
angles, and with an inactive tilted working plane the rotary axes are checked
to see if they are at 0. For datum setting with an active tilted working plane,
the corresponding angles must be entered under 3-D ROT.
MP7500 bit 5 = 1 (is entered in the kinematics description table)
It can happen with titling elements with Hirth couplings that by locking the
Hirth coupling, the actual value of the encoder will no longer exactly agree with
the mechanical position of the tilting element. If this happens, the nominal
values should be used to calculate the various presets (MP7682 bit 1).
If problems continue to occur, MP7500 bit 5 should be set to 1. The checking
described in MP7500 bit 5 = 0 does not take place. The tilt angles entered
under 3-D ROT are used to calculate the datums in X, Y and Z.
With MP7682 bit 1 you define whether the nominal or the actual values are
used to calculate the presets during "datum setting" (is valid for MP7500 bit 5).
Also see “Special case: Reference-point setting with the PLANE function,
Hirth axes and M114" on page 763.
Note
Special case: If rotary axes with Hirth coupling are positioned via PLC or NC, then as
Reference-point mentioned above, angles can only be entered according to a certain grid.
setting with the Machining can be performed in any plane by tilting the plane with the PLANE
PLANE function, function and programming the rotary axis grid coordinates with M114
Hirth axes and (automatic compensation of the machine geometry when working with tilting
M114 axes).
It is possible to save and set reference points in this state.
The iTNC then uses the nominal positions of the rotary axes programmed in
M114 to calculate the reference point. With MP7493 the machine
manufacturer can enter a maximum deviation of the rotary axes based on the
nominal position resulting from the orientation of the working plane. The
control accepts this deviation when setting reference points and when
measuring with M114. The default value for this machine parameter is 0.005.
The iTNC uses the current ACTUAL/NOMINAL positions (MP7682, bit 1) of
the rotary axes to calculate the reference point.
Note
Please note that in this procedure the tool might not be perpendicular to the
tilted working plane.
Spatial angle C ≠ 0 On machines with C tables and tool axis Z, the spatial angle C ≠ 0 (with A = 0
and B = 0) can be realized through a rotation of the coordinate system or a
rotation of the table:
With MP7500 bit 6 = 0, the spatial angle C is realized through a rotation of
the coordinate system.
With MP7500 bit 6 = 1, the spatial angle C is realized through a rotation of
the table. At the same time, the angle is saved in Q122. This makes it
possible, for example, to machine a workpiece in the X/Y plane by always
using the same axis for paraxial linear blocks.
Note
Ensure that the addresses are available on the control, and that the given
target address is a double word address.
Note
B
B
dx dz
dB
The iTNC can run a 3-D length compensation; the radius compensation must
be performed by the CAD system or the postprocessor. If the iTNC
compensates the tool length, then the programmed feed rate refers to the tool
point. Otherwise it refers to the tool datum.
75
50 75
50
Z Z
X X
FN18: SYSREAD ID310 NR144 can determine whether M144 is active or inactive.
MP7502 Functionality of M144/M145
Input: %xxx
Bit 0
0: M144/M145 not active
1: M144/M145 active
Bit 1 – M144/M145 in the automatic modes
0: M144/M145 active
1: M144 is activated automatically at the start of an NC program.
It can only be deactivated with M145 during an NC program.
Bit 2 – M144/M145 in the manual modes
0: M144/M145 not active
1: M144/M145 active
General When moving the axes in the manual operating modes, and when re-
information approaching the contour after a program interruption, you can select via the 3D
ROT and TOOL AXIS soft keys the coordinate system of the tool. The axes can
be moved in the current tool axis direction even before traversing the
reference marks. To accomplish this, the last position of the rotary axes before
power-off is stored in non-volatile memory for incremental encoders. These
non-volatile axis values are shown in a pop-up window when the control is
started, and must be acknowledged by the machine operator with ENT
(confirmation of the values) or NO ENT (values deviate, reference run must be
performed first).
With the iTNC 530, handwheel superimposed traverse in the active tool axis
system "Virtual Tool Axis VT" is possible when TCPM is active , see page 772.
Activation MP7503 Virtual tool axis – Reapproaching the contour and manual
traverse in the current tool-axis direction
Input: 0: Inactive
1: Active
Inclined milling Machines with rotary axes that only have open-loop axes (counter axes,
with open-loop MP120.x = 0, are not controlled) can be used for inclined milling. The following
rotary axes procedure is necessary:
(counter axes)
With M128 inactive (TCPM: the position of the tool tip remains constant
when positioning tilting axes), the machine operator sets the rotary axes to
the required nominal values.
When M128 is activated, the control assumes the actual values of the non-
controlled rotary axes, and uses them to calculate the changed position on
the tool center point (TCP).
The display of axes X/Y/Z is updated with the newly calculated values, and
the compensating movement is performed with the next positioning.
As long as M128 is active, the positions of the non-controlled rotary axes are
monitored. If the positions of these axes deviate by more than the values
defined in MP1110.x (standstill monitoring), then an error message is output
and the momentary machining is interrupted.
This function is even permitted after a program interruption with the MANUAL
TRAVERSE soft key. In this case the new compensating movement is
determined after switching with the APPROACH POSITION soft key.
Note
The master and slave axes must be on the same drive-control main board,
which means that both axes need to be controlled by the same DSP. In this
way, you can flexibly assign the master and slave axes to the PWM outputs
X51 to X56 of a CC 6106. On controller units with more than one drive
control board (CC 6108, CC 6110), the master axis and the slave axis both
need to be assigned to either the A connections or the B connections.
Mixed connection is not permitted.
Master-slave The iTNC monitors the synchronism of the coupled axes. If the master and
position deviation slave axes deviate from each other by the difference of the following errors,
the iTNC displays the slave axis with the message EXCESSIVE SERVO LAG
IN <AXIS>. The LAG display shows the current difference in position.
In MP855.x of the slave axis, enter the maximum permissible difference in
positions between the master and slave.
Machine parameter MP855.x (synchronization monitoring) is effective for all
slave axes of a synchronized drive (if a value > 0 has been entered), regardless
of whether it is a gantry or master-slave combination.
If an offset is caused in the axes through an emergency stop, they will be
synchronized after the emergency stop.
0 200 –200 0
Machine
Counting direction datum
changed shifted
(MP960.x)
200 0 0 200
Master Slave Slave Slave
Note
The master and slave axes must be on the same drive-control main board,
which means that both axes need to be controlled by the same DSP. In this
way, you can flexibly assign the master and slave axes to the PWM outputs
X51 to X56 of a CC 6106. On controller units with more than one drive
control board (CC 6108, CC 6110), the master axis and the slave axis both
need to be assigned to either the A connections or the B connections.
Mixed connection is not permitted.
Gear
Rack
Motor
Coupling
Motor Motor
Shaft
Axis 1 Axis 3
Axis 2 Axis 4
Setting the master- For the master and slave axes you must select in MP1040 the same or the
slave torque control opposite direction of rotation, depending on the application (MP210 has no
for minimizing effect on the slave).
mechanical play Adjust the current controller for the master and slave axes “Commissioning"
on page 1004.
Enter the following temporary values in the machine parameters for the
slave axis:
MP2900.x = approx. 20% to 25% of the rated torque of the motor
MP2910.x = 0.2
MP2912.x = 0
If you use a position encoder, enter 1 in MP2912.x for the slave axis; if you
do not use a position encoder, enter the value 0 in MP2912.x for the slave
axis.
Enter MP2510.x (I factor of speed controller) = 50 or, if you have one, an
empirical value for your motor.
Adjust the P and I factors of the speed controller for the master and slave
axes at the same time, see "Commissioning" on page 1004. It is not
permissible to commission the master and slave axes separately, since the
motors must be tensioned during commissioning.
If you do not reach the desired rise time (approx. 10 ms), you can increase
the P factor with the aid of a filter. Here the band-rejection filter is preferable
to the low-pass filter.
To find the center frequency for the band-rejection filter, slowly increase the
P factor to the oscillation limit and find the frequency with the integrated
oscilloscope.
For low-frequency oscillations (< approx. 200 Hz) you should not use a filter,
because it may have a negative influence on the dynamics of the control.
For the mid-range frequency (approx. 200 Hz to approx. 400 Hz) ensure that
you do not excite any low-frequency oscillation.
The higher the frequency of the oscillation (> approx. 400 Hz), the less
negative will be the influence of high damping on the dynamics.
Note
For identical motors, the factors of the speed controller should be identical
to ensure identical dynamic behavior.
Discontinuity
Inoml master
Inoml slave
The lower the ratio of the total mass moment of inertia (transmission,
machine table, etc.) to the motor mass moment of inertia, the smaller the
required tensioning torque is (MP2900.x).
Note
For low-frequency oscillations (< approx. 200 Hz) you should not use a filter,
because it may have a negative influence on the dynamics of the control.
For the mid-range frequency (approx. 200 Hz to approx. 400 Hz) ensure that
you do not excite any low-frequency oscillation. The higher the frequency
of the oscillation (> approx. 400 Hz), the less negative will be the influence
of high damping on the dynamics.
Note
For identical motors, the factors of the speed controller should be identical
to ensure identical dynamic behavior.
Note
Note
Before performing the brake test, ensure via the PLC program that all servo
drives of a synchronized axis are switched on and the holding brakes are
open.
For slave drives for which the brake test has been disabled via MP2230.x, the
current is adjusted so that the servo drive is not moved while the other servo
drives of the synchronized axis are being tested.
Since the algebraic sign of the test torque cannot be determined until the
drives are feedback-controlled and the brakes are open, an appropriate waiting
time must be specified for the start of the brake test of synchronized axes. The
time set in MP2309.x is used for this. The value for MP2309.x must equal the
time that passes until the brake is really open after the controller has been
switched on. The same time must be entered in MP2309.x for all servo drives
of a synchronized axis. For CC 424 and CC 6xxx controller units the time in
MP2309.x is taken into account each time the controller is switched on. For
CC 422 controller units the time in MP2309.x is only taken into account the
first time the controller is switched on, in order to delay the brake test by this
time.
In general, the following applies to the brake control: If the brakes are
controlled by the PLC, and not by the inverters, the PLC module 9159 (drive
controllers are switched off) transmits the status message to the PLC program
regarding the closing of the brakes during the brake test. However, also
remember the relationship with PLC Module 9162. The status signal of PLC
Module 9162 returns a value of "1" if the drive is ready.
Note
6.7.1 Definition
The position value (the coordinates) of an axis position is defined with respect
to a freely chosen datum. When the axes are moved, the ACTUAL position is
calculated incrementally. If there is an interruption in power, the reference
between the axis position and the position value is lost.
Reference marks HEIDENHAIN linear encoders are designed with one or more reference marks.
The reference marks identify an axis position at a known distance from the
machine datum. The position of the freely selectable datum is defined with
respect to the machine datum.
The datum and the actual position can be reproduced as soon as the reference
marks are traversed.
HEIDENHAIN recommends position encoders with distance-coded reference
marks. With distance-coded reference marks, the position value can be
reestablished after traverse of a short distance over any two reference marks.
Machine table
Position encoder
Reference mark
Machine datum
Distance between For position encoders with distance-coded reference marks, the machine
the scale reference datum is defined with respect to the scale reference point, which is at the first
point and the reference mark after the beginning of the measuring length. On angle
machine datum encoders, the scale reference point is marked.
In MP960.x, enter the distance between the scale reference point and the
machine datum.
For position encoders without distance-coded reference marks but with more
than one reference mark, the distance between the reference mark to be
traversed and the scale reference point must also be entered:
With Module 9225, enter the distance between the reference mark to be
traversed and the scale reference point.
Module 9225 Compensation value for the reference mark
With Module 9225 you define the distance between the reference mark to be
traversed and the scale reference point for the NC and PLC axes.
Call:
PS B/W/D/K <Axis>
0 to 8: Axes 1 to 9
15: Spindle
PS B/W/D/K <Compensation value in 0.1 µm>
0: Reference mark to be traversed = scale reference point
CM 9225
PL B/W/D <Error code>
1: Axis does not exist
Error code:
Defining the In machine parameters, you define the process of traversing the reference
process of marks:
traversing the
In MP1320.x and MP1330.x (for rotary encoders also in MP1331.x) you
reference marks define the direction and velocity for traversing the reference marks.
In MP1340.x you define the sequence of axes for traversing the reference
marks.
With MP1350.x you select the type of reference marks.
"Traverse The NC uses W272 to report the "Pass Over Reference Point" operating mode
Reference Points" to the PLC.
operating mode
If you switch the operating mode before all reference marks are traversed, the
PASS OVER REFERENCE soft key prompts you traverse the remaining reference
marks. In W1032/W1116 the PLC receives the information as to which axes
have not yet been referenced.
In W1032/W1116, the bits for axes that are not to traverse the reference
marks (MP1340.x = 0) remain set.
In the NCMACRO.SYS file, after the code number RESETINIT= you can enter
the name (incl. path) of a macro that will be called when the Pass Over
Reference Point mode of operation is exited. If the NC macro is terminated
once with END PGM or M02, it will no longer be run when the Pass Over
Reference Point mode is called and exited.
If M4622 is set during the first run of the PLC program, the message window
Waiting for M4622 appears after the reference marks have been traversed.
The window does not disappear until you have reset M4622. In this way, you
can delay the execution of the NC macro defined through RESETINIT = in the
NCMACRO.SYS.
To synchronize the current machine status and the look-ahead calculation with
an NC macro call, see "NCMACRO.SYS" on page 1709.
Activate the The control saves the last axis positions to be traversed before switch-off.
software limit These positions allow you to check the traverse ranges of the axes when
switches before traversing the reference marks. This can be activated for a specific axis in
traversing the MP1352.x and is switched on/off with the MONITOR SW LIMIT soft key. This
reference marks soft key is available after the control has been switched on in the "reference
mark traverse" operating mode.
Danger
When approaching the reference marks again (e.g. after switching the
axis), this monitoring function is not active.
If fatal error messages occur, the position at shutdown may not be
exactly identical to the position at switch-on.
Please inform your customers for which axes you have enabled the
activation of the software limit switches in MP1352, and for which axes
you have not enabled it. The MONITOR SW LIMIT soft key, specifically
for switching monitoring off, is available if MP1352 is set for at least one
axis. The user, however, is not informed for which axes the software
limit-switch monitoring function before reference-mark traverse is active.
Note
Setting MP960.x (machine datum) when using rotary encoders with EnDat
interface:
Move the axis (encoder) to the nominal datum.
Enter the displayed value of the deviation in MP960.x. Reverse the algebraic
sign.
or:
Set the cursor in the active machine-parameter file to the corresponding
MP960.x.
Press the actual-position-capture key.
Enter "0" in the datum field and press Enter. The current actual value is then
entered automatically in MP960.x.
MP1350.x = 8 enables you to reference incremental encoders with EnDat 2.2
protocol. With these encoders the absolute value is not available after switch-
on, so that reference marks must be traversed. If this type of encoder is
connected to the position input, bit 3 of MP118.x must be set. This type of
encoder cannot be used at the speed encoder input yet.
Set Reset
M4622 Delay NC macro with RESETINIT = PLC PLC
from NCMACRO.SYS
W1032/1116 Reference marks not yet traversed NC NC
Axis-specific: Dependence on MP4020
bit 14
W1054/1160 Reference end position PLC PLC
Axis-specific: Dependence on MP4020
bit 14
Note
If an axis is started for reference point traverse although the reference mark
has already been traversed, the corresponding bit is set in W1032/W1116
and the reference mark is traversed again. The same constraints apply as
when traversing the reference mark for the first time.
An axis cannot be started for referencing until all other axes are in position.
Reference marks
"Reference end
closed postion" trip dog
open
Machine traverse
in direction from
MP1320
Machine traverses in
Trip dog inverted direction from
"Reference end position" Yes MP1320
is closed before two consecutive
reference marks are
passed over
No
Machine moves to
No software limit switch
Machine stops
Reference marks
"Reference end
closed postion" trip dog
open
Is the machine
Yes
outside the software
limit switch range?
No Machine moves to
software limit switch range
Machine stops
If during automatic referencing the trip dog is not closed until it is in the
reference end position range, the contouring control will ignore this signal. It
is therefore necessary that there are at least two reference marks in the range
of the reference end position.
Reference marks
Trip dog
"Reference end position"
Machine moves
in direction from
MP1320
No
Machine moves to
No software limit switch
Machine stops
Measuring length
Reference pulse
Trip dog
Closed
"Reference end position"
Open
Is the
machine outside Yes
the software limit
switch range?
Machine moves to
No software limit switch
Machine stops
The position, speed, and current controllers, and the power module are
integrated in the iTNC. The power module is driven by the CC 6xxx through
PWM signals (PWM = pulse width modulation).
The iTNC 530 controls machines with up to 18 axes and 2 spindles. Spindle
speeds up to 40 000 min–1 for motors with two pole pairs are possible.
Position
Time
Maximum Taking into account the motor and the power module, the machine should be
acceleration designed in such a way that acceleration during the acceleration phase is as
constant as possible. This ensures maximum utilization of the drive current.
Velocity v
Acceleration a
t
Jerk r
On the other hand, the machine should also be designed to fulfill the dynamic
requirements. The jerk should be kept to a minimum and the jerk phase should
be maximized in order to prevent the machine from oscillating. The result is no
constant acceleration, but a short acceleration peak. If the maximum velocity
and the maximum permissible jerk of the machine are preset, the maximum
attainable velocity can be determined.
Jerk r
Velocity v
Acceleration a
smin
Distance s
Jerk r
vmax
Velocity v
t
Tr 2Tr 3Tr 4Tr
Acceleration a
v max
s min = 2 ⋅ v max ⋅ -----------
-
r max
Example Rapid traverse vmax = 30 000 mm/min (= 0.5 m/s); MP1010.x = 30000
Max. jerk with velocity v > 20 000 mm/min (= 0.33 m/s) rmax1 = 70 m/s3;
MP1090.1 = 70, MP1092 = 20000
Max. jerk rmax2 = 35 m/s3 during machining; MP1090.0 = 35
Maximum attainable acceleration amax1 during rapid traverse:
m m m
a max1 = v max ⋅ r max1 = 0,5 ------ ⋅ 70 ------3 = 5,92 ------2
s s s
m m m
a max2 = v max ⋅ r max2 = 0,33 ------ ⋅ 35 ------3 = 3,40 ------2
s s s
m
v max 0,5 ------
m s
s min = 2 ⋅ v max ⋅ ------------ = 2 ⋅ 0,5 ------ ⋅ --------------- = 0,085 m = 85 mm
r max s m
70 ------3-
s
Note
The rectangular jerk curve is rounded through the use of a nominal position
value filter (MP1096.x ≠ 0). As a result, acceleration is reduced and the
minimum distance required for attaining the maximum velocity is
increased.
MP1200
Axis 1 MP1201
MP1202.0
MP1202.1
MP1210 | MP1211 | MP1212 | MP1213
Axis x MP1222
MP1223
SNoml s SNoml
Axis 1
v
f
MP1230.0 | MP1231.0 | MP1232.0 | MP1233.0
t MP1240.0 | MP1241.0 | MP1242.0 | MP1243.0
a
MP1060.x
t SNoml s SNoml
s = S0+v·Dt Axis 2
f
t
SNoml
Axis 3
The interpolator calculates a velocity from the programmed feed rate. In the
CC 6xxx it makes this calculation every 3 ms. The value is also dependent on
the acceleration curve and the end position.
If more than one axis is moved simultaneously, the path acceleration apath is
formed from the appropriate axis components. The same applies to rapid
traverse in the path (see "Rapid traverse and feed rate limiting" on page 839).
apath
aaxis 2
aaxis 1
If the inverter is not designed for such accelerations, you can limit the path
acceleration:
In MP1061.0, enter the maximum permissible path acceleration for the
machining feed rate.
In MP1061.1, enter the maximum permissible path acceleration for the rapid
traverse.
This division enables you to enter a lower value for the acceleration at
machining feed rate, which makes it possible to optimize the behavior of
drives with regard to backlash compensation.
With MP1086.x you limit the axis-specific jerk for single-axis motions at
rapid traverse in the Program Run, Single Block, Program Run, Full
Sequence and MDI operating modes, if the feed rate is FMAX or is greater
than the value in MP1092. Until now, this value was set for all axes in
MP1090.1.
The value in MP1090.1 will continue to be used as the maximum
permissible jerk for rapid-traverse movements in all axes. Even with
interpolating axes this value is the maximum jerk for the entire machine.
The formula shown can be used to calculate a guide value for MP1086. The
formula is conceived for the calculated jerk to be large enough that the
acceleration of the axis is not impaired.
Input: 0.1 to 1000 [m/s3]
0: Not active (then also for FMAX value in MP1085.x)
MP10602 · 60000
MP1086 ≥
MP1010
Note
At high feed rates (e.g. rapid traverse) a higher jerk is permitted than at low
feed rates:
Enter the jerk for low feed rates in MP1090.0, and for high feed rates in
MP1090.1. MP1090.x is the jerk on the tool path. The input value is
determined by the weakest axis.
With MP1090.x you can limit the path jerk that results from MP1085.x or
MP1086.x. MP1090.0 takes effect for movements not at FMAX or if the
feed rate is less than the value in MP1092. MP1090.1 takes effect for
movements at FMAX or if the feed rate is greater than the value in MP1092.
This limitation can be switched off by entering the value 0 in MP1090.x.
With MP1092 you specify a feed-rate threshold for the various jerk
parameters in MP1085.x and MP1086.x.
If the programmed feed rate is less than the value in MP1092, the
parameters in MP1085.x apply. If the programmed feed rate is greater than
the value in MP1092, the parameters in MP1086.x apply. This way you have
the same behavior as previously for all axes via MP1090.0 and MP1090.1.
Enter the value 0 in MP1092 to deactivate this feed-rate limit. Then the jerk
parameters from MP1085.x apply to movements not at rapid traverse. The
values in MP1086.x become active for movements at FMAX.
s = so + v ⋅ Δt
MP1521
Acceleration
(MP1060.x)
1 1000
fg ( 12dB ) = ---
2
× ---------------------------
MP1522
-
In MP1522, define the time constant according to the formula above for the
feed-rate smoothing.
Begin the adjustment with a smoothing of the feed rate in the 6-dB range,
and increase the value step by step.
Check the following error with a suitable NC program (e.g. feedforward
adjustment program in TNCopt) until it reaches a minimal value.
Typical input value:
MP1522 = Approx. 0.33 to 0.5 ⋅ TMachine
(TMachine = Period of the machine resonance frequency)
Example:
fMachine = 50 Hz; TMachine = (1 / 20 Hz) = 50 ms;
MP1522 = 0.5 x 50 ms = 25 ms (input value = 25)
Note
The nominal position value filters (MP1200) function in all operating modes
(even in rapid traverse). For RIGID TAPPING (Cycle 17), the nominal position
value filter is automatically switched off.
If the machine dynamics are adapted via a nominal position value filter, the
iTNC always maintains
the tolerance
• from MP1202.0 (at the machining feed rate)
• from MP1202.1 (at rapid traverse)
• from the tolerance given in Cycle 32 – mode 0 (HSC finishing filter)
• from the tolerance given in Cycle 32 – mode 1 (HSC roughing filter).
Here the limit frequency is automatically lowered so that faster
machining results for larger tolerances.
the axis-specific jerk at corners (MP1230.x, MP1231.x, MP1232.x and
MP1233.x, MP1250.x factor from MP123x.x for rapid traverse) depending
on the filter type used
the axis-specific jerk at curvature transitions (MP1240.x, MP1241.x,
MP1242.x and MP1243.x) depending on the filter type used
the axis-specific acceleration (MP1060.x)
the path acceleration (MP1061)
the radial acceleration (MP1070.x)
the tolerance at curvature changes.
Selection criteria The settings for the nominal position value filters mainly depend on the
and settings for the emphasis of the requirements for machining the workpiece. Speed and
nominal position accuracy, in connection with clean and smooth surfaces, are the decisive
value filters criteria.
At the same time, the oscillation and resonance tendencies of the machining
system (the machine tool) are to be considered, and taken into account in the
settings for the nominal position value filters. The following recommendations
can be made for the settings:
Clean surface
Definition of the term "surface":
A clean and smooth surface has the highest priority
Application: Finishing
Oscillations in the axes must be damped, since following errors of 1 µm are
still visible on the surface
Tolerances are typically between 0.01 mm and 0.02 mm (may be slightly
exceeded in order to achieve a better surface)
Settings guidelines for "surface":
Preferential use of the advanced HSC filter (or single filter)
Use M124 for a faulty NC program (from CAD system)
Low jerk values in MP1090.0, MP123x.x
Switch off tolerance consideration for curvature changes, MP1222 and
MP1223 = 0.
High jerk values for MP124x so that no limitations take effect (example: test
MP124x.x up to a value of 1000).
Radial acceleration MP1070 maximum values between 1 and 3 [m/s2].
Note
With MP1200, select from the single, double, HSC and advanced HSC filters
the nominal position value filters for the Program Run, Single Block,
Program Run, Full Sequence and Positioning with Manual Data Input
operating modes.
With MP1201, select the nominal position value filters for the Manual,
Handwheel, Jog Increment and Pass Over Reference Point operating
modes. Single and double filters are available here.
With MP1222 and MP1223 you specify whether the tolerance from
MP1202 or Cycle 32 is also considered for curvature changes. MP1222
affects the HSC filter, and MP1223 affects the advanced HSC filter.
In order to achieve the optimum results for your machine or application, test
the various filter settings with a test part consisting of short, straight paths.
If the HSC filter does not need to be used to limit the bandwidth, very brief
machining times can be achieved by setting high limit frequencies with high
jerk values. Of course, requirements for this are increased jerk (MP1232.x,
MP1242.x, MP1250.x) and acceleration values (MP1060, MP1070) since
starting at certain limit frequencies, the jerk and acceleration values
increasingly limit the feed rate. The machining time is briefest at a certain
value in MP1212. The following rule of thumb is used to find the optimum
value:
MP1212 = 23 + MP1232 *0.2 (however, MP1212 should be ≥ 30)
If the tolerance is increased, the optimum value for MP1212 is shifted to
smaller frequencies.
Cutoff frequency for Machine parameters MP1218.0 to .2 can be used to allow higher machining
nominal position speeds in the rotary axes if Cycle 32 with a small angle tolerance (required for
value filters or toroidal cutters, for example) is used. This also permits an axis-specific
filters of rotary axes configuration with differing drive designs of the rotary axes. Cutoff
frequencies for separate nominal-value filters for the A, B and C axes can be
entered in these parameters. The filter type is the same as that for the linear
axes (MP 1200).
If 0 (default value) is entered, the 32nd-order triangle filter is used for this axis
(as before for all rotary axes).
Position controller You can choose between two types of feedback control:
cycle time
Feedback control with following error (servo lag)
Feedback control with velocity feedforward
Select the type of control in the Positioning with manual data input,
Program run, single block and Program run, full sequence operating
modes with MP1392.
Select the type of control in the Manual and Handwheel modes of operation
with MP1391.
Note
Note
SNoml vNoml
SActl
The nominal position value snoml for a given axis is compared with the actual
position value sactl and the resulting difference is the following error sa:
sa = snoml – sactl
sa = following error
snoml = nominal position value
sactl = actual position value
Interrelation of kv The following formula shows the interrelation of kv factor, feed rate, and
factor, feed rate, following error:
and following error
ve ve
k v = ------ or s a = ------
sa kv
Δ SNoml
Δt
v
SNoml + Sa + vNoml
– Sa +
SActl
MP1510.x
MP1080.x
U [V]
t [ms]
Attention
If the kv factor that you select is too large, the system will oscillate around
the forward-fed nominal velocity value.
Unlike operation with following error, you must also enter the optimum kv
factor for each axis when operating with interpolated axes.
You can selectively increase the contour accuracy with a higher kv factor. This
kv factor is activated with M105:
In MP1515.x, define a second set of kv factors and activate them with
M105.
M105 also influences compensation of reversal spikes during circular motion.
With M106 you can switch back to the original set of kv factors:
Enable the M functions M105/M106 with MP7440, bit 3.
MP1510.x kv factor for velocity feedforward control
Input: 0.100 to 1000.000 [(m/min)/mm]
MP1515.x kv factor for velocity feedforward control effective after
M105
Input: 0.100 to 1000.000 [(m/min)/mm]
MP7440 Output of M functions
Format: %xxxxx
Input: Bit 3 – Switching the kv factors with M105/M106:
0: Function is not in effect
1: Function is effective
Note
For axes that are interpolated with each other, the kv factors must be equal.
In this case the smaller kv factor determines the input value for these axes.
The values for position monitoring are interpolated according to the factor in
MP1396.x between the values for servo lag (MP1710.x, MP1720.x) and the
values for velocity feedforward control (MP1410.x, MP1420.x).
Feedback control with Feedback control with velocity Feedback control with
following error (servo lag) semifeedforward velocity feedforward
MP1391 bit x = 0 MP1391 bit x = 1 MP1391 bit x = 1
MP1392 bit x = 0 MP1392 bit x = 1 MP1392 bit x = 1
MP1396.x = nonfunctional MP1396.x = 0.001 MP1396.x = 0.999 MP1396.x = 1
If the PC Marker M4625 is set, the start of an NC axis for which operation with
following error or velocity semifeedforward control is active is prevented, and
the error message Semifeedforward not permitted is displayed. The marker
is only evaluated when an NC program is started or when the axes are
traversed with axis-direction keys.
Set Reset
M4625 Disable NC axes when velocity PLC PLC
semifeedforward control is active
vpath
vaxis 2
vaxis 1
If there are problems with the inverter, e.g. because the energy being
generated from the axes in motion cannot be dissipated, you can limit the
rapid traverse on the path:
Enter the maximum rapid traverse on the path in MP1011.
Enter the inputs axis-specifically in MP1010.x.
With MP1012.x you can enter a second axis-specific rapid traverse as an
alternative to MP1010.x. Use the FN17: SYSWRITE ID 20 NR 18 = <value>
function to switch between the two machine parameters. MP1012 can only
be used in the Program Run, Single Block, and MDI operating modes.
<value> = 0: MP1010 and MP1011 active
<value> = 1: MP1012 active, MP1011 not active, meaning that the possible
increase in the contouring feed rate is not limited.
The rapid traverse from MP1010 in connection with MP1011 is always
active at program end and when a program is first selected.
The feed rate can be limited via the PLC:
Enter the reduced maximum contouring feed rate in D596.
Limit the feed rate axis-specifically with Module 9140. It can be read with
Module 9141.
If the value in D596 is greater than MP1011, then MP1011 becomes effective.
After the control is switched on, or after an interruption of the PLC run, D596
is preassigned with the value 300 000 so that MP1011 becomes effective.
Rapid traverse can be limited by the user with the F MAX soft key. This
limitation is not effective if M4587 is set. In this case only limitation through
D596 is effective. After M4587 is reset, both D596 and the last limit set via the
F MAX soft key are effective again. Limitation of rapid traverse via the F MAX
soft key can be rescinded with the RESET soft key. The value from MP1011
then becomes active again.
Analog axes:
In MP1050.x, enter the desired analog voltage for rapid traverse.
Adjust the rapid traverse feed rate (vmax) with the analog voltage at the
servo amplifier.
Module 9140 Set axis-specific feed-rate limit
With Module 9140 you can set axis-specific feed-rate limits. The limits are
saved in sequential double words for each axis. The address of the starting
double word must be given. Along with a feed-rate value (≥ 0), the following
limitations are possible in the double words:
–1: Maximum feed rate (a previous limitation via Module 9140 is rescinded)
–2: Axis-specific rapid traverse from MP1010.x (for multi-axis interpolation,
the contouring feed rate is limited to the slowest respective value of the
participating axes)
–3: Axis-specific manual feed rate from MP1020.x (for multi-axis
interpolation, the contouring feed rate is limited to the slowest respective
value of the participating axes)
Set Reset
M4587 Rescind feed rate limit above F MAX PLC PLC
D596 Max. feed rate from PLC [mm/min] NC/PLC PLC
D360 Programmed feed rate NC NC
D388 Current contouring feed rate [mm/ NC NC
min]
Analog axes The iTNC outputs a voltage per position error. The 10 V analog voltage is
subdivided with a D/A converter on the CMA-H. This results in a smallest
voltage step of 0.328 mV.
Rapid traverse (MP1010.x) is attained at a certain voltage (MP1050.x). This
results in the voltage DU per position error or following error sa:
MP1050.x [mV]
ΔU = -----------------------------------------
S a [µm]
If DU is divided by the smallest possible voltage step (0.328 mV), the result is
the number n of the possible voltage steps per position error.
U [V]
MP1810 · MP1820
MP1830
MP1810 (= kv)
sa
The characteristic curve kink point must lie above the tool feed rate!
Calculating the lag (following error):
MP1830.x [%] 100 [%] – MP1830.x [%] v e
s a = --------------------------------------------- + ------------------------------------------------------------------------------ ⋅ -------
100 [%] MP1820.x ⋅ 100 [%] k
v
MP1820.x Multiplier for the kv factor
Input: 0.001 to 1.00000
MP1830.x Characteristic curve kink point
Input: 0.000 to 100.000 [%]
Set Reset
M4580 Suppress emergency stop, open all PLC PLC
position control loops, NC stop
M4581 Open all position control loops, NC PLC PLC
stop, activate "Approach position"
W1024/1100 Axis enabling NC NC
Axis-specific: Dependence on MP4020
bit 14
0: Position control loop open
1: Position control loop closed
Set Reset
W1038/1128 Prepare to open the position control PLC PLC
loop
Axis-specific: Dependence on MP4020
bit 14
0: Not active
1: Active
W1040/1132 Axis-specific opening of the position PLC PLC
control loop
Axis-specific: Dependence on MP4020
bit 14
0: Do not open the position control loop
1: Open the position control loop
Set Reset
M4563 Feed-rate enable for all axes PLC PLC
W1060/1172 Axis-specific feed-rate enable PLC PLC
Axis-specific: Dependence on MP4020
bit 14
0: No feed-rate enable
1: Feed-rate enable
Attention
Set Reset
W1044/1140 Actual-to-nominal value transfer PLC PLC
Axis-specific: Dependence on MP4020
bit 14
0: No actual-to-nominal value transfer
1: Actual-to-nominal value transfer
Actual current
Actual rpm
1
Resolution = · 100 000 [min-1]
Line count · 1024
Call:
PS B/W/D/K <Axis>
Axis-specific: Dependence on MP4020 bit 14
CM 9164
PL B/W/D <Actual speed value in the format 0.001 [min–1]>
Error code:
Note
Low-pass filter With the low-pass filter you can damp high-frequency oscillations
(> approx. 450 Hz):
Use the oscilloscope to find the fundamental frequency of the iTNC.
Activate the 1st or 2nd order low-pass filter (see table).
If you cannot achieve satisfactory results with the low-pass filter, try the PT2
element.
MP2560.x Low-pass filter of the speed controller
Input: 0: No low-pass filter
1: 1st-order low-pass filter
2: 2nd-order low-pass filter
Band-rejection filter With the band-rejection filter you can damp oscillations that you cannot
compensate with the differential factor, the PT2 element, or the low-pass
filter:
With the oscilloscope of the iTNC, find the fundamental frequency of the
interference oscillations and enter them in MP2550.x.
Increase MP2540.x incrementally until the interfering oscillation is
minimized. If you set the damping too high, you will limit the dynamic
performance of the control loop. Realistic input values: 3 to 9 [dB]
MP2540.x Band-rejection filter damping of the speed controller
Input: 0.0 to 18.0 [dB]
MP2550.x Band-rejection filter center frequency of the speed
controller
Input: 0.0 to 999.9 [Hz]
Note
MP2600 = 0
MP2600 = optimum
Limiting the In machines with a great deal of stiction, a high integral-action component can
integral factor accumulate if there is a position error at standstill. This can result in a jump in
position when the axis begins moving. In such cases you can limit the integral-
action component of the speed controller:
Enter a limit in MP2512.x.
Realistic input values: 0.1 to 2.0
MP2512.x Limit of integral factor of the speed controller
Input: 0.000 to 30.000 [s]
Integral phase An I factor can be set in the speed controller of the iTNC (MP2510.x). This l
compensation (IPC) factor is needed to attain a short setting time. However, the I factor has a
negative influence on the position controller, i.e. the position controller tends
to oscillate more easily, and it is often impossible to set the kV factor
(MP1510.x) high enough.
The IPC (Integral Phase Compensation) compensates the negative influence
of the I factors on the speed controller, and makes it possible to increase the
kV factor (MP1510.x).
The IPC is beneficial on the following types of machines:
Machine type 1: Machines with a dominant natural frequency between 15
Hz and 80 Hz, for which it is not possible to set a sufficiently high kv factor.
Machine type 2: Small-to-medium size machines that are driven directly.
Note
2
Starting value: MP2604.x = ---
3
⋅ MP2600.x
--------------------------------
MP2500.x
Change MP2604.x until you have found the maximum kV factor (MP1510.x).
If you cannot find a maximum kV factor, use the default value in MP2604.x.
MP2600.x
Starting value: MP2602.x = --------------------------------
MP2500.x
Machine type 2:
The machine is commissioned as usual until the kV factor is to be
determined.
Enter MP2602.x = 1 and MP2604.x = 0.
Increase the kV factor (MP1510.x) until you reach the oscillation limit.
2
Starting value: MP2604.x = ---
3
⋅ MP2600.x
--------------------------------
MP2500.x
Change MP2604.x, normally by reducing it, until the following error is at its
minimum.
Note
Please note that values over 0.5 in MP2606.x do not make sense for the
CC 61xx controller unit, and are therefore not permissible. Therefore, an
error message will be issued for values greater than 0.5.
I NOMINAL1 + I NOMINAL2
MP2630.x =
2
Note
Please note that when reading the current via the internal oscilloscope,
on the CC 6xxx you are seeing the effective value of the current.
If the ready signal (RDY) is missing from the speed encoder inputs of
vertical axes, the DSP error message 8B40 No drive< release> appears.
A vertical axis is defined with an entry in MP2630.x.
Readiness of The drives can only be switched on once the drive system is ready. This
the drives includes:
the readiness of the supply unit (RDY.PS signal at X69 pin 17a – interrogation
via Module 9066 bit 5), the inverters (RDY signal at X51 to 64 pin 10b of the
PWM outputs) and of the motors.
the conclusion of the motor orientation (determination of the field angle).
that the inputs for axis-specific drive enable are released. These entries are
configured with MP4132.
Danger
Set Reset
W524 Open the control loop if drive enabling PLC PLC
via MP4132 is missing
Bit 0 = 0: Position control loop stays closed
Bit 0 = 1: Position control loop is opened
Bit 1 to bit 15: Non-functional
Set Reset
M4563 Global feed-rate enable for all axes PLC PLC
You adjust the current controller to attain the optimum result, with the position
and speed controller switched off.
Expanded current For axes with rigidly connected mechanics it may make sense to adjust the
controller current control loop using the maximum possible bandwidth to attain high
bandwidth gains in the superimposed velocity control loop. For the CC 61xx controller
unit there are two procedures for increasing the bandwidth of the current
control loop:
Using machine parameter MP2450 to increase the controller factors in the
current control loop,
and proportionally differentiating feedforward (D feedforward) to optimize
the command action of the current control loop (MP2440).
Note
Note
Note
Limiting the braking power is also effective when braking the spindle with
M05, if the brake ramp in M05 (MP3411 and MP3412) is steeper than the
brake ramp when limiting the braking power.
Normally, in case of an emergency stop, the axes are braked at the limit of
current. This can create problems:
With gantry axes a mechanical offset can occur between the master and
slave axes.
A gear between spindle and motor can be overloaded.
In such cases, the axes should preferably be braked in an emergency stop by
adding an additional braking ramp.
Note
Both of the above braking strategies are possible for axes and spindles. If
both braking strategies are activated for an axis or spindle, they do not
exclude each other; this means that in case of an emergency stop,
whichever strategy responds first takes effect.
Use the emergency stop to brake the axis from rapid traverse.
Increase the value entered in MP2590.x until the braking time is as short as
possible and the mechanics of the axis are not overloaded.
If the value entered is too small, i.e. if braking is too slow, the axis brakes at
the acceleration defined in MP1060.x.
Once the value for MP2590.x has been determined and entered, the braking
process at this setting must be checked. You must ensure that simultaneous
braking of all axes does not lead to a switch-off due to overload of the
inverters. The nearer the determined braking ramp is to the emergency stop
ramp, the greater the resulting load on the inverters is.
Note
The value entered in MP2590.x refers to the motor speed, meaning the ball
screw pitch is not considered.
Braking the In this strategy the maximum braking power for braking the spindle/spindles
spindle/spindles by in an emergency stop or power failure is entered.
entering the
If power limiting (MP2392.x) is used in normal operation, then the maximum
braking power
braking performance is limited to the lower of the two values from the power
limiting and the braking power.
Example:
Note
M: Torque [Nm]
P: Power [W]
n: Speed [min–1]
Note
The power and torque limiting can have an effect on the braking of the
spindle in an emergency stop.
Power limit
Oversized motor
Motor with
power limit
n
M
Motor with
power limit
Torque limit
Danger
General Asynchronous motors are usually operated with a weakened field. This
information operating mode can become necessary for synchronous motors if the present
inverter voltage does not suffice for the require rotational speed. Typical
applications for this operating mode are high-speed synchronous spindle
motors and "high-speed" torque motors.
For synchronous drives the operation with a weakened field is automatically
activated if MP2160.x = 1 has been entered, and the desired speed makes it
necessary. Under certain conditions a voltage protection module must be
used.
Because of their design, the HEIDENHAIN EcoDyn motors are treated as a
special case. They must always be operated with a weakened field, but no
voltage protection module is necessary.
For HEIDENHAIN EcoDyn motors, MP2160.x = 2 is to be entered.
The speed-torque characteristics from the drive manufacturer indicate
whether weakened-field operation is necessary. Among other information,
they show the possible speeds in combination with the necessary inverter
voltage.
Note
Please note that there are other possible settings for weakened-field
operation with the CC 61xx, see "Peculiarities in weakened-field operation"
on page 1103.
Please refer to the "Inverter Systems and Motors" Technical Manual to see
which voltage protection module is needed for which motor types (depending
on the maximum phase current of the SM 110 or SM 130).
Attention
Synchronous spindle
(e.g. 1FE1124-4WZ) YES
or
torque motor MP2160 = 1
(e.g. Etel TMA530-100-3VD)
No
– Calculation of minimum line voltage (5)
MP2190 = actual – Series reactor taken into account
DC-link voltage – Line voltage at machine installation site
taken into account
YES
YES
No
MP2160 = 10 (10)
No
Reduction of acceleration and/or jerk (12)
YES
Alternative
No
v = r ⋅ MP1070
If the programmed feed rate is less than that calculated above, then the
programmed feed rate becomes effective.
MP1070 functions for operation with both following error and feedforward
control.
MP1070 Radial acceleration
Input: 0.001 to 500 [m/s2]
Note
FN17: SYSWRITE ID1020 NR1 = <value> can be used from the NC program
to activate machine parameter subfiles for various machining operations.
See 1703.
Set Reset
W1042/1136 Deactivation of monitoring functions PLC PLC
Axis-specific: Dependence on MP4020
bit 14
0: Monitoring functions active
1: Monitoring functions inactive
Attention
In the PLC program, PLC inputs specified in MP4132.x can be used axis-
specifically to switch off the monitoring functions. With W524 bits 0 to 7 you
can deactivate the monitoring functions for the axis group, or with W1042/
W1136 for the individual axes. With W524 the position control loop is also
opened.
Note
Only the PLC inputs of a PLD in slots 1 to 4 of a PLB 6xxx can be used as
fast PLC inputs.
Define in MP4131.0 the activation criterion for the PLC input specified in
MP4130.0.
Enable MP4130.0 with W522 bit 0. As soon as the input is set, the
monitoring functions are switched off, the axes stopped, and the drive is
switched off. If the following error is greater than MP1030.x (positioning
window), the actual value is saved as nominal value. The monitoring
functions become active again if the high-speed PLC input is reset or
MP4130.0 has been disabled with W522 bit 0.
MP1150.1 Time period for which the monitoring function is to remain
off after the fast PLC input defined in MP4130.0 is set
Input: 0 to 65.535 [s]
Recommended: 0.2 to 0.5
MP4130.0 Number of the high-speed PLC input for switching off the
monitoring functions
Input: 0 to 20 000 [no. of the PLC input]
-1: Function inactive
MP4131.0 Activation criterion for fast PLC input for switching off the
monitoring functions
Input: 0: Activation at low level
1: Activation at high level
Set Reset
W522 Enabling the fast PLC inputs PLC PLC
Bit 0: Fast PLC input is defined in
MP4130.0 for switching off the
monitoring functions
Switch-off position in
this sector
Error! Error!
1 sector
(= 256 revolutions)
If the motor is farther from the switch-off position than two complete sectors
when it is switched on (further than the sector "after next"), the error message
Switch-off pos. <axis> unequal ENDAT is displayed immediately after the
drives are switched on.
Attention
The pop-up window may appear, stating that the positions at switch-on and
shutdown differ by more than MP1146.x. If the motor is located at the correct
position, you can confirm the message with the YES soft key.
MP1146.x Difference between the position at shutdown and the
position read in via the EnDat interface
Input: 0.0000 to 300.0000 [mm] or [°]
0: No difference permitted
Attention
Axes in position Once the axes have moved into the positioning window, the corresponding
bits are set in W1026/W1104. This also applies to the status after the machine
control voltage is switched on. Axes that are not used are considered to be in
position.
The NC resets the bits as soon as you start a positioning movement or
traverse the reference marks.
In the Electronic Handwheel mode of operation the bit for the current
handwheel axis is reset.
W1026/W1104 is not set for contours that can be machined with constant
surface speed.
Set Reset
W1026/1104 Axes in position NC NC
Axis-specific: Dependence on MP4020
bit 14
0: Axis not in positioning window
1: Axis in positioning window
Set Reset
W1028/1108 Axes in motion NC NC
Axis-specific: Dependence on MP4020
bit 14
0: Axis not in motion
1: Axis in motion
Since the AC fail is reported to the control before the powerfail, the control has
more time to react to the subsequent DC-link voltage failure.
Note
Only certain HEIDENHAIN power supply units provide the AC-fail signal
(see the Technical Manual for "Inverter Systems and Motors"). If you are
using power supply units that do not provide this signal, you must not
select the AC-fail signal in MP2195.
If a power fail is triggered on the control, all drives are brought to a controlled
stop. The PLC outputs are switched off and the control freezes to ensure that
the hard disk can no longer be accessed.
The control must be turned off and on again.
Also, the performance of each UV(R) supply unit is monitored. If the maximum
power of a UV(R) is exceeded, the spindle power is reduced if the spindle is
supplied by the same UV. This function can be deselected in MP2195 bit
10 = 1.
MP2195 Power monitoring of the UV(R)
Input: Bit 10
0: Monitoring active
1: Inactive
Temperature Linear motors usually have a KTY and several PTC thermistors or
measurement of thermoswitches for temperature measurement.
linear and
torque motors
Attention
The KTY is monitored by the control (NC). The temperature signal is conducted
to the control together with the encoder signals (X15 to X20). If the KTY is not
to be evaluated, this function must be deactivated over MP2220.x, MP2221.x
(see "Monitoring functions" on page 894).
Note
For example, PTC thermistors can be connected to a PLC input via the
securely grounded 3RN1013-1BW10 thermistor motor-protection device from
SIEMENS.
Temperature of the At X51 to X60 the temperature warning signal is available at pin 10a.
power module’s
If the permissible temperature of the heat sink on the power module is
heat sink
exceeded, this signal is reset.
Attention
General HEIDENHAIN inverter systems feature individual I2t monitors, one for each
information power module and motor.
Function An I2t monitor calculates and supervises the temperature pattern in a thermal
motor or power-stage model during operation, even if temperature
measurement is also provided by the hardware.
The active current, the rated or stall current, (multiplied by MP2302.x for
motors and by MP2304.x for power modules) and a device-specific
temperature model are the basis for calculation. A first-order temperature
module is available for monitoring power modules, first and second-order
modules are available for motors. These models make it possible to
permanently calculate the temperature of the stator winding in the motor or
the semiconductor in the power module.
Temperature models in an example comparison (motor)
T [°C]
200
180
160
140
120
100
80
60
40
20
0
0 100 200 300 400 500 600 700 800 900 1 000
The I2t monitor responds if this calculated temperature exceeds a certain limit.
Because temperature increase and heat dissipation are uneven when the
motor is stationary or moving slowly, the I²t monitor distinguishes between
standstill and traversing mode.
This limit range is defined in a motor table or power module table The
following entries are important:
F-AC (transition frequency in traversing mode [Hz])
F-DC (transition frequency at standstill [Hz])
Rated current
I-N
n
Rated rotational
speed N-N
Rated current
I-N
Limit frequency through interpolation for the
I-N * 0.707 CC 6xxx
n
F-DC F-AC
Stall current
I-0
n
Rated rotational
speed N-N
Stall current
I-0
Limit frequency through interpolation for the
I-0 * 0.707 CC 6xxx
n
F-DC F-AC
Note
In the oscilloscope you can display the current value of the I2t monitoring
of the motor and power module, as well as the current load of the drive.
monitor response (power stage or motor), if both I2t monitors are activated
(MP2302.x, MP2304.x). This early warning is withdrawn as soon as the limit
for reset is reached. For the response behavior, see "Limit values" on page
912.
Call:
CM 9160
PL D <Temperature monitoring>
Bit 15876543210
Axis:Sxxxxx987654321
PL D < I2t monitoring I2t early warning>
Bit 15876543210 15 876543210
Axis Sxxxxx987654321 Sxxxxx987654321
Error code:
Temperature The following values (entries in the motor table or power module table) are
model, first order required for the first-order temperature model to calculate the temperature.
F-DC [Hz]:
Lower limit frequency for the transition of traverse to standstill with the CC
6xxx.
F-DC = 0 – Default value (0) is active
F-DC > 0 – Input value in Hz is active
T-DC [s]:
Thermal time constant for operation at standstill (not evaluated at present)
F-AC [Hz]:
Upper limit frequency for the transition from standstill to traverse.
F-AC = 0 – Default value (0) is active
F-AC > 0 – Input value in Hz is active
T-AC [s]:
Thermal time constant for the motor or power stage. Identifies the point in
the temperature curve at which 63 % of the maximum temperature is
reached.
T-AC = 0 – Default value: 10 s for axes, 150 s for ball screw
T-AC > 0 – Input value [s] for power modules. For motors, this input value is
active if Tth2 = 0.
Only for motors Tth2 [s]:
Thermal time constant for the motor. Identifies the point in the temperature
curve at which 63 % of the maximum temperature is reached.
Tth2 = 0 – Default value: 10 s for axes, 150 s for ball screw
Tth2 > 0 – Input value in [s] for motors
F-AC and F-DC = 0.1 Hz can be used as standard value for commissioning.
KTY
P Cth2 Rth2
Note
KTY Tth1
Tth2
Rth1
Rth2
P Cth1
Cth2
Mcurr and Pcurr are ascertained cyclically by the current controller. This is
based on the equivalent circuit data of the motor and the present motor
current.
Prated = P-N from motor.mot
Nrated = N-N from motor.mot
Prated
Mrated = n
2 · π · rated
60
12
0
0 500 1000 1500 2000 2500 3000 3500 4000
n [rpm]
M nenn
M act = -------------------- x Value Modul9170
1000
The HEIDENHAIN power supply units have several status signals which lead
to error messages on the control. MP2195 is used to suppress the error
message for each status signal.
HEIDENHAIN does not recommend suppressing the error messages from the
power supply units. If you are using a UE 2xx, the signals must be suppressed
because the UE 2xx compact inverter does not provide these signals.
Note
Signals that change their status during operation are always identified as
errors.
Errors of the supply module (e.g. excessive Uz or Uv temp.) now lead to
an NC stop (if M148 then LIFTOFF) with a subsequent emergency stop.
Attention
In case of an error, the axis must be moved to a safe position, and physically
supported, if necessary. Only then may the machine be switched off so
that the defect can be corrected.
If no motor current flows while testing the motor brakes, the error message
8140 No current for brake test <axis> appears.
Enter in MP2230.x a factor for the motor stall current with which the motor
brake test is to be carried out. If the test is not to be done, or for motors
without brakes, enter MP2230.x = 0.
The brake output on X392/X393 is also controlled if MP2230.x = 0.
The reference value for the factor from MP2230.x is the stall current I0
entered in the motor table. If I0 in the motor table equals 0, then the rated
current I-N from the motor table is used.
Recommended input value for MP2230.x:
ML
MP2230.x ≥ 1,3 ⋅ ----------
M0
ML: Maximum load torque of the axis. In a standard case the holding torque of
a vertical axis is used here. It is to be ensured via activation of the brake that
a vertical axis does not fall down when the drive controllers are switched off.
M0: Stall torque of motor
Please note that when reading the current via the internal oscilloscope,
on the CC 6xxx you are seeing the effective value of the current.
Please note that the test torque can only be generated with a certain
factor of uncertainty. Factors of influence here are the accuracy of the
current sensors and the torque constant of the motor.
Enter in MP2232.x the permissible path that the motor is allowed to move
against the brake. If the test is not to be carried out, or for motors without
brakes, enter MP2232.x = 0.
The TNC monitors the maximum path during the brake test (MP2232.x)
based on the information from the speed encoder (motor encoder).
MP2232.x must be < MP1110.x so that the standstill monitoring does not
activate!
Recommended input value for MP2232.x:
MP1054.x
MP2232.x = 2 ⋅ α ⋅ --------------------------------
360°
11 Nm
MP2230.x ≥ 1,3 ⋅ --------------------- = 1,1
13 Nm
20 mm
MP2232.x = 2 ⋅ 1° ⋅ ---------------------- = 0,111 mm
360°
Note
Switching STO.A.G off must result in a switch-off of the -ES.A and -ES.B
inputs.
On the PLB, for example, the -ES.A and -ES.B are available for triggering an
emergency stop on the iTNC 530 HSCI with functional safety (FS). However,
the wiring of the safety relays in the compact inverters or power supply units
via the PLC outputs STO.A.G and STOS.A.G is then optional. Please note the
special documentation for controls with functional safety (FS) an the
corresponding basic circuit diagram!
–ES.B = 0
Minimum required pulse width for detection by the control at the –ES.A, –ES.B
inputs: pulse width > 3 ms
Set Reset
M4177 Clearable error message displayed NC NC
M4178 Error message EXTERNAL NC NC
emergency stop is displayed
M4580 Suppress the emergency stop, open PLC PLC
all position control loops, NC stop
M4260 Control-is-ready acknowledgement NC NC
Minimum required pulse width for detection by the control at PLC inputs on
PLDs in slots 1 to 4: pulse width > 6 ms
Attention
The time for switching off the pulses via -STO.B.x, (entry in MP2173.x)
must always be greater than the maximum possible braking time of the
axis/spindle that can occur through electrical braking.
However, do not set too large a value in MP2173. Otherwise the safety
function of the machine parameter cannot be ensured.
PLC outputs PLC outputs can be controlled by the PLC program and switched off in the
event of an emergency stop. Additionally, the IOconfig configuration tool
enables you to define the behavior of PLC outputs in the event of an
emergency stop. Outputs that are defined as output type 3 (switch-off in case
of an emergency stop) are switched off (= 0) if an external or internal
emergency stop is triggered. In this case, the type 3 outputs remain switched
off until the emergency stop is rescinded and the control voltage has been
switched on again.
Note
Test the desired behavior of the PLC outputs in the event of an emergency
stop!
Danger
Note
Emergency The emergency stop test was expanded for HSCI controls without functional
stop test safety (FS). After the emergency stop test or a self-test is started, internal
signals of the HSCI participants are now tested for proper function in the first
phase. In a further, second phase the emergency stop test and brake test are
conducted with external signals (ES.A, ES.B, STO.A.G).
But it still applies, that, in the event of an error, a drop-off of the control-is-
ready output (MC.RDY or STO.A.G) always triggers an emergency stop.
Note
Set Reset
M4189 Emergency stop test completed NC NC
M4190 Emergency stop test NC NC
M4191 Control is ready NC NC
M4192 Request for control voltage ON NC NC
Attention
s ⋅ 60000
n max = -----------------------------------------
360 ⋅ ( t Pos. + 2 ms )
Trigger signal
Switch
0° 10°
20°
0°
20°
40°
Ref 0
60°
Motor Spindle
20 : 17
The switch for enabling of the reference mark signal must be adjusted
precisely enough for the "correct" reference mark to be evaluated!
Attention
For axes, monitoring of the rotational direction (MP2220 bit 1) must not be
deactivated. An error (e.g. one motor phase interchanged with another or
incorrect entry in the DIR column of the motor table) might cause
uncontrolled acceleration of the motor in one direction if the monitoring
function for the rotational direction is deactivated.
This also applies to spindles. For spindles, however, an incorrect
acceleration in one direction is less dangerous than for axes.
Monitoring of the direction of rotation (MP2220 bit 1) for synchronous
motors (entry SM in the column TYPE in the motor table) cannot be switched
off.
If the load increases, the spindle speed is corrected until the maximum current
is attained. If the load continues to increase in spite of the maximum current,
the spindle speed is reduced. For the maximum current, the value from either
the motor table or the power-module table of the drive (whichever is lower)
applies.
If in MP3010 you have selected the output of the nominal speed value, M4003
is set. The programmed speed is saved in D356, the nominal speed value in
W320 and the actual speed value in W322. In addition, the nominal speed
value is saved in D364 and the actual speed value in D368, since speeds above
32 767 min–1 cannot be represented in words W320 and W322.
The current spindle speed is already available in the PLC word W322 or D368
before the control voltage is switched on. This makes it possible to identify a
spindle coasting to a stop after a restart.
The PLC double word D372 makes the maximum spindle speed including the
spindle potentiometer available to the PLC program. This makes it possible,
for example, to already acknowledge within the ramp the M functions for
switching on the spindle by comparing the actual and maximum speeds.
With D604 you can limit the possible spindle speed through the PLC. To
ensure compatibility, D604 is preassigned with 99 999 999 after control
switch-on or after an interruption in the PLC scan.
Analog spindles:
The nominal speed value of the motor is output as an analog dc voltage of
±10 V at connection X8 or X9.
Digital spindles:
The nominal speed value is transferred to the internal speed controller.
Set Reset
M4003 Nominal speed value output NC NC
analog or digital (MP3010 = 3 to 8)
D356 Programmed speed [0.001 min–1] NC NC
D364 Nominal speed value [min–1] NC NC
W320 Nominal speed value [min–1] NC NC
D368 Actual speed value [min–1] NC NC
D372 Maximum spindle speed including spindle NC NC
override [min–1]
W322 Actual speed value [min–1] NC NC
D604 Maximum possible spindle speed PLC NC/PLC
MP3415.x
MP3411.x MP3411.x
MP3412.x MP3412.x
t
MP3415.x
Danger
Set Reset
M4001 Nominal speed command signal of NC NC
the spindle not in the ramp
M4002 Nominal speed value = 0 NC NC
A percentage value for the permissible shortfall of the nominal spindle speed
can be entered in MP3540. You can thus use this machine parameter for
monitoring whether the spindle speeds falls below a specific spindle speed
limit. (e.g. nominal spindle speed = 500 rpm, MP3540 = 20 % --> the
monitoring function will respond if the spindle speed falls below 400 rpm).
Monitoring is useful for power milling where the workpiece is to be machined
at a high feed rate and a low constant spindle speed. If the monitoring function
responds, an EMERGENCY STOP reaction is triggered in order to protect the
machine from possible damage, for example if the spindle comes to a
standstill while still engaged in the material. The error message "8BF0 Actual
speed value too small" is displayed. Monitoring does not become active until
the spindle speed exceeds the value defined in MP 3542.
Monitoring for falling below the lower spindle speed limit (defined in MP3540)
does not become active until the actual spindle speed exceeds the value
defined in MP3542. This threshold is required in order to avoid activating the
monitoring function before a reasonable shaft speed is reached (for example,
if the noise of encoders at the actual value of the spindle speed is of
subordinate importance, or in order to prevent monitoring from becoming
active when the tool plunges into the material).
Increased spindle With MP3530 and MP13530 you can avoid a reduction in the maximum
power for roughing spindle power during roughing due to changes in load when the tool’s teeth
are engaged in the material.
Here the spindle speed is increased higher than previously when there is no
load. It is now increased above the nominal speed, which was not the case
previously. Energy is stored in the inertia of the spindle, and is then available
when the teeth engage the material. This increases the mean power, and the
mean speed corresponds to the nominal speed.
If MP3530 or MP13530 are set, an overshoot can occur when the nominal
speed is reached. If this overshoot impairs the performance, then you may
have to deactivate the increase of the spindle power.
MP3530 Increased spindle power for roughing
Input: 0 = Not active
1 = Increased spindle power for roughing
MP13530 Increased spindle power for roughing (second spindle)
Input: 0 = Not active
1 = Increased spindle power for roughing
Set Reset
M4005 Status display and nominal speed PLC PLC
value output for M03
M4006 Status display and nominal speed PLC PLC
value output for M04
M4007 Status display M05 and spindle stop PLC PLC
M4014 Reverse the direction of spindle PLC PLC
rotation
M4019 Reverse the counting direction of the PLC PLC
position encoder on the spindle
Set Reset
M4008 Disable speed output for spindle PLC PLC
Note
The gear range from W256 is output when the spindle speed is 0.
Set Reset
M4004 Impermissible speed was NC NC
programmed
Attention
When the gear range is changed, the NC sets the G strobe (M4070). As soon
as you confirm the gear shift with M4090, the program resumes and the G
strobe (M4070) is reset by the NC.
If a TOOL CALL block is followed by the output of a T strobe and G strobe,
then M4547 is set by the output of the T strobe and reset by output of the G
strobe. If there is no output of either the T or G strobe, M4547 is not set.
In the PLC program you can change the programmed speed and the gear
range that is calculated by the NC. The programmed speed is saved by the NC
in D356 and D756. The following procedure is fundamentally possible, but not
in connection with mid-program startup.
Enter a speed in D756 and a gear range in W256. The speed must lie within
the speed range of the gear.
With M4134, activate your entries in D756 and W256.
After the NC has reset M4134, change the gear and report with M4090 that
the gear shift has been completed.
Set Reset
W256 Gear code NC/PLC NC/PLC
D356 Programmed speed [0.001 min–1] NC NC
D756 Programmed speed or speed from PLC NC/PLC NC/PLC
[0.001 min–1]
M4009 Counterclockwise spindle rotation (for PLC PLC
gear change)
M4010 Clockwise spindle rotation (for gear PLC PLC
change)
M4070 Strobe signal for gear code NC NC
M4090 Acknowledgment of "gear change PLC PLC
completed"
M4134 Activation of a gear range and speed PLC NC
through the PLC
M4547 T and G strobes with TOOL CALL NC NC
Danger
Only use MP7620 bit 5 in accordance with the keyboard unit or the machine
operating panel used. The potentiometer designation must match the
function you set in MP7620 bit 5.
An incorrect or missing identification of the potentiometers can lead to
errors during operation and even to property damage or personal injury!
Set Reset
W492 Percentage for spindle override NC NC
(NC to PLC)
W764 Percentage for spindle override NC/PLC NC/PLC
(PLC to NC)
MP3210.1
=4000
MP3210.0
= 3000
MP3240.1
= 500
Spindle speed
0 250 750 1500 1875 3000 3375 [rpm]
(50 %) MP3510.0 (125 %) MP3510.1 MP3515.1
Stage 1 125 %
50 % Stage 2
Set Reset
W258 S code NC NC
M4071 Strobe signal for S code NC NC
M4091 Acknowledgment of S code PLC PLC
W1008 S code for minimum speed NC NC
UM
UN
fbreak fM
Note
The oscilloscope shows the actual current instead of the nominal current
(I NOML), since there is no nominal current with U/f components.
Set Reset
M4000 Spindle in position NC NC
M4012 Open the spindle control loop PLC PLC
M4015 Renewed evaluation of the spindle PLC NC
reference mark
M4017 Servo-controlled spindle in motion NC NC
M4018 Reference mark for spindle not yet NC NC
traversed
With Module 9171 you can specify the speed, nominal position and direction
of rotation for spindle orientation.
M4130 is set as long as the positioning movement lasts.
S
[rpm]
Programmed
speed
MP3412.1
MP3415.1
Speed for MP3412.1
orientation
MP3440.x
0 t
M19 Target
position
Distance to
target position
S
[rpm]
Programmed
speed
MP3412.0
Stand-
still
MP3412.1
Speed for
orientation MP3440.x
0 t
M05 M19 Target
position
Set Reset
D592 Nominal position for spindle PLC PLC
orientation
M4013 Direction for spindle orientation from PLC PLC
a standstill (M03 = 0; M04 = 1)
M4016 Cycle 13 is executed NC PLC
M4130 Activation of spindle orientation, or NC/PLC NC
spindle orientation has been started
with Module 9171
Set Reset
M4011 Activate rotational speed MP3520.0 PLC PLC
and direction of rotation from M4013
In this example the spindle was braked 40 ms before reaching the hole depth.
Delay times permit an optimum adjustment of the floating tap holder. You can
delay the switch-off:
In MP7120.2 enter a spindle slow-down time.
The delay cannot last longer than 30 ms before reaching the hole depth.
Values above 30 ms are ignored (see the diagram).
You can delay a subsequent spindle start with M04:
In MP7120.0 enter a dwell time. The ramp follows MP3412.2
You can delay restarting the infeed:
Change the programmed dwell time in the cycle.
The NC uses M05 to switch off the spindle. The switch-off ramp follows
MP3412.0. Then the spindle is switched back on with M03.
The feed rate override for tapping must be limited. Otherwise the floating tap
holder may be damaged:
Enter a limit in MP7110.x.
MP7120.2
30 ms
S
Software controlled
MP3411.x
0
MP3412.2 MP3412.0
MP7120.0
M03
M05
M04
M4092
(M03) M4005
(M04) M4006
(M05) M4007
M4030
Set Reset
M4030 Cycle 2 or Cycle 17 active NC NC
0
MP7120.1
M03
M05
MP7120.0
M04
M4092
M4030
Cycle 17 Define the rigid tapping process in the NC program with Cycle 17.
While Cycle 17 is running, the iTNC automatically switches the tool axis to
velocity feedforward mode.
Define the dynamic response of the spindle and the machine tool axes in
machine parameters. See “The control loop" on page 810 and „Spindle" on
page 944.
With Cycle 17 the spindle can also be feedback-controlled. This results in a
better speed curve:
Set MP7160 bit 2 = 1 to drive the spindle under position feedback control
with Cycle 17.
The tool axis can track the spindle or it can be interpolated with the spindle.
Interpolation can result in higher speed stability of the tool axis. The path jerk
(spindle and tool axis) can be set via MP3415.3:
a
r = ---------------------------
MP3415.3
Whichever value is smaller from this formula and from MP1090.0 is valid.
In MP7160, set bit 4 = 1 to interpolate the tool axis with the spindle.
With small thread depths and excessive spindle speeds it is possible that the
programmed spindle speed may not be attained. The immediate transition
from the acceleration phase to the braking phase can diminish the quality of
the thread:
Set MP7160 bit 1 = 1 in order to limit the spindle speed so that the spindle
runs for about 1/3 of the tapping time at a constant speed.
During tapping, the position of the tool axis tracks the actual position of the
spindle.
Please note that the use of acceleration feedforward control for the tool axis
makes the tool axis sensitive to fluctuations in spindle speed caused, for
example, by gear transmission. If this happens, the tool axis starts to run
rough:
In MP7160, set bit 3 = 1 to switch off acceleration feedforward control for
Cycle 17.
Before tapping, the axes (e.g. Z and S) are synchronized through an oriented
spindle stop, i.e., every Z position is assigned to a certain spindle angle. The
NC orients the spindle. The NC sets M4017. The position control loop must be
closed (M4012). Also see „Oriented spindle stop" on page 968.
Synchronization makes it possible to cut the same thread more than once. The
assigned spindle angle depends on the thread pitch entered in the cycle. You
can deselect this function to save machining time:
Set MP7160 bit 0 = 1
In this case you cannot cut the thread more than once.
0
Positioning window
reached (MP7150)
M05
M4092
M4030
M4031
Start of End of
cycle cycle
M4012
While Cycle 17 is running, the positioning window from MP7150 applies to the
tool axis:
Enter a value in MP7150 less than or equal to MP1030.x.
Define the acceleration and braking process of the spindle during rigid tapping:
In MP3412.3 enter a multiplier for MP3411.x.
With MP3415.3, define the overshoot behavior of the spindle.
With MP7130, define the run-in behavior of the spindle.
MP3415.3
MP3412.3 MP3412.3
MP7130
Set Reset
M4030 Cycle 2 or Cycle 17 active NC NC
M4031 Cycle 17 or Cycle 18 active NC NC
Cycle 18 With Cycle 18 the tool axis tracks the actual position of the spindle. The
starting position is the actual position. The target position is the hole depth:
Program the approach and departure separately.
M4031 is set while Cycle 18 is running. M4012 must be reset for the cycle to
be executed.
MP3412.3, MP3415.3, MP7130, MP7150 and MP7160 bit 1, bit 2 and bit 3
function as for Cycle 17.
Danger
The contactor for the wye/delta switchover must not be switched under
load or as long as a magnetizing current flows!
Danger
The contactor for the wye/delta switchover must not be switched under
load!
Attention
Assignment of The second spindle is driven instead of an axis, i.e., there are fewer axes
encoder input and available. An exception is analog operation of the second spindle without a
speed command position encoder. In this case all axes remain available. The assignment of
output position and speed encoder inputs as well as of speed command outputs is
entered in MP111.x, MP113.x and MP121.x. See “Assignment for axes" on
page 614.
Note
If the speed encoder (with active reference mark monitoring, MP2220 bit
0) is disconnected and reconnected, the reference mark must be
reevaluated (M4015) after the drive has been switched on again, otherwise
the error message Incorrect reference position appears.
Switching between You can switch between the two spindles through the PLC:
the spindles
Enter MP4020 bit 5 = 1 to activate double spindle operation.
With Module 9175, switch between spindle 1 and spindle 2.
Module 9179 is used to determine the active spindle.
Note
The axis position controller should be commissioned in the gear range that
is actually used for positioning.
If possible, use the lowest gear range to ensure optimum control.
C axis operation must be deselected for commissioning the spindle,
meaning that no identical PWM outputs may be entered in MP120.x and
in MP121.x.
Num- Meaning
ber
300 Ready signal of power module (green LED on the power module)
302 Output for controlling the brake at the power module (X 344)
Setup Activate the oscilloscope with the DIAGNOSIS, DRIVE DIAGNOSTICS and
OSCI soft keys.
Note
The oscilloscope can be operated with reduced functions starting from the
Power interrupted message. If you enter the code number DSP123 before
calling the oscilloscope, then starting from the Power interrupted message
the data are recorded and can be displayed via the oscilloscope.
Note
Please note that the control has not finished booting at this time, and that
the displayed values can therefore deviate from the correct or expected
values.
Note
The cursor is located on the trigger point only if it has not been moved after
the measurement.
If the cursor has been moved, it will remain at the point of the time axis to
which it has been moved. The cursor does not return to the trigger point
until a trigger parameter has been changed.
Set Reset
M4627 Trigger condition for integrated NC PLC
oscilloscope fulfilled
M4628 Recording of the integrated NC PLC
oscilloscope ended
Note
The iTNC follows a specific sequence when searching for a valid table.
1. PLC:\mp\inverter.inv
2. PLC:\mp\motor.amp
3. PLC:\mp\supply.spy
4. inverter.inv HEIDENHAIN standard table for power modules on the
system partition
5. motor.amp Previous HEIDENHAIN standard table for power modules on
the system partition
6. supply.spy HEIDENHAIN standard table for supply modules on the
system partition
If you use a motor that appears in the motor table, but only the data for the
speed encoders differs, you can overwrite this data in the motor table with
MP2202.x, MP2204.x and MP2206.x. The motor table is not actually changed.
The changes only take place in the working memory.
Note
The original entry from the motor table is used only when MP2202.x = *,
MP2204.x = * and MP2206.x = *.
Asynchronous motor
Minimum leakage inductance of drive
The total leakage inductance LTotal of the drive is formed from the leakage
inductance of the motor LLeakMotor and the inductance of the series reactor
LReactor
LTotal = LLeakMotor + LReactor with:
( X Str1 + X Str2 ) ⋅ 1000
L LeakMotor = ---------------------------------------------------------------
2 ⋅ π ⋅ fN
For I0 ≥ 26 A:
700 µH ⋅ 5000 Hz ⋅ U Z ⋅ 26 A
L Total = --------------------------------------------------------------------------
600 ⋅ I 0 ⋅ f PWM
Note
Note
Values in the HEIDENHAIN motor table Values from the motor data sheet
TYPE: SM Permanently excited synchronous motor
NAME: 1FT6044-4AF7 1FT6044-4AF7
MODE: 0
Rated current Data sheet value Irated (100 K)
I-N in [Aeff] winding IN = 2.9 A
I-N: 2.9
Rated voltage Calculation from data sheet values nrated, kE, RStr,
U-N in [Veff] interlinked Irated (100 K), LD:
U-N: 341
2 2
U-N = 3 ⋅ ( Ue + Ur ) + Ux
2 2
U-N = 3 ⋅ ( 187,06 + 8,85 ) + 19,44
Field orientation As soon as the absolute position of the encoder has been read, the absolute
with absolute position and determined field angle are assigned to each other.
encoder (EnDat) The field angle is assigned to the zero position of the encoder.
Field orientation via After switching on the control, the motor orients itself (rough orientation) via
encoder with Z1 the Z1 track of the encoder. The drive is ready for operation after this
track procedure. The field angle is determined and assigned as soon as the
reference mark is traversed during the first motor motion.
Field orientation via If a synchronous drive is used along with an encoder, and the field angle
the PLC cannot be determined directly via the encoder, there is no assignment
between the encoder and rotor magnets.
The Field Orientation function, which must be carried out once per switch-on
procedure, is used by the iTNC 530 to determine the association between the
encoder and rotor magnets (field angle), and stores this information internally.
Note
Please pay attention to the following notes for determining the field angle:
HEIDENHAIN generally recommends using either encoders with
absolute values or encoders with Z1 tracks. With these encoders the field
angles are available immediately after switch-on, so no additional efforts
are necessary to determine them.
The field angle can be determined only if the current controller is already
adjusted!
Regarding the motor.mot motor table, the field orientation must be performed
for the following drives:
Linear motor with absolute encoder with EnDat interface (SYS = 3)
Synchronous or torque motor with non-aligned rotary encoder with EnDat
interface (SYS = 5)
Synchronous or torque motor with incremental rotary encoder without Z1
track (SYS = 6); one reference mark per revolution
Synchronous or torque motor with incremental rotary encoder with
distance-coded reference marks (SYS = 7)
Linear motor with incremental linear encoder with distance-coded reference
marks (SYS = 8)
Methods of the iTNC for determining the field angle
The description of the field angles by the iTNC 530 HSCI, see "Field
orientation" on page 1108.
DC-link voltage The iTNC 530 uses the DC-link voltage to calculate the maximum motor
voltage:
Enter in MP2190.x the level of the DC-link voltages at the power modules.
Machine parameters 2190.x can be used to overwrite the entries of the
SUPPLY.SPY table. The table is stored in the PLC:\mp\ directory.
MP2190.x DC-link voltage UZ
Input: 0 to 3000 [V]
*: Entry from the power supply module table
HEIDENHAIN inverters:
Regenerative: 650 V
Non-regenerative: 565 V
Temporary Enter the following temporary input values when you begin commissioning:
input values
MP Temporary Meaning
input value
MP20.0 %00000000000000 Monitoring the absolute position of the distance-coded reference
marks
MP1030.x 0.01 Positioning window
MP1054.x ? Linear distance of one motor revolution (depends on the
machine)
MP1090.x 1 Maximum permissible jerk on the tool path
MP1092 <greater than rapid Feed rate threshold from which MP1090.1 becomes effective
traverse>
MP1095 0 Single filter
MP1096.x 0 Position nominal value filter off
MP1099.0 5 Minimal filter order for single filters
MP1099.1 3 Minimal filter order for double filters
MP1110.x 2.0 Standstill monitoring
Note
Operating mode During commissioning you can switch between operating mode 0 and
switchover operating mode 1 with the CONNECT STAR DELTA soft key. With Module
9168 you can interrogate the current settings in the PLC. You can switch the
motor using PLC outputs and activate the corresponding machine parameters
with Module 9163:
Perform the adjustment for operating mode 0 and operating mode 1.
• If you do not use operating mode 1, set the corresponding machine
parameters to zero.
Feedforward Position the axes to a location where the feedforward functions can be
commissioned safely.
Set the datum for the affected axes at this location to "0".
In MP1060.x, set the acceleration to 0.5.
In the Program Run, Full Sequence mode of operation, select the NC
program FF_*.H (* = axis to be optimized) from the TNC:\TNCOPT folder.
Note
TNCopt generates the NC programs FF_*.H with the feed-rate values 6000
and 200. The larger feed-rate value should equal the machine’s highest
machining feed rate. Adjust them if necessary. The lower feed-rate value
must not be changed.
IPC and kV factor Position the axes to a location where the IPC and kV factor can be
commissioned safely.
Set the datum for the affected axes at this location to "0".
Set the kV factors in MP1510.x to 1.
You can also start with a higher value for MP1510, as long as the value is
safely below the oscillation limit.
In the Program Run, Full Sequence mode of operation, select the NC
program IPC_*.H (* = axis to be optimized) from the TNC:\TNCOPT folder.
Set the feed-rate override potentiometer to 100%.
Note
Ensure that the machine parameters for the IPC (MP2602.x, MP2604.x and
MP2606.x) have been set to 0.
Current controller Use the integrated oscilloscope to adjust the current controller. The speed and
position control loops are open when you adjust the current controller. You
must therefore activate a special PLC commissioning program:
Enter the name of this PLC program in the OEM.SYS file with the PLCPWM =
instruction.
It suffices to program an EM (end module).
The drive must be enabled externally and the iTNC needs the "ready" signal.
As soon as the PLC program defined with PLCPWM = is active, you can use
Module 9168 to interrogate the commissioning status.
Ta fPWM (MP2180.x)
150 3 333 Hz
120 4 166 Hz
100 5 000 Hz
75 6 666 Hz
60 8 333 Hz
50 10 000 Hz
XH
Synchronous motor: L = ---------------------------------------
-
2 ⋅ π ⋅ ( F-N ) ⋅ 1000
XStr1 + XStr2
Asynchronous motor: L = ---------------------------------------
-
2 ⋅ π ⋅ ( F-N ) ⋅ 1000
The values for XH (magnetizing reactance), F-N (rated frequency), XStr1 (stator
leakage reactance) and XStr2 (rotor leakage reactance) can be found in the
motor table. Switch to the editing mode of the motor table (APPEND MOTOR
soft key).
Attention
You can use MP2520.x to compensate low-frequency oscillation (< 100 Hz)
on axes with mechanical problems.
However, HEIDENHAIN recommends that you avoid using MP2520.x if
possible.
Do not use for axes with belt drive!
Note
The compensation dampens the control loop. Try first to remove the
mechanical causes of the disturbance oscillations.
To reduce the occurrence of disturbance oscillations, HEIDENHAIN
recommends the use of motor couplings with a low tendency to oscillate
(e.g. from the Rotex Company).
toff
a: Acceleration [m/s2]
Fmax : Maximum machining feed rate (MP1010.x) [mm/min]
tan: Rise time [s]
Enter the maximum possible acceleration in MP1060.x.
YES
Standstill monitoring
<Axis>?
Press END
Edit MP1040
or MP210
Traverse the
NO reference marks with YES
the axis-direction
buttons
Finished
Note
If you have selected the best nominal position value filter for your
application, please note that your input value from MP1096.0 can be
overwritten by the machine user through Cycle 32.
If you have switched off the nominal position value filters (MP1096.x = 0),
the machine user can also switch them on using Cycle 32.
For axes that are interpolated with each other, the kv factors must be equal.
The axis with the smallest kv factor defines the input value for all axes.
You can save a number of different kv factors in the iTNC (MP1815.x) and
activate them with M functions (see “The control loop" on page 810).
Procedure for defining a characteristic curve kink point:
kv factor for rapid traverse (characteristic curve kink point):
MP1820.x = 1
Note
MP Temporary Meaning
input value
MP1030.x 0.01 mm Positioning window
MP1110.x 2 · MP1030.x Standstill monitoring
MP1140.x 0.03 [1000 min–1] Movement monitoring
MP1144.x 0.5 mm Motion monitor for position and speed
MP1410.x 0.5 mm Position monitoring in operation with
velocity feedforward control (erasable)
MP1420.x 2 mm Position monitoring during operation with
velocity feedforward control (emergency
stop)
MP1710.x 1.2 · following error Position monitoring in operation with
in rapid traverse following error (erasable)
MP1720.x 1.4 · following error Position monitoring during operation with
in rapid traverse following error (emergency stop)
Increase the feed rate until the following error is no longer measurable.
From the current contouring feed rate, calculate the feed rate specific to the
Y axis and enter the value in MP1513.1.
Adjust the feed rate until the following error is measurable again.
Increase MP1511.x in increments of 10 000 until the following error is no
longer measurable.
I NOMINAL1 + I NOMINAL2
MP2630.x =
2
Calculate MP2610.x:
I NOMINAL1 + I NOMINAL2
MP2610.x =
2
Change the test program so that the motor rotates at its rated speed.
Restart the test program.
Determine the current (I NOMINAL) for the rated shaft speed.
I NOML1 – I NOML2
MP2620.x =
2
In the event that the motor cannot be driven at the rated speed:
Measure I NOMINAL at maximum speed (rapid traverse) and calculate the
current at rated speed as follows:
Use the integrated oscilloscope to record the actual shaft speed (ACT RPM),
the nominal current value (I NOMINAL), and the integral-action component
of the nominal current value I (INT RPM).
Start the test program.
Adjust the speed with the feed rate override knob so that I NOMINAL is not
limited.
Measure the gradient of the acceleration ramp in the part in which I(INT
RPM) remains constant.
Calculate MP2600.x:
I NOMINAL oscillates
Position controller The position control loop of the spindle is closed only during the spindle
orientation:
Close the position control loop of the spindle. “Oriented spindle stop" on
page 968.
• If the error message "Nominal speed value S too high" appears, you must
modify MP3140.
Optimize the kv factor (MP3440.x for each gear range.
A TOOL CALL must be run to transfer the modified gear-specific MPs.
Temporary Enter the following temporary input values when you begin
input values
MP Temporary Meaning
input value
MP1030.x 0.01 Positioning window
MP1090.x 1 Maximum permissible jerk on the tool path
MP1092 <Maximum rapid Feed rate threshold from which MP1090.1
traverse> becomes effective
MP1110.x 2.0 Standstill monitoring
MP1140.x 10 Movement monitoring
MP1410.x 0.5 Position monitoring in operation with
velocity feedforward control (erasable)
MP1420.x 2 Position monitoring in operation with
velocity feedforward control
(emergency stop)
MP1510.x 1 kv factor for velocity feedforward control
MP1710.x 50 Position monitoring in operation with
following error (erasable)
MP1720.x 50 Position monitoring in operation with
following error (EMERGENCY STOP)
MP1810.x 1 kv factor for control with following error
MP1820.x 1 Multiplier for the kv factor
MP1830.x 100 Characteristic curve kink point
Note
For analog axes, you must adjust the servo amplifier before you optimize
the position controller.
Procedure:
Disconnect the nominal-value connection between the servo amplifier and
CMA-H.
Short-circuit the nominal value input on the servo amplifier.
The input must have a 0 V voltage.
Activate control enabling at the servo amplifier.
Connect the power supply to the servo amplifier.
Perform a coarse offset adjustment:
• If the axis moves in spite of the short-circuited nominal value input, you
must adjust the offset potentiometer until the axis stops moving.
Remove the jumper at the nominal value input and establish a nominal-value
connection to the CMA-H.
Perform a coarse velocity adjustment:
• Set MP1010.x (rapid traverse) and MP1050.x (analog voltage at rapid
traverse).
• With the internal oscilloscope functions, output the nominal value step at
the height for rapid traverse.
• Record UANALOG and check the voltage.
• Use a tachometer to measure the rotational speed of the motor and a
tacho potentiometer at the servo amplifier to adjust the nominal speed for
rapid traverse.
• Connect an oscilloscope to the tachometer of the motor.
• Measure the step response on the tachometer during the step output.
Adjust the proportional (P) component and the integral-action (I) component
of the speed controller at the servo amplifier.
F max
a = ------------------------------
t an ⋅ 60 000
a: Acceleration [m/s2]
Fmax: Maximum machining feed rate (MP1010.x) [mm/min]
tan: Rise time [s]
Note
For analog axes, you must adjust the servo amplifier before you optimize
the position controller.
YES
Standstill monitoring
<Axis>?
Press END
Edit MP1040
or MP210
Traverse the
NO reference marks with YES
the axis-direction
buttons
Finished
MC CC TRC
Axis
MP2260
MP2261
Holding
torque
v FEED RATE
MP2630
t
MP1060
MP1085 P
MP1086 P P D
MP1090
MP1092
MP1054
Torsion/
Jerk
MP2606 n
MP2640 MP2610
MP1521
f Backlash MP2612
MP2614
MP750
MP752
S NOML
Gear Error
Compensation n
MP2260
f MP1522 MP2261
Fine Position
interpolation controller V(N NOML)
Distance
3 ms P P P PI of one
f M motor
revolution
200 µs f f
in MP1054
MP1086 MP1391 MP1054
MP1087 MP709 max. 5 multi- max. 5 multi-
MP710 MP1392 function filters *) I function filters *)
MP1089 MP1510
MP1200 MP732 MP2542 ... MP2546 MP2542 ... MP2546
MP1516
MP1201 MP1810 MP2552 ... MP2556 MP2552 ... MP2556
MP1202 MP2562 ... MP2566 MP2510 MP2562 ... MP2566
MP1210 ... MP1213 MP2572 ... MP2576 MP2512 MP2572 ... MP2576
MP1222 ... MP1223
MP1230 ... MP1233 f IPC
MP1240 ... MP1243 3 ms MP2602
MP2604
200 µs
3 ms D
OSCI
S ACTL V POS
200 µs
P D
3 ms
200 µs
MP1054 3 ms
200 µs
3 ms
OSCI
V ACTL D *) Multi-function filters are used by the position and speed controllers;
200 µs
MP2562 = 1 ... 2 speed controller
Sample rate MP2562 = 11 ... 12 position controller
adjustment
July 2013 6.15 Block diagram for iTNC 530 with CC 61xx 1065
July 2013 6.15 Block diagram for iTNC 530 with CC 61xx 1066
7 CC 61xx / UEC 1xx controller units
7.1 Specifications
Input of MP120.x/MP121.x: 51 52 53 54 55 56
PWM output
Input in MP120.x: 80 81 82 83 84 85
Speed output:
PWM output
It is also possible with the CC 61xx to operate open-loop axes (counter axes)
or analog controlled axes (MP120 input values 1 to 8) via the position encoder
inputs.
Special case: MP113.x is used to switch the speed encoder inputs for the operation of a
MP113.x second spindle. The two speed encoder inputs must be on the same drive-
control motherboard.
If only one spindle is used, MP113.x = 0, and the assignment from the above
table is valid.
If, for example, two spindle motors are driven with one PWM output (and the
same power module) and the power can be switched over through a
contactor, the speed encoder input can be selected with MP113.x.
PWM output for the Speed encoder input MP113.x input value
spindle
X51 X15 or X17 (0 or 15) or 17
X52 X16 or X18 (0 or 16) or 18
X53 X15 or X17 15 or (0 or 17)
X54 X16 or X18 16 or (0 or 18)
The error message C2A0 Encoder input <axis> appears if an invalid entry is
given for MP113.x.
July 2013 7.3 Relationship between speed input, position input and PWM output 1071
7.4 Single-speed, double-speed, PWM frequency
Note
Due to the new structure of the CC 61xx, not all of the axis configurations
of the CC 424 can directly be implemented on the CC 61xx! Please note in
particular the changes in the available double-speed control loops of a
CC 61xx.
The CC 61xx family has a modular structure. The addressed DSP is on the
motherboard of the controller. Every drive-control motherboard is an HSCI
participant in the HSCI system. These drive-control motherboards have two
control loops, and can therefore control two axes. The same applies to each
drive-control expansion board, which does not have its own DSP, however. A
drive-control expansion board has two control loops, but can only be used in
combination with a drive-control motherboard (DSP).
As a result, a maximum of two drive-control expansion boards can be
controlled by one drive-control motherboard (DSP). This configuration results
in a maximum of six axes that a single DSP can control. If more than six axes
are to be controlled, then another drive-control motherboard is necessary,
providing another DSP. All axes that are controlled by a DSP belong to a
controller group.
If two drive-control motherboards (two DSPs) are housed in one CC (this
means two HSCI participants in one housing), then the inputs and outputs of
the CC are uniquely assigned to one of the two controller groups (DSPs) via
the letters A and B.
Index A means that these inputs and outputs are controlled by the first DSP
(first drive-control motherboard). All inputs/outputs that are assigned to a DSP
belong to a controller group (here: controller group A). Index B means that
these inputs/outputs are controlled by the second DSP (second drive-control
motherboard), and therefore belong to controller group B.
For configuring the controller units via machine parameters, the HSCI address
of the respective drive-control motherboard must be entered in MP108.x or
MP109.x . The HSCI address is obtained from the position of the drive-control
motherboard in the HSCI system. The first drive-control motherboard after
X500 of the MC is given the address 0, etc. However, the HSCI address to be
entered only depends on the drive-control motherboards in the system. I/O
units (PLs) and machine operating panels (MBs) are not taken into account.
This means that for the first drive-control motherboard, you have to enter the
address 0 in MP108, regardless of whether PLs or MBs are located before the
CC in the HSCI chain.
Also, on the CC 61xx the inputs and outputs have permanent assignments to
each other. Switching of the inputs and outputs, as with the CC 424, is not
possible here.
Example:
X51, X15, X201 are permanently assigned to each other.
X53A, X17A, X203A are permanently assigned to each other.
etc.
See the table for the assignments. The assignment within each row is
permanent. Switching between the rows is not possible with the CC 61xx.
Note
X51 (SS) X52 (SS) X53 (SS) X54 (SS) X55 (SS) X56 (SS)
6 single-speed 0 double-speed
4 single-speed 1 double-speed
2 single-speed 2 double-speed
0 single-speed 3 double-speed
CB A CE 1 CB B CE 1
Possible configurations for the CC 6108, each for controller group A and B:
4 single-speed 0 double-speed
3 single-speed 1 double-speed
2 single-speed 2 double-speed
1 single-speed 2 double-speed
0 single-speed 3 double-speed
CB A CE 1 CB B CE 1 CE 2
X51A X52A X53A X54A X51B X52B X53B X54B X55B X56B
(SS) (SS) (SS) (SS) (SS) (SS) (SS) (SS) (SS) (SS)
4 single-speed 0 double-speed
3 single-speed 1 double-speed
2 single-speed 2 double-speed
1 single-speed 2 double-speed
0 single-speed 3 double-speed
6 single-speed 0 double-speed
5 single-speed 0 double-speed
4 single-speed 1 double-speed
3 single-speed 1 double-speed
2 single-speed 2 double-speed
1 single-speed 2 double-speed
0 single-speed 3 double-speed
X80 (SS) X81 (SS) X82 (SS) X83 (SS) X84 (SS) Vacant
Spindle Axis Axis Axis Axis
5 single-speed 0 double-speed
4 single-speed 1 double-speed
(X80, X81, X82, X83) (X84)
Ribbon cable
ID 325816-15
ID 325816-24
ID 325816-22
ID 325816-24
connecting two
CC 6106
ID 325816-22
connecting two
CC 6108
If several CC 61xx controller units are connected via a cable with ID 325816-xx,
the +5 V power must usually only be supplied by connector X74 of the
rightmost CC controller unit. The +5 V supply must be tested, however, see
page 235.
Two drive-control motherboards are housed in one CC 6108 or CC 6110. The
HSCI bus must be forwarded from one board to the other via the connectors
X500A and X502B. A short HSCI cable (approx. 20 cm) is therefore included
with either of the two CCs.
Can be set via MP2180.x (switchable during operation); the calculation of the
current-controller cycle time must be adapted via MP2182.x
MP2186.x and MP2188.x can be used to switch between simple and double
PWM frequency, depending on the rotational speed.
Set MP2182.x = 2 if you want to use automatic PWM frequency switching.
The PWM frequency of a power module is then doubled at a certain speed,
based on a PWM frequency £ 5 kHz. In MP2186.x and MP2188.x you define
the speeds at which switching occurs. The current controller cycle time is
always (if MP2182.x = 2) based on the high PWM frequency.
MP2180.x PWM frequency
Input: 0: fPWM = 5000 Hz
3200 to 3999: fPWM = 3333 Hz
4000 to 4999: fPWM = 4000 Hz
5000 to 5999: fPWM = 5000 Hz
6000 to 7999: fPWM = 6666 Hz
8000 to 9999: fPWM = 8000 Hz
10000: fPWM = 10000 Hz
MP2182.x Cycle time of current controller at double the fundamental
PWM frequency
Input: 0 = Standard case:
MP2180 = [3333 Hz to 5000 Hz] with single-speed axes
MP2180 = [3333 Hz to 10000 Hz] with double-speed axes
(current controller cycle time = 1 / (2 * MP2180))
2 = Special case CC 61xx:
MP2180 = [3333 to 5000 Hz] with speed-dependent doubling
(MP2186, MP2188) of the fundamental PWM frequency from
MP2180 with double-speed axes
(current controller cycle time = 1 / (4 * MP2180))
Note
Danger
When determining the optimum switching speed for the PWM frequency, you
should consider that the maximum motor current decreases as the speed
rises, due to the finite DC-link voltage.
The current for the drive depends on the maximum permissible motor current
and power-module current. The smaller of the two values limits the current for
the drive. The value of the maximum power-module current is reduced by
approx. 30 % because of the derating when doubling the PWM frequency.
During derating the rated current I-N and the maximum current I-MAX are
reduced by the same factor.
1: Red line: Maximum current for the drive, resulting from the entries in
MP2186.x and MP2188.x
1: Broken line:
Maximum possible current for the drive (Imax of motor)
2: Switching point for the PWM frequency set too low
3: Optimum switching point for the PWM frequency
4: Maximum power-module current at low PWM frequency
5: Maximum power-module current at high PWM frequency
(Imax of power module)
Please note that switching the PWM frequency always influences both PWM
outputs of a drive-control board. Switching a single PWM output is not
possible. This means that only one of the two outputs can be used. Besides,
a PWM output with a PWM frequency > 5 kHz requires increased
performance as well as software option 49, see page 1074.
Objective of the The first objective when adjusting a machine is the optimization of the control
filters loop in the current and speed controller. The increase of the P component of
the control loops in order to raise the dynamics of the machine is the main
aspect of this. If a control loop is at the oscillation limit, these oscillations can
be damped with filter functions, so that the P components can be increased
again.
The second objective when adjusting a machine is the optimization of the
position controller. Here it is attempted to increase the kV factor in the position
controller, in order to simultaneously increase the machine's performance (the
acceleration behavior, for example). The procedure is always to increase the
kV factor to the oscillation limit, damp these oscillations with the filters, and
then increase the kV factor again.
Types of filters Three different types of filters per axis are available for selection:
PT2 low-pass
• Use:
- Oscillations in the upper frequency range (typically: from 500 Hz)
- High-frequency noises on axes (such as during switch-on)
Band-rejection filter
• Use:
- Oscillations in the middle frequency range (typically: between 100 Hz
and 2.5 Hz)
• Typical settings:
- Damping from 6 dB to 9 dB
- Bandwidth: equal to the center frequency, constant from 500 Hz
• Disadvantage:
- These can strengthen oscillations in the lower frequency range
Phase increase
• Use:
- Oscillations in the lower to middle frequency range, which occur
because of an insufficient phase reserve
- Oscillations in the lower frequency range, for which band rejection
would excessively decrease the amplitude
• Typical settings:
- Phase from 20° to 80°
- Center frequency: Frequencies from 3 Hz to 400 Hz
- Bandwidth: Equal to the center frequency (oscillation frequency)
• Disadvantage:
- The control-loop gain above the center frequency is increased. The
increased use of band-rejection filters can become necessary, or the
P component might need to be reduced.
• Note: After the settings have been made, the stability of the control
loop must be checked again (P and I component)
Possible settings
for multifunction
filters
Filters in the The kV factor can be increased by using the filters in the position controller.
position controller After the kV factor has been increased up to the oscillation limit, a band-
rejection filter can be defined for the oscillation frequency so that the kV factor
can be further increased.
MP2542.x Damping/phase increase for filter 1
Input: 0 to 40.0 [db]
MP2543.x Damping/phase increase for filter 2
Input: 0 to 40.0 [db]
MP2544.x Damping/phase increase for filter 3
Input: 0 to 40.0 [db]
MP2545.x Damping/phase increase for filter 4
Input: 0 to 40.0 [db]
MP2546.x Damping/phase increase for filter 5
Input: 0 to 40.0 [db]
MP2547.x Damping/phase increase for filter 5
Input: 0 to 40.0 [db]
MP2552.x Center/cutoff frequency for filter 1
Input: 0 to 30000.0 [Hz]
MP2553.x Center/cutoff frequency for filter 2
Input: 0 to 30000.0 [Hz]
MP2554.x Center/cutoff frequency for filter 3
Input: 0 to 30000.0 [Hz]
MP2555.x Center/cutoff frequency for filter 4
Input: 0 to 30000.0 [Hz]
MP2556.x Center/cutoff frequency for filter 5
Input: 0 to 30000.0 [Hz]
MP2557.x Center/cutoff frequency for filter 5
Input: 0 to 30000.0 [Hz]
Application If a low-pass filter is used with the CC 61xx, the filter order of the low-pass
filter can be set in MP2560.x. However, MP2560.x = 0 should be entered
under standard conditions.
Spindle: High-frequency spindles often cause considerable current noise
(shown by I nom or Utilization on the oscilloscope). The optimization goal is
as little current noise as possible at high spindle speeds. MP2560.x = 10 to 20
should be used as a starting value.
Axes: The low-pass filter should be used if the actual speed has "a lot of noise,"
for example MP2560.x = 1 or 2. If there is no improvement, set MP2560.x = 0.
For adjustment of the filters, see "Adjustment of the speed controller" on page
1133.
General During traverse motions, each machine axis behaves differently depending on
information the various loads, such as the differing inertias of the workpieces.
In connection with the CC 61xx controller unit, the iTNC offers you the
possibility of optimizing the machine according to load classes. Before the
machining process, the optimum settings for a workpiece with a certain load
class can be entered.
Determining The effects of the inertia of the workpieces can be detected with a measuring
the load cycle created by the OEM. A measurement that determines the maximum
occurring torque (target value in % of the rated torque without decimal places)
between two points in time is started. At the same time, the machine is
optimized for this load class, and the machine parameters determined are
saved in a machine-parameter subfile.
The load class is determined for each workpiece before machining starts (via
manual entries or by determining the load with an NC macro), and the
corresponding, optimized machine-parameter subfile is selected.
Note
Retention forces and friction forces are included in the measured value
Deviations in the utilization due to oscillations or torque ripple are
included in the measured value
The override of the feed-rate potentiometer is taken into account
The determined value depends on the axis parameters. Use axis
parameters with stable behavior for the determination
General During an NC stop, a lift-off movement in the direction of the tool axis is
information superimposed over the deceleration along the path. This movement for
protecting the workpiece is referred to as LIFTOFF.
LIFTOFF is possible in case of:
NC stop if this is configured in M4620. Distance by which the tool is lifted
off: 0.1 mm.
Power failure and other error reactions by the CC intended for this purpose
if the constraints described below are maintained. The distance by which
the tool is lifted off can be configured in MP1160.
PLC error message, for which the reaction NC-LIFTOFF is contained in the
PET table. Distance by which the tool is lifted off: 0.1 mm.
Note
LIFTOFF in case of If the power fails and LIFTOFF is enabled (M148 must be active, column
power failure LIFTOFF in the tool table = Y, PLC: M4620=1), an attempt is made to lift the
tool from the contour by the distance given in MP1160 with the help of the
remaining energy of the DC-link.
Certain conditions must be maintained before and during LIFTOFF:
The 24 V power supply must be maintained for at least 1 second (UPS for
24 V, or buffer capacity or capacitor). HEIDENHAIN offers the PSL 13x or
CML 110 (Capacitor Module for Low Voltage) for this.
The current and speed controllers may not be switched off (e.g. via PLC
Module 9161)
AC-fail monitoring (MP2195 Bit 7 = 0) and/or Uz monitoring are/is active
(MP2195 Bit 9 = 0). Both monitoring functions lead to LIFTOFF if they are
activated and respond. HEIDENHAIN recommends activating both
monitoring functions to provide the quickest reaction possible in case of a
power failure or a failure of the power supply module.
The wye-delta contactor combination may not fail, otherwise the spindle
would not be controllable during LIFTOFF.
Note
Note
Perform the LIFTOFF function on the machine to check whether the tool
lifts off the complete distance defined in MP1160 without problems.
Due to the dynamics of a machine, it may occur that the LIFTOFF (if values
> 10 mm are defined in MP1160) cannot be executed completely and is
aborted with an error message.
Danger
Note
Starting from the following settings for MP1262 and MP1263, checking and
re-adjustment of the nominal position value filters is strongly recommended:
MP1262 ≤ 1.1 / (MP1212*interpolator cycle time)
MP1263 ≤ 0.67 / (MP1213*interpolator cycle time)
MP1262 Filter order used for HSC filters
Input: 0 to 31 [filter order]
Default: 31
MP1263 Filter order used for advanced HSC filters
Input: 0 to 31 [filter order]
Default: 31
The CC 424(B) controller board was used to define voltage thresholds in
MP2192 and MP2194, which were used to configure the LIFTOFF function.
These voltage thresholds are now defined by the HSCI CC 61xx controller unit
itself, depending on the power supply module being used. The associated
machine parameters MP2192 and MP2194 are no longer required. If you do
not need the LIFTOFF function, you can use bit 9 in MP2195 to deactivate
monitoring of the DC-link voltage.
The CC 61xx makes the following distinction: It takes into account whether
the power supply module is:
a regenerative power supply module with servo-controlled DC-link voltage, or
a nonregenerative power supply module where, due to changes in the line
voltage and load on the DC link, voltage fluctuations must be considered.
MP2195 Monitoring of the DC-link voltage
Input: Bit 9
0 = Uz monitoring and LIFTOFF function are active
1 = Uz monitoring and LIFTOFF function are not active
General Certain motors with permanent magnets (linear, torque and some
information synchronous motors) have an increased, position-dependent variation of the
motor torque (not QSY motors from HEIDENHAIN). This can be the result of
two things:
During idle running, the cogging torque due to attractive forces of the
permanent magnets
When under load, the torque ripple from higher harmonics, resulting from
the opposing electromotive forces (generator effect)
In practice, both causes always occur together, i.e. the torque of the motor is
subject to periodic oscillations. This can have a negative effect on the
controllability of the motor, which can result in a greater following error, and
under circumstances, lower surface quality of the workpiece.
To compensate for the cogging torque, a compensation current ascertained
specifically for each motor can now be added.
Acceleration
feedforward
TRC
Nominal
position
Actual current
Actual speed
Actual position
Activating TRC TRC can only be activated via a special compensation file. The settings in this
file can only be made with the TNCopt commissioning software from
HEIDENHAIN (as of version 2.3). Please refer to the TNCopt documentation.
The compensation current is determined with a special method for
measurement, and the parameters for calculating this compensation are
stored in a compensation file on the control. The iTNC 530 then takes these
parameters into account when calculating the controller parameters.
Directory: PLC:\MP\TRC
File name: xx_<Motor_name>.TRC or new xx_<Motor_name>.CMP
• xx: Index of the axis (e.g. 00 = 1st axis, X axis)
• <Motor_name>: Name of the motor from the motor table (max. 29
characters)
• .CMP (old .TRC): File extension for "Torque Ripple Compensation"
Example:
MP2260.0: 00_MotNameFromMotTab;Motor of 1st axis
MP2260.1: ;Motor of 2nd axis, no compensation
Note
The TRC function can only be used with PWM frequencies up to 5 kHz.
A TRC file can only be used on the control on which the adjustment has
been made.
A TRC file must be re-created if the motor, rotary encoder or angle
encoder is exchanged.
A TRC file can only be generated for synchronous motors or for linear or
torque motors.
Reduction of the Some of the asynchronous spindle motors require a high magnetizing current
magnetization at low speeds (n < nfield weakening). This magnetizing current can, however,
current lead to thermal motor problems at the rpm for field weakening nFW when
there is no load.
The nominal voltage (and so also the nominal magnetization current) at the
rpm for field weakening nFW when there is no load can be reduced with
MP2210.x. The entered reduction results in a nominal voltage curve as shown
in the figure below. The maximum nominal voltage is reached when
n = 3 · nfield weakening. The nominal voltage can be reduced by max. 60 %
(MP2210.x = 60).
If a load is placed on the drive, then the nominal voltage is increased again
automatically in order to improve the dynamics.
Unominal
MP2210.x
n
nFW 3 · nFW
Note
Please note that the reduction of the magnetization current can lead to a
limitation of the drive’s dynamics. However, this depends on the drive, and
must be judged separately in each case.
Setting the If thermal problems arise on an asynchronous spindle with no load during
reduction of the weakened-field operation, and these problems cannot be traced to an overload
magnetization or other mechanical problems, then please reduce the magnetization current
current as follows:
Reduce the nominal voltage in steps of 10 % in MP2210.x.
Reduce MP2210.x until a stable temperature within the motor specifications
is reached when there is no load.
1: Crossover position filter (CPF) with high-pass (HP) and low-pass (LP)
2: Position controller
3: Speed controller
4: Current controller – power module
5: Motor
6: Machine
7: Linear encoder
Note
Regarding the motor.mot motor table, the field orientation must be performed
for the following drives:
Linear motor with absolute encoder with EnDat interface (SYS = 3)
Synchronous or torque motor with unaligned rotary encoder with EnDat
interface (SYS = 5)
Synchronous or torque motor with incremental rotary encoder without Z1
track (SYS = 6); one reference mark per revolution
Synchronous or torque motor with incremental rotary encoder with
distance-coded reference marks (SYS = 7)
Linear motor with incremental linear encoder with distance-coded reference
marks (SYS = 8)
Danger
Field orientation via After switching on the control, the motor orients itself (rough orientation) via
encoder with Z1 the Z1 track of the encoder. The drive is ready for operation after this
track procedure. The field angle is determined and assigned as soon as the
reference mark is traversed during the first motor motion.
General An absolute encoder with EnDat interface should be used, since the
information about absolute position value is available directly after switch-on, and the field
encoders for direct angle can be assigned immediately. This means that the motor can be
drives controlled immediately.
The encoder should have a high line count. This leads to better
controllability.
With incremental encoders the motor must first be moved a "minimum"
distance in order to determine a field angle with which the motor can be
moved until the reference mark. Only after the reference mark has been
traversed can the field angle determined during commissioning be
assigned.
If excessive clamping of the axis prevents the "minimum" motion for
determining the field angle, then no field angle can be determined and the
axis cannot be controlled. In this case the clamping must be undone for the
field angle to be determined. If this is not possible, because the axis would
fall down, then an absolute encoder with EnDat interface must be used.
This method cannot be used for hanging axes (with 100 % weight
compensation), since the brakes are not applied and the monitoring
functions are deactivated!
Note
For synchronous spindles, the field angle should be determined via the
FIELD ORIENT. soft key (MP2254.x = 2), since this is a more exact
determination.
Note
=0 =0
MP2256.x MP2254.x Drive ON
? ?
Determination of field
angle with motion (and
plausibility test), automatic
entry in MP2256.x
Determination of
Incremental field angle for
encoder absolute and
Encoder Drive ON incremental
? encoders
according to
Absolute
encoder
with EnDat
interface Determination of field
angle according to If necessary,
Assign field angle method in MP2250.x,
from MP2256.x controlled motion
in order to enable over reference mark
controlled motions
Automatic entry
Controlled motion over of the field angle
reference mark in MP2256.x
Field angle not yet If the field angle on this machine was not yet determined after the control was
determined started (MP2256.x = 0), the determination starts automatically. The method
(MP2256.x = 0) for determining the field angle is stored in MP2550.x. The determined field
angle is stored in MP2556.x.
Field angle already If the field angle on this machine was already determined after the control was
determined started (MP2556.x ≠ 0), a distinction must be made:
(MP2256.x ≠ 0)
If an absolute encoder with EnDat interface is being used:
The absolute position of the encoder is read immediately after the control
has been started. The field angle from MP2256.x is assigned to this position.
Therefore, the first motor motion already occurs with the determined field
angle.
If an incremental encoder is being used:
Immediately after the control has been started and the control voltage has
been switched on, then depending on MP2250.x a field angle is determined
with which the motor can be traversed over the reference mark. After
traversing the reference mark, the field angle from MP2256.x is assigned.
The subsequent motor motions utilize the field angle from MP2256.x.
Note
Danger
Attention
Note
MP2254.x = 2
The PLC initial servicing program, whose name and path are entered in the
OEM.SYS file after the PLCPWM = entry, must ensure that the inverters are
ready after "Switch on external dc voltage," but that the motor brakes are only
open while determining the field angle. Alternately, the motor brakes can be
opened manually for the duration of the field angle determination.
MP2254.x = 3
Under certain conditions, determination of a field angle with the help of the
PLC is not necessary or desired. Here the motor is moved immediately after
the FIELD ORIENT. key is pressed, and the field angle is determined. This
mode can be used if
there are no brakes,
in the Commissioning Current Controller mode of operation, where the
brakes are always open,
the user ensures that the brakes can be opened manually or with the PLC.
Danger
Please note the following items when setting/reading the field angle via the
PLC:
An incorrectly set field angle can lead to undesirable reactions of the
motor, including uncontrollability. It might even move in the wrong
direction!
If the axis position is moved again after the field angle has been read,
then the determined field angle may no longer be used.
The commutation angle may be set only after you have ensured that the
stored commutation angle corresponds to the current position (e.g. due
to Hirth coupling).
The module is suitable only for synchronous, torque, or linear motors in
conjunction with nonaligned encoders without EnDat interface.
The module responds with a value only if the reference mark has been
traversed.
The commutation angle for an axis can be set only once after the control
is switched on and before the drives are first switched on.
Error code:
Danger
In all other cases the field angle must be determined anew, since otherwise
uncontrolled drive motions could occur!
Note
U1-Y U2-Y
FA
90 120 180 270 360
FA2048
524 288 1 048 576 1 572 864 2 097 152
Reference mark
Note
For the CC 61xx, the internal oscilloscope and TNCopt display effective values.
Primary winding
Secondary winding
Scale
Rotor
Scale
section
Stator
368 210-02
383 951-01
Attention
The KTY is monitored by the control (NC). The temperature signal is conducted
to the control together with the encoder signals (X15 to X20). If the KTY is not
to be evaluated, this function must be deactivated over MP2220.x bit 4 = 1
(see "Monitoring functions" on page 1087).
For linear and torque motors, the conductor for the temperature signal of the
KTY is frequently in the motor power cable, which can cause interference.
Since the conductor for the temperature signal is then led into the conductor
of the speed encoder, the interference causes noise in the encoder signals.
HEIDENHAIN therefore recommends conducting the temperature signals
over the line drop compensator, so that the interference signals are filtered.
Note
For example, PTC thermistors can be connected to a PLC input via the
securely grounded 3RN1013-1BW10 thermistor motor-protection device from
SIEMENS.
Note
Comply strictly with the warnings and safety precautions printed in this
chapter. They help to avoid accidents and to prevent damage to material
through improper handling!
Danger
Linear and torque motors are equipped with strong magnets and exercise
strong magnetic forces of attraction!
This can endanger health directly (e.g. for people with pacemakers), or
indirectly (e.g. through fast motor movements and high thrust force).
Danger
Please comply with the following instructions during all servicing work:
Mounting, servicing for initial operation, and maintenance are to be
performed only by trained personnel.
Wear work gloves during installation and maintenance work.
Persons with pacemakers must not service the machine.
Keep clocks and magnetized data media (e.g. credit cards, floppy disks,
etc.) at a distance.
Do not allow heavy metallic objects to contact the secondary winding of
the motor.
Never allow magnetic surfaces to contact metal.
Never place the primary winding directly onto the secondary winding.
Keep a good grip on steel tools and bring them to the secondary winding
only slowly and from the side.
Danger
During current controller adjustment of linear and torque motors, the rotor
position of the motor is not yet known.
For this reason, if the motor brakes are not active, the motor might move
slightly when the current pulses switch on. In other words, it might oscillate
about a preferred position. It is also possible to position "manually" to the
preferred position. Do not do this, however, during a measurement.
Danger
If the brakes are not active, the motor can move somewhat (in the direction
of a preferred position)!
The error message Standstill monitoring <axis> might be displayed. It
can be deleted.
With the ↑ soft key, increase/decrease the P factor (MP2420.x) step by step
just enough so that no overshoot is visible.
Save this value with the STORE MP2420.x soft key.
With the P/I FACTOR soft key, select the I factor.
As a starting value for the I factor first enter the value 0, select the step
increment SLOW, and press the ↑ soft key about 5 to 10 times.
With the ↑ soft key, increase/decrease the I factor (MP2430.x) step by step
just enough so that no overshoot is visible.
Save this value with the STORE MP2430.x soft key.
Press the END key to exit the Commission Current Controller mode.
The control carries out a reset.
Note
For linear and torque motors, adjust the P and I component of the current
controller so that no overshoots are visible in the step response. This
reduces motor noise.
The current controller must have been adjusted and the field angle ascertained
(see "Adjustment of the current controller" on page 1130 and see "Field
orientation" on page 1108).
Preparation on the Position the axis or spindle to be optimized at a location where it can be
control commissioned safely.
Ensure that the loaded PLC program fulfills the following conditions:
Enable the drive controller
NC stop inactive
Axis direction buttons active
Note
Only use the filters in the speed controller if they are necessary, i.e. if the
P factor can be increased noticeably.
Note
If you use a linear or torque motor that is not listed in the current
HEIDENHAIN motor table, please contact HEIDENHAIN. As an alternative,
you can also determine the input values yourself.
Values in the HEIDENHAIN motor table Values from the motor data sheet
TYPE: LSM Permanently excited linear synchronous motor
NAME: 1FN3900-4WB0 1FN3900-4WB0
MODE: 0
Rated current Data sheet value IN
I-N in [Aeff] winding IN = 49.4 A
I-N: 49.4
Rated voltage Calculation from data sheet values FN, IN, RP.120, LP
U-N in [Veff] interlinked
2 2
U-N: 394 U-N = 3 ⋅ ( Ue + Ur ) + Ux
Ur = RP.120 ⋅ IN
= 0.8 Ω ⋅ 49.4 A
= 39.5 Veff L-N
Ux = 2 ⋅ π ⋅ F-N ⋅ LP ⋅ IN
= 2 ⋅ π ⋅ 57 Hz ⋅ 0.0075 H ⋅ 49.4 A
= 132.69 Veff L-N
Values in the HEIDENHAIN motor table Values from the motor data sheet
TYPE: SM Permanently excited synchronous motor
NAME: Etel-TMA0360-070-3UC TMA0360-070-3UC
MODE: 0
Rated current Data sheet value IN
I-N in [Aeff] winding IN = 32.6 A
I-N: 32.6
Rated voltage Calculation from data sheet values FN, IN,
U-N in [Veff] interlinked RP.120, LP
U-N: 252
2 2
U-N = 3 ⋅ ( Ue + Ur ) + Ux
Ur = (R105L;L / 2) ⋅ Icw105
Ur = (1.92 / 2) ⋅ 32.6
Ur = 31.30 Veff L,N
With MP2209.x you can overwrite the value for "Mass moment of inertia J" in
the motor table. This makes it possible to react to additional, rigidly coupled
inertias.
Position display of The tool length can be offset in the position display of the tool axis. If it is, the
the tool axis displayed position value then refers to the tool point:
With MP7285, select whether the tool length should be offset.
The behavior of an incremental block after a TOOL CALL can be specified:
With MP7682 bit 0, select whether the tool length should be offset.
MP7285 Tool length offset in the tool-axis position display
Input: 0: Tool length is not offset
1: Tool length is offset
MP7682 Machine parameter with multiple function
Input: Bit 0 – Incremental block after TOOL CALL
0: With length compensation
1: Without length compensation
Note
Please note that the traverse-range limits set earlier in the manual operating
mode also become active in the modulo counting mode when MP812.x is
set. However, these can no longer be edited or viewed in the manual
operating mode.
Free rotation Free rotation means that the rotary axis rotates as often as required (with a
display range of 0 to 360°) without being affected by software limit switches.
You can define the free rotation function through words (axis 4 and 5) or with
Module 9223.
No uncontrolled axes can be used for this function, but PLC axes (auxiliary
axes) are possible along with main axes.
The maximum feed rate is 300 000 °/min or the limiting value in MP1010.x.
The feed rate is not shown in the status window. You can change the feed rate
with the override potentiometer (W754) continuously, for example by copying
W494 (active feed rate override) to W754. MP7620 bit 3 is accounted for.
Use Module 9048 to inquire whether free rotation is active for a specific axis.
The following conditions apply to the free rotation function:
Collision monitoring (DCM) does not work in combination with the "free
rotation" PLC function, since this special function for the defined "free" rotary
axis runs asynchronously to the system. For the work envelope this means
that all CMOs moved with the "free" rotary axis cannot be monitored by
DCM.
All monitoring functions, such as for position, following error, signal
amplitude of the encoder, etc., remain active.
All settings for the rotary axes via machine parameters, such as jerk,
acceleration, etc., remain valid.
The axis that is in free rotation behaves asynchronously to (independently
of) all other axes. For example, an NC program can be run while the "free
rotation" axis rotates independently. This axis is not considered when
calculating the path.
The axis for free rotation must be a rotary axis that can rotate over 360°
without any restrictions.
The free rotation function can be used not only for principal axes (NC axes),
but also for auxiliary axes (PLC axes).
Free rotation with If a program has been started, the module may be called only in conjunction
Module 9223 with an M/S/T/Q strobe. Auxiliary axes (e.g. rotary axes that are configured as
auxiliary axes) are an exception; for them the PLC module can also be used
without active strobe signal during a running NC program.
Module 9223 Free rotation
When the module is called, M4133 is set (start and stop).
The feed-rate override in W754 remains in effect.
Call:
PS B/W/D/K <Axis>
0 ... 17
PS B/W/D/K <Feed rate [°/min]>
PS B/W/D/K <Mode>
0: Stop
+1: Start in positive direction
–1: Start in negative direction
CM 9223
PL B/W/D <Error code>
0: No error: Positioning is started/stopped
1: No rotary axis transferred
2: Impermissible feed rate
3: Axis has not traversed the reference mark
4: No M/S/T/Q strobe during running program
5: Programmed axis not in closed loop
6: Other traversing command active for axis at start of
function
7: Free rotation not active for axis at stop of function
Set Reset
M4133 Start and stop the free rotation PLC NC
function
B518 Definition of the free rotation PLC PLC
function
0: Cancel the function
8: Free rotation for axis 4
16: Free rotation for axis 5
B519 Traverse direction for free rotation PLC PLC
0: Axis 4 and axis 5 = +
8: Axis 4 = – , axis 5 = +
16: Axis 4 = +, axis 5 = –
24: Axis 4 and axis 5 = –
W754 % function for feed-rate override for PLC PLC
free rotation
W566 - 568 Feed rate for free rotation PLC PLC
Axis 4 to axis 5
Note
If bit 3 of MP7620 is set, then, due to the nonlinear characteristic curve, the
labeling of the override only matches the actual value at the 0% and 100%
positions.
Set Reset
W494 Percentage for feed rate override NC NC
(NC to PLC)
W766 Percentage for feed rate override NC/PLC NC/PLC
(PLC to NC)
M4180 Rapid traverse programmed (FMAX) NC NC
Display of the The following functions are displayed in the status window:
M functions
M03, M04, M05: Miscellaneous functions for spindle control
M07, M08, M09: Miscellaneous functions for coolant control
You can control the display of the these functions through the PLC.
M4005, M4006: Status display, M03 and M04 change the direction of
rotation of the spindle.
M4008: Blocks the speed output for the spindle. The programmed spindle
speed continues to be displayed. At the same time, M03, M04 or M05 are
highlighted. The nominal speed value is zero.
Other M functions of the NC are shown in the status window.
Set Reset
M4005 Status display and nominal speed PLC PLC
value output for M03
M4006 Status display and nominal speed PLC PLC
value output for M04
M4007 Status display M05 and spindle stop PLC PLC
M4008 Disable speed output for spindle PLC PLC
M4040 Status display M07, M08, and PLC PLC
M09 highlighted
M4041 Status display M07, M08, M09, MK PLC PLC
M4042 Status display M07, M08, M09, MK PLC PLC
M functions of the NC
Set Reset
M4175 Program interruption, control-in- NC NC
operation symbol is blinking
M4176 Control is in operation, control-in- NC NC
operation symbol is on or is blinking
Call:
PS B/W/D/K <Number of the desired status information>
CM 9035
PL B/W/D <Status information>
Error code:
Set Reset
M4150 "Manual Operation" main operating NC NC
mode is active
M4151 Electronic Handwheel main operating NC NC
mode is active
M4152 Operating mode marker NC NC
Positioning with Manual Input
main operating mode (if smarT.NC
inactive --> M4163 = 0)
RUN ACTIVE UNIT smarT.NC main
operating mode (if smarT.NC active -->
M4163 = 1)
M4153 Operating mode marker NC NC
Program Run, Single Block
main operating mode (if smarT.NC
inactive --> M4163 = 0)
RUN SINGLE UNITS smarT.NC main
operating mode (if smarT.NC active -->
M4163 = 1)
M4154 Operating mode marker NC NC
Program Run, Full Sequence
main operating mode (if smarT.NC
inactive --> M4163 = 0)
RUN ALL UNITS smarT.NC main
operating mode (if smarT.NC active -->
M4163 = 1)
M4155 Traversing the Reference Points NC NC
main operating mode is active
M4163 Alternative operating mode "smarT.NC" NC NC
is active
M4186 NC program was started in the Test Run NC NC
mode
Disabling operating PLC Module 9285 can be used to disable operating modes and other
modes functions.
NC programs 0x01
(*.H, *.I, *.HU, *.HP, *.HC, *.DXF)
Call:
PS B/W/D/K <Group number>
0: Disable operating modes
1: Disable write-access to tables
2: Disable other functions
PS B/W/D/K <Bit mask>
CM 9285
PL B/W/D <Status>
0: Function performed
1: Illegal group number
2: Incorrect parameterization via bit mask
20: Module was not called in a spawn job or submit job
For all operating modes except Programming and Editing and Test Run:
Press the MOD key and press the MACHINE TIME soft key.
With MP7237.x, specify the times that can be reset with the code number
857282, and the PLC operating times that you wish to display.
In MP7238.x, define the dialog messages to be displayed for the individual
operating times.
The time is measured in seconds and is updated every minute during the run
time. When the control is switched off, no more than one minute is lost.
Note
In the OEM.SYS file, use the command PLCERRTAB= to enter the name of the
*.PET table.
You can automatically generate the entry by calling COMPILE.
If more than one PLC error message is activated at once:
Press the CE key to read the error messages in succession. With the special
command ERRQUE= you can display the list of active error messages in the
large PLC window.
Press the ERR key to have a list of all current error messages displayed.
These can be selected and cleared in a targeted manner.
PET table The PLC error message table (*.PET) consists of the following columns, to
which you can assign special attributes:
NR
Line number in the table. The modules select the PLC error message by
assigning the line number.
ERROR
With the HELP key you can display information on the error messages. (see
"Help" on page 1189).
There are three ways to specify the error text:
• Direct entry of the error text (max. 32 characters)
• Line number of the PLC error text file (# <line no.>) specified with
PLCERROR= in OEM.SYS.
• Number of the string memory containing the error text (# <string no.>)
MARKER
The PLC error message can be activated without module call by setting the
marker defined here (M4800 to M4999). The marker is also set if the error
message was activated through Module 9085.
Entry 0: No error marker
RESET
0: No NC reset upon activation of the error message. Error display does not
blink.
1: NC reset upon activation of the error message. Error display flashes.
NC-STOP
0: No NC stop upon activation of the error message
1: NC stop upon activation of the error message (M4221 is set)
Note
LIFTOFF
The reaction is: immediate NC stop, lift-off and emergency stop after
standstill. If an error message of this class was generated, this can be
evaluated in the PLC program via the PLC Marker 4224.
PLC
A bit pattern, which can be read out by the PLC program, can be saved. The
hexadecimal input range in the PLC column is $0 to $FFFFFF. The PET
column is read out with Module 9393.
Set Reset
M4220 Error from PET table with F stop active NC NC
M4221 Error from PET table with NC stop active NC NC
M4222 Error from PET table with emergency NC NC
stop active
M4223 Error from PET table with NC Cancel NC NC
active
M4225 Alternative error reaction active PLC PLC
M4227 PLC error message with priority 0 (error) NC NC
M4228 PLC error message with priority 1 NC NC
(warning)
M4229 PLC error message with priority 2 (info) NC NC
Example:
PS K10 ; Error 10 from .PET
PS S"ERROR-ERROR" ; %s
PS K9000 ; %d
PS W100 ; %.1f
PS K2 ; Offset for the help number in .PET
CM 9392
Assumption: Text in .PET "%s error in module %d, W100 = %.1f" and
W100 = 1234
Therefore, the following output text results:
"ERROR-ERROR error in module 9000, W100 = 123.4"
Note
When a service file is generated, the *.SYS files are also saved in the .zip file.
As a result, however the passwords in the *.SYS files can be accessed by
other persons. If you also want to protect your passwords from unauthorized
access when the service file is generated, proceed as follows:
Open the *.SYS file in which you have stored passwords (e.g. OEM.SYS).
Place the cursor on the line containing a password (e.g. PLCPASSWORD,
MPPASSWORD).
Press the ENCRYPT PASSWORD soft key.
This encrypts the password and places it after the keyword.
In the default setting, the data are automatically converted to ASCII format
when being saved to the .zip file. If however the conversion to ASCII fails, the
binary version of the file is saved in the .zip file.
Note
Files that are saved on the encrypted PLC partition PLCE: cannot be written
to the service file.
You can also store your own control file PLC:\oemservicefiles.sys, in which
you can enter additional files to be saved.
In addition, your service agency can help the end user save another control file
TNC:\service\userfiles.sys.
Event Function
[-b] Binary files are not converted to ASCII files. All binary files
are saved in binary format.
Event Function
Event Function
INCLUDE <file>
When a file is specified, it is evaluated as another control file. In order to
avoid that a file is specified twice, the INCLUDE statement must not be
nested more than three levels.
Event Function
Help soft key in With the help file you can display help text, useful information or machine
MOD commands:
Ensure that a help file of the type *.HLP is defined in the system file
OEM.SYS with the MODEHELP = command.
Press the MOD key.
Press the HELP soft key.
You can edit the help file in the PLC editor:
Press the MOD key and enter the code number 807667.
Create a help file with the extension *.HLP.
With machine commands:
Define at the beginning of the line a numerical value in the format #xxxx.
If the user moves the cursor to a line with a numerical value, this number is
displayed in W270. In the PLC program you can interrogate W270 and execute
the command.
If the cursor is moved to a line without a valid numerical value, the value –2 is
entered in W270.
If no HELP file is selected, W270 contains the value –1.
Set Reset
W270 Line number in help file NC NC
–1: No help file selected
–2: Not a valid numerical value
0 to 9999: Line number
Set Reset
M4220 Error from PET table with F stop active NC NC
M4221 Error from PET table with NC stop active NC NC
M4222 Error from PET table with emergency stop NC NC
active
M4223 Error from PET table with NC Cancel active NC NC
The help-number range shows the context-sensitive entry points that are
permanently defined for each file in order to simplify entry via the parent
main.chm book file.
The following links contain useful information about HTML help as well as
software for downloading:
http://msdn.microsoft.com/library/en-us/htmlhelp/html/vsconHH1Start.asp
http://www.helpware.net/
HEIDENHAIN recommends using Mozilla Firefox 1.0.x to check how the
HTML pages are displayed, since it is used on the control. The view differs
somewhat from the view in Internet Explorer, especially regarding the page
layout. However, this does not replace a thorough test of the CHM file on
the control.
Files and structure All online help available on a control can be called separately as well as within
of the help system the online help system. In order for the call within the entire system to
function, the conditions described below must be followed:
The help system is structured as follows:
main.chm – Welcome page of the help system
• jh1.chm
• jh2.chm
• ...
• oem1.chm
• oem2.chm
• oem3.chm
• ...
The HTML pages of the individual online help topics exist completely
independently of each other. Special entries combine the tables of contents
and collate the index entries (see below).
Table of contents
The table of contents of main.chm contains "merge" objects:
<OBJECT type="text/sitemap">
<param name="Merge" value="oem1.chm::/merged.hhc">
</OBJECT>
National languages CHM files will not be available for all possible TNC dialog languages at the time
the NC software is released. We are planning on delivering the German and
English languages with the software, and the CHM files in other languages will
be made available for free downloading (for unregistered users as well, of
course) from HESIS-Web including Filebase. The user then simply downloads
the appropriate file(s) for the respective language(s), and stores them in the
directory defined by us on the TNC hard disk: TNC:\tncguide\de or the
appropriate language subdirectory.
A readme.a file is located in the respective language directories on the TNC
hard disk under TNC:\tncguide\. This file describes the procedure for loading
the CHM files from HESIS-Web including Filebase.
Online help files The online help files (with file name extension .chm) can be managed with
and TNCremoNT TNCremoNT:
Transfer of *.chm files:
Online help files are binary files. If TNCremoNT is updated to version 2.5,
the file extension .chm is automatically added to the list of binary file types.
Otherwise the list of binary file types must be amended manually under
Extras > Configuration on the Mode tab in order to transfer them correctly.
Performing a backup of the TNC via TNCremoNT:
Online help files are automatically untagged during creation of the scan list
used for the backup. This also applies to CHM files that the machine
manufacturer has saved on the control.
Reason:
The *.chm files saved on the control require a large amount of memory, and
do not need to be backed up, since they are freely available from the
HEIDENHAIN homepage.
Please note that only online help files from HEIDENHAIN are available here.
This setting can be applied to other file types as well in TNCbackup under
Edit > Settings, if necessary.
RM
RM RM
Note
M91 and M92 are active only in the block in which they are programmed.
Note
The currently effective datum, but not the corresponding value in the preset
table, is overwritten with FN25: PRESET.
Note
The currently effective datum, but not the corresponding value in the preset
table, is overwritten with FN25: PRESET.
Set Reset
M4589 Activate datum management via NC NC
preset table
Setting "look- In order to adapt the feed rate to the workpiece machining process, the
ahead" iTNC 530 precalculates the geometry. This way changes in directions (corners,
curvatures, and changes in curvatures) are detected in time, and the
participating NC axes can be braked or accelerated accordingly.
You can set the number of NC blocks to be used for precalculation. The greater
the number of blocks for advance calculation, the higher the possible feed
rate. Shorter machining times can be achieved.
This improved effect is especially noticeable with many short traverse blocks
in the micron range, which are exported from CAD/CAM files, for example.
However, the default setting of 256 blocks usually suffices.
MP7400 Setting look-ahead
Input: 0: 256 [blocks] (default)
1: 512 [blocks]
2: 1024 [blocks]
Block number In MP7220 enter the block number increment for DIN/ISO programs.
increment for DIN/
MP7220 Block number increment for DIN/ISO programs
ISO programs
Input: 0 to 250
Finding the block Module 9321 Find the current block number
number Please use Module 9322 if possible!
The current block number is ascertained with Module 9321.
Call:
PS B/W/D/K <String number (reserved for future applications)>
CM 9321
PL B/W/D <Current block number>
Error code:
Set Reset
M4181 NC program selected NC PLC
Deleting lines from Individual blocks of an NC program can be deleted without a confirmation
an NC program question.
Set MP7246 bit 1=1 to have to the confirmation question Really delete NC
block? and the soft keys YES, NO and END appear when the DEL key is
pressed.
MP7246 Machine parameter with multiple function
Input: Bit 1 – Clear with DEL key
0: Does not need confirmation
1: Must confirm via soft key
Checking the The control checks an NC program while editing it. The duration depends on
NC program the number of lines to be checked. Errors that occur after the defined line
during editing number are not recognized during editing.
Enter in MP7229.0 the line number to which the NC program is to be
checked (LBL and TOOL DEF blocks).
Enter in MP7229.1 the line number to which FK blocks are permitted. If FK
blocks do not appear until after this line number, they are not checked.
MP7229 Properties of the NC program
MP7229.0 Line number for program testing
Input: 100 to 9999
MP7229.1 Program length to which FK blocks are allowed
Input: 100 to 9999
Set Reset
M4185 Internal stop performed NC PLC
Set Reset
M4182 AUTOSTART active NC NC
M4183 Time from AUTOSTART expired NC NC
M4586 Enable AUTOSTART PLC NC/PLC
Retract the tool Through the LIFTOFF column of the tool table, a function can be activated that
automatically from retracts the tool from the workpiece by 0.1 mm in tool-axis direction after an
the contour NC stop.
Enable the LIFTOFF function via M4620.
The function is also activated in the NC program with M148. M149
deactivates M148.
Set Reset
M4620 Activate LIFTOFF function PLC NC/PLC
1: Feed rate
2: Air cut
3: Beginning of machining
4: Feed-rate calculation during machining
5: Feed rate calculated by AFC
6: Feed rate programmed in the NC program
7: Cutting depth
8: Workpiece
Operating states The two main operating states of adaptive feed control are Learning and
of AFC Controlling and Monitoring.
Note
General The maximum spindle power was determined for each learning and machining
information about step. By changing the feed-rate factor within programmable limits (e.g. 70%
controlling to 130%), the software continuously attempts to match the momentary
spindle power to the reference value during machining.
This way the feed rate can be increased for areas where only a small amount
of material is being cleared, and a slower feed rate can be used when there is
more material than usual or the cutter is becoming dull. This protects the
spindle drive and the tool from overload. If a disturbance in the process occurs
during machining, a programmable switch-off reaction is performed. This
occurs if the feed rate falls below the minimum feed-rate factor (e.g. 70%) at
the reference spindle load. You can then assume that the cutter has become
dull or has broken. If the feed rate falls below the defined value of 30% of the
programmed feed rate, an NC stop is performed. This defined error reaction
cannot be influenced, and occurs independently of the programmed overload
reaction.
Controlling can be switched off and on again via soft key at any point during
machining. Controlling is also always switched off if the value set for the
override potentiometer is manually reduced by more than 10%. The
potentiometer is then effective again instead of AFC. Adaptive feed control
must then be switched on again via soft key. A potentiometer value less than
or equal to 50% is also always effective, i.e. AFC is inactive then. If the
potentiometer value exceeds these 50% while AFC is on, then AFC becomes
active again. The maximum spindle power that occurs while under control is
ascertained and saved for evaluation later. The machining time of each
machining section is also saved.
The events AFC ON, AFC OFF, potentiometer manually changed -> AFC OFF
are entered in the log of the iTNC.
If a change to another tool (not replacement tool) takes place within an active
cut, the error message "Faulty assignment of tool/cut no." is issued and an NC
stop is initiated.
If AFC detects at the beginning of a cut that the tool and the associated cut
number do not match, it stops instead of executing an automatic teach-in cut
(NC stop) and the error message "Faulty assignment of tool/cut no." is issued.
After NC start has been pressed again, a teach-in cut is carried out with the
new tool.
In both cases the user can either cancel with internal stop and correct the
cause of the error message, or continue with the actual data by pressing NC
start.
Automatic If an NC program is selected for machining and started, and if AFC is active,
selection of the then it is first checked whether an associated <name>.AFC.DEP file exists in the
Learning / same directory as the NC file. If this is the case, then the data in this file are
Controlling status immediately used as control parameters, and machining is performed with
adaptive feed control. If this file does not exist, the first machining run is used
as the learning phase and the file is created. If the AFC file is determined to be
incomplete during machining, the missing steps are automatically performed
in the Learning mode, thereby generating the missing data.
When Learning is deactivated (M05, manually via soft key, or with FN 17), the
learned data are saved and the status of this data block is set to "Controlling."
During Controlling, the data blocks are read in the same sequence they were
learned, the step numbers are evaluated and other parameters (tool number,
index) are checked to see if they match.
The current status or mode of AFC is stored in PLC Word W348 (inactive = 0,
learning phase = 1, controlling = 2).
W348 = 0: AFC inactive (OFF)
W348 = 1: AFC in learning phase
W348 = 2: AFC is controlling
The PLC can read in word W350 why the NC stop was triggered:
• (W350 = 1 or 2:
NC stop due to falling below the permissible minimum power
• W350 = 3:
NC stop due to detected cutter breakage (FN17 function ID 622 IDX 6.0)
• W350 = 4:
NC stop because the spindle load was exceeded (FN17 function ID 622
IDX 5.0)
The PLC can read in word W350 why the NC stop was triggered:
• (W350 = 1 or 2:
NC stop due to falling below the permissible minimum power
• W350 = 3:
NC stop due to detected cutter breakage (FN17 function ID 622 IDX 6.0)
• W350 = 4:
NC stop because the spindle load was exceeded (FN17 function ID 622
IDX 5.0)
Note
Due to the difficult conditions surrounding setting the values for FN 17:
SYSWRITE ID 622 NR<> IDX 6.0, you should only use this function after
consultation with HEIDENHAIN.
Column Function
AFC Name of the control strategy. You must enter this name in the
AFC column of the tool table. It specifies the assignment of
control parameters to the tool.
FMAX Maximum feed rate in the material up to which the TNC can
automatically increase the feed rate. Enter the value in percent
of the programmed feed rate.
FIDL Feed rate for traverse when the tool is not cutting (feed rate in
the air). Enter the value in percent of the programmed feed rate.
FENT Feed rate for traverse when the tool moves into or out of the
material. Enter the value in percent of the programmed feed
rate.
POUT Spindle power at which the TNC is to detect tool exit from the
workpiece. Enter the value in percent of the learned reference
load. Recommended input value: 8%
Example of an AFC.TAB:
Proceed as follows to create the AFC.TAB file (only necessary if the file does
not yet exist):
Select the Programming and Editing operating mode.
Select the file manager: Press the PGM MGT key
Select the TNC:\ directory.
Create the new AFC.TAB file and confirm with the ENT key. The TNC displays
a list with table formats.
Select the AFC.TAB table format and confirm with the ENT key. The TNC
creates the table with the Standard control strategy.
Column Function
TOOL Number or name of the tool with which the machining step
was made (not editable)
IDX Index of the tool with which the machining step was made
(not editable)
PREF Reference load of the spindle. The TNC measures the value in
percent with respect to the rated power of the spindle.
POUT Exit load of the spindle. The TNC uses the value as a percent
of the reference load PREF of the spindle.
NR TOOL IDX FMIN FMAX FIDL FENT OVLD POUT PREF SENS ST PLC AFC
0 2 0 60 140 150 70 - 5 64 100 C 0 Standard
Note
Please note that the control parameters will be assigned to the wrong cuts
if you delete lines incorrectly.
If you are not sure which line may be deleted, then perform the learning
phase anew for the complete NC program.
Column Function
TOOL Number of the tool with which the machining section was
performed (cannot be edited)
IDX Index of the tool with which the machining step was made (not
editable)
PREF Reference load of the spindle. The TNC shows the value as a
percent of the spindle’s rated power.
NR TOOL IDX SNOM SDIFF LTIME CTIME TDIFF PMAX PREF OVLD
0 2 0 1000 3.5 00:00:40 00:00:32 -20.0 70.2 64 -
Note
0 BEGIN PGM M3 MM
1 M3
2 FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+1;after M3
3 END PGM M3 MM
0 BEGIN PGM M4 MM
1 M4
2 FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+1;after M4
3 END PGM M4 MM
0 BEGIN PGM M5 MM
1 FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+0;before M5
2 M5
3 END PGM M5 MM
The M-function macros for M3, M4 and M5 (as listed above) are used to
write the control settings for the various cuts sequentially, in the same
order as the cuts in the NC program, into the <NC name>.H.AFC.DEP file. You
cannot use these M-function macros to assign a permanent number to the
individual cutting data blocks.
This means that you cannot use the Program Run, Single Block operating
mode to perform a teach-in cut for just a single cut.
You must always run the entire NC program so that AFC can update the
correct lines in <NC name>.H.AFC.DEP.
Note
You cannot use just any numbers when numbering the cuts in the NC
program. The beginning of the first cut must
be started after M3 or M4 with FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+1
and be ended before M5 with FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+0.
NR must be incremented for each further cut. Targeted access to individual
cutting data blocks is only possible with sequential numbering.
Note
You do not have to run the entire machining step in the learning mode. If
the cutting conditions do not change significantly, you can switch to the
control mode immediately. Press the EXIT LEARNING soft key, and the
status changes from L to C.
At any time during the teach-in cut, you can change the machining feed rate
with the feed-rate override potentiometer any way you want, and so
influence the ascertained reference load.
You can repeat a teach-in cut as often as desired. Manually change the
status from ST back to L. It may be necessary to repeat the teach-in cut if
the programmed feed rate is far too fast, and forces you to sharply
decrease the feed rate override during the machining step.
The PREF RESET soft key enables you to reset the spindle reference power
determined by the teach-in cut until this moment, and to restart reference-
value determination.
You can teach any number of machining steps for a tool. A machining step
always starts with M3 or M4, and ends with M5. For machining steps in which
the tool remains the same, but it appears useful to define multiple cuts for
AFC, you can repeat the corresponding FN 17 function. A new cut is started
with each FN 17:SYSWRITE ID 622 NR0 IDX 0.0 =+1 and is ended with FN
17:SYSWRITE ID 622 NR0 IDX 0.0 =+0.
All control settings for the individual cuts of an NC program are saved as a
table in the <NC name>.H.AFC.DEP file (SETTINGS TABLE soft key), where they
are used for future machining.
The status of each cutting data block changes from L (learning) to C
(controlling) after a successful teach-in cut.
The data determined in the learning phase is saved in the <NC
name>.H.AFC2.DEP file (EVALUATION TABLE soft key).
Note
If adaptive feed control is active, the TNC assumes the functions of the
feed-rate override. If you reduce the feed-rate override by more than 10%
of the current setting, then the TNC switches AFC off. In this case the TNC
displays a window, which you can acknowledge with the CE key.
If you set the feed-rate override to less than 50%, the value of the override
potentiometer takes effect. However, AFC is not automatically switched
off here. If the value of the override potentiometer later exceeds the 50%
again, AFC assumes control again.
The TNC shows various pieces of information in the additional status
display when adaptive feed control is active. Please refer to the User's
Manual of your control.
The following must be observed when using the global PGM settings:
Basically, all settings in the Global PGM Settings remain active when
executing cycles and NC programs. However, when executing macros or
PLC positioning movements, all Global PGM Settings are automatically
deactivated.
If you disable one or more axes via Global PGM Settings, then this
disabling is only canceled within a macro or during the PLC positioning.
However, if you transfer axis position values to the PLC (e.g. with FN19)
within a cycle or NC program and then perform a PLC positioning, then
this positioning really is performed with all axes. However, if the axis
position values transferred from a cycle or an NC program are not
approached, due to the Global PGM Settings, then this can lead to a crash
during the subsequent PLC positioning.
M118 cannot be deselected in cycles if handwheel superimpositioning
has been activated in the Global PGM Settings. However, handwheel
superimpositioning is automatically deactivated in the Global PGM
Settings when executing a macro.
If you read the position values of an axis via the PLC, then when you
interrogate the nominal values, the nominal value programmed in an NC
program is returned, and not the actual value of the axis. If further actions
derive from the nominal value, then this can lead to problems, since
these value do not necessarily reflect the actual position values of the
axes. If you interrogate the actual value of an axis, then the actual position
is returned.
FN17 and FN18 You can use the FN 17 SYSWRITE functions to reset global program settings
functions for Global to standard values (ID 330), set them inactive (ID 331) or set values (ID 332).
Program Settings
The FN 18 SYSREAD functions are used to check global program settings for
activity (ID 330 and ID 331) and read the values (ID 332).
ID 330 NR 0 Resets everything to default values and checks for active global program
settings.
Examples:
FN 18: SYSREAD Q1 = ID 330 NR0 IDX0
Returns 1 if a global program setting is active; otherwise 0
FN 17: SYSWRITE ID 330 NR0 IDX0 = 0
Resets everything to default values (like SET STANDARD VALUES soft key)
ID 332 NR1 to Sets or reads values from the global program settings
ID 332 NR 9
For axis-specific program settings, the axis index (e.g. 1 = X axis, 2 = Y axis,
.... 9 = W axis) must also be entered. Axis-specific are: ID 332 NR2, NR3, NR4,
NR7, NR8 and NR9. For ID 332 NR8 and ID 332 NR9 you can select the VT axis
with IDX10. For program settings that are not axis-specific (NR1, NR5, NR6),
IDX 0 must be entered.
When writing with FN 17: SYSWRITE ID 332 NRx IDX y = Q1, software option
44 must be set, otherwise the NC program is canceled with an error message
at this point. During axis swapping (ID 332 NR 2), a successful SYSWRITE call
leads to two lines of the exchange table being changed.
Example:
FN 17: SYSWRITE ID 330 NR 0 = 0
Set everything to default values
FN 17: SYSWRITE ID 331 NR 2 = 1
Activate axis swapping
FN 17: SYSWRITE ID 332 NR 2 IDX 1 = 2
Replace X axis by Y axis
Please note that at the same time, the Y axis is replaced by the X axis
because every axis letter can only appear once on each side of the exchange
table.
FN 18 functions:
FN 18: SYSREAD Q1 = ID 332 NR 1 IDX0
Returns the value of the basic rotation
FN 18: SYSREAD Q1 = ID 332 NR 2 IDX1
Axis swapping: returns the index of the axis that the X axis was exchanged
for (e.g. 7 for the U axis).
FN 18: SYSREAD Q1 = ID 332 NR 3 IDX1
Mirror axes: returns 1 if the X axis is mirrored in the global program settings,
otherwise 0
FN 18: SYSREAD Q1 = ID 332 NR 4 IDX2
Returns the shift value of the Y axis
FN 18: SYSREAD Q1 = ID 332 NR 5 IDX0
Returns the value of the rotation
FN 18: SYSREAD Q1 = ID 332 NR 6 IDX0
Returns the feed rate override
FN 18: SYSREAD Q1 = ID 332 NR 7 IDX3
Returns 1 if the Z axis is disabled in the global settings
Infeed
MP7420 bit 2 = 0:
The control clears the pocket separately because the paths of the tool center
do not intersect. Material will remain at inside corners.
MP7420 bit 2 = 1:
The control clears the pockets together because the programmed contours
intersect. No material will remain at inside corners.
Cylindrical surface With Cycles 27, 28 and 39 you can machine a contour on a cylindrical surface
(see the User’s Manual).
In standard approach/departure movements of Cycle 39, the tool approaches/
departs the contour tangentially on an arc that depends on the tool radius. If
contours are close to each other, the approach/departure movements might
damage adjacent contours.
Define the rotation center of the rotary axis with MP75xx. Also see page
701.
Define the behavior of Cycle 28 with MP7680 bit 12.
Define the behavior of Cycle 39 with MP7680 bit 16.
MP7680 Machine parameter with multiple function
Input: Bit 12 – Behavior of Cycle 28
0: Standard behavior
1: The slot wall is approached and departed tangentially; at the
beginning and end of the slot a rounding arc with a diameter
equal to the slot is cut
Bit 16 – Behavior of Cycle 39
0: Standard behavior
1: Approach/departure movement on an arc is not active
Set Reset
M4170 END PGM, M02 or M30 was executed NC NC
Note
Note
Note
If you change the tool data in the PLC, update them with M4538, or change
or update them with an NC macro, then the new tool data cannot be
correctly offset in the block scan.
Set Reset
M4156 MANUAL TRAVERSE soft key NC NC
pressed
M4157 Returning to the contour (RESTORE NC NC
POSITION) is active
M4158 Block scan active NC NC
M4538 Geometry of the tool from W264 PLC NC
M4542 Do not update pocket number in the PLC PLC
pocket table
Function NC PLC
Spindle switch-over FN17: SYSWRITE ID20 NR13 Module 9175
Range of traverse, axis FN31: RANGE SELECT Module 9152
assignment, axis display
Datum shift FN32: PLC PRESET Module 9230
Danger
If bit 4 is set and the block scan is canceled nevertheless, the respective
changes will remain effective!
If required, you have to undo these changes in order to restore a consistent
state.
You can use a suitable NC macro for this, for example.
Set Reset
M4161 M/S/T/Q transfer after block scan NC NC
Instructions in GROUP =
MGROUPS.SYS You divide M functions into groups. After a block scan, the last programmed
M function in a group is transferred to the PLC. An M function can be entered
in up to eight groups. During block scan, the M function is collected for all
groups in which it occurs, and is then considered during restoration. However,
this could lead to such M functions being executed more than once when
restoring the machine status. This function only makes sense if the ORDER =
PRIO option has not been entered.
Example: GROUP = M3,M4,M5
SPECIAL =
You define all M functions that are not defined in a group, and that should be
sent to the PLC after a block scan.
Example: SPECIAL = M19,M22,M25
MFIRST =
MLAST=
You define two M functions to be sent to the PLC at the start and end of an
output sequence after a block scan. This enables the PLC program to
recognize that a sequence of M/S/T/Q strobes that was collected during the
block scan is being transferred. You can omit these instructions if you do not
need this information.
Example: MFIRST = M80, MLAST = M81
REMAIN = OUTPUT
All M functions that are not defined in MGROUPS.SYS are transferred during
the block scan to the PLC. If you do not enter this instruction such M functions
are ignored.
Note
Instructions in M functions that are effective in several groups are divided in the MSPLIT.SYS
MSPLIT.SYS file into function components.
Example: M13=M3, M8
Note
M functions greater than 99 but less than 299 are not transferred to the
PLC. They have a fixed meaning for the NC to activate certain functions.
Set Reset
W260 Code for M function NC NC
M4072 Strobe signal for M function NC NC
M4092 Acknowledgment of M function PLC PLC
M4571 Activation of decoded M-code PLC PLC
transfer in M1900 to M1999
M1900 - Decoded M function if M4571 is set NC NC
M1999
Program stop with According to ISO 6983, the M function M06 means "tool change."
M06
With MP7440 bit 0, select program stop when M06 is transferred to the
PLC. After the program stop and the tool change, the NC program must be
restarted through an NC start or by the PLC.
Modal cycle call You can use the M function M89 to program a modal cycle call. The
M89 possibilities for calling a cycle are:
NC block CYCL CALL
Miscellaneous function M99. M99 is non-modal, i.e. it must be specially
programmed each time is it to be executed.
Miscellaneous function M89. M89 depends on MP7440 bit 1. M89 is
effective modally as a cycle call, i.e. in each subsequent positioning block,
the fixed cycle last programmed is called. M89 is canceled by M99 or by a
CYCL CALL block.
If M89 is not defined as a modal cycle call, it is transferred to the PLC as a
normal M function at the beginning of the block.
Reduced feed rate With M103 F.. you can reduce the contouring feed rate for motion in the
of tool axis with negative direction of the tool axis. The tool axis share of the feed rate is limited
M103 to a value that the iTNC has calculated from the most recently programmed
feed rate.
Fmax = Fprog · F%
Fmax = maximum feed rate in the negative direction of the tool axis
Fprog = most recently programmed feed rate
F% = programmed factor behind M103 as a percentage
M103 F.. is canceled by re-entering M103 without a factor.
Enable the M103 F.. function with MP7440 bit 2.
Error messages Before execution of a fixed cycle, the spindle must be started with M3 or M4.
during cycle call If this is not the case, the error message Spindle ? appears. If you are using
a high speed cutting (HSC) spindle that is started by its own M function (not
M3 or M4):
Suppress the error message Spindle ? with MP7441 bit 0.
If a positive depth is programmed in machining cycles, the error message
Enter depth as negative appears:
Suppress the error message Enter depth as negative with MP7441 bit 2.
MP7441 Error message during cycle call
Format: %xxx
Input: Bit 0 –
0: Error message Spindle ? is not suppressed
1: Error message Spindle ? is suppressed
Bit 1 – Reserved, enter 0
Bit 2 –
0: Error message Enter depth as negative is suppressed
1: Error message Enter depth as negative is not suppressed
Calling an NC The M functions M0 to M88 and M300 to M999 can call an NC macro in all
macro with an operating modes. First the table PLC:\MFUNCT\MFUNCT.TAB must exist. Line
M function number 0 represents M0, line number 1 represents M01, etc. The NC macros
must be entered in the directory PLC:\MFUNCT\ with the name of their
M function (e.g. M301.H).
M functions that call an NC macro are not sent to the PLC. If an M function
defined in MFUNCT.TAB is programmed in a macro, the M function is reported
to the PLC.
To synchronize the current machine status and the look-ahead calculation with
an NC macro call, see "NCMACRO.SYS" on page 1709.
For behavior during a block scan, see "Instructions in MGROUPS.SYS" on page
1249.
With FN17: SYSWRITE ID420 NR0 IDX0 = 0, all coordinate transformations (e.g.
cycles 7, 8, 10, 11, 19) performed in the NC macro become globally effective.
Without this block, they remain locally effective (only in the NC macro). If a
coordinate transformation status is to be globalized, FN17: ID420 must be
programmed after the nominal condition has been established.
If, for example, an M-function macro that executes (globalizes) e.g. PLANE
RESET is called from an OEM cycle, resetting the PLANE function is only
effective one level higher. When the cycle has been executed, the last PLANE
function is active again. This means: If PLANE is to be reset permanently, the
globalization must also be carried out in the OEM cycle.
Note
Powering up the While the control is starting, a customer-specific company logo can be
control displayed instead of the HEIDENHAIN logo. If a service pack is installed, then
a different logo may appear instead of the message window.
Requirements of the logo:
The logo must be a bitmap file (*.BMP) with a color resolution of 16 or 24
bits. It is displayed in 16 bits.
Maximum picture size:
• BF 250: 1024 x 768
• BF 260: 1280 x 1024
Note
Shutting down the The control must be shut down before it can be switched off. This is done
control either with the soft key in Manual mode or by the PLC with Module 9279 or
9189. If the control is shut down (either with a PLC module or with the soft
key), M4179 is set, the ready signal of the drives is removed, and the hard disk
is set to sleep mode.
If a PLC output is to be set after shutting down the control, this function must
be activated with MP4040 = 1 or 2. Shutting down via Module 9279 must be
done with Mode 2. After the control has been shut down and after the time
from MP4041 has expired, the PLC output specified in MP4044 is set.
PLC outputs of a PL 62xx or an MB machine operating panel can be used for
this function. However, the following must be kept in mind:
The maximum current of an output on a machine operating panel is limited
to 150 mA (500 mA with the PL 62xx).
Galvanic isolation of the PLC supply must be ensured. The machine
operating panels and their outputs are supplied with +24 V NC.
Set Reset
M4179 Control is being shut down NC NC
The code of the entered code number is entered in double word D276. You
can evaluate this code and define your own functions for code numbers, or
disable fixed code numbers.
Set Reset
D276 Code of the code number last entered NC NC
via MOD
The colors can also be poorly adjusted (e.g. red error message on red
background). HEIDENHAIN therefore supplies the controls with a standard
color setting, which is suggested by the control during creation of the MP list.
Projection in The display in three planes can be shown in 1st-angle projection as preferred
three planes in Germany or in the American-style 3rd-angle projection:
Select the type of projection with MP7310, bit 0.
Example
:
Rotation of the You can rotate the coordinate system for graphic display by +90° if, for
coordinate system example, the Y axis is defined as tool axis.
Select the angle of rotation with MP7310, bit 1.
X Z
Z X
No rotation 90° rotation
Position of the In the display in three planes you can display the position of the cursor:
cursor
Switch this function on with MP7310, bit 3.
MP7310 Graphic display mode
Format: %xxxxxxxx
Input: Bit 0 – Projection in three planes:
0: German-preferred projection
1: US-preferred projection
Bit 1 – Rotating the coordinate system in the working plane
by 90°
0: No rotation
1: Rotation by +90°
Bit 2 – BLK form after datum shift:
0: Shifted
1: Not shifted
Bit 3 – Display of the cursor position:
0: Not displayed
1: Displayed
Bit 4 – Reserved
Bit 5 – 3-D graphics during program test
0: 2.5-D and 3-D
1: 2.5-D
Bit 6 – Stock removal with an inclined tool
0: Not active
1: Active
Bit 7 – Exact evaluation of the column LCUTS (cutting length)
from the TOOL.T table in order to display special tools (e.g. saw
blade).
0: Free evaluation
1: Exact evaluation for special tools
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21 ! 58 X B1 E7 ç
22 “ 59 Y B2 ² E8 è
23 # 5A Z B3 ³ E9 é
24 $ 5B [ B4 EA ê
25 % 5C \ B5 µ EB ë
26 & 5D ] B6 EC ì
27 ’ 5E ^ B7 ED í
28 ( 5F _ B8 ¸ EE î
29 ) 60 ’ B9 ¹ EF ï
2A * 61 a BA º F0 ð
2B + 62 b BB » F1 ñ
2C , 63 c BC ¼ F2 ò
2D - 64 d BD ½ F3 ó
2E . 65 e BE ¾ F4 ô
2F / 66 f BF ¿ F5 õ
30 0 67 g C0 À F6 ö
31 1 68 h C1 Á F7
32 2 69 i C2 Â F8 ø
33 3 6A j C3 Ã F9 ù
34 4 6B k C4 Ä FA ú
36 6 6D m C6 Æ FC ü
37 7 6E n C7 Ç FD ý
38 8 6F o C8 È FE þ
39 9 70 p C9 É FF ÿ
3A : 71 q CA Ê
3B ; 72 r CB Ë
3C < 73 s CC Ì
3D = 74 t CD Í
3E > 75 u CE Î
3F ? 76 v CF Ï
40 @ 77 w D0 Ð
41 A 78 x D1 Ñ
42 B 79 y D2 Ò
43 C 7A z D3 Ó
44 D 7B { D4 Ô
45 E 7C | D5 Õ
46 F 7D } D6 Ö
47 G 7E ~ D7
48 H 7F - A0 D8 Ø
49 I A1 ¡ D9 Ù
4A J A2 - A4 DA Ú
4B K A5 ¥ DB Û
4C L A6 ¦ DC Ü
4D M A7 DD Ý
4E N A8 DE Þ
4F O A9 © DF ß
50 P AA ª E0 à
51 Q AB « E1 á
52 R AC E2 â
1E 55 U AE ® E4 ä
1F 56 V AF E5 å
20 <SPACE> 57 W B0 ° E6 æ
21 ! 58 X B1 E7 ç
22 “ 59 Y B2 ² E8 è
23 # 5A Z B3 ³ E9 é
24 $ 5B [ B4 EA ê
25 % 5C \ B5 µ EB ë
26 & 5D ] B6 EC ì
27 ’ 5E ^ B7 ED í
28 ( 5F _ B8 ¸ EE î
29 ) 60 ’ B9 ¹ EF ï
2A * 61 a BA º F0 ð
2B + 62 b BB » F1 ñ
2C , 63 c BC ¼ F2 ò
2D - 64 d BD ½ F3 ó
2E . 65 e BE ¾ F4 ô
2F / 66 f BF ¿ F5 õ
30 0 67 g C0 À F6 ö
31 1 68 h C1 Á F7
32 2 69 i C2 Â F8 ø
33 3 6A j C3 Ã F9 ù
34 4 6B k C4 Ä FA ú
35 5 6C l C5 FB û
36 6 6D m C6 Æ FC ü
37 7 6E n C7 Ç FD ý
48 H 7F - A0 D8 Ø
49 I A1 ¡ D9 Ù
4A J A2 - A4 DA Ú
4B K A5 ¥ DB Û
4C L A6 ¦ DC Ü
4D M A7 DD Ý
4E N A8 DE Þ
4F O A9 © DF ß
50 P AA ª E0 à
51 Q AB « E1 á
52 R AC E2 â
31 1 49 I 61 a 79 y
32 2 4A J 62 b 7A z
33 3 4B K 63 c 7B - FF
34 4 4C L 64 d
Note
If texts from these files are also used in the PLC window, they must use
UTF8-coding.
In the system file OEM.SYS, enter only the file names with the commands
PLCDIALOG = and PLCERROR =. The NC looks for the paths given in MP7230.1
or MP7230.2. The entry behind MODEHELP = is overwritten with the selected
path whenever MP7230.3 is changed.
Decimal point With MP7280 you specify whether the decimal point will be a comma or a
period.
MP7280 Decimal character
Input: 0: Decimal comma
1: Decimal point
PLC log In order to make debugging in PLC programs easier, the following markers can
be used to record additional PLC module calls and their parameters. The data
are written to the log file PLC:\JHPLCLOG\PLCMODULES.LOG.
If one of the three markers is set, this results in the one-time NC error
message "Debug functions of the PLC are active." The other log files
PLCDEBUG.LOG, MYDEBUG.LOG, VERSION.TXT, VERSION.LOG and
MakeCycle.log are contained in the directory PLC:\JHPLCLOG\.
The marker should be set only for debugging purposes. Otherwise,
unnecessary access to the hard disk will put a strain on the system. The
following events are entered:
Start of the PLC after switch-on.
Start and stop of the PLC.
Errors from PLC modules (this entry is only made if M4753 = 1).
Run-time errors
Set Reset
M4751 Recording of transfer and return PLC PLC
parameters of PLC modules that are
called in the cyclic PLC program
M4752 Recording of transfer and return PLC PLC
parameters of PLC modules that are
called in submit/spawn processes
M4753 Writing errors from PLC modules to PLC PLC
the PLC log
(PLC:\JHPLCLOG\PLCMODULES.LOG)
If the PLC program Basic_54 is used and the message "Debug functions of
the PLC are active" occurs, you need to correct the PLC project with respect
to M4753 or set MP4020 bit 17, because M4753 is set permanently in this
version of the PLC basic program.
More information on the use of M4751, M4752 and M4753:
The markers may be used for debugging only temporarily and must not
be set in the factory default setting of a PLC.
M4753 is/was set permanently by the PLC basic program Basic_54.
MP4020 bit 17 must be set in order to suppress the message without
having to modify the PLC program.
A maximum of 1 MB of data can be written to the file
PLCMODULES.LOG; any data exceeding this limit will be copied to
.OLD.
A maximum of 2 MB is available for both the file PLCMODULES.LOG and
the file PLCMODULES.LOG.OLD. With the PLC basic program for
example, the 2 MB are exhausted some seconds after the power
interrupted message has been acknowledged if all debug markers are
set.
During debugging in the PLC program, it is advisable to position the
markers close (if possible) to the code position to be examined, and not
for the complete PLC scan.
On OEM machines, PLC debug code that has been output for debugging
must afterwards be replaced by the original code again.
Diagnostics log If M4754 is set, internal diagnostic information is entered in the log
MYDEBUG.LOG. The marker should be set only for debugging purposes.
Otherwise, unnecessary access to the hard disk will put a strain on the
system.
Set Reset
M4754 Writing diagnostic information in PLC PLC
MYDEBUG.LOG
Note
Writing to OEM logs must only take place in worthwhile intervals, since
under circumstances the processing time could be affected negatively, and
the hard disk written to unnecessarily.
Entry Description
RESET Powering up the control
BERR Blinking error message
BREG Register contents with a blinking error message
ERR Error messages
P: PLC error message with the line number in the
PLC error text file
N: NC error message with number
Power fail interrupt: Control was switched off by
a POWERFAIL
Result of the file system test (in case the control
was not properly shut down previously)
ERR dosfsck -a Check of the PLC: and TNC: hard-disk partitions if the
control was not shut down correctly
INFO "xxx" "xxx": Name of the control process that enters the
information in the log
PLC
SYS
MAIN
REMO
CTRL
SMARTNC
SMARTNC_LDF
BDEHAN
SOKY
GEO
PYTHON
FIXTURE
FILEMAN
INFO CTRL KINEMATIC Active tool with tool number, radius (R =) and length
(L =)
INFO CTRL collision Status of collision monitoring in the Manual and
Automatic operating modes
INFO CTRL REG Position yyyy of axis xx at start of movement
AXIS xx START REF=yy
Byte 0 Byte 15
Note
Do not use Modules 9275 and 9276 in the PLC program as shipped.
Instead, use them only for debugging. Otherwise the processing times
could be increased and the hard disk could be written to unnecessarily, so
that the log can no longer fulfill its function of recording keystrokes and
error messages.
The following soft keys appear only if the Power Interrupted message was not
acknowledged, and if the code number 688379 or 807667 was entered.
The integrated oscilloscope for commissioning the current controller is
opened.
The file TNC:\herosdiagnose.txt is created after pressing this soft key. HEIDENHAIN uses
this file for diagnosis of the operating system.
To switch back to the screen of the control or to DriveDiag, press the screen
switchover key.
Main computer
Meanings of the
signals under
"supply unit /
status"
Powerfail The PF signal shows the status of the Gray: No information available
"effective" powerfail signal for the drive Green: Enabled, PF is inactive
controller. The signal is the result of (1-level)
gating the PF.PS.ZK (DC-link powerfail) Red: PF is active (0-level): the DC-
and PF.PS.AC (AC fail) signals. The gating link voltage has decreased below
process can be defined in the machine a permissible (inverter-specific)
parameters and in the PLC. level or the phase monitoring
responded; no enabling
Powerfail (DC) The signal is generated at the inverter, Gray: No information available
and is led via the supply bus to the drive Green: Enabled: Powerfail (DC) is
controller. The input at the drive controller inactive (1-level)
is displayed. Depending on the wiring, Red: Not enabled: Powerfail (DC)
either this signal or Powerfail (AC) is is active (0-level): the DC-link
relayed on the controller PCB to the voltage has decreased below a
powerfail signal. permissible (inverter-specific)
level.
Powerfail (AC) The signal is generated at the inverter, Gray: No information available
and is led via the supply bus to the drive Green: Enabled: Powerfail (DC) is
controller. The input at the drive controller inactive (1-level)
is displayed. Depending on the wiring, Red: Not enabled: Powerfail (AC)
either this signal or Powerfail (DC) is is active (0-level), phase
relayed on the controller PCB to the monitoring responded, at least
powerfail signal. Powerfail (AC) does not one power supply phase failed
exist for all supply units (e.g. not for UV
130).
Power module active The signal shows the status of the SH2 Gray: No information about
(–SH2) line to the power module. The CC the signal available
activates/deactivates this line for Green: Enable: The SH2
switching off the power module. signal is inactive
Red: No enabling: The SH2
signal is active
Current controller The signal shows the status of the Gray: No information about
active current controller. The current controller the signal available
is either switched on (in control) or Green: Enable: Current
switched off. controller is on (in control)
Red: Do not enable: Current
controller is off
Speed controller is The signal shows the status of the speed Gray: No information about
active controller. The speed controller is either the signal available
switched on (in control) or switched off. Green: Enable: Speed
controller is on (in control)
Red: Do not enable: Speed
controller is off
Meanings of the
signals under
"speed controller / Information Meaning Colors
overview" Direction Results of the test for the Green: Direction of
(only available in direction of rotation. counting and rotation
motor encoder are the same (OK)
test) Red: Direction of
counting and rotation
differ (error)
Amplitude Result of the test of the Green: Signal
speed encoders' signals amplitude within the
tolerance (OK)
Red: Signal amplitude
outside the tolerance
(error)
Faults caused by excessive leakage current or ground fault are detected only
by the UV(R) power supply unit, although the fault can also be triggered by one
of the connected power modules. The power modules must not be
disconnected for fault finding, however. It is sufficient to deactivate one axis
after the other using MP10 in order to find the axis or the power module
causing the leakage-current fault.
Example screen:
Set Reset
M4641 If the marker is set, the HSCI bus NC NC
operates without error
PROFIBUS master
Slave
(Slave) modules,
AS-i slave
Terminal
Name Name of the slave, slave module or "Name" entered for the slave/slave module
terminal "Symbolic name" entered for the terminal
S-Status: 0x00010103
Bit 31 0
0000 0000 0000 0001 0000 0001 0000 0011
Meaning of S-Status:
The following additional status bits are available for an external MB machine
operating panel:
Note
Please keep in mind that the parameters of PLC modules with bit-encoded
axis masks or constants for axes and spindles are set and interpreted in
different ways, depending on MP4020 bit14.
If the expanded PLC module interface is active, the spindle bit moves to bit 31
and the axis number (constant) for the spindle to K 31 for the following PLC
modules:
9169 Axes for which I32 does not switch Bit 15 Bit 31
off the drives
Modules like 9147 and 9120 are not affected by this change, since these
modules only have axis numbers as transfer parameters, and do not return any
information about spindles.
Also, some PLC words are affected by the conversion to the expanded PLC
module interface. For the PLC words concerned (e.g. W1024), the expansion
to 32 bits makes a conversion to double words (e.g. W1100) necessary so that
all pieces of information can be included. The previous words continue to be
valid, but they do not contain all of the 32 bits. The previous words will
therefore be copied to a double word with 32 bits.
Basic configuration The window manager is supplied with two default configurations (FULL and
SIMPLE). The configuration of the window manager can be changed at any
time by using the XFCE configuration dialog.
The SIMPLE configuration neither has a taskbar, nor a background image for
the third desktop. As a result, the TNC software with window manager differs
only very slightly from the NC software version without window manager. The
FULL configuration has a taskbar, however.
HEIDENHAIN recommends using the taskbar of the window manager only on
controls equipped with a mouse or a touchpad.
If a software version with the window manager is installed on a control for the
first time, the PLC:\WINDOWMANAGER directory does not exist. It is created when
the NC software is started up for the first time, and the SIMPLE configuration
is active.
If you delete the PLC:\WINDOWMANAGER directory, the directory is created again
the next time the NC software is started and the SIMPLE configuration is
used.
If TNCremoNT is used to transfer the PLC partition between the programming
station and a single-processor or dual-processor version, the configuration of
the Window Manager (PLC:\WINDOWMANAGER directory) is also transferred. The
configuration is portable, except for the position of the XFCE taskbar (also
called TNC taskbar).
On a dual-processor control, the TNC taskbar is moved to the opposite side of
the screen if it displayed at the same position as the Windows taskbar, which
is usually at the bottom of the screen.
If a window manager configuration exists, it is retained when the NC software
is reinstalled (software update).
If you press the LOAD MINIMUM CONFIG soft key and confirm the
following confirmation prompt, the current configuration of the window
manager will be overwritten with the SIMPLE configuration.
If you press the LOAD MAXIMUM CONFIG soft key and confirm the
following confirmation prompt, the current configuration of the window
manager will be overwritten with the FULL configuration.
If you do not want to load any configuration, press the LOAD CUSTOMIZED
CONFIG soft key. This starts the XFCE configuration dialog in which you can
edit the current configuration.
Additional background images (i.e. images that are not supplied) should
always be saved in the PLC:\WINDOWMANGER\BACKDROPS directory.
Saving the background images in this directory ensures that the path of the
selected background image is adjusted to the configuration when backup/
restore functions are executed between the programming station and dual-
processor or single-processor controls.
Desktop – Behavior
This function is not yet supported.
In the future, the DESKTOP button and the Behavior tab of the XFCE
configuration dialog will enable you to change the size of the desktop icons.
Window manager – Style
Press the window manager button and go to the Style tab of the XFCE
configuration dialog to influence the layout of the windows. You can edit the
font size of the window titles, the orientation of the window headers, the
design of the window frames, etc.
Window manager – Advanced
Press the window manager button and go to the Advanced tab of the XFCE
configuration dialog to influence the behavior of the windows.
Workspaces and Margins
To define the number of possible desktops and their names, use the
Workspaces and the Margin buttons of the XFCE configuration dialog.
Note
When the FULL configuration is active, the TNC taskbar contains the following
element buttons (from left to right):
1: Show desktop button
2: Pager for switching between the desktops and for moving windows
between the desktops with "drag and drop".
3: Task list (shows all open windows)
4: Context menu for configuring the TNC taskbar
5: Time
To configure the TNC taskbar, proceed as follows:
Press the ADVANCED SETUP soft key in the PLC operating mode.
Press the CONFIGURE WINDOW MANAGER soft key.
Move the mouse pointer over the position of the TNC taskbar until it
appears.
Place the mouse pointer over the TNC taskbar and press the right mouse
key. To edit the properties of an element in the taskbar, place the mouse
pointer over the respective button in the taskbar.
This opens the context menu for configuring the TNC taskbar and the
selected element.
The context menu provides the following configuration options:
Properties
Change the properties of the selected element.
Move
Change the sequence of the buttons in the taskbar.
Customize Panel
Change the properties of the complete TNC taskbar.
Third The third desktop can be used primarily for additional applications that are to
desktop be displayed in addition to the actual control operating modes. With the
Windows key you can always switch to the third desktop. You can also use
the taskbar to switch to any of the desktops.
The NC start key is also effective on the third desktop (OEM screen) and is
transferred to the NC (start of an NC program, if required). Furthermore, the
ERR or HELP key opens the error list and/or help text window on the third
desktop.
With the Remote Desktop Manager you can create and configure connections
for individual external applications or computers (e.g Web or VNC). You can
also define for each connection whether it is to be established right away
when the control is booting, and on which control desktop it is to be displayed.
Five basic connection types are available for the configuration of individual
connections,
Windows Terminal After selecting a connection type, you can configure a new connection with
Service (RDP) Add Connection or change an existing connection with Edit Connection:
connection
Details
For the connection of the IPC 6341, HEIDENHAIN recommends using the
RDP connection. With RDP, the screen of the external computer is not
mirrored, as with VNC, but an individual desktop is opened for it. The desktop
that is active on the external computer when the connection is established is
then locked and the user is logged off. This prevents operation from two sides.
The user "TNC" should be defined right from the start in the settings of the
connection to the IPC 6341.
Also, with an RDP connection it is not possible to completely shut down the
external computer via the Windows menu. It is only possible to cancel the
connection or log off the user.
The RDP connection also adjusts the screen resolution automatically.
Please note that an RDP connection is closed again automatically after 30
seconds if no user name and password were configured for it or if the user has
not logged on within this time. The Automatic starting upon login function
therefore only makes sense if a user with user name and password was
configured.
Details
Details
Every browser of a WEB connection is started with its own browser profile,
with the name of the connection. Browser profiles save all browser settings,
such as the starting page, connection type and history. Please note the
following:
Every new connection is configured with the default settings.
These settings have to be adapted for the individual settings to some extent
(e.g. proxy settings, users, password).
If the connection name is changed, the existing settings are lost, too. The
default settings become active.
If a browser is opened manually via the taskbar, this browser is opened with
the configured settings. If another browser is opened manually via the taskbar,
however, this browser, as well, takes the settings of any WEB connection that
is already open. This can cause problems if different browser profiles have
been saved. HEIDENHAIN therefore recommends starting further WEB
accesses by opening a new tab in the currently active browser or via the "in
new window" function.
XDMCP connection To configure a new connection, select the XDMCP type of connection and
click Add Connection:
Details
Shutting down or To set up a connection with which you can configure the automatic shutdown
rebooting an of a Windows computer, select Switch-off/restart of a computer and click
external computer Add Connection to configure a new connection or Edit Connection to change
an existing one:
Note
Details
Details
Any ASCII text can be shown in two lines, with a limited number of characters.
In the left half of the line a bar diagram can be shown optionally or additionally.
Maximum number of ASCII characters per line:
BF 250: 39 characters
BF 260: 50 characters
Specify the colors of the small PLC window in MP7370.x (see "Color
settings" on page 1267).
Configure the window display in the PLC program with Modules 9080 to
9083.
• 9080: Clear small PLC window
• 9081: Interrogate status of the small PLC window
• 9082: Display a string in the small PLC window
• 9083: Display a bar diagram in the small PLC window
Modules 9080, 9082 and 9083 must be called in a submit or spawn job.
Modules 9080, 9082 and 9083 are also in effect if the selected screen
contains no PLC window (e.g. large graphic display) or the PLC window is in
the background.
Do not interrupt processing of the modules through a CAN command!
Column 063
Line 0
Line 1
The diagram comprises a rectangular frame in the maximum length and height
of an ASCII character. A scale graduation is shown at the top after every ten
units. The bar starts from the left-hand edge of the grid. The unused part of
the grid is filled in with the background color.
If you define the maximum length > 150, the length is limited to 150. If the
current length is > 150, the length is limited to the maximum length.
Color zero uses the background color. The background color of the PLC
window can be used for the margin or scale graduation, for example, if they
are not to be shown.
Call:
PS K/B/W/D <Line number>
0 or 1
PS K/B/W/D <Color for bar>
0 to 15
PS K/B/W/D <Color for margin and scale graduation>
0 to 15
PS K/B/W/D <Current length of the bar>
0 to 150
PS K/B/W/D <Maximum length of the bar>
0 to 150
CM 9083
Error code:
Mode 1 Mode 2
Define the character size with the special command charsize = (see
"Special commands:" on page 1363). The specified position refers to the
lower left corner of the first character.
The content of the PLC window is defined in a screen mask – an ASCII file
containing format instructions and special commands:
Enter in Module 9210 the name of the screen mask to activate the PLC
window, or use the functions of the soft-key project file for display (see "PLC
soft keys" on page 1372).
"Position: %+8.3F",D3884/n=4/c
Always display the
algebraic sign Update cyclically
Note
Time
HOUR int No. of hours from real-time clock
MIN int No. of minutes from real-time clock
SEC int No. of seconds from real-time clock
DAY int Day from real-time clock
MONTH int Month as no. from real-time clock
YEAR2 int Two-digit year no. from real-time clock
YEAR4 int Four-digit year from the real-time clock
Miscellaneous
MISC.MDI string
MISC.OUTPRECISION string
MISC.TEACHINAXIS int
Line Column
SMALL 168 pixels
MEDIUM 2416 pixels
LARGE 4832 pixels
Variable Meaning
PAGE Number of the current page, beginning from zero
XPOS X position of the cursor in pixels
YPOS Y position of the cursor pixel
LINEDIST Currently defined line spacing in pixels
ROWDIST Currently defined character spacing, width of an ASCII
character
XSIZE Width of the screen window in pixels
YSIZE Height of the screen window in pixels
Input fields With the switches /e and /i you can assign input fields to the variables:
/e: Shows the current value, which can be overwritten.
/i: Shows an empty field in which a new value can be entered.
In addition, both switches /e and /i can be given an identifier xxx (/e = xxx,
/i = xxx), where xxx is a positive whole number. With Module 9211 you can
then ascertain whether the cursor is located in this field.
The switch /s = xxx is used to create a field in which no entries can be made.
By entering the identifier xxx it is possible to ascertain with Module 9211
whether the cursor is located in this field.
Note
Do not edit any text before the first input field or after the last.
The C command "printf" requires a format that defines the length of the
numerical field:
Save this format in the mask file. Otherwise the length of the input field
depends on the coincidental content of the associated variable.
For the input function this format instruction is converted internally into a form
suitable for the C command "scanf":
printf:%[flags][digits1][.[digits2]][1]conversion_char
scanf: %[digits1] [size] conversion_char
Note
Special characteristics
%d, %e
The size information "1" can be omitted. Floating-point variables are of the
double type and automatically add to this information.
%g
Do not use. Causes errors.
%i
Do not use. Any number entered with leading zeros would be interpreted
as an octal number.
%u
Works correctly only in the definition range for the respective variables.
The size indicator h (short integer) of the "scanf" function cannot be
written. All integer variables are automatically expanded to 32 bits for
input and output.
Function Meaning
CE Clears the input field or the displayed error message
ENT Transfers the input value to the variable and sets the highlight
to the next input field. If the input value is syntactically
incorrect or exceeds the numerical range of the assigned
variable, the error message ENTRY VALUE INCORRECT
appears.
NOENT Shows the original content of the field again and sets the
highlight to the next input field.
–/+ If the input value begins with the algebraic sign – or +, the sign
is switched.
<x If the field was already edited, the last character of the entry
is deleted. Otherwise the displayed value is assumed into the
editing memory and the cursor is set to the end of the input
value.
Opening or clearing Define the file names and path of the screen mask in one of the string
screen mask for the memories or in an immediate string.
PLC window If no path name is specified, the path for the language indicated in
MP7230.3 (help files) is used.
You can also use the functions from the soft-key project file to display a large
PLC window (see "PLC soft keys" on page 1372).
Module 9210 Open or clear screen mask for the PLC window
With this module you can activate or clear the display in the large PLC window.
If you use the TEXTFILE command to show a text file in PLC mask files and
this file does not exist in the set language (MP7230.3), the NC software now
also searches the English language directory (PLC:\LANGUAGE\ENGLISH) for
the text file.
Call:
PS B/W/D/K/S<Clear no. of string memory/file name/PLC window>
–1: Clear PLC window
CM 9210
PL B/W/D <Status/Error>
0: Mask opened / mask cleared
1: PLC window not yet ready again
–1: Error
Error code:
Call:
PS B/W/D/K <Number>
CM 9211
PL B/W/D <Status information>
–1: Error
Error code:
Note
The PLC soft-key structure is defined in a soft-key project file using various
keywords. The number of submenus depends only on the iTNC memory.
In the OEM.SYS file, the PLC soft-key project file *.SPJ is entered through the
keyword SOFTKEYPROJECT =. After acknowledgment of Power interruption
the resource file with the same name and the extension .SYS is generated
from this file. The results of this evaluation are stored in an ASCII file with the
name <Name of the soft-key project file>.SYS.LOG.
The soft-key structure is displayed immediately. The PLC soft keys can be
influenced with Modules 9205 to 9207. Module 9204 refreshes the PLC soft
keys, which is necessary after Modules 9203 and 9207 are executed. Module
9208 determines the status information of the PLC soft keys.
In the standard setting the soft-key number is transferred to the PLC via
W302/W304 after the NODE, BACK and ACTION soft keys have been
pressed. When the key is released, –1 is confirmed. Operands can also be
coupled directly to soft keys in the project file or with Module 9206.
With Module 9205, you can also select a word address other than W302/
W304.
BLANK soft keys are not reported to the PLC.
Note
Keywords in the
soft-key menus
Entry in *.SPJ Meaning
; Comment
#include An additional soft-key project file can be included. The
name and path of this file must be entered.
Keywords for menu structuring:
SKMENU Beginning of the definition of a soft-key menu. The
name of the menu must be specified. The soft keys
are automatically assigned to the correct menu rows.
Also note the additional parameters for this keyword
on page 1376.
ENDSKMENU End of the definition of a soft-key menu
NODE Soft key jumps to a submenu. Is confirmed via W302/
W304 to the PLC. The soft-key name and the name of
the submenu must be indicated. Also note the
additional parameters for this keyword on page 1376.
BLANK Empty soft key. You can also specify a soft-key name.
BACK Soft key jumps to a submenu. Is confirmed via W302/
W304 to the PLC. The soft-key name and the name of
the submenu must be indicated. Also note the
additional parameters for this keyword on page 1376.
CHECK If pressing the key causes the soft key to switch on,
RADIO the change of the active RADIO soft key is performed within
the group when the soft key is pressed.
The system parameters (see "Available system parameters:" on page 1686) for
conditional compilation can also be used in the soft-key project file.
SKMENU Magazine
ACTION MAG_CCW_SK STATUS: MG_SK_TC_mag_left_ccw Entry of an
ACTION MAG_CW_SK STATUS: MG_SK_TC_mag_right_cw active marker
BACK BACK_SK
ENDSKMENU
SKMENU Diag_Mnu
ACTION DIAG_T_SK
BLANK
Submenu BLANK
"Diagnosis" BLANK Display PLC
CHECK MACH_SK LARGEWINDOW:Machine.A window with mask
CHECK MFUNC_SK SMALLWINDOW:MFUNCT.A file
ENDSKMENU
SKMENU row_machine
ACTION SK_NC_start FIRSTINGROUP STATUS:NP_W310_GRO Group with number
ACTION SK_NC_stop saved in W310
ACTION SK_axes_plus FIRSTINGROUP STATUS:NP_W312_GR Group with number
ACTION SK_axes_minus saved in W312
...
SKPATH ’PLC:\SK\1024x768\’
...
TX #IUp#A128 HR_SK1
TX #IDn#A129 HR_SK2 Definition of the
TX #ISta HR_SK3 soft keys with their
TX #IPul HR_SK4 description
TX #IEND HR_SK5
...
Display/delete PLC In the system file PLC:\PLCSOFTK.SYS, enter the names and path of the
soft-key row required soft-key files. With the sequence of your entries you specify the
soft-key number: Line 0 = soft-key number 0, etc. One soft-key level can
consist of up to four soft-key rows, i.e. 32 soft keys per level.
When calling the module, indicate the row to be displayed first.
With the transfer parameter, specify how the soft keys should be displayed:
• After the screen management key is pressed, i.e. after the PLC window
is selected.
• In the current operating mode:
In this case the NC soft keys are overwritten.
Specify whether the NC soft keys should be overwritten or whether the PLC
soft keys should be appended to the NC soft keys. If you append the PLC
soft keys, a separate list is opened. Only one PLC soft-key row can be
appended.
Set Reset
W302 Number of the horizontal PLC soft NC NC
key that was pressed
Selecting/ Module 9202 Select/deselect PLC soft keys and PLC windows
deselecting PLC With Module 9202 you activate the display with PLC windows or the PLC soft-
soft keys and PLC key display. This module works like the screen management key.
windows
Call:
PS B/W/D/K <Display mode>
0: PLC soft key/window deselected
1: Small PLC soft key/window deselected
2: Large PLC soft key/window deselected
3: Large PLC soft key/window selected while table editor is
active
CM 9202
Error code:
Set Reset
W274 Code of the depressed key NC NC
M4577 Disabled key was pressed NC PLC
SK_NC_Manual_operation_TOUCH_PROBE
SK_NC_Manual_operation_PRESET_TABLE
SK_NC_TOOL_TABLE
SK_NC_Manual_operation_INCREMENT_OFF
SK_NC_Manual_operation_INCREMENT_ON
SK_NC_Manual_operation_PASS_OVER_REFERENCE
SK_NC_Manual_operation_SET_DATUM
SK_NC_Program_run_TOOL_USAGE_TEST
SK_NC_Program_run_F_MAX
SK_NC_Program_run_AUTOSTART
SK_NC_Program_run_AUTOSTART_ON
SK_NC_Program_run_AUTOSTART_OFF
SK_NC_Program_run_SLASHED_BLOCKS_NOT_
ACTIVE
SK_NC_Program_run_SLASHED_BLOCKS_ACTIVE
SK_NC_Program_run_GLOBAL_SETTINGS
SK_NC_Program_run_AFC_ENTER_TABLES
SK_NC_Program_run_AFC_RESULTS
SK_NC_Program_run_AFC_SETTINGS
SK_NC_Program_run_AFC_ON
SK_NC_Program_run_AFC_OFF
SK_NC_Program_run_GLOBAL_SETTINGS_SET_
STANDARD_VALUES
SK_NC_Program_run_GLOBAL_SETTINGS_SET_
INACTIVE
SK_NC_Program_run_GLOBAL_SETTINGS_UNDO
SK_NC_Program_run_INTERNAL_STOP
SK_NC_Program_run_RESTORE_POSITION
SK_NC_Program_run_MANUAL_TRAVERSE
Call:
PS B/W/D/K <Mode>
0 = Simulate the soft key using the soft-key designator
PS B/W/D/K/S<Soft-key designator>
PS B/W/D/K <Attribute>
Bit 0:
0 = Soft-key is only simulated if it is in the main row
1 = Soft key is simulated regardless of whether it is in the
main or subordinate row
CM 9188
Error code:
Set Reset
W1046/1144 Manual traverse in positive direction PLC PLC
Bits 0 to 17 represent axes 1 to 18:
0: Do not move axis
1: Move axis
Set Reset
W1048/1148 Manual traverse in negative direction PLC PLC
Bits 0 to 17 represent axes 1 to 18:
0: Do not move axis
1: Move axis
Set Reset
M4230 NC start via LSV2 NC NC
M4231 NC stop via LSV2 NC NC
M4560 NC stop (0: stop) PLC PLC
M4561 Rapid traverse PLC PLC
M4562 Memory function for axis direction PLC PLC
keys (MP7680 bit 0 = 1)
M4564 NC start PLC PLC
Disable soft keys for With the SELECT TYPE soft key you can display a soft key for each file type:
file types
Select MP7224.0 to disable soft keys of specific file types.
Disabling file types Protected files cannot be edited or changed. They are displayed in the file
for editing overview with the color defined in MP7354.1 or MP7355.1, and if the
EDIT ON OFF soft key is pressed, the Protected file! error message
appears:
Choose with MP7224.1 the file type that you want to protect.
Choose with MP7224.2 the file type whose EDIT ON OFF soft key is to be
disabled.
MP7224 Lock specific file types
Input: Bit 0 – HEIDENHAIN programs *.H
Bit 1 – ISO programs *.I
Bit 2 – Tool tables *.T
Bit 3 – Datum tables *.D
Bit 4 – Pallet tables *.P
Bit 5 – Text files *.A
Bit 6 – Reserved
Bit 7 – Point tables *.PNT
0: Do not disable
1: Disable
MP7224.0 Disable soft keys for file types
MP7224.1 Protect file types
MP7224.2 Disable the EDIT ON/OFF soft key
You can also set access levels with PLC Module 9285 to protect file types
from being edited, see page 1168.
Set Reset
W1018 Number of files opened by the PLC NC NC
W1020 Number of all open files NC NC
Reference for The values from the datum table can be interpreted with respect to the
values in the datum workpiece datum or to the machine datum (MP960.x):
table
Enter the datum in MP7475.
MP7475 Reference for datum table
Input: 0: Reference is workpiece datum
1: Reference is machine datum (MP960.x)
Note
It is also possible to show dialogs with the UTF8 character set in freely
definable tables (*.TAB,*.P). This makes it possible to use all conversational
languages available on the control.
Reading and editing You can read and overwrite table fields in the PLC by using modules. You can
table fields in the give the user access to parts of tables for editing.
PLC
Note
Command Meaning
+,–,*,/ Arithmetic operators
NOT, AND, OR Logical operators
<,>, <=, >=, ==, <> Comparisons
LIKE ´abc´ Text comparison
LIKE ´_abc%´ Partial string
() Parentheses
MIN(column name) Minimal value from the column
MAX(column name) Maximum value from the column
Set Reset
M4159 PLC editor: END key or soft key NC NC/PLC
pressed
Note
The following modules must be called only in a submit job or spawn job.
General With the iTNC 530 HSCI, the "DCM – Dynamic Collision Monitoring" function
information (option 40, ID 526 452-01) can be used to integrate collision monitoring for
various machine elements via the kinematics tables.
You use DCM to define objects (CMOs – "Collision Monitored Objects") within
the kinematics description in relation to movable machine axes (X, Y, Z, A, B,
C), as they appear on the machine as spatial objects or machine elements.
These objects give a three-dimensional image of the machine.
These CMOs, including the current tool, an assigned, optional tool-carrier
kinematics description and an optional fixture whose position and
orientation have been ascertained, are then taken into account along with the
motions of the machine. The active tool is automatically integrated at the tool
reference point as a cylindrical object with the dimensions from the tool table.
If there is a danger of collision between defined objects, or between the tool
and defined objects, then the motions of the machine are stopped, the
collision is avoided, and a collision warning or error message is output in the
header of the iTNC530 screen. The machine’s axes can then only be moved
out of the danger zone by acknowledging the collision monitoring or by
switching it off.
The Screen Layout key and the PROGRAM + KINEMATIC soft key enable you to
display 3-D graphics of the collision objects defined in your machine in the
Program Run operating modes. The viewer of the KinematicsDesign tool is
used for this. However, the collision objects of the machine are only displayed
and cannot be edited. Software option 40 is required for this feature.
Attention
Please note that when operating with multiple rotary axes, the offsets can
summate, and so you must add the oversizes together.
Example:
OversizeTilting table = 0.595 [mm]
OversizeRotary table = 0.396 [mm]
MP1292 = 1 [mm] (rounded up from 0.991 mm)
Optimizing the The calculation of the collision objects, as well as the monitoring of their
DCM performance relative positions, is very processor-intensive for the iTNC. This calculation
may not consume too many resources, since they are essential to the actual
functions.
In order to satisfy this demand, the number of collision objects must be
defined such that no more than the permissible number of intersections need
be calculated. The number of collision objects themselves must be defined in
such a way that no more than the above mentioned number of intersection
calculations are required. Otherwise the increased calculation efforts can
cause increased block processing times. The maximum number of
intersection calculations applies to the complete collision monitoring model,
including the monitoring of tool-carrier kinematics and fixtures. You therefore
need to save a sufficient number of intersection calculations when describing
the actual machine so that the number of intersection calculations is not
exceeded if you also want to monitor tool-carrier kinematics and fixtures. The
number of collision objects defined (CYLINDERs and CUBOIDs in CMO files)
is not definite, but rather the number of intersections calculated within the
collision object model. The permissible number of intersection calculations
depends on the MC computer being used:
MC 62xx: Up to 200 intersection calculations
MC 63xx: Up to 1000 intersection calculations
Deactivated collision objects (see "Activating and deactivating monitoring" on
page 1439) and all definitions of excluded collisions (see "Collision exclusions"
on page 1436) are not included in the calculations. It is therefore important that
all necessary calculations of intersections be specified in advance.
Calculation:
No. of objects1 = 5 · (3 + 4) = 35
No. of objects2 = 3 · 4 = 12
Intersections = No. of objects1 + No. of objects2 = 47
Note
Unique names must be assigned to different CMOs in the DOC (iTNC 530)
or "Description" (KinematicsDesign) column.
Table ExcludeDef1
NR DOC
0 Rotary table
1 Clamper front
2 Clamper rear
4 Cabin left
5 Cabin right
6 Toola
[END]
a. "Tool" is a name reserved for the tool by the system. See the
special case below for the meaning.
Comment:
0 BEGIN PGM N545TCM MM
:
4 WRITE TO KINEMATIC AT COLUMN "ON/OFF" Overwrite cell in the
CAPTURE "FILE" KEY "CMO_Portal" = 1 kinematics table
:
Table after overwriting with collision monitoring switched off for the
CMO_Portal object:
Note
Danger
This means that an error message does not appear if DCM is not available.
Even if there are CMOs in the kinematics tables, there is no protection
against collisions without software option 40 (DCM).
A definition table for one or more machine objects can be inserted at the
following points in the transformation chain:
Description table (main kinematics)
In SUBFILE1, SUBFILE2 (partial kinematics via assignment table) and in a
TOOLFILE (dynamic tool-carrier kinematics during tool change).
Creation of a CMO table:
In program management, switch to the desired directory and enter the
name of the description table, including the extension .TAB.
Choose the table format with the KEY, X, Y, Z, AXIS, RADIUS, HEIGHT and
DOC fields.
With the aid of the formatting table for a CMO table shown below, enter the
description of the collision-monitored object.
Note
Unique names must be assigned to different CMOs in the DOC (iTNC 530)
or "Description" (KinematicsDesign) column.
Transformations that were only contained in the kinematics tables for the
description of CMOs are omitted completely and instead integrated in the
CMO definition table.
The new definition table for IR_Receiver:
Transformations in the CMO definition table must always occur before the
definition of objects. These transformations only serve to describe the position
and orientation of the CMOs, and do not need to be canceled in order to
describe the further kinematics of the machine. If there is a transformation at
the end of a definition table, the error message Kinematic table defective is
output.
Excluding the TT for During tool measurement with a TT, the CMO protecting the TT can
tool measurement automatically be excluded from collision monitoring.
A CMO that has been identified correspondingly will then automatically be
excluded during the execution of touch probe cycles TCH PROBE 30/31/32/33
or 480/481/482/483. The CMO for the touch probe is identified by entering
TT_ENABLE_PROBING in the DOC column of the kinematics table.
The CMO identified in this way will be excluded from collision monitoring
before the beginning of the touch probe cycle. At the end of the cycle or when
the cycle is canceled, the CMO will automatically be included in collision
monitoring again.
Another possibility for excluding an identified CMO from collision monitoring
is to use the function FN 17: SYSWRITE ID 990. The function
FN 17: SYSWRITE ID 990 NR6 = 1 causes switching to input X13. The CMO is
then excluded from collision monitoring for as long as X13 is active.
The following must be kept in mind:
You can use TT_ENABLE_PROBING for only one CMO.
If a touch probe cycle is canceled with the EXTERNAL STOP soft key, the
tool (TT) should be retracted in the Manual Operation mode before pressing
the INTERNAL STOP soft key. The INTERNAL STOP soft key results in the
CMO being included in collision monitoring again, and the tool would then
be immobilized by collision monitoring. DCM would trigger an error
message reporting a distance < 2 mm. The tool (TT) can then not be
retracted until collision monitoring has been switched off.
After retraction from the measuring point, the tool (TT) must be located
sufficiently far from the area for which protection is active again. After
retraction, the distance must be > 5 mm. This safety clearance can be
defined in MP6540.x.
Note
If you change the kinematics tables or CMO definition tables with WRITE TO
KINEMATIC, then the values in the tables are overwritten. If you do not
rescind the changes you made with WRITE TO KINEMATIC in the NC program,
the new values remain in the table. The changes to the machine kinematics
are then not just temporary.
Comment:
0 BEGIN PGM N545TCM MM
:
5 WRITE TO KINEMATIC AT COLUMN "COORD" Overwrite cell in the
CAPTURE "DOC" KEY "Position1" = 25 kinematics table
6 WRITE TO KINEMATIC AT COLUMN "HEIGHT" Overwrite cell in the
CAPTURE "DOC" KEY "IR_Receiver" = 45 kinematics table
:
43 WRITE TO KINEMATIC AT COLUMN "COORD" Write original value to cell
CAPTURE "DOC" KEY "Position1" = 15 in table again
44 WRITE TO KINEMATIC AT COLUMN "HEIGHT" Write original value to cell
CAPTURE "DOC" KEY "IR_Receiver" = 22 in table again
:
DCM and DCM can now also monitor handwheel superimposition (with M118 or Global
handwheel Program Settings) for collisions (FCL function). During program run, however,
superimpositioning the handwheel is not active.
Handwheel superimposition with active DCM is only possible when program
run is stopped with External Stop or with the Single block operating mode.
If an offset is defined for handwheel superimposition after the External Stop,
this offset is considered by collision monitoring when the NC program run is
continued. This behavior also applies to the virtual tool axis VT.
Danger
Attention
Finally, the fixture model for collision monitoring and the behavior of the
complete collision model must be tested on the machine as usual.
Probe cycle Along with the body of the fixture, you must also define the necessary probing
points and probing cycles for the operator to clearly and unambiguously
ascertain the position and orientation of the fixture. These points and cycles
are defined in KinematicsDesign when you model the fixture. You can choose
between various probing cycles (see format of the *.cft table).
Input possibilities for probing cycles:
Using the probing cycle, the operator inserts the fixture at the prescribed
insertion point (CLAMP) in the kinematics. Only once the exact position and
orientation of the fixture have been ascertained can it then effectively be
monitored for collisions.
Insertion of a corresponding probing cycle necessitates additional
amendments to the fixture kinematics. These amendments are necessary in
order for the results of the probing cycle to be included in the fixture
kinematics. For example, variable translations or rotations that shift the fixture
in the kinematics, depending on the results from the probing cycle, must be
inserted.
Proceed as follows to insert a probing cycle into the fixture kinematics:
Insert the appropriate probing cycle at the corresponding location in the
fixture kinematics. Specify the necessary values.
At the beginning of the fixture kinematics, define variables of the type
manual probing cycle. In the Function entry you specify which result from
the probing cycle will be loaded in to the variable, see page 1469. The
variable is addressed under the name given in the Name entry
(e.g. TouchedX).
After the variables, but before the actual fixture kinematics, insert variable
transformations or rotations. These values are determined through the
probing cycle, and are then available as variables (e.g. TouchedX).
Attention
For the procedure for verifying the information of the fixture whose position
and orientation were previously ascertained with the TNC, refer to Chapter
11.3 – "Fixture Monitoring" of the User's Manual for the iTNC 530.
The result of the test program’s verification is displayed on the screen, and is
available as a log file (*.txt). The log file is automatically given the same name
as the test program, and is also saved to the same directory.
Attention
If you change the carrier kinematics by editing the cfx file, you must re-
assign the carrier kinematics description to a tool in the tool table, and
execute a TOOL CALL. Not until the TOOL CALL does the TNC convert the
cfx file into *.TAB format and then activate the corrected carrier kinematics
description.
Attention
Finally, the tool-carrier model for collision monitoring and the behavior of
the complete collision model must be tested on the machine as usual.
Modeling tool KinematicsDesign helps you to model the tool carriers. You can define readily
carriers usable tool carriers (file extension *.cfx), or you can create variable tool-carrier
templates (file extension *.cft).
For tool-carrier templates (*.cft) you define the shape of the tool carrier by
using variables for different dimensions of the tool-carrier objects (CMOs). The
tool carriers are designed in the same way as the machine kinematics: CMOs,
translations and transformations are used. Input parameters permit variable
design of the tool-carrier templates, and enable you to help the end user in the
final definition of the tool carrier.
The *.cft files for tool-carrier templates are in a new table format in ASCII. The
tables are an extension of the familiar columns of the kinematics tables *.tab
of the machine kinematics, which were specially adapted for the modeling of
fixtures and tool carriers. The tables can be opened with Microsoft Excel if the
semicolon is selected as separator.
When saving tool-carrier kinematics to the TNC:\system\Toolkinematics
directory, only give them names differing from the HEIDENHAIN templates,
since the HEIDENHAIN templates will be overwritten during a software
update. Tool carriers or tool-carrier templates that were created or changed by
you should be saved in a separate directory or under their own names, in order
to avoid losing data during a software update.
Danger
When you use the KinematicsDesign version on your control, you edit
and change the active kinematics of your machine. The changes made
immediately become effective in the active kinematics.
The KinematicsDesign software is not a replacement for testing collision
monitoring on the machine!
Example of KineDesign.ini:
UpwardAxis = –Z
RightwardAxis = –X
Basically it does not make a difference whether a PRESET is called from a PAL
line or a PGM line. In both cases, the PRESET refers to the end of the
kinematics (usually table center point = machine datum). If an active pallet
preset table exists in addition, however, the two are added (preset from pallet
preset table for PAL + preset from preset table for PGM/PAL).
If a pallet preset is activated in a PAL line, any subsequent PRESET (from the
PGM line or not) is based on it.
PLC Marker M4196 informs the PLC program if pallet machining was stopped
because there are no more valid jobs according to the identifiers in the pallet
table ("W status" column set on ENDED). For infinite machining (bits 2 and 3
of MP7683 set) the marker means that no more jobs are available. It is
possible that the marker is only set several cycles after the deletion of M4176.
The marker is not reset by the NC but must be reset by the PLC program when
appropriate. Depending on the contents of the bits 0, 1, 2, 3 and 8 in MP7683,
there may still be jobs that have not yet been processed, even if the marker is
set.
NC macro at the In NCMACRO.SYS, use the entry PALEPILOG= to define the complete path
end of an and name of the NC macro that is to be called at the end of an NC program
NC program that was started from the pallet table.
To synchronize the current machine status and the look-ahead calculation with
an NC macro call, see "NCMACRO.SYS" on page 1709.
Danger
MP7641 bit 9 may only be set if the vertical soft keys (PLC soft keys) do not
have any functions that could pose danger to the operator (e.g. starting an
axis movement or a spindle movement).
Note
The PLC program must ensure that only one of the operating units
(handwheels, machine operating panels) is active at any one time so as to
avoid danger to the operator.
Please note that it may be necessary for the operator to confirm which
operating unit is active before it can actually be used. The risk assessment
of your machine must show whether this is necessary. Such a requirement
could be realized, for example, by pressing the permissive button of the
respective operating unit. Then the operating unit that should be active
according to the PLC program cannot be used for any machine functions
until the permissive button of this operating unit has been pressed.
The emergency stop function of the individual operating stations must
always be active, however!
MP7650.x Handwheel counting direction (for HRA 110: for each axis)
MP7650.0 for X23 of the last machine operating panel in the
HSCI chain, and MP7650.4 for X29 of the MC main computer
Input: Bit 0:
0: Negative counting direction
1: Positive counting direction
Only for HRA 110: Bits 0 to 17 represent axes 1 to 18
0: Negative counting direction
1: Positive counting direction
MP7660 Sensitivity for electronic handwheel
Input: 0 to 65 535 [increments]
MP7670 Subdivision factor for handwheel
Input: 0 to 10
MP7670.0 Subdivision factor for slow speed
MP7670.1 Subdivision factor for medium speed (only HR 410)
MP7670.2 Subdivision factor for fast speed (only HR 410)
MP7674.x Axis-specific subdivision factor for handwheel
Input: 0: No limitation
1 to 10
MP7675.x Handwheel, axis-specific maximum path
Input: 0: No limitation
0.0001 to 10.0000 [mm]
Set Reset
M4576 Disable the handwheel PLC PLC
W1062/1176 Lock the handwheel for specific axes PLC PLC
Call:
PS B/W/D/K <Number of the status information>
PS B/W/D/K <Value to be written>
CM 9036
PL B/W/D <Error code>
0: Status written
1: Incorrect status code
2: Transferred value out of range
3: Input disabled
4: Remote operation already activated/deactivated or PLC
module called in impermissible operating mode (e.g.
impermissible editing mode, PLC diagnosis, Test Run
started , ...)
Error code:
X IV
Y V
– +
O96 O97
I160 I161
O98 O99
I162 I163
O100 O103
I164 I167
I171 I172
F1 F2 F3 F4 F5
X Y Z IV V
↑ ↓
Handwheel
active/
inactive
– +
Rapid
(M4667) (M4666)
traverse
(M4663)
Spindle Ctrl
NC stop
stop (M4668)
(M4662)
(M4665)
Activation and If the HR 420 is activated (via the handwheel key on the HR), a small pop-up
override window appears on the screen of the iTNC and entries via the keys (keyboard
potentiometers and horizontal soft keys) are disabled. However, the override potentiometers
of the keyboard remain active.
The activation of the HR 420 can be disabled by PLC. If you set the marker
M4680, the message HR not allowed appears in the handwheel's display. If
the marker is set and the user presses the handwheel activation key, the error
message Wrong operating mode for handwheel appears.
If the marker M4680 is set when the handwheel is active, the marker has no
effect.
If the override potentiometers of the handwheel are to become active, then
this can only be done with the <Ctrl> + <handwheel symbol> key combination
on the HR 420.
If this key combination is pressed, then a selection menu appears on the
handwheel, in which the potentiometers to be activated must be selected.
Display: Handwheel/ Operating panel
Soft keys on the handwheel:
• Soft key F1: HW (potentiometers on the handwheel become active)
• Soft key F2: KBD (potentiometers on the operating panel become active)
Danger
Please note that the feed rate or spindle speed set becomes higher or
lower depending on the potentiometer setting.
Set Reset
M4626 Disabling of keys on the TE PLC PLC
M4660 HR 420, HR 5xx assumes control NC NC
M4661 NC start on HR 420, HR 5xx NC NC
M4662 NC stop on HR 420, HR 5xx NC NC
M4663 Rapid traverse key on HR 420, HR 5xx NC NC
M4664 Spindle start on HR 420, HR 5xx NC NC
M4665 Spindle stop on HR 420, HR 5xx NC NC
M4666 Plus (+) key on HR 420, HR 5xx NC NC
M4667 Minus (–) key on HR 420, HR 5xx NC NC
M4668 CTRL key on HR 420, HR 5xx NC NC
M4670 Potentiometer of HR 420, HR 5xx is NC NC
active
M4680 Disable activation of HR 420, HR 5xx PLC PLC
Free soft-key You will find information about the freely definable soft-key menu for the HR
definition for 420, HR 5xx under “Soft-key project file for screen" on page 1372.
HR 420, HR 5xx
F1 F2 F3 F4 F5
X Y Z
IV V VI
↑ Handwhee ↓
l active/
inactive
– +
Rapid
(M4667) (M4666)
traverse
(M4663)
Spindle NC start
Actual
start (M4661)
position
(M4664) LED on
capture
LED (M4681)
LED
(M4684)
(M4689)
Spindle Ctrl
NC stop
stop (M4668)
(M4662)
(M4665) LED
LED
LED (M4688)
(M4682)
(M4685)
Danger
If the machine operator moves with the HR too far away from the HRA, a
vibration alarm announces that transmission is weak before the machine
operator has actually left the radio range. If the machine operator leaves the
radio range anyway, or if radio communication is interrupted for other reasons,
the HRA relay contacts for emergency stop and for the permissive buttons will
open. You must ensure through appropriate wiring that this triggers an
emergency stop on the control.
HEIDENHAIN also recommends that you always place the wireless
handwheel into the HRA 551FS adapter when you are not using it. This
prevents you from confusing the different handwheels. It also ensures that
the handwheel battery is recharged and prevents an unexpected emergency
stop reaction triggered by an empty battery.
F1 F2 F3 F4 F5
X Y Z
IV V VI
↑ Handwhee ↓
l active/
inactive
– Rapid +
traverse
(M4667) (M4666)
(M4663)
Spindle NC start
Actual
Start (M4661)
position
(M4664) LED on
capture
LED on (M4681)
LED on
(M4684)
(M4689)
Spindle Ctrl
NC stop
Stop (M4668)
(M4662)
(M4665) LED on
LED on
LED on (M4688)
(M4682)
(M4685)
Note
Before the PLC program is converted, the PLC outputs are reset. In
addition, the memory of the PLC outputs is reset.
During a loss of power (power fail), the control tries to reset the PLC
outputs.
If all PLC outputs are switched off (e.g., during PLC program compilation or
due to a PLC run-time error), the outputs that can not be switched off by an
emergency stop can be switched off with a delay.
If all PLC outputs are switched off (e.g., during PLC program compilation or
due to a PLC run-time error), correspondingly configured outputs can be
switched off with a delay.
In a system with HSCI, the settings for the delay times are configured in the
IOconfig software tool for PCs.
The delay only affects outputs that cannot be switched off by an emergency
stop, since for the outputs that can be shut off by an emergency stop, the 24 V
supply is shut off immediately. The outputs that are to be switched off via an
emergency stop are defined via an appropriate wiring of the 24 V supply of
these outputs (see the basic circuit diagram). Please refer to the
documentation for IOconfig.
Set Reset
M4195 Press the SHUTDOWN soft key NC NC
M4197 Cancel the shutdown of the control PLC NC
Note
Set Reset
M4579 INCREMENT OFF/ON soft key NC NC
Call:
PS B/W/D/K <Number of the status information>
PS B/W7D/K <Value to be written>
CM 9036
PL B/W/D <Error code>
0: Status written
1: Incorrect status code
2: Transferred value is out of input range
3: Input disabled
MANUAL As soon as an axis direction key is pressed, the NC resets the corresponding
operating mode bit in W1026/W1104 (axis in position).
As soon as the axis-in-position bit is set again, you check the nominal
position with the Hirth grid and derive from it a PLC positioning command to
the next grid point.
ELECTRONIC For the current handwheel axis, the corresponding bit is reset in W1026/
HANDWHEEL W1104 (axis in position).
operating mode
As soon as you select another handwheel axis, "axis in position" is set for the
previous axis.
The Hirth axis can be positioned with the handwheel:
Check the actual position with the Hirth grid and derive from it a PLC
positioning to the next grid point.
Controlled The positions of the Hirth axis must be programmed in the grid:
positioning
Check the positions in the PLC during program run.
As soon as "axis in position" is reset, check the target position with the Hirth
grid.
• If the target position is not in the Hirth grid, output a PLC error message.
MP420.x Hirth coupling
Input: 0: No Hirth coupling
1: Hirth coupling
MP430.x Prescribed increment for Hirth coupling
Input: 0.0000 to 180.0000 [°]
Datum shift with In D528 to D544, enter for each axis the distance by which the datum is to
D528 to D544 be shifted, or use Module 9230. For axes 6 to 18, use only Module 9230.
Activate the datum shift with M4132. After the datum shift the NC resets
M4132.
The offset is calculated into the position display — the display now shows the
position values according to the shifted coordinate system.
Example:
Actual value display for X axis without datum shift = 50
Shift value in D528 = +20
M4132 is set, i.e. the offset is active
New actual value display X = +70 (the old datum receives the value 20).
Set Reset
D528 - 544 Datum shift for axes 1 to 5 PLC PLC
M4132 Activate datum shift from D528 to D544, PLC NC
or call Module 9230
TS 440,TS 444, The TS 440, TS 444 and TS 640 touch probes are activated on the rising edge
TS 640 of the starting signal and deactivated on the falling edge. For safety reasons,
the touch probes are automatically switched off after 30 minutes of no activity
(no stylus deflection).
HEIDENHAIN recommends:
Set M4056 as soon as the touch probe is in the spindle. This way the touch
probe is switched on via the rising edge of the start signal.
Reset M4056 in order to switch the touch probe off. The touch probe is
switched off via the falling edge of the start signal.
As long as M4056 is set, the NC checks the ready signal of the touch probe,
and automatically triggers it anew as soon as it switches itself off. This
ensures that the touch probe is switched on as long as it is within the working
space.
If it is not possible to keep the touch probe ready, positioning motions in the
Manual and Handwheel modes of operation are interrupted with the Probe
system not ready error message. After acknowledging the error message
with the CE key, the touch probe can be freely traversed for 60 seconds in the
Manual mode of operation. The error message then appears again.
Attention
Touch-probe monitoring is not active as long as the touch probe does not
report that it is ready.
If, in an exceptional case, the touch probe must be triggered anew during a
probing cycle, the Probe system not ready error message appears, and the
cycle must be restarted from the beginning.
Note
The iTNC 530 always emits a start signal when beginning a touch probe
cycle, meaning Modules 9135 and 9136 do not need to be used for
HEIDENHAIN touch probes.
If M4056 is set and the stylus is deflected, the NC stops the machine in all
operating modes. The maximum feed rate is limited to the value specified in
MP6150. If M4056 is set and the touch probe does not provide a ready signal,
the feed-rate enabling is reset.
If you do not set M4056, the control detects a deflection of the stylus only if
a probing function has been started.
Before the probing process is started, the NC sets M4055. Before executing
the function, the NC waits until you reset M4055. This allows you to take a
break, for example, to clean the measured object with compressed air before
starting the probing process.
M4051 is set if the stylus is deflected before the probe block has been started.
If it is, the probing block start is delayed by 1 second.
Set Reset
M4050 Touch probe not ready, ready signal NC NC
is missing
M4051 Stylus deflected before start of NC NC
probing cycle
M4052 Stylus is deflected, probing process NC PLC
is completed
M4053 Probing process has been completed NC NC
or canceled
M4054 Battery voltage too low (battery NC NC
warning at touch probe connection);
evaluated only during the probing
processa
M4055 Enable the probing process NC PLC
M4056 NC stop in all operating modes if PLC PLC
stylus is deflected
M4057 Touch probe cycles active NC NC
(FN17: ID990 NR2)
a. is only supported for the battery-free TS 444 touch probe
(MP6010 = 3).
Note
Please note that MP6166 is not in effect for the calibration cycles and the
cycles for determining the basic rotation.
F1
Setup clearance
F2 (MP6140)
Max. measurin
g range
(MP6130)
Max. measurin F2
g range
(MP6130)
Special case: If you are using a horizontal/vertical swivel head, the compensation values
Horizontal / vertical of the touch probe must be accounted for in different axes:
swivel head
With Module 9153, switch the touch probe axis in order to correctly account
for the compensation values.
Module 9153 Switch the touch probe axis
Specify a new touch probe axis (axis 0, 1 or 2) for manual measurement. A
new touch probe axis can be specified only if MP7490 bit 2 = 1.
Call:
PS B/W/D/K <Axis number 0 to 2>
CM 9153
Error code:
Set Reset
M4574 Select the traverse range (with PLC PLC
M4575)
M4575 Select the traverse range (with PLC PLC
M4574)
Multiple probe You can use the tool table to manage several blocks of touch probe calibration
calibration data data. Use the tool table columns CAL-OF1 (touch probe center offset in the
blocks reference axis), CAL-OF2 (touch probe center offset in the minor axis) and CAL-
ANG (spindle angle when calibrating). In the standard setting, these columns
are hidden. They can be shown, however, with MP7266.28, MP7266.29 and
MP7266.30. The current touch probe calibration data can be viewed and
edited in the calibration menu for manual measurement:
With MP7411 bit 1, activate the probe calibration management function in
the tool table. If bit 1 = 1, bit 0 has no function.
MP7411 Tool data in the touch probe block
Input: Bit 1 –
0: Only one set of touch probe calibration data
1: Use the tool table to manage more than one set of touch
probe calibration data
MP618x.2
MP618x.1
MP618x.0
MP6185
If you probe from opposite orientations during calibration, the control stores
the spindle orientation position during calibration (calculation of center offset
for X and Y). You can probe at any spindle angle at a later date and the control
will consider the current spindle angle and compensate for the center offset
accordingly. Therefore, you do not need to orient the spindle to a specific
position for probing.
Set Reset
D760 Offset in tilting axes touch probe PLC PLC
center offset [1/10 000°]
M4012 Open the spindle control loop PLC PLC
Measuring In the touch probe cycles for NC programs for automatic workpiece
tolerance measurement you can enter limit values and use them for tolerance
monitoring.
The following markers are set by the NC. You can evaluate them through the
PLC:
M4065: All workpiece dimensions are OK
M4066: Workpiece must be remachined
M4067: Workpiece to be scrapped
When probing from the NC program you can repeat measurements as desired
in order to increase measurement precision:
In MP6170 enter the number of measurements to be performed per probing
process.
Enter in MP6171 a value by which the measurement result may differ.
The mean value is formed from the measurement results. If the individual
results of measurement differ by more than the tolerance defined in MP6171,
an error message is output. This function can be used to detect whether a
measurement has been influenced, for example, by chips.
Set Reset
M4065 Workpiece dimensions are OK NC PLC
M4066 Workpiece must be reworked NC PLC
M4067 Workpiece is scrap NC PLC
File names of the Calibration for length, triggering touch probe: TSLCAL.A
individual print Calibration for radius, triggering touch probe: TSRCAL.A
masks Basic rotation: ROT_2PTS.A
Point measuring: DAT_SURF.A
Corner as datum: DAT_CORN.A
Circle center as datum: DAT_CC.A
Basic rotation over 2 holes: ROT_2HLS.A
Datum over 4 holes: DAT_IS4H.A
Circle center over 3 holes as datum: DAT_CC3H.A
Calibration for length, measuring touch probe: TBLCAL.A
Calibration of measuring touch probe: TMCAL.A
Time management
Name Format type Description
HOUR int No. of hours from real-time clock
MIN int No. of minutes from real-time clock
SEC int No. of seconds from real-time clock
DAY int Day from real-time clock
MONTH int Month as no. from real-time clock
STR_MONTH string Month as string abbr. from real-time clock
YEAR2 int Two-digit year no. from real-time clock
YEAR4 int Four-digit year from the real-time clock
Note
In the standard measuring cycles for tool measurement, the PLC program
may command a gear shift during output of the spindle speed without
interrupting the cycle.
Offset of probe In MP6530.x enter the distance from the tool end to the top of the probe
contact to the tool contact during tool radius measurement.
In the L-OFFS field of the tool table, enter an additional tool-specific offset.
MP6530 Distance from the tool end to the top of the probe contact
during tool radius measurement for 3 traverse ranges
Input: 0.001 to 99.9999 [mm]
MP6530.0 Traverse range 1
MP6530.1 Traverse range 2
MP6530.2 Traverse range 3
Safety zone After a cycle for tool measurement starts, the tool automatically moves at the
feed rate defined in MP6550 from the clearance height defined in the cycle to
the limit of the safety zone.
In MP6540.x, define a safety zone around the probe contact of the TT table
touch probe.
In MP6550, define the feed rate at which the border of the safety zone is
approached.
MP6540 Safety zone around the probe contact of the TT table touch
probe for pre-positioning
Input: 0.001 to 99 999.9999 [mm]
MP6540.0 Safety clearance in tool axis direction
MP6540.1 Safety clearance in the plane perpendicular to the tool axis
MP6550 Rapid traverse in probing cycle for TT table touch probe
Input: 10 to 1 000 000 [mm/min]
n: Speed [min–1]
MP6570 = Maximum permissible surface speed of the tool edge [m/min]
r: Tool radius [mm]
High frequency spindles often cannot function at speeds under 1000 min–1:
In this case enter MP6500 bit 4 = 1, in order to always use the lowest
possible speed for that spindle. This is automatically calculated by the TNC.
MP6570 and MP6572 then are without function.
The probing feed rate is calculated from the revolutions per minute and the
measuring tolerance defined in MP6510.0.
In MP6510.0, enter the maximum permissible measuring error, the
"measuring tolerance."
v = measuring tolerance · n
v: Probing feed rate [m/min]
Measuring tolerance: Measuring tolerance [mm] from MP6510.0 depending
on MP6507
n: Speed [min–1]
With MP6507, specify the type of calculation of the probing feed rate.
MP6507=0: Calculation of the probing feed rate with constant tolerance
The measuring tolerance remains constant, regardless of the tool radius. For
large tools, however, the probing feed rate becomes so small that it falls
below the smallest programmable increment and becomes zero. The smaller
the maximum surface cutting speed and the measuring tolerance, the sooner
this effect begins.
MP6507=1: Calculation of the probing feed rate with variable tolerance
The permissible measuring tolerance changes depending on the tool radius. A
probing feed rate results even for large tool radii.
MP6570 ⋅ MP6510
v = -------------------------------------
-
2 ⋅ π ⋅ 10
-3
Monitoring of the To ensure that the rotary axes and the secondary linear axes are always in a
rotary axes and defined position during the tool measuring cycles:
secondary linear
In MP6585, enter the axes to be monitored.
axes
In MP6586.x, enter the reference coordinate at which the axis should be
located during the tool measuring cycles.
If, during activated monitoring, the nominal position does not match the
position from MP6586.x, an error message is displayed.
MP6585 Monitoring the position of the rotary and additional linear
axes during the tool measurement cycles
Format: %xxxxxx
Input: 0: Axis is not monitored
1: Axis is monitored
Bit 0 – A axis
Bit 1 – B axis
Bit 2 – C axis
Bit 3 – U axis
Bit 4 – V axis
Bit 5 – W axis
MP6586 Ref. coordinate for monitoring the position of the rotary
and additional linear axes during the tool measurement
cycles
Input: –99 999.9999 to +99 999.9999 [mm] or [°]
MP6586.0 A axis
MP6586.1 B axis
MP6586.2 C axis
MP6586.3 U axis
MP6586.4 V axis
MP6586.5 W axis
Attention
If the tool is not measured in the same tilt position as that in which the tool
touch probe was calibrated, ensure that the tool is perpendicular to the
contact plate!
Tool breakage With MP6500 bits 5 and 6, specify whether the NC program should stop
when the breakage tolerance is exceeded. M4063 is always set when the
breakage tolerance is exceeded.
With bit 11, specify whether the result of "tool checking" measurement is to
be entered in the tool table.
MP6500 Tool measurement with TT table touch probe
Format: %xxxxxxxxxxxx
Input: Bit 5 – NC stop during "tool checking"
0: The NC program is not stopped when the breakage tolerance
is exceeded
1: If the breakage tolerance is exceeded, the NC program is
stopped and the error message "Tool broken" is displayed.
Bit 6 – NC stop during "tool measurement"
0: The NC program is not stopped when the breakage tolerance
is exceeded.
1: If the breakage tolerance is exceeded, the NC program is
stopped and the error message "Touch point inaccessible" is
displayed.
Bit 11 – "Tool checking" and changing in the tool table
0: After "tool checking" the tool table is changed
1: After "tool checking" the tool table is not changed
Markers in the PLC M4060 is set if a cycle for tool measurement is started.
M4061 displays whether a cycle was activated for tool measurement or for
tool checking.
M4062 and M4063 are set if during tool checking one of the entered
tolerances was exceeded. The tool is locked.
The markers M4050, M4051, M4052, M4053, M4055 and M4056 function as
in the standard cycles. You must enable the cycles for tool measurement with
M4055. For spindle orientation directly by the NC (MP6560 = –1), you must
reset M4012.
Set Reset
M4060 Cycle for tool measurement started NC NC
M4061 0: Measure the tool NC NC
1: Check the tool
M4062 0: Wear tolerance not exceeded NC NC/PLC
1: Wear tolerance exceeded
M4063 0: Breakage tolerance not exceeded NC NC/PLC
1: Breakage tolerance exceeded
Voltage from the The voltage that you have defined with Module 9130 is output.
PLC, MP3011 = 2
Definition of the The voltage to be output is defined through M functions M200 to M204:
voltage through
Set MP3011 = 3, otherwise the M functions described above are not
M functions, available.
MP3011 = 3
The M functions are executed synchronously to the positioning blocks and are
effective at the beginning of the positioning blocks.
Direct output of the The iTNC outputs the value after M200 V... as a voltage.
programmed
Input: 0 to 9.999 [V]
voltage: M200 V...
Duration of effect: M200 V... is effective until a new voltage is output with
M200 to M204.
Voltage output The iTNC outputs the voltage as a function of the traversed distance. Starting
varies with the from the active voltage, the iTNC increases or decreases the voltage linearly
distance: M201 V... to the value programmed behind M201 V.
Input: 0 to 9.999 [V]
Duration of effect: M200 V... is effective until a new voltage is output with
M200 to M204.
July 2013 8.14 Special functions for laser cutting machines 1561
Voltage output The iTNC outputs the voltage as a function of the velocity:
varies with the
In MP3013.x and MP3014.x, define up to three characteristic curves in a
velocity: M202 FNR table.
In the table, certain analog voltages are assigned to certain feed rates:
With M202 FNR select the curve in which the iTNC finds the voltage to be
output.
Input: 1 to 3
Duration of effect: M202 FNR is effective until a new voltage is output with
M200 to M204.
You can enter up to four kink points per curve in the table. The values to be
distributed are interpolated linearly between the kink points. The first kink
point must start with the input value zero. For the following kink points of the
curve the input values must rise steadily. The iTNC detects the beginning of a
new curve from the input value zero.
Example:
Voltage output The iTNC outputs the value programmed after V... as a pulse. The duration of
varies with the time the pulse is specified with "TIME...."
(time-dependent
Input: Voltage V: 0 to 9.999 [V]
pulse):
TIME: 0 to 1.999 [sec]
M204 V... TIME...
Duration of effect: M204 V... TIME... is effective until a new voltage is output
with M200 to M204.
July 2013 8.14 Special functions for laser cutting machines 1563
8.14.3 Program stop for M functions and TOOL CALL S
TOOL CALL S means a TOOL CALL in which only one spindle speed was
programmed.
For TOOL CALL S and also in the PROGRAM RUN, FULL SEQUENCE and PROGRAM
RUN, SINGLE BLOCK modes, the output of an M function interrupts the program
run until you confirm execution with M4092.
However, on applications such as laser cutting machines, the program should
not be interrupted:
With MP7440 bit 2 and MP3030 bit 0, specify whether the program run
should be interrupted.
If you deselect the program stop, you must not perform the following
functions during output:
• PLC positioning
• Datum shift
• Oriented spindle stop
• Limit switch range switchover
Attention
Note
The TNAME (tool name) column contains the name of the tool from the tool
table and therefore cannot be edited. For indexed tools, the name of the
tool is entered with the index 0.
Keyword Meaning
[magazine]a All the following rules apply to the tool magazine a.
Example: [magazine]4
[search]a = a b ... Definition of the search sequence for the tool type a.
The tool type named first (here a) is searched for first,
then the next tool type (separated by a space) (here
b).
You may only enter tool types in whose pockets tools
of the type a may be placed!
Example: [search]1 = 1 2
[tooltype]a All the following rules apply to the tool type a. 99 tool
types can be specified.
Example: [tooltype]2
[place]a = bx cx ... Description of the pocket a. Define the pockets (here
b and c) that are affected by pocket a when the
current tool type (keyword [tooltype]a) is placed
there. Immediately after the pocket number the
identifier x follows, indicating which area of the
pocket is affected (r = right area, l = left area, b =
bottom area, a = top area)
Example: [place]21 = 20r 22l
Note
You must define the search sequence for each magazine separately, not
just globally at the beginning of the *.TCR file. If the search sequence is to
be defined the same for each magazine, then it must be repeated after each
magazine definition.
Error code:
Managing multiple Up to eight different tool magazines can be managed in the pocket table. In
tool magazines the pocket table the tool magazines are listed from 1 to 8, i.e., tool magazine
1 with tool 1 to <MP7261.0> is in first position. Immediately thereafter, tool
magazine 2 appears with tool 1 to <MP7261.1>, then tool magazine 3, etc.
Enter the number of pockets in tool magazines 1 to 8 in MP7261.0 to
MP7261.7.
The current tool magazine number is saved in W268.
Module 9302 searches for an open pocket in a tool magazine, and Module
9306 switches tools between the tool magazines.
Module 9301 determines the number of the entry in the pocket table. The
number of the entry depends on the tool magazine and pocket numbers.
Enter this number in the modules which cannot accept tool magazine
numbers (e.g. Modules 9092, 9093, 9094).
Set Reset
W268 Tool magazine number NC NC
–1: External tool
0: Tool in the spindle
1 to 8: Number of the tool magazine
P5 P6 P7 P8 P9 P10
As soon as M4541 is set, all special tools are returned to their original pocket
in spite of the "variable tool-pocket coding" function.
With the column F (fixed pocket) you can define this function selectively for
individual tools.
Set Reset
M4541 Special tool in original pocket in spite PLC PLC
of variable pocket coding
Note
In standard NC programs (NC block with RR, RL or R0), the same radius must
be defined for the replacement tool as for the original tool.
Set Reset
M4543 Tool life 1 expired (TIME1 in the tool NC NC/PLC
table)
M4546 Tool life 2 expired (TIME2 in the tool NC NC/PLC
table)
Set Reset
W266 Index number of a programmed NC NC
indexed tool
Module 9091 Find the line number of a tool in the tool table
Call:
PS B/W/D/K <Tool number>
PS B/W/D/K <Tool index>
CM 9091
PL B/W/D <Line number>
Error code:
Tool table In the CDT column of the tool table, enter the name of the cutting data table
that is to be used for that tool.
In the TYP column define the type of tool:
• DRILL = Drilling tool
• TAP = Tapping tool
• MILL = Milling cutter
Enter the following values in the table:
• Tool radius R
• Tool material TMAT
• For cutter: Number of teeth CUT.
The tool types are defined in the file PLC:\TTYP.TAB.
If you edit this file, you must use the command TTYP = to enter the new name
and path in the system file OEM.SYS.
Material tables The workpiece materials used are defined in the table WMAT.TAB, the tool
materials in the table TMAT.TAB.
Standard tables are in the root directory of the TNC (TNC:\).
You can arbitrarily expand and change all tables.
If you change the tables, you must copy them to another path. Otherwise your
changes will be overwritten with HEIDENHAIN standard data during the next
software update:
In the system file TNC.SYS, use the code words TMAT = and WMAT = to enter
the path and file names of your tables.
In the material data tables:
In the Name column, enter a brief name for the material (e.g. HSS).
Enter additional information on the material in DOC column.
Calculation of Define the workpiece material in the NC program with the WMAT soft key.
cutting data
The TOOL CALL block provides soft keys for automatic acceptance of various
speeds (S1 to S4) and for the selection of the feed rate (F1 to F4).
If you enter the spindle speed manually, this value is taken into account in the
calculation of the feed rate. You cannot, however, enter F for calculation of S.
If you enter the feed rate manually, the entered value applies until you program
another feed rate. With the F AUTO soft key you can again activate the feed
rate from the TOOL CALL block.
NC program Description
... L IX+50 F500 The TOOL DEF block is within a
... TOOL DEF 1 contiguous contour. The
... L IX+50 F500 acknowledgment of the strobe is not
waited for.
... The TOOL DEF block is not within a
... TOOL DEF 1 contiguous contour. The
... L IX+50 F500 acknowledgment of the strobe is
waited for.
TOOL DEF commands are used by machines with tool magazines to prepare
tools. Until now, the machining program was interrupted upon a TOOL DEF
command for a tool that was not available. If MP7682 bit 13 is set, then when
a preparatory TOOL CALL (TOOL DEF block) is output, machining is not even
interrupted if the programmed tool is invalid. The following error message are
then shown only as warnings, but the machining program continues running
(no T2 strobe is sent to the PLC upon TOOL DEF):
Tool definition is missing
Tool life expired
Tool locked
Tool not defined
Tool radius too large
MP7682 Machine parameter with multiple function
Input: Bit 6 – Behavior with TOOL DEF strobe
0: Depending on the NC program, the TOOL DEF strobe must
be acknowledged by the PLC (TOOLDEF within a contiguous
contour)
1: TOOL DEF strobe must always be acknowledged by the PLC
Bit 13 – No program interruption upon invalid TOOL DEF
0: Error message and NC stop upon invalid TOOL DEF
1: Only warning upon invalid TOOL DEF
The functions FN17: SYSWRITE ID 230 ... are available to enable you to
influence the software limit switches in a tool change macro. This function is
therefore effective only for a limited period of time. The original software limit
switches are restored under the following conditions:
End of macro or cancelation of macro
Call of an NC or PLC function that results in machine parameters being read
in (e.g. switching the traverse range, activating an MP subfile)
Selection of an NC program or call of a GOTO block during NC program run
Note
In contrast to the TNC 426/TNC 430, the iTNC 530 handles the tool number
and tool index as two separate parameters. Therefore, with the iTNC 530,
the tool number must be read with FN18: SYSREAD Q1 = ID60 NR1 and the
tool index with FN18: SYSREAD Q7 = ID60 NR8. Both values are then
transferred in TOOL CALL Q1 .Q7.
Variable and fixed If you work with one magazine, you must specify the type of pocket coding
pocket coding for this magazine:
Set MP7482 = %0000.
Specify with MP7480.x whether the tool or pocket number is to be
transferred to the PLC:
• Variable pocket coding: Pocket number must be transferred. Set
MP7480.x = 3 or 4.
• Fixed pocket coding: Working with the tool number is preferred. Set
MP7480.x = 5 or 6
If you work with more than one magazine, you must specify the type of
pocket coding for each magazine individually:
Set MP7480.x to 3 or 4 for variable pocket coding.
Define in MP7482 the type of pocket coding for each magazine.
Depending on the setting of MP7480.x, the NC transfers either only the
number of the programmed tool to word W264 or the tool and pocket number
to W262 and W264.
The NC sets M4073 (TOOL CALL) or M4074 (TOOL DEF). The strobe markers
are not reset until you have set M4093 (TOOL CALL) or M4094 (TOOL DEF after
the tool or pocket number, respectively, have been processed. After you have
reset the strobe marker, the NC program is resumed (only with TOOL CALL).
If a TOOL CALL block is followed by the output of a T strobe and G strobe, then
M4547 is set by the output of the T strobe and reset by output of the G strobe.
If there is no output of either the T or G strobe, M4547 is not set.
After the acknowledgment marker for an NC strobe is set (e.g. Marker M4093
for T strobe), the corresponding strobe marker (e.g. Marker M4073) is not
reset (= 0) by the NC software until the NC has actually concluded the actions
immediately triggered by acknowledgment of the strobe. This makes it
possible for the PLC program to know when this processing by the NC is
actually concluded. For example: renewed access to the pocket table only
once pocket exchanging by the NC has concluded. The behavior of the strobe
markers can be configured with bit 16 of MP4020.
If the tool number zero is processed, the NC sets marker M4521. The marker
is not reset until there is a TOOL CALL for another tool.
With MP7483 you specify if the tool name or tool number or both can be used
for TOOL CALL or TOOL DEF. For example, if a tool number is used, an NC error
message will be output if only tool names are allowed (MP7483 = 1).
...
LBL 46
LBL 45
LBL 34
...
Set Reset
W262 Tool pocket number NC NC
W264 Tool number NC NC
M4073 Strobe signal T code (P code) with NC NC
TOOL CALL
M4074 Strobe signal T code (P code) with NC NC
TOOL DEF
M4093 Acknowledgment of T code (P code) PLC PLC
with TOOL CALL
M4094 Acknowledgment of T code (P code) PLC PLC
with TOOL DEF
M4521 Tool number zero programmed NC NC
M4538 Geometry of the tool from W264 PLC NC
M4547 T and G strobes with TOOL CALL NC NC
Output of the tool For fixed pocket coding of tools you must evaluate the tool number:
number with fixed
With MP7480.x, specify when the tool number is to be transferred.
pocket coding
• For every TOOL CALL or TOOL DEF block: MP7480.x = 2
• When the tool number changes: MP7480.x = 1
During execution of a TOOL CALL or TOOL DEF block the tool number is
saved in W264. W262 is not used.
• For MP7480.x = 5 or 6: The pocket number is saved in W262. The
assignment of tool and pocket number in the pocket table does not
change.
Set Reset
M4520 Another T code (P code) follows with TOOL NC NC
CALL
0: Normal tool follows a normal tool
(N → N)
Manual tool follows a manual tool
(M → M)
Special tool follows a special tool
(S → S), if M4541 = 0
1: Special tool follows a manual tool
(M → S), if M4541 = 1
Special tool follows a special tool
(S → S), if M4541 = 1
Manual tool follows a special tool
(S → M)
Manual tool follows a normal tool
(N → M)
Normal tool follows a manual tool
(M → N)
Normal tool follows a special tool
(S → N) see M4540
A variety of tool types can be called from the machining program. The
abbreviations below are defined for the following examples:
N: Tool for which one pocket is defined in the tool table (Normal)
M: Tool for which no pocket number is defined in the tool table. You must
change the tool manually (Manual).
S: Special tool, definition in the tool table
There are nine possible combinations in the tool-change sequence. For some
sequences it is necessary during TOOL CALL to output two pocket or tool
numbers in sequence. You can see in M4520 if another tool or pocket number
is transferred. The sequence of transfers for tool and pocket numbers can be
defined in two manners:
Define the sequence in MP7481.x. In this case set M4540 = 0.
Define the sequence in M4540. In this case set MP7481.x = %00000000.
You must evaluate and acknowledge both pocket or tool numbers. As an
alternative, all of this information can be found with Module 9035.
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
S → N, First the pocket number of the old tool and the tool number zero are
Single changing transferred.
arm, M4540 = 0 or
Zero means clear the spindle!
MP7481.x, bit x = 0
Clear the spindle and acknowledge with M4093.
Then the pocket and tool numbers of the new tool are transferred.
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
N → S, First the pocket number of the old tool and the tool number zero are
Single changing transferred.
arm, M4540 = 0 or
Zero means clear the spindle!
MP7481.x, bit x = 0
Acknowledge with M4093.
Then the pocket number and tool number of the new tool are transferred.
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
1
M4073
0
1
M4093
0
1
M4520
0
1
M4540
0
1
M4522
0
1
M4523
0
1
M4524
0
1
M4541
0
Tool changer and Create the PLC program with the PLC development software PLCdesign.
basic flowcharts of
The tool changer treated here has the following features:
the associated
PLC program Up to 254 tools
Variable pocket coding, MP7480.x = 4
Special tools allowed
Providing the next tool with TOOL DEF
Tool change with TOOL CALL
Tools can be manually changed without pocket number definition in the tool
table
Double changing arm
Special tools variable, MP4541 = 0
SPIREG
Set Reset
W262 Tool pocket number NC NC
W264 Tool number NC NC
M4073 Strobe signal T code (P code) with TOOL CALL NC NC
M4074 Strobe signal T code (P code) with TOOL DEF NC NC
M4093 Acknowledgment of T code (P code) with TOOL NC NC
CALL
M4094 Acknowledgment of T code (P code) with TOOL NC NC
DEF
M4520 Additional T code (P code) follows with TOOL NC NC
CALL
M4524 Special tool called (TOOL CALL) NC NC
M4540 Sequence of the tool numbers PLC PLC
or pocket number transfer, M4520 = 1
M4541 Special tool to original pocket PLC PLC
in spite of variable pocket coding
The flowchart for this tool changer is divided into the following modules or
subprograms:
Module Meaning
TOOL DEF Search for tool and load in GRE1
TOOL CALL Automatic tool change
STANDBY Search for tool and load in GRE1
STANDBY BACK Return tool from GRE1 to the
magazine
MANUAL TOOL IN Manual tool follows a normal or
special tool
MANUAL TOOL OUT Normal or special tool follows a
manual tool
MANUAL IN/OUT Manual tool follows a manual tool
INSERT Replace old tool with new tool
COMPUTE SHORTEST DIRECTION
COMPARE P CODE WITH ISTREG
COMPARE GRE1 WITH ISTREG
Feedback is
TOOL DEF immediate so
feedback that the NC PGM
can continue
yes Message:
P = 1 CANNOT
Manual tool PREPARE
yes MANUAL
TOOL
No
P = SPIREG Tool already in spindle
yes
No
P = GRE1 Tool already in GRE1
yes
No
GRE1 = 0 STANDBY Modul
GRE1 empty
yes
GRE1 assigned
Modul
STANDBY BACK End
No Tool already
P = SPIREG
in spindle
Yes
No
P = GRE1
Tool already in changing arm
Yes
End
yes
COMPARE
P-CODE Load ISTREG LOAD tool from
WITH ISTREG to GRE1 magazine to GRE 1
Module
End
Move GRE 2 to
No spindle and Old tool out
GRE1 = 0 load SPIREG
to GRE 2
yes
No
M4573 = 1 Prompt user to
load tool and press
OK key
yes
Strobe set
again
OK key No
pressed
yes
Load T-Code
to SPIREG End
No Tool in GRE1
Move axes to GRE1 = P
manual change
position Yes
No GRE1
GRE1 = 0 empty
Prompt user to
unload tool and Yes
press OK key Unload GRE1
STANDBY BACK
Module
No OK key
pressed
Module
Fetch tool to STANDBY
Yes GRE 1
Load zero in
SPIREG
(spindle empty)
CHANGE
Module
TOOL CALL
feedback
End
No
M4573 = 1
Yes
TOOL CALL
strobe set again
Move axis to
manual change
position
Prompt user to
unload old and
load new tool
Press OK key
No OK key
pressed
Yes
Load T code to
SPIREG
End
Move GRE2 to
spindle, load Old tool out
SPIREG to
GRE 2
Turn changing
arm, load SPIREG Turn changing arm
with GRE 1, set and load new tool
GRE 1 to zero,
retract arm
Wait No
M4573 = 1
Yes
TOOL CALL
strobe set again
P = ISTREG No
Magazine in position
Yes
COMPARE
P-CODE WITH Position tool magazine
ISTREG
Module
Transfer
P code
to data stack
COMPUTE THE
SHORTEST
PATH IN M3042
Module
No
P = ISTREG End
Yes
No
M3042 = 1
Yes
Transfer GRE 1
to data stack
COMPUTE THE
SHORTEST
PATH IN
M3042
Module
GRE1 = No
ISTREG End
Yes
No
M3042 = 1
Yes
M3042 = 0: backward
M3042 = 1: forward
Fetch search
pocket from data
stack to NOMREG
Divide number of
mag. pockets by
two and save to
MAGREG
Save absolute
value from
ISTREG-NOMREG
difference to
ABSREG
NOMREG> No
ISTREG
Yes
ABSREG<
_ No NOMREG> No
MEGREG ISTREG
Yes Yes
ABSREG<
_ No
MEGREG
Yes
End
With the extended tool management, you can provide many functions with
regard to tool handling. Examples:
Easily readable and, if you desire, adaptable representation of the tool data
in tables and forms
Any description of the individual tool data in the new table view
Mixed representation of data from the tool table and the pocket table
Fast sorting of all tool data by mouse
Use of graphic aids, e.g. color coding of fields for different tool or magazine
status
List of all available tools of the current NC program
Program-specific usage sequence of all tools
Tool import and export
The new tool management function is included in the HEIDENHAIN standard
features and can be activated any time. However, the familiar tables are active
after the software has been installed.
The extended tool management function additionally includes the "tooling list"
table and the "T usage order" table as software option 93 Extended Tool
Management.
Tooling list
List of all tools in the NC program that is selected in the Program Run mode
(only if you have already created a tool usage file)
T usage order
Sequence of all tools that are inserted in the program selected in the
Program Run mode (only if you have already created a tool usage file)
Note
If the extended tool management function is active, a TNC backup can only
be restored before the Power interrupted message has been
acknowledged.
Later the tool table and the pocket table are constantly exchanging data
with the Python scripts and are therefore locked for the restore process.
rule_t = [
rule_tt
,rule_pocket
,rule_time
,rule_rtime
,rule_mag
,rule_tplcbit0
,
]
range_s = ’19’
This example results in a tool table that consists of the six specified columns.
The structure of the columns is defined in the OEMRules.py file.
HEIDENHAIN recommends creating tables with a maximum of 1500 lines.
Basically, more entries are possible, but this affects computing performance
and may lead to unnecessary waiting times when accessing tables.
Entry Description
’name’: Column identifier that is displayed as the column title (e.g.
’T’)
’type’: Data type of values in the column
(’float’ for numbers, ’str’ for string, ’check’ for check box).
The 'float' and 'str' column types differ only in the type of
sorting used (sorting by string or numerical value). The
’check’ column type generates a column with check
boxes.
’sort’: Conditions for sorting
’.blanks_on_top’, blank cells at the beginning of the table
’.blanks_on_bottom’, blank cells at the end of the table
’.number_before_letter’, numerical values before strings
’.letter_before_number’, strings before numerical values
The numerical values and strings are each sorted
separately. The settings for blank cells and number/string
sorting can be combined.
’align’: Text alignment in the column
(’left’/’right’/’center’)
’gettext’: Translate or do not translate the cell content ('value') with
the gettext function
('true'/'false')
’value’: Value to be used as cell content.
Further rules can be used to adapt the value. The rules are
executed sequentially one after the other, thereby
enabling you to nest the rules. The last applicable rule
determines the displayed value.
optional Color to be used for the background of the cell
’background’: Rules can be used to define a background color for the cell.
optional A semi-transparent window is shown in the currently
’background- selected line to make the line better visible.
pix’: The background color of the cell shines through the cursor
('true'/'false'). For this purpose, an area to the left of the
text is reserved in a cell. This area then contains a
transparent, colored square.
optional The content of the cell ('value') will be displayed or the cell
’condition’: remains blank, depending on a condition.
If the result of the condition is 'false', the value will not be
displayed and the cell remains blank.
Operand Description
< Less than
<= Less than or equal to
== Comparison for "equal to"
!= Comparison for "not equal to"
>= Greater than or equal to
> Greater than
& Logical AND gating (masking)
true-false Value assignment for "true" and "false"
Operand Description
+ Addition
– Subtraction
= Accept the value
* Multiplication
/ Division
*. Only integer places
.* Only decimal places
M The magazine the tool is located in
.P The pocket in the magazine the tool is located in
TNR Returns the T number if the tool number is
programmed; returns an empty string " if the tool
name is programmed
NOT Returns the string 'true' if the value is not set;
otherwise, 'false' is returned
All of these operations return a character string that is displayed as cell value
in the view. More than one rule operation can be defined for the 'value'
configuration setting of a column. All conditions defined are evaluated
sequentially, and the last valid value determined is loaded as cell value into the
view.
First example
The column rule_tt is filled with the values from column T of the tool table
(’=’):
rule_tt = {
’name’ : ’T’
,’type’ : ’float’
,'sort' : 'letter_before_number'
,'align' : 'center'
,’gettext’ : ’false’
,’value’ : (
(’\\TABLE\\TOOL\\T\\?\\T’, ’=’)
)
}
Second example
The column rule_pocket is filled with the values from column P of the pocket
table (’=’). However, only the pocket number is entered. If the pocket number
is equal to 0 (’==’, ’0’, ’DB_Spindle’), then the text from ’DB-SPINDLE’ will
be displayed.
rule_pocket = {
’name’ : ’DB_POCKET’
,’type’ : ’str’
,'sort' : 'number_before_letter,blanks_on_bottom'
,'align' : 'left'
,’gettext’ : ’true’
,’value’ : (
((’\\TABLE\\TOOL_P\\P\\?\\P’, ’.P’), ’=’)
,((’\\TABLE\\TOOL_P\\P\\?\\P’, ’.P’), ’==’, ’0’, ’DB_SPINDLE’)
)
}
Fourth example
The column rule_tplcbit is composed of check boxes. A check box is shown
as being set if the AND operation performed on the value from the PLC
column and the decimal number "1" results in logical "1". The decimal number
is converted to the corresponding binary number for comparison.
rule_tplcbit0 = {
’name’ : ’PLC_Bit’
,’type’ : ’check’
,’gettext’ : ’false’
,’value’ : (
(’\\TABLE\\TOOL\\T\\?\\PLC’, ’&’, ’1’)
)
}
Entry Description
’widget’: Type of widget. Supported widget types are 'Entry',
'CheckButton' or 'ComboBoxEntry'
’value’: Value to be used as cell content.
Values can only be assigned using the "equal to" operator
('=')
optional As an option, you can define in the OEMEntries.py
’edit’: whether the user can:
edit the entry ('edit’:('false','=')),
or cannot edit the entry ('edit':('true','=' )).
If no information is defined for ’edit’, editing is possible.
Further rules can be used to create a conditional edit
function. The rules are executed sequentially one after the
other, thereby enabling you to nest the rules.
optional As an option, you can enter permissible input values for the
’range’: cell contents. The following entries are possible:
Numerical input range ’range’:(’1 to 99’) or
permissible ASCII characters ’range:(’ABC123’).
This requires the user to enter a value in the field, which is
defined by ’range’ as permissible value. All other entries
are not accepted.
optional Here you can enter a condition for the display of a surface
’visible’: element.
optional Only for ComboBoxEntry:
’option’: Column of any desired table, all of whose values are made
available in the list box of the input field.
Example of displaying values in a list box:
option : ( '\\TABLE\\TTYP\\NR\\?\\NAME' )
–> All of the table values contained in the 'NAME' column
of the 'TTYP' table are now available in the list box.
# Tool table
entry_tool_name = {
’widget’ : ’Entry’
,’value’ : (’\\TABLE\\TOOL\\T\\?\\NAME’, ’=’)
#,’edit’ : (’\\TABLE\\TOOL\\T\\?\\NAME’, ’!=’,’’,’true’)
,
}
entry_tool_t = {
’widget’ : ’Entry’
,’value’ : (’\\TABLE\\TOOL\\T\\?\\T’, ’=’)
,’edit’ : (’false’, ’=’)
,
}
entry_tool_doc = {
’widget’ : ’Entry’
,’value’ : (’\\TABLE\\TOOL\\T\\?\\DOC’, ’=’)
,
}
entry_toolp_p = {
’widget’ : ’Entry’
,’value’ : (’\\TABLE\\TOOL_P\\P\\?\\P’, ’=’)
,’edit’ : (’false’, ’=’)
,
}
checkbutton_tool_tl = {
’widget’ : ’CheckButton’
,’value’ : (’\\TABLE\\TOOL_P\\P\\?\\P’, ’=’)
,
}
comboboxentry_tool_typ = {
’widget’ : ’ComboBoxEntry’
,’value’ : (’\\TABLE\\TOOL\\T\\?\\TYP’, ’=’)
,
}
comboboxentry_tool_cdt = {
’widget’ : ’ComboBoxEntry’
,’value’ : (’\\TABLE\\TOOL\\T\\?\\CDT’, ’=’)
,’optpath’: (’\\TABLE\\TNCSYS\\NR\\?\\PCDT’, ’.cdt’)
,
}
In the OEMEntryList.py file, you create the connection between the user
interface elements of a data form, such as the tool form, and the data to be
displayed (defined in OEMEntries.py). A data form displays a data block or part
of a data block from the current view. Additionally, you can define the user
interface element that is to have the input focus when the form opens.
Creating a data form
The Glade User Interface Designer (Glade is a free visual programming
environment [Rapid Application Development] for creating GTK+ user
interfaces graphically and interactively) is used to create a data form for a
certain view. Using Glade you can create your own dialog boxes with various
operating and display elements. Each of those user interface elements has
specific properties, which can be changed as required. The display of TNC data
is only supported for certain user interface elements, however:
gtk.Entry(): Input field
gtk.CheckButton(): Check button
gtk.ComboBoxEntry(): Input field with list box
Assigning data to a user interface element
In order to define the data to be displayed in a certain user interface element,
you must create a "connection" between the user interface element and the
data element to be used. You can define this connection using the name of
the user interface element and by gating the element with a saved rule. When
editing the data form of a user interface element, you can use the "Properties
dialog" in "Glade" to define a name for a certain user interface element (also
called 'widget'); see examples below. This name will be assigned to a data
element in the OEMEntryList.py file.
Example of a OEMEntryList.py:
The structure of the keys of the form definitions must be correspond to that
of a Python dictionary, i.e. a list or sequence of keys<-->value pairs. The key
to be specified is the name of the respective user interface element (widget).
The value to be specified is the name of the rule from OEMEntries.py that
defines the data content of the user interface element. The value in the rule
designator entry_tool_name, for example, is transferred to the user interface
element with name entry_TOOL_NAME.
For the form concerned, the two entries entry_x_focus_element define the
user interface element that has the focus when the form opens.
entry_t_focus_element = ’entry_TOOL_NAME’
entry_t = {
’entry_TOOL_NAME’ : entry_tool_name
,’entry_TOOL_T’ : entry_tool_t
,’entry_TOOL_DOC’ : entry_tool_doc
,’entry_TOOLP_P’ : entry_toolp_p
,’checkbutton_TOOL_TL’ : checkbutton_tool_tl
,’comboboxentry_TOOL_TYP’ : comboboxentry_tool_typ
...
}
entry_p_focus_element = ’entry_TOOLP_DOC’
entry_p = {
’entry_TOOL_NAME’ : entry_tool2_name
,’entry_TOOL_T’ : entry_toolp_t
,’entry_TOOLP_DOC’ : entry_toolp_doc
,’entry_TOOLP_P’ : entry_toolp_p
,’checkbutton_TOOLP_ST’ : checkbutton_toolp_st
...
}
DEEPHOLEDRILL 33 TNVC:\AUFTR1\NcPrgrm1.h
123
CUTTER12MM 60 TNVC:\AUFTR1\NcPrgrm1.h
DRILL5MM 60 TNVC:\AUFTR1\NcPrgrm2.h
DRILL2MM 60 TNVC:\AUFTR1\NcPrgrm2.h
Overview of cycle The flow chart shows a comparison of the HSCI system with the respective
times software versions and a system with MC 42x/CC 42x. The decisive worst-
case cycle times for reading and writing as well as the typical run times for the
PLC cycle and the PLC program were used in the diagram:
With a PLC program run time of 1.5 ms, the following, typical total times result
for the systems described here:
Worst-case scenario for HSCI SW 606 42x-01: 22.0 ms
Worst-case scenario for HSCI SW 606 42x-02: 16.0 ms
Worst-case scenario for MC 42x/CC42x: 8.25 ms
(including any interruptions of the PLC program by the interpolator)
With a typical PLC cycle time of 21 ms and using the MC 42x/CC 42x, it is
possible to write PLC outputs within one PLC cycle and to evaluate this
information again in the next PLC cycle via a PLC input. In the HSCI system
with SW 606 42x-01, however, an overlap time can occur during reading and
writing of PLC inputs/outputs in the worst-case scenario described here. This
means that an additional PLC cycle is required until updated output states are
available again to the PLC program.
HEIDENHAIN has optimized the reading of PLC inputs in HSCI systems by
6 ms as of SW 606 42x-02. Even in an HSCI system with a typical PLC cycle
time of 21 ms, PLC outputs can thus be written in one PLC cycle and the
information can then be evaluated via a PLC input in the next PLC cycle.
Note
Please note the worst-case time behavior described above for your PLC
program.
Test the behavior of the PLC program especially with regard to time-
critical applications.
If required, conduct an update of the PLC program on the affected
machines in the field.
Minimum required pulse widths in the HSCI system for signal detection by the
control at the standard inputs:
The (S)PLC cycle time must also be observed for actual processing in the
(S)PLC program. The pulse width must be longer than the above mentioned
time + the (S)PLC cycle time in order to ensure that the pulse is processed in
the (S)PLC program.
Minimum required pulse widths in the HSCI system for signal detection by the
control at the special inputs:
Pulse widths at (S)PLC inputs that are not detected due to internal hardware
filter run times:
Some devices that operate with self-generated test pulses at their input (e.g.
test pulses for wire breakage or cross-circuit detection) should be connected
to machines at the (S)PLC inputs. For example, a low test pulse (high --> low
flank) of such devices must be smaller than 2.0 ms so that they are not
detected due to internal filter run times. If pulses are greater than 2.0 ms it can
cause the control to detect them, forward them to the (S)PLC run-time
environment and trigger the corresponding reactions.
LN I_Workspace_to_sensor
AN ML_Workspace_was_closed
R I_Workspace_closed
L I_Workspace_to_sensor
= ML_Workspace_was_closed
Note
Note
An exact PLC cycle time is only available after the emergency stop test.
If the maximum run time of the sequential program is exceeded, the iTNC
displays the blinking error message PLC: time out.
PLC utilization Currently:
The time taken for the latest PLC scan in %.
PLC code length:
Length of the compiled sequential program in KB.
Note
Differences from File types displayed by the iTNC when you press the SELECT TYPE soft key:
file management of
NC part programs Soft key Function
Show all files
If the cursor is in the SYMBOL or ADDR column, then this soft key
becomes visible, and the column can be sorted alphabetically
ascending or descending.
Load selected operands into the logic diagram, see page 1680
Search text in the WATCH LIST (first the SYMBOL column and
then the ADDR column is searched)
Add selected input or output into the I/O Force List, see "The
I/O-FORCE LIST" on page 1674
Display the logical states of the PLC operands, see page 1676
Note
Operands can only be selected with the SYMBOL LIST soft key if you are
working with the *.SRC source files of the PLC program on the control.
Otherwise the error message Selection list is empty appears.
Display of operands Press the WATCH LIST soft key to call the menu of the WATCH LIST
in the WATCH LIST function.
Press the ZEILE EINFÜGEN soft key.
In the ADDR column, enter the absolute address of the operand, i.e. W1022.
Press the ENT key.
Add operands Press the WATCH LIST soft key to call the menu of the WATCH LIST
to I/O-FORCE LIST function.
Press soft key ADD TO I/O-FORCE LIST.
The operand is written to the I/O-FORCE LIST, and a message confirming the
transfer of the operand to the I/O-FORCE LIST appears.
Danger
Add operands Press the WATCH LIST or TABLE soft key in the PLC Programming operating
to I/O -FORCE LIST mode.
With WATCH LIST: In the WATCH LIST, select the line with the desired
operand (input or output). You may also select the operand via the SYMBOL
LIST first.
With TABLE: In the TABLE, select the desired operand via soft key and the
keyboard arrow keys.
Press the ADD TO I/O-FORCE LIST soft key.
The operand is written to the I/O-FORCE LIST, and a message confirming the
transfer of the operand to the I/O-FORCE LIST appears.
Note
Switch on or off the I/O-Force List. When this soft key is ON,
the values entered in VALUE are written via the corresponding
inputs or outputs. The states of each input are not evaluated.
In addition, the outputs set by the PLC program are not sent
to the hardware.
If the cursor is in the SYMBOL or ADDR column, then this soft key
becomes visible, and the column can be sorted alphabetically
ascending or descending.
Return to previous menu
Multiple I/O-Force It is possible to use different lists for the I/O Force function in the PLC
Lists possible operating mode. If an I/O Force List is open, press the PGM MGT key to
switch to an existing list or create a new list. Create a new I/O Force List by
entering a new file name with the extension .FLT. The selected list is identified
by the automatically generated FORCELISTPATH = PLC:\*.FLT entry in
OEM.SYS.
Load selected operands into the WATCH LIST, see page 1671
Load selected operands into the WATCH LIST, see page 1671
With the LOGIC DIAGRAM function you can graphically display the logical
states of up to 16 operands (M/I/O/T/C) at once. 2048 PLC cycles are recorded.
Set Reset
M4188 Compilation process of the PLC NC NC
project active
Available keywords:
Strings in #if conditions for conditional compilation in the PLC program, in soft
key and cycle resources can now also contain blank spaces. The PLC tools can
also process #if conditions with strings containing blank spaces and integer
values with algebraic sign (e.g #if TEST "1 2 3").
A PLC program can identify whether the current system is the conventional
hardware (MC 42x, CC 42x) or HSCI hardware, which is addressed through
the IOC configuration. For this purpose, the environmental variable
%HsciHardware% is provided for the configuration file of the PLC program
(PLCCOMPCFG entry in OEM.SYS file). The variable contains the value 1 if
software 606 42x, and thus the HSCI hardware, is detected. Marker M4641
can be used for interrogation at run time.
OEM.SYS:
...
PLCCOMPCFG = PLC:\OEM\OEM.CFG
...
OEM.CFG:
DEFINE TOOLCHANGER = 1
DEFINE STAR_DELTA = %MP4000.1%
DEFINE %MP4000.2%
DEFINE %MP4000.3%
MP4000.1 : YES
MP4000.2 : CHIP_CONVEYOR
MP4000.3 : SWIVEL_HEAD = 3
#if SWIVEL_HEAD = 3
...
#endif
#ifdef CHIP_CONVEYOR
...
#endif
#if TOOLCHANGER = 1
...
#endif
TNC partition User-specific data such as NC programs, tool tables, datum tables, and pallet
tables.
PLC partition Your OEM-specific data such as system files, PLC programs, machine
parameters, help files, PLC dialogs, PLC error tables, compensation value
tables and OEM cycles. The PLC partition is visible only after you have entered
the code number 807667.
As a machine tool builder, you are concerned primarily with the PLC partition.
SYS partition System-specific files such as system files, NC dialogs, HEIDENHAIN cycles,
etc. The SYS partition is not visible and cannot be selected.
Attention
Alterations to the system partition can impair proper function of the iTNC!
Size of the
partitions
HDR The following sizes are valid for the partitions on HDR hard disks for the
iTNC 530 that were delivered with the NC software 606 42x-01:
SSDR The following sizes are valid for the partitions on the SSDR solid state disk for
the iTNC 530 that were delivered with the NC software 606 42x-01:
Note
Note
HEIDENHAIN recommends:
Storing the password in the SIK, because it provides a higher degree of
security than the OEM.SYS.
Using the PLCE partition generally only for specific files that are to be
protected from unauthorized access.
Against using the PLCE partition for system files (such as MP files,
NCMACRO.SYS). Please keep in mind that HEIDENHAIN cannot access
the data in the encrypted partition, even if servicing becomes necessary.
Danger
When you lose the password for the PLCE: partition, the data is
permanently lost.
Deleting the PLC:\PLCE.BIN binary file leads to loss of the data on PLCE:
HEIDENHAIN does not have any possibility to access the data on the
encrypted PLCE: partition. This also applies when servicing becomes
necessary.
The data of the encrypted PLCE: partition cannot be written to the service
file.
HEIDENHAIN provides the encrypted PLC partition (PLCE) to its
customers. The encrypted PLCE partition enables the machine
manufacturer to protect data and files better because the encryption
makes it more difficult for third parties to access this information.
HEIDENHAIN points out that no data encryption method offers 100%
protection of the data, especially against access, damage or destruction
by unauthorized persons, etc. Therefore, HEIDENHAIN of course cannot
guarantee that data stored there will not be tampered with, and as a
consequence cannot assume liability for any resulting damage.
This applies to the PLCE partition of the control, as well as to the
programming station version.
If the password is stored in the control, the NC software can access the data
and files in the PLCE: partition at any time. The control can therefore run on the
PLCE partition in the same way as on the standard PLC partition.
The NC software automatically searches the PLC partition for files that it
needs during run time. If the search is not successful and a PLCE partition
exists, the search is continued in the PLCE partition.
This does not apply to the OEM.SYS file itself, or to data and files that are
called by using absolute paths (e.g. in PLC modules, OEM.SYS). The
OEM.SYS file must always be stored in the PLC partition of the control. If data
or files are called by using an absolute path, the NC software only searches
the given path for the data or files. The search is not automatically continued
in the other partition.
Note
Do not store the same files both in the PLC partition and the PLCE partition.
Backup/Restore The control operator does not need to know the password to back up or
and PLCE restore the PLCE data. The encrypted content remains protected. When
restoring a backup on a control, you must make sure that the password on the
control (in the SIK or OEM.SYS) is identical to the password that was used for
creating the PLCE.BIN file or the PLCE partition.
To enable automatic updating of the PLCE partition through a restore process
or software update, you must manually separate the PLCE partition before the
restore process by using Unmount.
You must keep the following in mind to ensure that the PLCE partition is
successfully overwritten with the PLC:\PLCE.BIN file during a restore process
or a software update:
The password for the PLCE partition is stored in the SIK or OEM.SYS in the
control.
The password in the control matches the password in PLCE.BIN.
The PLCE partition has been separated (Unmount).
The PLCE partition offers sufficient storage space for the new data.
Software update A software update can contain either the PLC:\PLCE.BIN file or the
and PLCE PLC:\_mpupdate\plce.zip file.
If the software update contains a PLC:\PLCE.BIN file, the requirements
described above under "Backup/Restore and PLCE" apply as well.
If the software update contains a PLC:\_mpupdate\plce.zip file, the following
requirements apply:
The .zip file must be encrypted with the same password as the PLCE: drive.
When the control is started up the next time, this file is unpacked and the
corresponding files are copied to PLCE:. This .zip file can be created using
PLCdesignNT with version 2.5 or later.
Danger
Please note that the encryption algorithm of this .zip file is less secure than
encrypting the PLCE partition on the hard disk of the control.
PLC project A plce.sys file can be stored in the PLC:\_mpupdate directory. In this file, you
can save the information for creating an encrypted PLCE: drive in the following
form:
CREATE -s=<size> -p=<Password> [-oemsys] [-force]
This enables the PLC project to create the PLCE partition automatically. You
no longer need to create the PLCE partition manually before loading the PLC
project. Where:
<size>
Size of the drive to be created (in megabytes between 1 MB to 100 MB)
<Password>
Encryption password, this password can also be in encrypted form: For
example, if a password for an encrypted drive has been created manually,
saved in OEM.SYS and then copied from OEM.SYS. The password must be
between 12 and 21 characters long.
[-oemsys]
If this option is set, the password will be saved in OEM.SYS. If the option is
not set, it will be saved in the SIK.
[-force]
If this option is set, an existing encrypted drive will be overwritten. If the
option is not set, it will not be overwritten.
Examples:
CREATE -s=1 -p=VeryLongPassword -oemsys
CREATE -s=80 -p=ShortPassword -force
Note
To activate the PLCE partition on the iTNC 530 programming station, you must
additionally install a special Windows driver. One driver each for 32-bit
Windows systems and 64-bit Windows systems is provided on the iTNC 530
programming station CD with the ID 535 373 starting with variant 15 (ID
535 373-15). For 32-bit operating systems, the drivers are located in the
\jh\i386 directory of the CD and for 64-bit operating systems in the
\jh\amd64 directory. The basic information about your computer (Control
panel/System) tells you which Windows operating system you are using.
Install your respective driver as follows:
Copy all files of a CD directory for the respective driver into any directory on
your computer, e.g. C:\Programs\iTNC530\606424\Drivers.
Go to Accessories to open a command window or prompt and switch to the
directory into which you have copied the files.
Execute the fdcntl install command
Execute the fdcntl start command
Then you can create, mount and use the PLCE partition as usual.
In the programming station version, the password for the PLCE partition is
saved on the programming station dongle, and not on the SIK. This function is
currently only supported for the blue Aladdin dongle.
To uninstall the driver, please take the following steps:
Go to Accessories to open a command window or prompt and switch to the
directory into which you have copied the files during the installation.
Execute the fdcntl uninstall command.
Note
Please note that after uninstalling the driver, the computer must be
restarted.
Please note that by uninstalling the driver, the data of the PLCE partition
are not deleted! The PLCE.BIN file is retained, only the driver is
uninstalled. To delete the data, the PLCE partition must be formatted
prior to the uninstallation.
Password – State:
Display Meaning
Press Meaning
The following information and options are available on the Drive tab:
Display Meaning
Drive – Actions:
Button Meaning
Change Size Change the size in [MB] of the PLCE: partition. Only
available if the PLCE: partition is not mounted.
When entering the password, keep in mind that the password is case
sensitive.
HEIDENHAIN recommends storing the password in the SIK.
The control confirms the password by displaying the message Password has
been set, and under State it shows where the password is stored.
2. To create an encrypted partition, proceed as follows:
Select the Drive tab.
Press the Create Drive button under Actions.
• In Size:, you enter the desired size for the encrypted partition [MB].
• Confirm your entry with the OK button.
The control confirms the creation of the PLCE: partition by displaying the
message Encrypted drive has been created and changes the status under
State to indicate that the partition has been created.
The right column beneath State shows that the partition exists, but that it is
not mounted.
3. To mount the encrypted partition, proceed as follows:
The newly created PLCE: partition must first be formatted:
To perform the formatting process, press the Format button and then press
the Apply button.
All data stored on the PLCE: partition are lost during the formatting process.
To mount the encrypted partition, press the Mount button and then press the
Apply button.
The control confirms that the PLCE: partition has been mounted by displaying
the message Encrypted drive has been mounted and changes the status
under State to indicate that the partition has been mounted.
Access to PLCE: The control operator cannot access the mounted PLCE: partition until he has
by the user entered the correct password for the PLCE partition.
While in the Programming and Editing operating mode, press the MOD key.
Enter the password for the encrypted PLCE: partition.
If you then press the PGM MGT key, the iTNC displays the PLCE: partition in
the directory structure on the left side of the screen.
If the PLCE partition is displayed in the File Management, files and data can be
handled in the same way as in all other partitions (e.g. move, delete, rename).
Encryption is automatic.
9.4.1 OEM.SYS
In the OEM.SYS file you must enter code words to call certain functions. After
the code word, and separated by an equal sign = you enter the directory in
which the files for these functions are to be found, as well as the file names
themselves.
You must make your entries in the OEM.SYS file either manually or with
Module 9271 (MPFILE and PLCMAIN can only be entered manually). Module
9271 overwrites the content of existing code words and inserts non-existent
code words at the end of the OEM.SYS file.
With Module 9270 you can read all entries in the OEM.SYS file.
OEM.SYS is reevaluated during activation of the machine-parameter
programming operating mode and before downloading a machine parameter
file. In connection with TNCremoNT 2.2, during the restoring of a backup, first
OEM.SYS is transferred and also evaluated before transferring the machine
parameter file.
The following code words are defined (in alphabetical sequence):
AXISNUMBER = Number of the indexes of the machine parameters (except MP2xxx.y) in the
machine-parameter file.
Input example: AXISNUMBER = 6
DEBUGPATH = Path for the most recently active *.wlt file for the WATCH LIST function. Other
*.wlt files can also be saved in this folder. The folder is also used as the
working directory for the WATCH LIST function. When you select a new *.wlt
file, the iTNC automatically enters that name in OEM.SYS.
Input example: DEBUGPATH = PLC:\DEBUG\TEMP.WLT
FNERRFIX = FN14: ERROR = gives additional information about fixing an error. The text and
information about the cause of the error (FNERRREASON =) are shown after
pressing the HELP key. The setup of the file must correspond to that of the
file for PLC error messages (PLCERRFIX =).
Input example: FNERRFIX = FN14-FIX.A
FNERROR = ASCII file (*.A) that contains the error messages for FN14: ERROR = (0 to 299)
in lines 1 to 300. The file must be located under
PLC:\LANGUAGE\<language>, where <language> depends on MP7230.3.
Input example: FNERROR = FN14-ERR.A
FNERRREASON = FN14: ERROR = gives additional information about the cause of an error. The
text and information about fixing the error (FNERRFIX =) are shown after
pressing the HELP key. The setup of the file must correspond to that of the
file for PLC error messages (PLCERRREASON =).
Input example: FNERRREASON = FN14-REASON.A
IOCCFG = Complete configuration of the HSCI system as an IOC file. This is done using
the IOconfig tool.
Input example: IOCCFG = PLC:\IOC\HSCI_SYS.IOC
KINEMATIC = Path for the assignment table of the tilting-axis geometry description.
Input example: KINEMATIC = PLC:\KINELIST.TAB
LOCKEDOPTIONS = You can use the LOCKEDOPTIONS = keyword to select software options that will
not be enabled with the General Key. <option> is the number of the software
option to be disabled. This way you can disable those software options for
which your machine is not prepared.
Input example: LOCKEDOPTIONS = 44,45
LOGOSP = Path for a customer-specific company logo shown when the control is started,
instead of the note regarding an installed service pack.
Input example: LOGOSP = PLC:\LOGO\SP-LOGO.BMP
LSV2TIME2 = Timeout during transmission of DLE 0, DLE 1 or NAK until reception of a valid
character.
MPFILE = (Mandatory entry): Path for the active MP file. If you have loaded an MP file
editor and you exit the editor, the iTNC automatically enters this MP file in the
OEM.SYS file!
Input example: MPFILE = PLC:\MP\NC530V02.MP
Note
Note
MPLOCKFILE = Path of a machine parameter subfile. If there are differences between this file
and the current machine parameter file, an error message appears and the
value from this subfile is offered for acceptance.
Input example: MPLOCKFILE = PLC:\MP\340420.MPL
MPPASSWORD = Code number for calling the machine parameter file (instead of 95148).
Input example: MPPASSWORD = MP
Note
NUMBERMP4230 = Sets a number in the PLC for Module 9032. The corresponding number of
machine parameters MP4230.x is created. The maximum input value is 99; no
entry or an invalid entry defines 32 indexes.
Input example: NUMBERMP4230 = 40
(Machine parameters MP4230.0 to MP4230.40 are created.)
OEMCYC. The possibility of machining with or without preset tables can also be used in
ZIPNAME = OEM cycles. A separate directory is created on the PLC partition for each cycle
project (PLC:\OEMCYC_ZIP\, PLC:\OEMCY2_ZIP\, etc.). In OEM.SYS, enter
after the keyword the name of the *.ZIP file to be unpacked, e.g.
OEMCYC.ZIPNAME = ABC.ZIP, OEMCY2.ZIPNAME = DEF.ZIP, etc. The *.ZIP files
contain all information for the cycles, including the directory structure. When
the control is started up, the appropriate *.ZIP files are unpacked in the folders.
The documentation for CycleDesign contains more detailed information.
PALETTPRESET = Activate pallet preset table in order to manage reference points for pallets, see
page 1495
Input example: PALLETPRESET = TNC:\Palletpreset.pr
PLCDIALOG = Name for text file with PLC dialogs; the path for the text file is permanently
defined.
Input example: PLCDIALOG = DIALOG.A
PLCERROR = Name for text file with PLC error messages; the path for the text file is
permanently defined.
Input example: PLCERROR = PLC_ERR.A
PLCMAIN = (Mandatory entry): Path for the active PLC program. If you compile a PLC
program, the iTNC automatically enters it in the OEM.SYS file.
Input example: PLCMAIN = PLC:\PLC_PGM\MAIN_530.PLC
PLCPASSWORD = Code number for calling the PLC mode (instead of 807667).
Input example: PLCPASSWORD = 123456789
Note
PLCSOFTVERS = (Mandatory entry): iTNC displays PLC software version when the MOD key is
pressed.
Input example: PLCSOFTVERS = BASIS--33-03
PR.LINESLOCKED = Lines in the preset table that are to be write-protected, see page 1208.
Input example: PR.LINESLOCKED = 1,4-8,22
PWM Number of the indexes of machine parameters MP2xxx.y (for the current and
PARAMETER = speed controller) in the machine-parameter file (up to 30).
Input example: PWMPARAMETER = 6
REMOTE. Setup, machine backup and full backup only with the password from
PLCPASSWORD PLCPASSWORD =
FORCED =
Input example: REMOTE.PLCPASSWORDFORCED = YES
REMOTE. Access to the PLC partition using the LSV2 protocol only with the password
PLCPASSWORD from PLCPASSWORD =
NEEDED =
Input example: REMOTE.PLCPASSWORDNEEDED = YES
RUNTCH = Indicate a specific pocket table. If this token exists in OEM.SYS, files of the
type *.tch are not displayed in the file manager and in the machining modes.
SOFTKEY Path for PLC soft-key project file *.spj with the structure of the vertical PLC
PROJECT = soft key.
Input example: SOFTKEYPROJECT = PLC:\SOFTKEY.SPJ
SOFTKEYPRESS = Display and behavior of the CHECK and RADIO types of soft keys. If
SOFTKEYPRESS = ON is entered, the soft-key graphics and the states of the PLC
markers already change when the soft key is pressed, see page 1376.
Input example: SOFTKEYPRESS = ON
TABCMA = Path for compensation value tables for axis error compensation (see
"Nonlinear axis error compensation" on page 652).
Input example: TABCMA = PLC:\AXIS_COR\CORRECT.CMA
TCHRULES = Path for the *.TCR definition file containing magazine rules for tool magazines.
Input example: TCHRULES = PLC:\RULES.TCR
TNCOPT.LOCK- After pressing the MOD key, the TNCOPT ON/OFF soft key is displayed in order
SOFTKEYVISIBLE = to enable commissioning on the control via TNCopt, see page 1023.
Input example: TNCOPT.LOCKSOFTKEYVISIBLE = YES
TTYP = Path and file name for list of the tool types.
Example:
A TOOL CALL is run in look-ahead calculation. In this TOOL CALL a PLC function
is needed (e.g. opening the tool changer gate). The tool is automatically
changed on the machine. During this time the look-ahead calculation reaches
another TOOL CALL. Since the PLC function has been fulfilled (the tool changer
gate is open), the look-ahead calculation is continued. After the first tool
change has been completed, the PLC function is no longer fulfilled (the tool
changer gate is closed). The second TOOL CALL would be executed if the PLC
function were not fulfilled (the tool changer gate is closed).
The function FN20: WAIT FOR SYNC provides a remedy for this problem. If this
function is programmed at the beginning of an NC program (NC macro) or
cycle, in the look-ahead calculation the PGM CALL (NC-macro call) or CYCLE CALL
is not executed until the calling program has actually reached the PGM CALL
(NC-macro call) or CYCL CALL.
Look-ahead is halted for FN20: WAIT FOR SYNC, no matter at what point this
block is programmed.
9.4.4 MSPLIT.SYS
M functions that are effective in several groups are divided in the MSPLIT.SYS
file into function components (see "Returning to the contour" on page 1244).
9.4.5 PLCSOFTK.SYS
Path for the file names of the PLC soft-key pictures. (See "PLC soft keys" on
page 1372.)
9.4.6 CYCLE.SYS
Definition of the soft-key structure, if you have integrated OEM cycles. This
file is created automatically by the PC software CycleDesign (see OEMCYC
directory).
9.4.7 TNC.SYS
The end user can define certain paths and functions in the TNC:\TNC.SYS file:
TMAT = <Path for list of tool materials>
WMAT = <Path for list of workpiece materials>
PCDT = <Path for cutting data tables>
REMOTE.TNCPASSWORD = <Password for LSV2 access>
REMOTE.TNCPRIVATEPATH = <Path to be protected by the password>
REMOTE.PERMISSION = <computer>
External access to the control via LSV2 can be limited to specified
computers.
If the entry REMOTE.PERMISSION = <computer>;<computer> exists in the
TNC.SYS file, then only the computers listed will be granted access to the
control. The entry can be either the names or IP addresses of computers
and must be separated by semicolons. Access to the control is refused if the
REMOTE.PERMISSION entry exists in the TNC.SYS file but the computer is
not listed. If the REMOTE.PERMISSION entry does not exist, then every
computer can access the control.
PR.LINESLOCKED = <line number>
You can write-protect line of the preset table. A write protection for
individual lines or entire areas in the preset table can now be set by an entry
of PR.LINESLOCKED = (e.g. PR.LINESLOCKED = 1,4-8,22 ). Write-protection
can be activated only for the first 255 lines of the preset table. Protected
lines are indicated in the editor by a different color.
Example:
If an M function is output, the NC sets the strobe signal M4072. After
evaluating the M function, you must first set the acknowledgement marker
M4092 and then reset it. The PLC must then reset the acknowledgment
marker, otherwise no further strobes can be sent by the NC.
Note
PLC messages that would terminate an NC strobe are only released once
all PLC functions that are only permitted during the strobe have been
completed.
If there is an emergency stop, current NC strobes are automatically
acknowledged by the NC, and in this case should not be acknowledged
additionally by the PLC.
Set Reset
M4075 Transfer active with FN19 NC NC
M4095 Acknowledgment of transfer with PLC PLC
FN19
M4570 Unit of measure for transfer with NC NC
FN19
0: mm
1: inches
D280 First numerical value from FN19 NC NC
D284 Second numerical value from FN19 NC NC
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1713
9.5.2 Data transfer PLC > NC program (Q-parameters)
Data transfer from the PLC to the NC program goes through Q parameters
Q100 to Q107, i.e., from the PLC you can overwrite Q parameters Q100 to
Q107:
In double word D528, enter the numerical value to be transferred.
In word W516, define the target parameter (0=Q100, 7=Q107).
Activate transfer with strobe marker M4131.
The iTNC transfers the values with the next strobe.
Set Reset
M4131 Activation of Q-parameter transfer to PLC NC
the NC; data from D258, Q number from
W516
D528 Double word with multiple function; PLC PLC
here data for transfer from PLC to NC
W516 Q no. 0-7 for numerical data transfer PLC PLC
PLC → NC
Q parameters in OEM cycles are only effective locally if the NC program of the
OEM cycle is saved in the *.CYC format, otherwise (*.H) the Q parameters are
effective globally.
Cycle 12 (PGM CALL) acts like CALL PGM, meaning the Q parameters are
effective globally.
Q parameters Effectiveness/Meaning
Q0 to Q99 Freely applicable parameters, as long as no
overlapping with SL cycles can occur, globally
effective for all programs stored in the TNC memory
Q100 to Q199 Parameters for special TNC functions
Q200 to Q1199 Parameters that are primarily used for cycles, globally
effective for all programs stored in the TNC memory
Q1199 to Q1399 Parameters that should primarily be used for OEM
cycles, and are globally effective for all programs
stored in the TNC memory. This may require
coordination with third-party suppliers.
Q1400 to Q1499 Reserved for OEM cycles (CALL-active)
Parameters that are primarily used for call-active OEM
cycles, and are globally effective for all programs that
are stored in the TNC memory.
QS parameters (the S stands for string) are also available on the TNC and
enable you to process texts. In principle, the same ranges are available for QS
parameters as for Q parameters (see table above).
Note
Some Q and QS parameters are always assigned the same data by the
TNC. For example, Q108 is always assigned the current tool radius
(please also note the list of preassigned Q parameters).
If you are using the parameters Q60 to Q99 in encoded OEM cycles,
define via MP7251 whether the parameters are only to be used locally in
the OEM cycles (.CYC file), or may be used globally.
With MP7300 you specify whether the TNC should reset Q parameters
at the end of the program, or if the values should be saved. Make sure
that this setting does not have any effect on Q-parameter programs!
Note that for the QS parameters the QS100 to QS199 range is reserved
for internal texts.
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1715
9.5.3 Data transfer NC program > NC (FN17: SYSWRITE)
You can use the FN17: SYSWRITE function particularly for OEM cycles if you
wish to overwrite certain NC data, e.g., an active basic rotation, from the NC
program. A group number, a system data number, and an index specify the
particular item of system data that you write: FN17: SYSWRITE IDxxxx NRxxxx
IDXxxxx = Qxxx or numerical value; comment. In the NC program you cannot
define function FN17 (soft keys: Q-parameter programming, special functions)
until you have entered the code number 555 343. After a control reset the
code number must be entered again if you want to program FN17. The iTNC
provides the following functions:
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1717
Group Group System data System data System datum
name number number index
ID.... NR.... IDX....
27 Tool no. Tool type for pocket table
28 Tool no. Maximum rpm NMAX
29 Tool no. PLC value P1
30 Tool no. PLC value P2
31 Tool no. PLC value P3
32 Tool no. Point angle for DRILL and CSINK
T-ANGLE
33 Tool no. Thread pitch for TAP
PITCH
Edit multiple-task tool
53 See FN 17-ID50 Tool no. Completely edit the data of a
multiple-task tool for all indexes.
Behaves like FN17-ID50, only that
here the same value is written to all
indexes.
7 – Completely disable all indexes of the
current multiple-task tool:
FN 17: SYSWRITE ID 53 NR7 = 1.0
Edit multiple-task tool
59 10 – Recalculation of the spindle speed by
means of the present tool radius from
TOOL.T if a cutting velocity is
programmed in the TOOL CALL
block. The spindle speed is entered in
the system datum that can be read
with FN18: SYSREAD ID60 NR3.
Coordinate transformations
210 1 – Basic rotation (manual)
3 – Active mirror axis
Bits 0 to 2 and 6 to 8:
Axes X, Y, Z and U, V, W
6 – Tilt working plane in Program Run
mode
(0 = inactive, –1 = active)
7 – Tilt working plane in Manual mode (0
= inactive, –1 = active)
Exchange tool axis
212 – – 0: Tool axis Z
1: Tool axis X
2: Tool axis Y
3: Tool axis from
TOOL CALL
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1719
Group Group System data System data System datum
name number number index
ID.... NR.... IDX....
TS touch trigger probe
350 10 – Tool axis
11 – Effective radius
12 – Effective length
13 – Calibration ring radius
14 1 Center offset (reference axis)
2 Center offset (minor axis)
15 – Direction of center offset
TT touch probe for tool measurement
350 20 1 Center in 1st axis
2 Center in 2nd axis
3 Center in 3rd axis
21 – Effective radius
22 1 Probing position 1 in axis X
2 Probing position 1 in axis Y
3 Probing position 1 in axis Z
23 1 Probing position 2 in axis X
2 Probing position 2 in axis Y
3 Probing position 2 in axis Z
24 1 Probing position 3 in axis X
2 Probing position 3 in axis Y
3 Probing position 3 in axis Z
25 1 Probing position 4 in axis X
2 Probing position 4 in axis Y
3 Probing position 4 in axis Z
Coordinate transformations
420 0 0 0 = globally effective
Write values into active datum table
500 Line Column Depends on MP7475
501 Line Column
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1721
Group Group System data System data System datum
name number number index
ID.... NR.... IDX....
0 1.0 Time in seconds after which the
teach-in cuts of the AFC are
automatically ended.
0: Function not active
0 3.0 Definition of reference power in [%]
of the rated power output of the
spindle
0 4.0 Monitoring of tool wear:
Definition of a monitoring limit in [%]
of the reference power. PLC Marker
4510 is set if the monitoring value is
exceeded.
0 5.0 Spindle load monitoring (cut-based):
Definition of a monitoring limit in [%]
of the reference power An NC stop is
triggered if the monitoring value is
exceeded.
Spindle load monitoring independent of cutting
622 Filter constant: 6.0 Spindle load monitoring (independent
1 to 60 ms of cutting):
Definition of monitoring limit in [%] of
the rated power output of the spindle.
An NC stop is triggered if the
monitoring value is exceeded.
Touch probe cycles
990 1 – Approach behavior:
0 = standard behavior
1 = effective radius, set-up clearance
is zero
2 – 0.0 = touch probe monitoring off,
M4057 not used
1.0 = touch probe monitoring on,
M4057 not used
2.0 = touch probe monitoring off,
M4057 used
3.0 = touch probe monitoring on,
M4057 used
3 – Place probe data of the manual
probing cycles into the tool table
6 – Touch probe cycle 3
0.0 = TS inputs at X112
1.0 = TT inputs at X112
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1723
Group Group System data System data System datum
name number number index
ID.... NR.... IDX....
PLC data
PLC data
Block transfer of up to 8 variables possible
Example, "Writing Q parameters to PLC markers":
FN 17: SYSWRITE ID2000 NR10 IDX880 = BLOCK Q1620 - Q1627
2000 10 Marker no. PLC marker
60 Byte no. PLC byte
70 Word no. PLC word
80 Double-word no. PLC double word
The function FN 17: SYSWRITE ID 2001 is identical to the function FN 17: SYSWRITE ID 2000, but it
makes it possible to exchange data between the NC program and the PLC without synchronization.
However, there are many constraints on using the function FN 17: SYSWRITE ID 2001, which are
difficult to estimate.
This new FN function (FN 17: SYSWRITE ID 2001) may only be used after consultation with
HEIDENHAIN.
2001 10 Marker no. PLC marker
60 Byte no. PLC byte
70 Word no. PLC word
80 Double-word no. PLC double word
90 Output marker Profibus operand output marker
no.
100 Output byte no. Profibus operand output byte
110 Output word no. Profibus operand output word
120 Output double Profibus operand output double word
word no.
Set PLC markers for tapping
2020 1 – Set PLC markers 4030 and 4031 for
tapping.
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1725
Group Group System data System data System datum
name number number index
ID.... NR.... IDX....
Cycle parameters
30 1 – Set-up clearance
2 – Hole depth / milling depth
3 – Infeed depth
4 – Feed rate for plunging
5 – First side length of pocket
6 – Second side length of pocket
7 – First side length of slot
8 – Second side length of slot
9 – Radius of circular pocket
10 – Feed rate for milling
11 – Rotational direction of the milling path
12 – Dwell time
13 – Thread pitch
14 – Finishing allowance
15 – Roughing angle
52 <no.> Interrogation whether Q-parameter
number <no.> contains a string or
numerical value:
0 = tool number
1 = tool name
Data from the tool table
50 1 Tool no. Tool length L
2 Tool no. Tool radius R
3 Tool no. Tool radius R2
4 Tool no. Oversize for tool length DL
5 Tool no. Tool radius oversize DR
6 Tool no. Tool radius oversize DR2
7 Tool no. Tool locked TL
0 = Not locked, 1 = Locked
8 Tool no. Number of the replacement tool RT
9 Tool no. Maximum tool age TIME1
10 Tool no. Maximum tool age TIME2
11 Tool no. Current tool age CUR. TIME
12 Tool no. PLC status
13 Tool no. Maximum tooth length LCUTS
14 Tool no. Maximum plunge angle ANGLE
15 Tool no. TT: Number of tool teeth CUT
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1727
Group Group System data System data System datum
name number number index
ID.... NR.... IDX....
Tool pocket
52 1 Tool number Pocket number P
2 Tool number Tool magazine number
File information
56 1 – Number of lines of the selected tool
table
2 Number of lines of the selected
datum table
3 No. of the 1st of Number of axes programmed in the
9 consecutive Q selected datum table (the function is
parameters for identical to FN18: SYSREAD ID990 NR3)
axes X, Y, Z, A,
B, C, U, V, W
4 – Number of rows in a freely definable
table that has been opened with
FN26: TABOPEN. The function returns
the value –1.0 if no table is open at
the time of reading.
Values programmed in TOOL CALL
60 1 – Tool number T
(the TNC 426/430 reads a tool index
as a decimal character)
2 – Active tool axis
0=X6=U
1=Y7=V
2=Z8=W
3 – Spindle speed S
4 – Oversize for tool length DL
5 – Tool radius oversize DR
6 – Automatic TOOL CALL
1 = Yes, 0 = No
7 – Tool radius oversize DR2
8 – Tool index
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1729
Group Group System data System data System datum
name number number index
ID.... NR.... IDX....
Coordinate transformations
210 1 – Basic rotation (manual)
2 – Programmed rotation
3 – Active mirror axis
Bits 0 to 2 and 6 to 8:
Axes X, Y, Z and U, V, W
4 1 Active scaling factor in X
2 Active scaling factor in Y
3 Active scaling factor in Z
7 Active scaling factor in U
8 Active scaling factor in V
9 Active scaling factor in W
5 1 3-D ROT A
2 3-D ROT B
3 3-D ROT C
6 – Tilt working plane in Program Run
mode (0 = inactive,
–1 = active)
7 – Tilt working plane in Manual mode (0
= inactive, –1 = active)
8 – Angle of misalignment between
spindle and tilted coordinate system
214 8 – Tolerance programmed with cycle 32
or MP1096
220 2 1 to 9 Current datum shift
(X, Y, Z, A, B, C,
U, V, W)
3 1 to 9 Difference between reference point
(X, Y, Z, A, B, C, and datum point
U, V, W)
4 1 to 9 Current PLC datum shift
(X, Y, Z, A, B, C,
U, V, W)
Traverse range
230 2 1 to 9 Negative software limit switches
(X, Y, Z, A, B, C,
U, V, W)
3 1 to 9 Positive software limit switches
(X, Y, Z, A, B, C,
U, V, W)
M128 active
280 1 – –1 = M128 (TCPM) active,
0 = M128 (TCPM) not active
2 – Feed rate programmed with M128
Tilting and swivel axes
290 1 – Rows of the active kinematics table
2 Number of the Values of the individual bits of the
bit active MP7500 (kinematics table or
machine parameters)
M144 active
310 144 – –1 = M144 active
0 = M144 not active
116 – <> 0 = M116 active
0 = M116 not active
128 – <> 0 = M128 active
0 = M128 inactive
System time on the control
320 1 0 Current system time on the control
TS touch trigger probe
350 10 – Tool axis
11 – Effective radius
12 – Effective length
13 – Calibration ring radius
14 1 Center offset (reference axis)
2 Center offset (minor axis)
15 – Direction of center offset with
respect to spindle 0°
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1731
Group Group System data System data System datum
name number number index
ID.... NR.... IDX....
TT touch probe for tool measurement
350 20 1 Center in 1st axis
2 Center in 2nd axis
3 Center in 3rd axis
21 – Effective radius
22 1 Probing position 1 in axis X
2 Probing position 1 in axis Y
3 Probing position 1 in axis Z
23 1 Probing position 2 in axis X
2 Probing position 2 in axis Y
3 Probing position 2 in axis Z
24 1 Probing position 3 in axis X
2 Probing position 3 in axis Y
3 Probing position 3 in axis Z
25 1 Probing position 4 in axis X
2 Probing position 4 in axis Y
3 Probing position 4 in axis Z
Datum from touch probe cycle
360 1 1 to 9 Last datum of a manual touch probe
(X, Y, Z, A, B, C, cycle, or last touch point from Cycle 0
U, V, W) without compensation of stylus
length, but with compensation of
stylus radius (workpiece coordinate
system)
2 1 to 9 Last reference point of a manual
(X, Y, Z, A, B, C, touch probe cycle, or last touch point
U, V, W) from Cycle 0 without stylus length or
stylus radius compensation (machine
coordinate system)
3 – Measurement result of touch probe
cycles 0 and 1 without probe radius or
length compensation
370 6 – Measurement result on the screen
Read values from active datum table
500 Line Column Read ACTUAL values (MP7475 = 0)
501 Line Column Read REF values (MP7475 = 1)
505 1 – 0 = no datum table selected
1 = datum table selected
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1733
Group Group System data System data System datum
name number number index
ID.... NR.... IDX....
Read machine statuses
590 1 1 to 9 "Variables" 1 to 9 can only be written
with FN17: SYSWRITE ID590 NR1.
Deletion depends on MP7300.
590 2 1 to 9 The "variables" for ID621.
(X, Y, Z, A, B, C, Independent of MP7300.
U, V, W)
590 3 1 to 9 The "variables" for ID621.
(X, Y, Z, A, B, C, Independent of a power failure.
U, V, W)
621 0 1 to 9 Start measurement of the dynamic
(X, Y, Z, A, B, C, load.
U, V, W)
630 0 1 to 175 You can explicitly determine whether
the SIK option given in IDX is set or
not.
1 = option is enabled
0 = option is not enabled
630 1 – It can be determined whether a
Feature Content Level (for upgrade
functions) is set, and which one.
–1 = no FCL is set
<No.> = FCL that is set
630 2 – Serial number of the SIK
–1 = no valid SIK in the system
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1735
Group Group System data System data System datum
name number number index
ID.... NR.... IDX....
PLC data (block transfer of up to 8 variables possible)
Example "Reading PLC markers to Q parameters":
FN 18: SYSREAD BLOCK Q1620 - Q1627 = ID2000 NR10 IDX880
2000 10 Marker no. PLC marker
20 Input no. PLC input
30 Output no. PLC output
40 Counter no. PLC counter
50 Timer no. PLC timer
60 Byte no. PLC byte
70 Word no. PLC word
80 Double-word no. PLC double word
90 Input byte no. Profibus operand input byte
100 Input word no. Profibus operand input word
110 Input double Profibus operand input double word
word no.
120 Output byte no. Profibus operand output byte
130 Output word no. Profibus operand output word
140 Output double Profibus operand output double word
word no.
Set Reset
D768 Value from MP4210.0 NC NC
D772 Value from MP4210.1 NC NC
D776 Value from MP4210.2 NC NC
D780 Value from MP4210.3 NC NC
D784 Value from MP4210.4 NC NC
D788 Value from MP4210.5 NC NC
D792 Value from MP4210.6 NC NC
D796 Value from MP4210.7 NC NC
D800 Value from MP4210.8 NC NC
D804 Value from MP4210.9 NC NC
D808 Value from MP4210.10 NC NC
D812 Value from MP4210.11 NC NC
D816 Value from MP4210.12 NC NC
D820 Value from MP4210.13 NC NC
D824 Value from MP4210.14 NC NC
D828 Value from MP4210.15 NC NC
D832 Value from MP4210.16 NC NC
D836 Value from MP4210.17 NC NC
D840 Value from MP4210.18 NC NC
D844 Value from MP4210.19 NC NC
D848 Value from MP4210.20 NC NC
D852 Value from MP4210.21 NC NC
D856 Value from MP4210.22 NC NC
D860 Value from MP4210.23 NC NC
D864 Value from MP4210.24 NC NC
D868 Value from MP4210.25 NC NC
D872 Value from MP4210.26 NC NC
D876 Value from MP4210.27 NC NC
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1737
Set Reset
D880 Value from MP4210.28 NC NC
D884 Value from MP4210.29 NC NC
D888 Value from MP4210.30 NC NC
D892 Value from MP4210.31 NC NC
D896 Value from MP4210.32 NC NC
D900 Value from MP4210.33 NC NC
D904 Value from MP4210.34 NC NC
D908 Value from MP4210.35 NC NC
D912 Value from MP4210.36 NC NC
D916 Value from MP4210.37 NC NC
D920 Value from MP4210.38 NC NC
D924 Value from MP4210.39 NC NC
D928 Value from MP4210.40 NC NC
D932 Value from MP4210.41 NC NC
D936 Value from MP4210.42 NC NC
D940 Value from MP4210.43 NC NC
D944 Value from MP4210.44 NC NC
D948 Value from MP4210.45 NC NC
D952 Value from MP4210.46 NC NC
D956 Value from MP4210.47 NC NC
W960 Value from MP4220.0 NC NC
W962 Value from MP4220.1 NC NC
W964 Value from MP4220.2 NC NC
W966 Value from MP4220.3 NC NC
W968 Value from MP4220.4 NC NC
W976 Value from MP4310.0 NC NC
W978 Value from MP4310.1 NC NC
W980 Value from MP4310.2 NC NC
W982 Value from MP4310.3 NC NC
W984 Value from MP4310.4 NC NC
W986 Value from MP4310.5 NC NC
W988 Value from MP4310.6 NC NC
W990 Value from MP4310.7 NC NC
W992 Value from MP4310.8 NC NC
W994 Value from MP4310.9 NC NC
M4300 - M4315 Value from MP4310.0 NC NC
M4316 - M4331 Value from MP4310.1 NC NC
M4332 - M4347 Value from MP4310.2 NC NC
M4348 - M4363 Value from MP4310.3 NC NC
M4364 - M4379 Value from MP4310.4 NC NC
M4380 - M4395 Value from MP4310.5 NC NC
M4396 - M4411 Value from MP4310.6 NC NC
M4412 - M4427 Value from MP4310.7 NC NC
M4428 - M4443 Value from MP4310.8 NC NC
M4444 - M4459 Value from MP4310.9 NC NC
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1739
9.5.6 Interrogate PLC operands in the NC program (FN20: WAIT FOR)
With FN20: WAIT FOR you can interrupt the NC program until the condition
programmed in the FN20 block is fulfilled. These conditions can be
comparisons of a PLC operand with a constant. Permitted PLC operands: M,
B, W, D, T, C, I, O and their symbolic operands
Operator Function
== Equal to
!= or <> Not equal to
< Less than
> Greater than
<= Less than or equal to
>= Greater than or equal to
If you enter no condition, the interruption will continue until the operand = 0.
Examples:
FN20: WAIT FOR I10==1
Continue the NC program if PLC input I10 is set.
FN20: WAIT FOR I10
Continue the NC program if PLC input I10 equals zero.
FN20: WAIT FOR B3000>250
Continue the NC program, if the content of B3000 is greater than 250.
FN20: WAIT FOR is processed in look-ahead, i.e. if a synchronization with real
time is necessary, then FN20: WAIT FOR SYNC must be programmed in the
preceding NC block. Look-ahead is then stopped, and FN20: WAIT FOR is not
performed until this block is actually reached in the NC program.
Examples with symbolic operands:
FN 20: WAIT FOR TASTENCODE == 3 instead of
FN 20: WAIT FOR W274 == 3
Relational operands can also be symbolic. Example:
FN 20: WAIT FOR MARKER_A == MARKER_B
READ FROM PLC With the READ FROM PLC KEY plain-language command, the value of a symbolic
KEY PLC operand or an absolute address of the currently active PLC program can
be read from within the NC program. The read value is stored in the
transferred Q parameter.
Proceed as follows to enter the READ FROM PLC KEY function on the iTNC 530
HSCI:
Select the Programming mode of operation
Select an existing NC program in the file manager or create a new NC
program.
Enter the MOD code number 555343.
Press the SPEC FCT key.
Press the PROGRAM FUNCTIONS soft key.
Press the PLC FUNCTIONS soft key (fourth level).
Press the READ FROM PLC soft key.
Command structure:
READ FROM PLC KEY [source] TO [target]
Note
The READ FROM PLC KEY command is run in look-ahead, meaning that the
control executes the command immediately instead of waiting until the NC
program has been executed up to the corresponding point. If a
synchronization with real time is necessary, then FN20: WAIT FOR SYNC
must be programmed in the preceding NC block. Look-ahead is then
stopped, and READ FROM PLC KEY is not performed until this block is actually
reached in the NC program.
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1741
Note
With the FN17: SYSWRITE ID13 NR3 function, you can define a label to which
the control will jump if an error occurs executing the command. The Access
to PLC variable has failed error message will be suppressed in this case.
Examples:
READ FROM PLC KEY "KG_kinematics_active" TO Q102
Reads the value of the KG_kinematics_active constant and stores the read
value in Q102.
READ FROM PLC KEY "WG_ParSet_active" TO Q100
Reads the value of the WG_ParSet_active symbolic PLC operand and stores
the read value in Q100.
READ FROM PLC KEY "ACHSEN::axis" TO Q105
Reads the value of the axis static PLC operand (= locally defined variable) from
the ACHSEN.SRC module and stores the value in Q105.
READ FROM PLC KEY "Test_Base\Test8001::ML_Test_RUNNING" TO Q106
Reads the value of the ML_Test_RUNNING static PLC operand (= locally defined
variable) from the Test_Base\Test8001.SRC module and stores the read value
in Q106.
WRITE TO PLC KEY With the WRITE TO PLC KEY plain-language command, you can write values to
symbolic PLC operands or an absolute address from within the NC program.
Proceed as follows to enter the WRITE TO PLC KEY function on the iTNC 530
HSCI:
Select the Programming mode of operation
Select an existing NC program in the file manager or create a new NC
program.
Enter the MOD code number 555343.
Press the SPEC FCT key.
Press the PROGRAM FUNCTIONS soft key.
Press the PLC FUNCTIONS soft key (fourth level).
Press the WRITE TO PLC soft key.
Command structure:
WRITE TO PLC KEY [target] [value]
Note
The WRITE TO PLC KEY command is run in look-ahead, meaning that the
control executes the command immediately instead of waiting until the NC
program has been executed up to the corresponding point. If a
synchronization with real time is necessary, then FN20: WAIT FOR SYNC
must be programmed in the preceding NC block. Look-ahead is then
stopped, and WRITE TO PLC KEY is not performed until this block is actually
reached in the NC program.
Note
With the FN17: SYSWRITE ID13 NR3 function, you can define a label to which
the control will jump if an error occurs executing the command. The Access
to PLC variable has failed error message will be suppressed in this case.
Examples:
WRITE TO PLC KEY "WG_ParSet_number" =+2
Writes the value 2 to WG_ParSet_number, e.g. for selecting an axis parameter
set
July 2013 9.5 Data Transfer NC > PLC, PLC > NC 1743
9.6 Operands
For byte addressing, every address is accessible; for word addressing, every
second address; and for double word addressing, every fourth from 0 to 9996.
The address parameter indicates the low byte of the word address (W) and the
lowest byte of the double-word address (D).
Markers, timers and counters are addressed with the corresponding code
letters M, T or C followed by the operand number (e.g. M500, T7, C18).
Set Reset
W522 Activate the high-speed PLC inputs PLC PLC
Bit 2: Fast PLC input defined in
MP4130.2
Bit 3: Fast PLC input defined in
MP4130.3
Bit 4: Fast PLC input defined in
MP4130.4
Bit 5: Fast PLC input defined in
MP4130.5
Set Reset
M4590 Status of fast PLC input from NC PLC
MP4130.2
M4591 Status of fast PLC input from NC PLC
MP4130.3
M4592 Status of fast PLC input from NC PLC
MP4130.4
M4593 Status fast PLC input from MP4130.5 NC PLC
Attention
HEIDENHAIN would like to point out the following information for the
processing of signals in the PLC:
For all PLC markers, the status 0 (not set) must be used as the safe
status. Only this way can the safety of a machine be ensured if the power
fails.
The following must be kept in mind for non-volatile markers:
Non-volatile markers, bytes, words and double words can also be deleted
(e.g. if the buffer battery is empty). In order to detect this state, we
recommend setting a flag marker in the non-volatile memory. Set this
marker once, at a time when it is ensured that all signals in the PLC are
valid.
This marker should be used as a reference in the PLC program. As long
as this marker is set, the non-volatile markers have not been deleted (e.g.
by an empty buffer battery or an error in the PLC). If this flag marker is
deleted, all non-volatile markers are invalid. An appropriate safety
reaction with an error message must occur if this happens.
In order to attain an optimum level of safety for your machine and the
operator, HEIDENHAIN recommends the combined use of these safety
measures.
In connection with this, a possibility for outputting the cause of the last PLC
run-time error was introduced. PLC word W1002 can be used to determine
the last PLC run-time error that led to the stop of PLC program execution.
If a PLC run-time error occurs, the generated error code is saved in W1002 and
simultaneously in the non-volatile memory of the control. When a new PLC
run-time error occurs, W1002 and the value in the non-volatile memory are
overwritten.
If the control is restarted or a PLC program start is triggered in some other
manner (by Compile, Restart PLC or acknowledgment of PLC run-time errors),
the value in W1002 regenerates itself via the information in the non-volatile
memory. Once the value has been entered in W1002 again, this information
is deleted from the non-volatile memory. This way the last PLC run-time error
is always available in W1002, even after the PLC is restarted. In addition, the
error code can already be seen in the PLC table as soon as the Power
interrupted status after the control has been restarted.
Command A command is the smallest unit of a PLC program. It consists of the operation
part and the operand part.
Examples
>NCPATH.NCEDIT:
The iTNC transfers the complete name and path of the file that is currently
selected in the editing mode.
>OEM.PLCMAIN:
The iTNC transfers the complete name and path of the PLC program that was
entered in the OEM.SYS file with the command PLCMAIN.
List of the logical names:
9.8.1 Overview
The following table provides an overview of all commands explained in this
chapter:
Set Reset
M4200 Overflow during multiplication NC PLC
Set Reset
M4201 Division by 0 NC PLC
Set Reset
M4202 Incorrectly executed modulo NC PLC
M500
OR
M501
AND O12
I0 OR
I1
9.8.39 OR [ ] (O[ ])
Syntax: O[ ] (OR [ ])
Operands: None
Action:
See example of command A[ ] (AND [ ])
Set Reset
M4200 Overflow during multiplication NC PLC
M4201 Division by 0 NC PLC
M4202 Incorrectly executed modulo NC PLC
M4203 Error status for PLC module NC NC/PLC
Instead of using the << K+1 command four times, simply use the << K+4
command.
Instead of using the >> K+1 command four times, simply use the >> K+4
command.
Example:
See PSW command.
Data stack for byte, word, double word and constant [bit]
31 ....................... 24 23 ....................... 16 15 ............................ 8 7 .............................. 0
x x x x x x x x x x x x x x x x x x x x x x x x B B B B B B B B
x x x x x x x x x x x x x x x x WWWWWWWW WWWWWWWW
D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D D
K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
Example:
See PSW command.
Example:
See PSW command.
Note
At the beginning of the PLC cycle the iTNC sets the index register to 0.
Assign the index register a defined value before using it in your program.
Note
Error and dialog Starting with software version 05, indexed access to error and dialog files is
files possible via the operands B/W/D.
In the example, a copy of S1 ("TEST" is loaded into S2, and S3 then contains
the string "TEST", but only starting from the 3rd character ("ST"). Also, indexed
access to error and dialog files is shown:
#define Ofs D100
#define Start D104
#define offset_dialog D108
#define offset_error D112
L S#"TEST"
= S1
L K1
= Ofs
L K2
= Start
=X
L S0[Ofs]
= S2
L S2^Start
= S3
L K5
= offset_dialog
L S#D10[offset_dialog]
= S0[offset_dialog]
L K6
= offset_error
L S#E10[offset_error]
= S0[offset_error]
EM
In the PLC program, you can also use operands for indexed access to string
operands. Until now, the index register had to be used. For example, see page
1820.
Example
String accumulator and string memory are volatile, which means that they are
erased by the iTNC when power is switched off. The operand "S" is available
for string processing. You can use the operand "S" with different arguments.
Logical Use the following procedure to compare two strings, depending on the
comparisons during argument:
string processing
Compare the string memory or immediate string, then the iTNC checks both
strings character by character. After the first character that does not fulfill
the condition of comparison, the control resets the logic accumulator. Then
the iTNC does not check the remaining characters. During a comparison, the
iTNC always uses the significance of the characters from the ASCII table.
This results, for example, in:
A<B
AA > A
If you have entered PLC error messages or PLC dialog texts in the
argument, the iTNC compares the position in the error-message file or
dialog file (0 to 2047), but not the actual text as in an immediate string.
The processing times depend on the length of the strings.
Final status:
Example L S"X-POS.:123"
= S0
PS K+0
PS K+1
CM 9070
PL W520
Set Reset
M4200 Overflow during multiplication NC PLC
M4201 Division by 0 NC PLC
M4202 Incorrectly executed modulo NC PLC
M4203 Error status for PLC module NC NC/PLC
M4204 Reserved for errors that the PLC NC NC
programmer would like to catch
The iTNC lists these markers separately in the submit job. This means that the
same markers can be edited simultaneously in the PLC run program without
changing the original markers. No exact times can be stated for the
commands for managing the submit queue.
Function STL
Load the content of input I10 into the logic L I10
accumulator
If logic accumulator = 0, jump to LBL 100. JPF 100
Interrogate the status of the submit program and RPLY B128
load it into the word accumulator.
If the word accumulator is not equal to 0, i.e., the <> K+0
submit program has already been transferred to the
NC for processing, set the logic accumulator to 1.
If logic accumulator =1, jump to LBL 100. JPT 100
Call submit program 300. SUBM 300
Save the identifier of the submit program in byte = B128
128.
Label LBL 100
Load the state of input I11 into the logic L I11
accumulator
If logic accumulator = 0, jump to LBL 110 (skip the JPF 110
program cancellation).
Cancel the submit program. CAN B128
Label LBL 110
Always insert submit programs, like any module, at the end of the main
program. In this case, the content of the submit program could be a display in
the PLC window that is realizable through permanently assigned PLC
modules.
List of events In the OEM.SYS file, enter the command PLCEVENTS= to enter the complete
name of an ASCII file in which you define the events. The entries in the event
file are listed line by line with the following syntax:
<Job name> ; <condition> ; <event mask>; [comment]
Event Function
<Job name> This name is identical with the label specified with
the spawn command. The iTNC evaluates only the
first 16 characters.
Process monitor In the PLC programming mode you can use the PROCESS MONITOR soft key
to open a status screen in which the iTNC displays all parallel processes,
including the process for the submit queue. In a time interval, which can be
set with the "+" and "–" soft keys, the iTNC displays:
The name of the process (TASKNAME)
The current status of the process (STATE)
• Executable (SCHED)
• Running (RUN+)
• Waiting for event (EVWAIT)
• Waiting for time period (TMWAIT)
• AND-gating of the bits in the event mask (AND)
• OR-gating of the bits in the event mask (OR)
The event mask (EVMASK)
The PLC module letting the process wait (MOD)
How often the process has changed contexts in the last time interval
(SCHED).
How much CPU time the processor has used from the defined time interval
(CPU(ms)). The iTNC also shows the distribution of CPU time in a bar chart
(RATIO).
Module 9260 Receive events and wait for events
Call the module only in a submit job or spawn job. The module enables a
spawn job or submit job to interrogate or wait for the occurrence of one or
more events. At the same time, the module triggers a change in context.
Markers 4200 to 4202 and 4204 have undefined changes after the module call.
If you transfer the value zero for the event mask, the iTNC returns all set
events without deleting them. Otherwise, in a call with a waiting period, the
iTNC returns all the requested events and deletes them. For a call without a
waiting period, the iTNC returns and deletes the events only if the condition is
met.
Symbolic operands of the PLC program can be used for PLC Module 9260 if
events were defined in a file and the token PLCEVENTS = in the OEM.SYS.
Function STL
Access value field with X = [0 to 3]. L KF VAL_FIELD [X]
Assign one of the constants to word W0. = W0
End of main program EM
Define the constants field. KFIELD VAL_FIELD
Constant to be loaded with X = 0 K+10
K+1
K$ABC
Constant to be loaded with X = 3 K–100000
End of the constants field. ENDK
The iTNC checks the access to constants fields in the same way as the writing
access for indexed operands. X can assume only positive values from 0 to
<Length of constants field –1>.
WHILEF WHILEF
ENDW ENDI
ENDI ENDW
The statements IFT, IFF, WHILET, WHILEF, ENDW, UNTILT and UNTILF
require a valid gating result in the logic accumulator. They conclude the
sequence of gating operations. The statements ELSE, ENDI and REPEAT
require that all previous operations sequences have been concluded.
Function STL
Load input I0 into the logic accumulator L I0
Run the following code if logic accumulator = 1 IFT
Program code for I0 = 1
Function STL
Assign the content of the logic accumulator to = M100
marker 100; conclusion of the previous commands
Repeat the following program code REPEAT
Program code to be run
Function STL
Function STL
Case command and operand; the internal address CASE B150
of the desired module must be saved in the
operand
Call module if operand content = 0 CM 100
Internal addressing from 0 to max. 127
Call module if operand content = 1 CM 200
Call module if operand content = 2 CM 201
Call module if operand content = 3 CM 202
Call module if operand content = 4 CM 203
Call module if operand content = 5 CM 204
Call module if operand content = 6 CM 300
End of the CASE statement ENDC
Function STL
Main program PLCMAIN.PLC
Link the file for spindle control. USES SPINDLE.PLC
Link the file for tool change. USES TCHANGE.PLC
Program code
Function STL
File for spindle control SPINDLE.PLC
Integrate file with general subroutines. USES PLCUPG.PLC
Program code
Function STL
File for tool change TCHANGE.PLC
Integrate file with general subroutines. USES PLCUPG.PLC
Program code
Function STL
File with general subroutines PLCUPG.PLC
Program code
Set Reset
M4203 Error status for PLC module NC NC/PLC
W1016 PLC module that was last processed NC NC
incorrectly
W1022 Error status of the last called PLC NC NC
module
10.1 Introduction
In addition to their Central Processing Unit (CPU), computer systems usually
include various peripheral devices.
A CPU is, for example:
PC
Control
Peripheral devices include:
Printers
Scanners
External storage devices, such as hard disks, floppy-disk drives or USB
memory sticks
Other computer systems
A data interface makes it possible for the CPU and its peripheral devices to
communicate.
The interfaces, which consist of physical links between the computer system
and the peripherals, need a transmission line and appropriate software in order
to transfer data between the individual units.
Standard interfaces include:
Ethernet
USB 1.1
RS-232-C/V.24 or
RS-422/V.11
The relationship between hardware and software, which fully defines an
interface, is illustrated by the following diagram:
The hardware in the diagram covers all the physical components, such as
Circuit design
Pin layout
Electrical characteristics
The software is the operating software, which includes, for example, the
drivers for the output modules.
Transmitter Receiver
0 MSB 0 0 MSB 0
1 1 1 1
1 1 1 1
0 0 0 0
1 1 1 1
0 0 0 0
1 1 1 1
1 LSB 1 1 LSB 1
0 1 1 0 1 0 1 1
Transmission length
Transmitter Receiver
0 MSB 0 0 0 MSB 0
1 1 1 1 1
1 1 1 1 1
0 0 0 0 0
1 1 1 1 1
0 0 0 0 0
1 1 1 1 1
1 LSB 1 1 1 LSB 1
Transmission length
Data coding A common code for data transfer is the ASCII code (American Standard Code
for Information Interchange), which codes all characters with seven bits. This
means that, in all, 27 = 128 characters are coded.
Example:
The letter "z" is represented by the following combination of bits:
1 1 1 1 0 1 0 = 122 dec = 7A hex
When the letter "z" is transmitted via a serial interface, the appropriate
characters are sent one after the other.
Character frame
Idle Idle
sate Start Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Parity 1 to 2 state
bit LSB MSB Bit Stop bits
Data bits
A start bit is transmitted before each data word. If the first bit of the data word
had the same value as the idle state, the receiver would not notice any
difference from the idle state.
After the start bit has been sent, the data word is transmitted, bit by bit,
starting with the LSB (Least Significant Bit). The MSB (Most Significant Bit) of
the data word is followed by the so-called parity bit in order to detect
transmission errors.
The character frame is concluded by one or two stop bits. The stop bits enable
the receiver to recognize the transmitter again before the start of the next
character.
Synchronization is repeated before each character and applies for one
character frame.
1
t B = ----------------------------------------------------------
transfer rate (bit/s)
For example, a transfer rate of 19 200 bps will have a bit duration of
tB = 52.083 µs.
1
t B = ---------------------------------------- = 52.083 µs
19200 (Bit/s)
The number of characters transmitted per second can be calculated from the
transfer rate and the transmission format:
Example:
With a transmission format of one start bit, 7 data bits, two stop bits and a data
transfer rate of 300 bps, exactly 30 characters per second will be transmitted.
300 (Bit/s)
characters per second = -------------------------------- = 30
1+7+2
Software Control of data transfer is achieved by control characters transmitted via the
handshaking data line.
Example: XON/XOFF method with the RS-232-C/V.24 interface
The meaning XON is assigned to control character DC1 and the meaning XOFF
to control character DC3. Before transmitting a character, the computer
checks whether the receiving unit is transmitting the XOFF character. If it is,
the computer delays transmission until it receives the character XON. XON
indicates that the connected unit is ready to receive further characters.
Software handshaking requires:
The data lines TxD and RxD (transmitted and received data)
A ground connection
General You can integrate the iTNC into your plant’s intranet or use a transposed cable
information to connect directly with a PC. The data transfer rate is dependent on the
amount of traffic at the time on the net. For information on the pin layout: See
"X26, X116: Ethernet interface RJ45-port" on page 325.
The iTNC requires an NFS server (Network File System) or a Windows PC
(SMB = Server Message Block) as the remote station. It must operate
according to the TCP/IP protocol principle.
Before networking, the TNC must be properly configured. Please discuss the
required settings with your network supervisor.
SMB signing HEIDENHAIN does not support SMB signing, which is a further development
from Microsoft as part of the CIFS (Common Internet File System). It is a
method for authentication, and is intended to thwart a "Man in the middle"
attack. In such an attack, computer C intrudes into a connection between
computers A and B. It then forces computer A to send all packages intended
for B to C instead, where the packages are modified before being passed on
to B.
The CIFS is not included with the HEIDENHAIN SMB driver. HEIDENHAIN
supports SMB, in the version familiar from Windows 2000, but not SMB
signing.
Danger
Option Meaning
Profile Here you can create or select a profile in which all settings shown in this
window are stored. HEIDENHAIN provides two standard profiles:
LAN-DHCP:
Settings for the standard TNC Ethernet interface, should work in a
standard company network.
MachineNet:
Settings for the second, optional Ethernet interface; for configuration of
the machine network (available on the MC 62xx).
Press the corresponding buttons to save, load and delete profiles.
Press the OK button to confirm the settings, or press the Cancel button to
reject the settings.
Option Meaning
Current configuration Information for your network specialist about the current configuration of
the Ethernet interface.
Reception/ Information for your network specialist about the received and
Transmission transmitted characters, packets and errors.
statistics
If Enable Concurrency VNC Focus is selected, the dialog window shown below
appears. This dialog makes it possible to refuse that the focus be given to the
requesting client. If this is not done, the focus will be given to the requesting
client after the specified time period has elapsed.
The PLC Modules 9286, 9287 and 9288 enable you to use the PLC program to
control the focus assignment.
Column Meaning
Name Host name of the device. If the device logs on to the DHCP server using a
host name, this name will be used. If the device does not report a name, the
standard name will be generated from the MAC address (all colons will be
replaced by hyphens). For DHCP devices, the device name can be
overwritten using the Properties button.
IP address The dynamically assigned IP address of the device in the internal network
MAC address The MAC address of the device in the internal network
Type For external devices, the type DHCP must be entered if they request a dynamic
IP address. Devices with static IP in the internal network are not shown
because these devices do not log on to the DHCP server.
Active If the device replies to an ICMP echo request (ping), a green dot is entered
here. If the device is not available or does not react, a red dot is entered.
Valid up to Time at which the validity of the IP address will expire without being
renewed. If you subtract the Lease Time from this time you can ascertain at
what time the device last booted or extended the validity of the IP address.
Column Meaning
Additional options Here you can enter the additional options.
Messages If you confirm the window with OK, the options entered are checked. If an
error is found, the error is described here and the window will not be closed.
If no error is found, the window will be closed. The window can always be
closed with Cancel. All changes are rejected in this case.
General disabling of
data access
Soft key Meaning
This soft key disables access to the control using the LSV2
protocol, via both the serial and the Ethernet interfaces. It can
be displayed in any operating mode with the MOD key.
The soft key is normally not shown. To display the soft key:
Enter the keyword REMOTE.LOCKSOFTKEYVISIBLE = YES in OEM.SYS.
Restricting access In the standard setting, the PLC partition can be accessed via the LSV2
to the PLC partition protocol using the code number 807667. To permit this access only with the
code number defined in OEM.SYS under PLCPASSWORD = (no longer with
807667):
Enter the keyword REMOTE.PLCPASSWORDNEEDED = YES in OEM.SYS.
Code number 807667 is used during machine backup and full backup with the
LSV2 protocol to access the PLC partition. To permit this access only with the
code number defined in OEM.SYS under PLCPASSWORD = (no longer with
807667):
Enter the keyword REMOTE.PLCPASSWORDFORCED = YES in OEM.SYS.
Note
The USB interface features "hot-plug capability." This means that you can
connect USB devices to the USB interface and remove them, without having
to shut down and then restart the control.
Transmission distance without hub: Up to 6 meters
Note
For greater transmission distances, you must use a USB hub after every six
meters in order to amplify the signal. You can use more than one hub for
one transmission distance. USB cables with a length of up to 36 meters
(with 6 integrated USB hubs) are available from HEIDENHAIN:
USB cable, ID 354 770-xx
These USB cables support USB 1.1 and USB 2.0
USB cable, ID 624 775-xx
The hubs integrated in the USB cable only support USB 1.1
X141, X142, X143, Pin layout for USB connection (Type A):
X144
USB connection (female) 4-pin Pin layout
1 +5 V
2 USBP–
3 USBP+
4 GND
Note
If USB components that are connected to one of the USB ports require
more than 0.5 A, a separate power supply becomes necessary for these
components. One possibility is the USB hub (USB 2.0) from HEIDENHAIN
(582 884-02).
If a USB hub is connected to one of the USB ports, the maximum permissible
length of the USB cable (ID 624 775-xx) is reduced to 20 m.
Setup The USB interface connects the USB peripheral devices with the USB host.
The topology of a USB connection may consist of several levels arranged in a
star configuration. Every level consists of a USB hub to which other USB
devices or hubs are connected in a star configuration. A maximum of 127 USB
devices can be connected to a USB host in this way.
Topology of the USB interface:
Functionality and USB uses packet-based communication over two differential data lines. This
signal designations reduces radiation and increases transmission reliability. USB provides
significantly higher data transfer rates than the parallel / Centronics, and serial
/ RS-232, RS-422 external interfaces:
USB full speed of up to 12 Mbps
USB low speed of up to 1.5 Mbps
Conventional interfaces, such as the RS-232, are more suitable for time-critical
applications because they are not based on packets which reduce the transfer
rate (in case of packets with only a few bytes) or delay transmission (when
collecting bytes for filling a packet).
USB data carriers The USB interface of the control allows for convenient and fast exchange of
on the control data. You can connect USB block devices, such as memory sticks, hard disks,
(Upgrade function – CD-ROM drives, to your control via the USB interface without having to reboot
FCL) the system. The data media can be accessed immediately after connection.
The control supports the following USB block devices:
Floppy disk drives with FAT/VFAT file system or ISO9660
Memory sticks with FAT/VFAT file system or ISO9660
Hard disks with FAT/VFAT file system or ISO9660
CD-ROM drives with FAT/VFAT file system or ISO9660
The control does not support USB devices with other file systems (e.g. NTFS).
If you try to connect such devices, the control will issue an error message.
Note
It should basically be possible to connect all USB block devices with the
above-mentioned file systems to the control. If you nevertheless
encounter problems, please contact HEIDENHAIN.
Please note that the "Automatic Update" function on the control with USB
data carriers is independent of the Feature Content Level.
These appear after the MORE FUNCTIONS soft key is pressed, if the USB
device was selected in the file manager. If the USB device is not selected,
then the iTNC only shows the soft key for connection.
Attention
In order to remove a USB data carrier, you must always press the
MORE FUNCTIONS and soft keys.
Data can be lost if the USB data carrier is removed from the control before
the appropriate soft key is pressed.
USB data carriers A variety of USB storage media from different manufacturers is available on
tested by the market. Numerous USB devices are supported by the control, but you
HEIDENHAIN should test them for proper functioning on the control before using them. It
(upgrade function) may happen in isolated cases that a USB device is not supported by the
control.
If the control detects a USB device during startup (only if it was switched on
with the main switch), which has a VFAT partition with one of the specified
volume names, the device is mounted and displayed with the name specified
in <Mountpoint:>, and not with the name USBn:.
If the device also has other partitions, the other partitions are ignored except
if they are also mounted with a volume name.
If a USB device with one of the indicated volume names is connected after the
control has started up, the device is mounted with the name USBn: as usual.
The new functionality does not become effective until the control is switched
off and then back on again.
The following settings can be defined in any ASCII file (e.g. Stickconfig.a):
<Volume>
Volume name of a USB device formatted with VFAT. If the name contains
blank spaces, the complete name must be enclosed between quotation
marks (" "). Also, the name must always be given in capital letters.
<Mountpoint>
Drive name under which the USB device is to be mounted (e.g. PLCSTICK:).
The last character of the name must be a colon. The name can have up to 8
characters (without colon).
<User>
User group for which the USB device is mounted and displayed. The
following user groups are possible:
• TNC:
The USB device can be used by the machine operator.
• OEM:
The USB device can only be used by the OEM (code number 807667,
PLC program, NC cycles).
• SYS:
The USB device can only be used by the HeROS system.
Connecting more than one USB device with the same volume name may
cause problems. When the control is started up, the first detected USB device
with the new drive name is mounted. As a result, it may occur that each time
the control is started up, another device with the same volume name is
mounted.
HEIDENHAIN therefore recommends using unique volume names that cannot
be confused (e.g. "JHK247G4"). On a PC with Windows operating system, the
volume name can be defined in the properties of the USB device.
Note
Transmitter Receiver
TxD RxD
RxD TxD
Transmission length
Note
Pin layout Keep in mind that there might be a difference between the pin layout of the
MC 42x(B) and the adapter block.
Communication Set both iTNCs to LSV2 protocol. The control from which you start the data
between iTNCs transmission is the master.
The PLC provides you with access to the data interfaces (EXT3).
Data bits With bit 0 you determine whether transmission is to be with seven or eight
data bits. Transmission with seven bits is normally used; for printer interfacing
eight bits are required.
Block Check With bit 1 you can ensure that the BCC is not interpreted as a control
Character (BCC) character.
On the iTNC, numbers less than $20 are defined as control characters. If
calculation of the BCC produces a number less than $20, then a blank space
is sent in addition immediately before <ETB>. The BCC will consequently
always be greater than $20 and cannot therefore be interpreted as a control
character.
Activating
RST + data output
+ CST
Input buffer
full
CST + + RST
Data Data Data
TxD + + RxD
Start
RxD + + TxD
RST + + CST
CST + + RST
TxD + + RxD
RxD + + TxD
Start
+ positive voltage level
negative voltage level
The DTR and DSR signals indicate the operational status of the iTNC and
peripheral device:
DTR: Interrogated by peripheral; it is logical one if iTNC is ready for service.
DSR: Interrogated by iTNC.
• HIGH level means: external data input/output ready.
• LOW level means: external data input/output not ready.
Note
Stop bits Bits 6 and 7 determine the number of stop bits sent at the end of a character.
Testing the If PLC Modules 910x transmit characters via the RS 232-/RS422 interface, the
connection control no longer checks if a connection is available if bit 10 is set to 1 in
MP5020.x.
Bit 8 and bit 9 in MP5020.x are reserved and currently have no function.
MP5020 Configuration of the data interface
Format: %xxxxxxxx
Input: Bit 0: 0 = 7 data bits, 1 = 8 data bits
Bit 1: 0 = any BCC, 1 = BCC not control character
Bit 2: 0 = transmission stop by RTS not active, 1 = active
Bit 3: 0 = transmission stop by DC3 not active, 1 = active
Bit 4: 0 = character parity even, 1 = odd
Bit 5: 0 = character parity not desired, 1 = desired
Bit 6 = 0, Bit 7 = 0: Length of the stop: 1.5 bits
Bit 6 = 1, Bit 7 = 0: Length of the stop: 2 bits
Bit 6 = 0, Bit 7 = 1: Length of the stop: 1 bit
Bit 6 = 1, Bit 7 = 1: Length of the stop: 1 bit
Bit 8 = reserved
Bit 9 = reserved
Bit 10: 0 = check for missing connection active
Bit 10: 1 = check for missing connection not active
MP5020.0 Operating mode EXT1
MP5020.1 Operating mode EXT2
MP5020.2 Operating mode EXT3 (PLC)
MP5020.3 Operating mode EXT4 (PLC)
Example The printer NEC P7 PLUS is to be configured with operating mode EXT1.
The parameters listed are preset by the printer (see the operating manual of
the printer concerned):
Serial interface
8 data bits
Even character parity
XON/XOFF protocol (software handshake)
9600 bps
The following settings are made at the iTNC:
Select MP5000 = 0.
Select MP5020.0 = %10101001.
Select MP5030.0 = 0.
General To set the standard data communication protocol in the operating modes
information EXT1/EXT2/EXT3/EXT4:
Select MP5030.x = 0.
When outputting a file, the <NUL> character is sent exactly 50 times at the
start of file. When reading in, however, the control unit ignores this character,
regardless of how often the peripheral sends the <NUL> character before the
file.
The program blocks are not checked for correctness but are transmitted one
after the other.
If you wish to signal an error to the iTNC in the standard data transmission
protocol, you must send the following sequence of instructions:
<ESC><1><Error number>
If the receiver's data buffer is full, the transmission can be stopped and
resumed in one of two ways:
Software handshaking
• Stop transfer by sending the character <DC3> (XOFF)
• Continue by transmitting the character <DC1> (XON)
Hardware handshaking
• By suitable levels on the control and signal lines RTS and CTS of
interfaces RS-232-C/V.24 or RS-422/V.11
Twelve characters before the receiving buffer is full, the iTNC transmits the
character <DC3> to the transmitter in order to terminate transmission.
Example: Protocol for conversational NC program
<NUL><NUL><NUL><NUL> 50 times
0 BEGIN PGM 1 MM<CR><LF> 1st program block
1 TOOL DEF 1 L+0 R+3<CR><LF> 2nd program block
26 END PGM 1 MM <CR><LF> End of program
... ...
<ETX><EOT> Close the data transmission menu
Load selected file The EXT1 operating mode is set with software handshake.
To transfer a file from a peripheral device:
Enter the file name in the iTNC.
The iTNC can:
Stop transmission with <DC3>
Resume transmission with <DC1>
If the file name in the first line and the name indicated in the iTNC are not
identical, the iTNC reads each block in and searches for the correct file name.
If the END PGM block has been read in, and the selected name is not known,
the iTNC remains static without an error message:
In this case, terminate transfer with the END key.
Header When a file is transferred, the first block—called the header—consists of the
following characters:
<SOH><K><Name><M><ETB><BCC><DC1>
Character Meaning
<SOH> Identifies the beginning of the header
<K> File code
<Name> File name
<M> Data transfer mode (E = input, A = output)
<ETB> Identifies the end of the header
<BCC> Block Check Character
<DC1> XON
Block Check In addition to checking the parity of the individual characters, the parity of the
Character (BCC) complete transferred block is also checked. The BCC always rounds the
individual bits of the transferred characters in a data transfer block to even
parity.
Example of BCC generation:
In this example, program 15, which has been written in HEIDENHAIN plain-
language text (H), is input through the data interface (E).
A parity bit is also generated for the BCC. With even parity, the parity bit in this
example is assigned the value 1.
Handshaking The character <DC1> (XON) follows the BCC. This character is required by
many devices to explicitly request the transmission once again from the
transmitter.
The <DC1> character is not required for reading in a file in the BCC format.
The transmitter waits and only resumes data transmission when the receiver
has transmitted a positive (ACK) or negative (NAK) acknowledgment to
indicate that the receiving buffer is ready.
To disable transmission of the <DC1> character in the EXT1, EXT2, EXT3 and
EXT4 modes:
Set MP5020.x bit 3 = 0.
Example:
To read out a pallet file with the name PPP to a peripheral device (e.g. FE 401).
Output selected
file
iTNC to peripheral Peripheral to iTNC
<SOH><K>Name<A><ETB>BCC <SOH><K>Name<A><ETB>BCC
<STX> "1st line"<ETB>BCC <ACK>
... ...
<STX> "last line"<ETB>BCC <DC1> <ACK>
<ETX><EOT>
Output marked Marked files are output in the same protocol as for outputting the selected
files files. After each file, the control characters <EXT><EOT> are sent to the
peripheral device.
Timeouts You can define your own times for timeouts in the system file OEM.SYS:
LSV2TIME0 = Timeout for receiving block STX to ETX (default 3 s)
LSV2TIME1 = Timeout for acknowledging ENQ or check sum (default 3 s)
LSV2TIME2 = Timeout when sending DLE 0, DLE 1 or NAK until a valid
character is received (default 1 s)
Input range: 0.001 to 3.6 s
Note
If the code words are not defined or if the input range is exceeded, the
default values are used.
Note
Files that have no code (-) can only be transmitted with the LSV2 protocol
of TNCremoNT.
10.10.1 Settings
PLC modules make it possible for the PLC to transfer data via the RS-232-C/
V.24 data interface. These modules, for example, permit communication
between two MC 6xxx at PLC level via the interface.
During data transfer, use of the interface is inhibited for the input/output
program of the user interface.
Select a standard operating mode, FE1 or
Configure the data interface with MP5020.x to MP5040.x in EXT3/EXT4
mode.
MP5040 Data transfer rate in operating mode EXT3 or EXT4 (data
transfer through PLC)
Input: 0: 110 bps
1: 150 bps
2: 300 bps
3: 600 bps
4: 1200 bps
5: 2400 bps
6: 4800 bps
7: 9600 bps
8: 19200 bps
9: 38400 bps
10: 57600 bps
11: 115200 bps
MP5040.0 Operating mode EXT3 (PLC)
MP5040.1 Operating mode EXT4 (PLC)
When transferring binary data starting from the address B126, the ASCII
characters <F> <A> <8> <1> etc. are transmitted in sequence from the word
memory through the interface. Each byte contains two ASCII characters. The
transmitting and receiving buffers each hold 63 bytes.
Note
Set MP5030.x = 2 so that the transmitted characters do not disturb the set
protocol procedure.
Define the characters in at least one word so that the values to 255 can be
recognized.
Note
Store the result in at least one word so that the values up to 255 will be
recognized.
Note
Note
Please pay attention to the Microsoft End User License Agreement (EULA),
which is included with your product and add it to your machine
documentation.
Note
Please pay attention to the Microsoft End User License Agreement (EULA),
which is included with your product and add it to your machine
documentation.
X125 Reserved
X601 Reserved
Protective ground Like
MC
6xxx
Attention
Note
Apart from that, the same operating conditions apply as for the MC 6xxx
main computer units.
X141 to X144: For commissioning and maintenance purposes, USB devices (for example
mouse and keyboards) can be attached to connectors X141 to X144.
Pin layout for USB 2.0 connection (Type A):
VNC access and The VNC server "Ultra VNC" is already installed on the IPC 6341. The password
screen resolution for connection to the VNC server is "123". Please change this password on the
IPC and TNC during commissioning. The settings are described in "Programs/
Ultra VNC".
The programs listed with the following connection types are already installed
on the IPC 6341 by the control:
VNC connection: UltraVNC Win32 Server 1.0.9.6.1
RDP connection: 32-bit Windows 7 Embedded Standard
NetShutdown connection: 32-bit Windows 7 Embedded Standard
Programs for the individual connection types are also preinstalled on the
control. The versions of the above-mentioned programs, and of those installed
on the control, may change with future software releases, when newer
versions of the respective program packages are installed. The versions listed
here are therefore meant as "at least version xxx".
The default screen resolution of the IPC 6341 is 1280 x 1024 pixels. If required
(BF 250), however, the resolution can be changed to 1024 x 748 pixels in the
Windows settings. To do so, right-click in the desktop of Windows 7 and
select the Screen Resolution menu item.
Optional
IPC 6341 X116 switch X116 MC 6xxx
198.168.254.3 198.168.254.2
Machine network
X26
X26
DHCP DHCP
Company network
To use the recommended configuration with the IPC 6341, configure the
Ethernet interface "eth1/X116" of the NC main computer with the
"MachineNet" profile that is already saved, and activate it. This gives the NC
main computer the IP address 198.168.254.2.
Note
You can set the VNC password under Authentication on the UltraVNC
Server Property Page.
Take over the changes with Apply and close the window with OK.
Restart the IPC to activate the changes.
Switch back to the control screen.
Open the Remote Desktop Manager and select the corresponding VNC
connection.
Right-click the VNC connection.
Select Edit Connection and change the VNC password here, as well.
After the IPC has rebooted, re-establish the connection with Start
Connection.
Error codes:
Codes K and L are shown only during transmission with the standard data
transmission protocol.
#
123 ............................................................................................................1265
531210 ......................................................................................................1265
555343 ......................................................................................................1265
688379 ......................................................................................................1265
75368 ................................................................................................890, 1265
807667 ......................................................................................................1265
857282 ......................................................................................................1265
95148 ........................................................................................................1265
A
Acceleration.................................................................................................812
Acceleration feedforward control ................................................................853
Accessories .........................................................................................123, 134
ACTION ...........................................................................................1374, 1386
Active Chatter Control (ACC).......................................................................699
Active damping............................................................................................852
Actual-to-nominal value transfer..................................................................847
Adapters for encoder signals...............................................................123, 304
ADD STRING (+)........................................................................................1823
ADDITION (+) ............................................................................................1787
Additional control loops .................................................................................83
Addressing of Operands............................................................................1747
ADVANCED SETUP...................................................................................1683
Advanced spindle interpolation ...................................................................991
AFC adaptive feed control .........................................................................1218
Analog axes .................................................................................................842
Analog inputs.............................................................................................1529
Analog nominal value output .......................................................................308
Analog outputs ..........................................................................................1529
AND (A) .....................................................................................................1775
AND NOT (AN) ..........................................................................................1777
Arc end-point tolerance .............................................................................1263
ASSIGN (=) ................................................................................................1767
ASSIGN BYTE (B=)....................................................................................1768
ASSIGN NOT (=N) .....................................................................................1770
ASSIGN TWO’S COMPLEMENT (=–) .......................................................1770
ASSIGN WORD (W=) ................................................................................1769
AUTOSTART..............................................................................................1215
Auxiliary cycles ..........................................................................................1258
Axes, algebraic sign.....................................................................................605
Axes, clamping ............................................................................................845
Axis coordinates, ascertaining...................................................................1150
Axis designation ..........................................................................................604
Axis display..................................................................................................603
Axis information, reading.............................................................................621
Axis keys IV and V .......................................................................................604
Axis selection ..............................................................................................603
Axis-error compensation .............................................................................647
AXISNUMBER =........................................................................................1701
C
Cable diameter ............................................................................................418
Cables, instructions for wiring.....................................................................418
Cables, specifications..................................................................................418
Calibrating..................................................................................................1543
Calibration data..........................................................................................1541
Calibration data blocks...............................................................................1541
Call Module (CM).......................................................................................1816
CALL MODULE IF FALSE (CMF) ..............................................................1817
CALL MODULE IF TRUE (CMT) ................................................................1816
Call submit (SUBM) ...................................................................................1832
Canceling a submit program (CAN) ...........................................................1833
CASE branch .............................................................................................1844
C-axis operation...........................................................................................987
CC 424 (B) .................................................................................................1067
CC 61xx .........................................................................................................84
Character set .............................................................................................1278
CHECK.......................................................................................................1374
Circular interpolation test ..........................................................................1003
CLOSEPLCWINDOW ................................................................................1377
CLOSEPOPUPMENU ................................................................................1376
E
Electromagnetic compatibility .....................................................................182
Electronic ID label......................................................................................1319
Emergency stop monitoring ........................................................................930
EMODE .............................................................................................382, 1376
ENABLE
........................................................................................................1376
Encoder monitoring .....................................................................................610
Encoder signals .........................................................................304, 608, 1069
Encoders ...................................................................................296, 606, 1109
END ...........................................................................................................1374
END OF MODULE (EM) ............................................................................1818
END OF MODULE IF FALSE (EMF) ..........................................................1818
END OF MODULE IF TRUE (EMT)............................................................1818
EnDat...........................................................................................................801
ENDSKMENU....................................................................................382, 1373
EQUAL TO (==).........................................................................................1793
EQUAL TO STRING (==) ...........................................................................1825
Error list .....................................................................................................1177
Error messages ...............................................................................1176, 1943
Error messages during data transmission .................................................1944
Error messages of the file system ............................................................1945
ESD precautions..........................................................................................183
Ethernet.....................................................................................................1863
EXCLUSIVE OR (XO) .................................................................................1783
EXCLUSIVE OR NOT (XON) ......................................................................1785
Expanded compensations ...........................................................................688
Expansion PL.................................................................................................90
EXTERN statement ...................................................................................1848
External reference pulse .............................................................................799
H
Handshaking..............................................................................................1862
Handwheel ........................................................................................383, 1502
Handwheels ................................................................................................106
Hard disk, checking ...................................................................................1690
Hard-disk organization ...............................................................................1689
HDL interface ..............................................................................................329
HDR.....................................................................................................195, 196
Heat generation...........................................................................................187
Heat sink temperature.................................................................................906
Help ...........................................................................................................1189
Help system, context-sensitive .................................................................1195
HeROS 5 .....................................................................................................172
Hirth coupling ............................................................................................1532
Holding torque.............................................................................................857
Housing fan, MC/CC....................................................................................907
HR 130 ......................................................................................111, 413, 1510
HR 150 ..............................................................................................112, 1524
HR 410 ......................................................................106, 108, 383, 411, 1510
HR 410FS ....................................................................................................106
HR 420 ..............................................................................................411, 1513
HR 520 ..............................................................................................383, 1516
HR 520FS ....................................................................................................106
HR 550FS ..........................................................................................393, 1518
HR 550FS handwheel with wireless transmission......................................393
HR 550FS wireless handwheel .................................................................1518
HR 5xx.........................................................................................................106
HRA 110 ....................................................................................112, 414, 1524
HROOT..............................................................................................382, 1376
HSCI configuration ..............................................................................169, 291
HSCI diagnosis ..........................................................................................1322
J
Jerk..............................................................................................................812
Jog increment ...........................................................................................1530
JUMP (JP) .................................................................................................1814
JUMP IF FALSE (JPF)................................................................................1815
JUMP IF TRUE (JPT) .................................................................................1815
K
Key symbols ................................................................................................114
Keyboard unit, TE 6xx....................................................................................96
Keystroke simulation .................................................................................1392
KINEMATIC ...............................................................................................1265
KINEMATIC =............................................................................................1702
Kinematics...................................................................................................714
Kinematics, assignment table .....................................................................718
Kinematics, definition table .......................................................................1442
Kinematics, description table ......................................................................720
Kinematics, PLC ..........................................................................................731
Kinematics, SUBFILE ..................................................................................727
Kinematics, table overview .........................................................................715
Kinematics, TOOLFILE ................................................................................725
KinematicsComp .........................................................................................664
KinematicsDesign......................................................................................1488
KinematicsOpt.............................................................................................746
M
M functions .....................................................................................1157, 1251
M06 ...........................................................................................................1256
M103 .........................................................................................................1256
M112 ...........................................................................................................893
M114 ...........................................................................................................770
M124 ...........................................................................................................893
M128 ...................................................................................................771, 831
M134 .........................................................................................................1257
M144/M145.................................................................................................775
M150 ...........................................................................................................629
M200 .........................................................................................................1561
M201 .........................................................................................................1561
M202 .........................................................................................................1562
O
OEM log ....................................................................................................1288
OEM logo ..................................................................................................1260
OEM.SYS ..................................................................................................1701
OEMCYC.ZIPNAME =...............................................................................1704
Offset adjustment .......................................................................................890
Offset of tilting axes....................................................................................701
Open-loop axes, inclined milling..................................................................776
Open-loop axes, tilting.................................................................................776
Operands...................................................................................................1744
Operating modes...............................................................................980, 1165
Operating system........................................................................................172
Operating times.........................................................................................1169
Options..........................................................................................................83
Options for the OEM...................................................................................149
Options, enabling ........................................................................................140
Options, overview .......................................................................................136
Options, temporary enabling .......................................................................147
OR (O) .......................................................................................................1779
OR NOT (ON) ............................................................................................1781
ORDER = PRIO .........................................................................................1250
Oriented spindle stop ........................................................................968, 1553
Oscilloscope ................................................................................................992
Oscilloscope recording, saving/loading .....................................................1000
OVERWRITE STRING (OVWR)..................................................................1824
R
Radial acceleration.......................................................................................891
RADIO .......................................................................................................1374
Radio environment ......................................................................................405
Radio transmission ......................................................................................396
Radius compensation ................................................................................1264
Rapid traverse .............................................................................................839
Reactor ......................................................................................................1012
READ FROM PLC KEY ..............................................................................1741
Reference end position ...............................................................................800
Reference mark...........................................................................................796
Reference pulse ..........................................................................................799
Reference-point setting with PLANE and Hirth axes ..................................763
REMAIN = OUTPUT..................................................................................1249
REMAINDER (MOD) .................................................................................1791
Remote Desktop Manager ........................................................................1338
REMOTE.LOCKSOFTKEYVISIBLE = .........................................................1705
REMOTE.PLCPASSWORDFORCED =......................................................1705
REMOTE.PLCPASSWORDNEEDED =......................................................1705
REMOTE.TIMEKEEPIDLE =......................................................................1706
REPEAT...UNTIL........................................................................................1843
Replacement tool ......................................................................................1594
RESET (R) ..................................................................................................1772
RESET NOT (RN) .......................................................................................1774
Returning to the contour ...........................................................................1244
Reversal spikes ...........................................................................................661
Rigid tapping................................................................................................977
Rotary axes........................................................................................605, 1149
RUNTCH = ................................................................................................1706
S
S code .........................................................................................................966
Safety precautions.......................................................................................181
Safety zone................................................................................................1554
Scaling factor.............................................................................................1243
Screen logo ...............................................................................................1260
Screen mask..............................................................................................1369
Screen saver..............................................................................................1337
SE 640 .........................................................................................................120
Secondary linear axes..................................................................................606
SELinux .......................................................................................................175
Series reactor ............................................................................................1012
Service file.................................................................................................1185
Service pack ................................................................................................167
SERVICE.REQUEST.CONTENT = .............................................................1706
SERVICE.REQUEST.HOST = ....................................................................1706
SERVICE.REQUEST.PERIOD =.................................................................1706
SERVICE.REQUEST.PORT =.....................................................................1706
SERVICE.REQUEST.TIMEOUT = ..............................................................1706
T
TABCMA = ................................................................................................1707
Table..........................................................................................................1676
Tapping with floating tap holder ..................................................................974
TCHRULES =.............................................................................................1707
TCPM ..........................................................................................................771
TDEFGROUP =..........................................................................................1250
TE 635Q ......................................................................................................359
TE 645Q ......................................................................................................360
TE 6xx............................................................................................................96
TE 740 .........................................................................................364, 367, 370
TE 745 .........................................................................................................373
Temperature monitoring..............................................................................904
Temperature sensor ..................................................................................1125
Temporary input values ...................................................................1020, 1022
Thermal expansion ......................................................................................659
Thermal expansion of tilting axes................................................................741
Tilting and swivel axes ................................................................................701
Tilting axis combination ...............................................................................765
Timer .........................................................................................................1748
TNC partition .............................................................................................1689
TNC.SYS....................................................................................................1712
TNCguide...................................................................................................1195
TNCopt ......................................................................................................1023
TNCOPT.LOCKSOFTKEYVISIBLE = ..........................................................1707
Tool axis ............................................................................................622, 1148
Tool breakage ............................................................................................1559
TOOL CALL ...............................................................................................1603
V
Variable download .....................................................................................1734
Variable names ..........................................................................................1360
Velocity........................................................................................................812
Virtual tool axis ............................................................................................776
Virtual tool axis (VT) .....................................................................................772
Visual display units, BF 2xx .........................................................................101
VNC settings .............................................................................................1879
Voltage protection module ..........................................................................880
Volts-per-hertz control mode .......................................................................967
VROOT ..............................................................................................382, 1376
W
WAIT FOR SYNC.............................................................................1710, 1740
WATCH LIST .............................................................................................1671
Weakened field operation ...........................................................................880
Weakened-field operation, CC424 settings...............................................1103
WHILE...ENDW .........................................................................................1844
Window manager (XFCE) ..........................................................................1332
Windows 2000/XP.....................................................................................1931
Working plane, tilting...................................................................................761
WRITE TO KINEMATIC ...............................................................................733
WRITE TO PLC KEY ..................................................................................1742
Wye-delta connection switchover ...............................................................980