Siemens Simodrive 611 D Users Manual

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SINUMERIK 840C
SIMODRIVE 611-D
Installation Guide

09.2001 Edition

Installation Instructions

Service Documentation

SINUMERIK 840C
SIMODRIVE 611-D
Installation Instructions

Installation Guide

SINUMERIK 840C/CE Control
Standard/Export Version

SIMODRIVE 611-D Drive

Software Version

Software Version

1.x
2.x
3.x
4.x
5.x
6.x

1.x
2.x
3.x
4.x

09.2001 Edition

SINUMERIK® documentation
Printing history
Brief details of this edition and previous editions are listed below.
The status of each edition is shown by the code in the ”Remarks” column.
Status code in ”Remarks” column:
A . . . New documentation.
B . . . Unrevised reprint with new Order No.
C . . . Revised edition with new status.
If factual changes have been made on the page since the last edition, this is
indicated by a new edition coding in the header on that page.

Edition

Order No.

Remarks

11.92

6FC5197-0AA50-1BP0

A

06.93

6FC5197-2AA50-0BP0

C

12.93

6FC5197-3AA50-0BP0

C

10.94

6FC5197-4AA50-0BP0

C

03.95

6FC5197-4AA50-0BP1

C

09.95

6FC5197-5AA50-0BP0

C

04.96

6FC5197-5AA50-0BP1

C

08.96

6FC5197-5AA50-0BP2

C

07.97

6FC5197-6AA50-0BP0

C

01.99

6FC5197-6AA50-0BP1

C

09.01

6FC5197-6AA50-0BP2

C

This manual is included in the documentation available on CD-ROM (DOCONCD)
Edition
Order No.
Remarks
10.01
6FC5198-6CA00-0BG2
C
Trademarks
SIMATIC®, SIMATIC HMI®, SIMATIC NET®, SIROTEC®, SINUMERIK® and SIMODRIVE® are trademarks of Siemens AG. All other product and system names are registered trademarks of their
respective companies and must be treated accordingly.

You will find further information in the Internet under:
http://www.ad.siemens.de/sinumerik
This publication was produced on the Siemens 5800 Office
System and with Interleaf 7.
The reproduction, transmission or use of this document or its
contents is not permitted without express written authority.
Offenders will be liable for damages. All rights, including
rights
created by patent grant or registration of a utility model or
design, are reserved.

Other functions not described in this documentation might be
executable in the control. This does not, however, represent an
obligation to supply such functions with a new control or when
servicing.
We have checked that the contents of this publication agree with
the hardware and software described herein. The information given
in this publication is reviewed at regular intervals and any
corrections that might be necessary are made in the subsequent
printings. Suggestions for improvement are welcome at all times.
Subject to change without prior notice.

© Siemens AG 1993-2001
All Rights Reserved

Order No. 6FC5197-6AA50-0BP2
Printed in the Federal Republic of Germany

Siemens-Aktiengesellschaft

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Preliminary Remarks
Notes for the reader

This manual is intended for manufacturers of machine tools who use SINUMERIK 840C.

The "Installation Instructions" discuss the installation and start-up procedures, from installation
of the system through the testing of the most important functions.

The SINUMERIK 840C Installation Guide is divided into two separate manuals:

•
•

•

•
•
•
840C Installation Instructions
840C Installation Lists

The supplementary manual, which is entitled "SINUMERIK 840, Installation Lists", provides
additional aids in the form of lists and detailed information on NC and PLC machine data and
setting data, as well as lists of control and programmer alarms.

The manufacturer documentation for the SINUMERIK 840C control is divided into the
following parts:
Interface
Part 1: Signals
Part 2: Connection Conditions
Planning Guide PLC 135 WB/WB2/WD
Function Macros
Function Blocks
Package 0: Basic Functions
Package 1: Tool Management
Package 4/5: Computer Link
Package 7: Code Carrier
Package 8: PLC-controlled Data Input/Output

Additional SINUMERIK publications which are valid for all SINUMERIK controls may also be
consulted (e.g. Universal Interface, Measuring Cycles, CL800 Cycle Language).

Please contact your local SIEMENS office for further details.

Technical notes

A new Installation Guide is required for each new software version. Old Installation Guides can
be used only in part for new software versions.

As from software version 4, please refer to the Installation Lists manual
for a description of the alarms (Monitoring section).
This manual is valid for software versions 1, 2, 3, 4, 5 and 6.
As from software version 3, the data relevant to SIMODRIVE 611-D
is also provided.

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Safety notes

DANGER

This warning notice means that loss of life, severe personal injury or
substantial material damage will result if the appropriate precautions
are not taken.

WARNING

This warning notice means that loss of life, severe personal injury or
substantial material damage can result if the appropriate precautions
are not taken.

CAUTION

This warning notice (with warning triangle) means that a minor
personal injury can result if the appropriate precautions are not taken.

CAUTION

This warning notice (without warning triangle) means that a material
damage can result if the appropriate precautions are not taken.

NOTICE

This warning notice means that an undesired event or an undesired
state can result if the appropriate notices are not observed.

Prerequisites and Visual Inspection

1

General Reset and Standard Start-up

2

PLC Installation

3

MMC Area Diagnosis

4

Machine Data Dialog (MDD - as from SW 3)

5

NC Machine Data (NC MD), NC Setting Data (NC SD)

6

Drive Machine Data (SIMODRIVE Drive MD)

7

PLC Machine Data (PLC MD)

8

Drive Servo Start-Up Application (as from SW 3)

9

Axis and Spindle Installation

10

Data Backup/CPU Replacement

11

Functional Descriptions

12

Index

13

Contents

1

Prerequisites and Visual Inspection

......................

1.1
1.2
1.2.1
1.2.2
1.2.3
1.2.4
1.2.5
1.2.6
1.2.7
1.2.8
1.2.9
1.2.10
1.2.11
1.2.12
1.3
1.4
1.5
1.5.1
1.6

Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Visual inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Information on module handling . . . . . . . . . . . . . . . . . . . . . . . . . . .
Grounding system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable laying . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interference suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operator panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overall state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jumpering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position control, input and measuring system resolution . . . . . . . . . .
Input units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Standard/Export version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation Checklist 840C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Voltage and functional tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Self-test and system start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Loading data into the NCK on starting up the control (as from SW 2)

2

General Reset and Standard Start-Up

2.1
2.1.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2.10
2.11
2.12
2.13
2.14

First installation and start-up of control (as from SW 3)
..........
Erasing the S-RAM area of the NCK (as from SW 6) . . . . . . . . . . . .
Standard installation and start-up as flowchart (as from SW 3) . . . . .
Select general reset mode (as from SW 3) . . . . . . . . . . . . . . . . . . .
General reset (as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Memory configuration (as from SW 3)
......................
Loading machine data (as from SW 3) . . . . . . . . . . . . . . . . . . . . . .
Deselect general reset mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Standard installation short version (up to SW 2)
...............
General reset (up to SW 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Standard installation and start-up as flowchart (up to SW 2 only) . . . .
Enter PLC machine data (up to SW 2 only) . . . . . . . . . . . . . . . . . . .
Enter NC machine data (up to SW 2 only)
...................
Axis installation (simplified, up to SW 2 only) . . . . . . . . . . . . . . . . . .
Spindle installation (Example: one spindle, up to SW 2 only) . . . . . . .

3

PLC Installation

3.1
3.2
3.3
3.4
3.5
3.5.1
3.5.2
3.5.3
3.5.4
3.5.5
3.6

General remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PG function via MMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC general reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Procedure for starting up the PLC . . . . . . . . . . . . . . . . . . . . . . . . .
PLC diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System initialization program . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ISTACK, detailed error coding . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Timeout analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Procedure for error search after PLC stop
...................

.....................

.....................................

1–1
1–1
1–1
1–2
1–3
1–3
1–3
1–4
1–4
1–4
1–4
1–4
1–5
1–5
1–5
1–6
1–7
1–9
1–9
1–11

2–1
2–1
2–1
2–2
2–3
2–4
2–6
2–8
2–10
2–11
2–13
2–15
2–16
2–17
2–18
2–19
3–1
3–1
3–2
3–5
3–5
3–8
3–8
3–9
3–10
3–11
3–13
3–13

4

MMC Area Diagnosis

4.1
4.1.1
4.1.2
4.1.3
4.1.4

General notes/Overviews . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Simplified switchover between languages (as from SW 5) . . . . . . . . .
Printing screen hardcopies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selection of the Diagnosis area . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2
4.2.1
4.2.2

NC Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selection of service data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service data for the spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–8
4–10
4–11

4.3

Drive service displays for spindle (MSD) and axis (FDD) - (as from SW 3)

4–12

4.4
4.4.1
4.4.2
4.4.2.1
4.4.2.2
4.4.2.3
4.4.2.4
4.4.3
4.4.3.1
4.4.3.2
4.4.3.3

PC data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Copying and editing PC data . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration file CONFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Keywords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Value ranges and default values . . . . . . . . . . . . . . . . . . . . . . . . . . .
Format for log masks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reduce number of accesses to the hard disk (HD)
.............
BEDCONF configuration file . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration file BEDCONF in directory Operation/Basic Setting . . .
Configuration file BEDCONF in directory OPERATION/PROGRAM . .
Configuration file BEDCONF in directory Operation/DIAGNOSIS . . . .

4–21
4–22
4–25
4–26
4–27
4–28
4–29
4–30
4–31
4–36
4–37

4.4.4
4.4.4.1
4.4.4.2

4–38
4–38

4.4.4.3

Color definition tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10” color display (up to SW 4.4) 6FC5 103-0AB 2-0AA0
........
New 19” operator panel as from SW 4.5(5)
6FC5 103-0AB - AA1
...............................
Defining individual color tables (as from SW 5.4) . . . . . . . . . . . . . . .

4–41
4–43

4.4.5

Color mapping lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–44

4.4.6
4.4.6.1
4.4.6.2

Color settings for monochrome display . . . . . . . . . . . . . . . . . . . . . .
10” monochrome display (up to SW 4.4) 6FC5 103-0AB 2-0AA0
..
9.5” monochrome display (as from SW 4.5)
..................

4–47
4–47
4–47

4.4.7

Cycles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–48

4.5

Activating options (as from SW 3)

4–49

4.6

BACKUP with Valitek streamer/PC link

4.7

Customer UMS

4.8
4.8.1
4.8.2
4.8.3

Functions up to SW 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NC data management (up to SW 2) . . . . . . . . . . . . . . . . . . . . . . . .
PLC data (up to SW 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PCF files (up to SW 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–56
4–56
4–59
4–60

4.9

Equivalent keys on the PC keyboard and the operator panel

4–65

5

Machine Data Dialog (MDD - as from SW 3)

5.1
5.1.1
5.1.2

General remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General notes on operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fast switching between MDD and service display
(as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2
5.2.1
5.2.2
5.2.3
5.2.4
5.2.5

.................................

.........................
......................

......................................

.......

................

NC configuration and NC machine data (as from SW 3) . . . . . . . . . .
NC configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NC machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setpoint-Actual value matching for axes and spindles . . . . . . . . . . . .
Measuring system adaptation for axes and spindles (as from SW 4) .
Copying a complete machine data block (as from SW 5.6) . . . . . . . .

4–1
4–1
4–1
4–2
4–3
4–4

4–50
4–55

5–1
5–1
5–4
5–7
5–9
5–9
5–11
5–14
5–15
5–17

5.3
5.3.1
5.3.2

PLC configuration and PLC machine data (as from SW 3) . . . . . . . .
PLC configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–18
5–18
5–20

5.4
5.4.1
5.4.2
5.4.3

Drive configuration and drive machine data (as from SW 3)
.......
Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive machine data for axes (FDD) and spindles (MSD) . . . . . . . . . .
Axis/spindle start-up for the digital drive (as from SW 3) . . . . . . . . . .

5–22
5–22
5–23
5–24

5.5

Cycles machine data (as from SW 3)

5–27

5.6

IKA data (interpolation and compensation with tables - as from SW 3)

5–28

5.7
5.7.1

User displays (as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edit list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–30
5–31

5.8
5.8.1
5.8.2

File functions (as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1st level: Machine configuration (as from SW 3)
...............
2nd level: Configuring the individual machine data areas
(as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3rd level: Configuring withing the machine data areas of
individual machine data displays (as from SW 3) . . . . . . . . . . . . . . .
File functions (sequence of operation - as from SW 3) . . . . . . . . . . .
1st level: File functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2nd level: File functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3rd level: File functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–33
5–33

5.8.3
5.8.4
5.8.4.1
5.8.4.2
5.8.4.3
5.9
5.9.1
5.9.2
5.9.3

.......................

5–34
5–35
5–37
5–37
5–38
5–40

5.10
5.10.1
5.10.2
5.10.3
5.10.4

Procedure for altering configurations . . . . . . . . . . . . . . . . . . . . . . .
Standard installation of digital drives (as from SW 3) . . . . . . . . . . . .
Adding a 1-axis FDD module (as from SW 3) . . . . . . . . . . . . . . . . .
Replacing a 1-axis FDD module with a 2-axis FDD module
(as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Replacing a 2-axis FDD module (9/18 A) with a
2-axis FDD module (18/36 A) - (as from SW 3) . . . . . . . . . . . . . . . .
Drive active or passive (as from SW 3) . . . . . . . . . . . . . . . . . . . . . .
Using a new motor type (as from SW 3) . . . . . . . . . . . . . . . . . . . . .
Reinstallation of existing and new drive components using the
existing drive files (TEA3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Additional information when altering the configuration
(as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring the MDD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Practical example for user adaptation list display . . . . . . . . . . . . . . .
Configuring the parameter set switchover in the list display . . . . . . . .
Printing the list module data (as from SW 5) . . . . . . . . . . . . . . . . . .

6

NC Machine Data (NC MD) NC Setting Data (NC SD)

.........

6–1

6.1
6.1.1
6.1.2
6.1.3
6.1.4
6.2
6.3
6.4
6.5
6.6
6.6.1
6.6.2
6.6.3
6.6.4
6.6.5

NC machine data (NC MD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Entering NC machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NC configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Breakdown of NC MDs/drive machine data . . . . . . . . . . . . . . . . . . .
General machine data (general data) . . . . . . . . . . . . . . . . . . . . . . .
Channel-specific MD (channel data) . . . . . . . . . . . . . . . . . . . . . . . .
Axis-specific MD 1 (axial data 1) . . . . . . . . . . . . . . . . . . . . . . . . . .
Spindle-specific MD (spindle data) . . . . . . . . . . . . . . . . . . . . . . . . .
Machine data bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General MD bits (general bits) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Spindle-specific MD bits (spindle bits)
......................
Channel-specific MD bits 1 (channel bits) . . . . . . . . . . . . . . . . . . . .
Axis-specific MD bits 1 (axial bits 1) . . . . . . . . . . . . . . . . . . . . . . . .
Leadscrew error compensation bits (compensation flags) . . . . . . . . .

6–1
6–1
6–2
6–3
6–5
6–6
6–31
6–36
6–65
6–85
6–85
6–124
6–136
6–144
6–154

5.9.4
5.9.5
5.9.6
5.9.7
5.9.8

5–42
5–42
5–44
5–45
5–46
5–47
5–48
5–49
5–50
5–51
5–51
5–53
5–55
5–57

6.6.6
6.7
6.7.1
6.8
6.9
6.9.1
6.10
6.11
6.12
6.12.1
6.13

Channel-specific MD bits 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis-specific MD 2 (axial data 2) . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis-specific MD bits 2 (axial bits 2) . . . . . . . . . . . . . . . . . . . . . . . .
MDs for multi-channel display . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MDs for parameter set switchover . . . . . . . . . . . . . . . . . . . . . . . . .
MDs for collision monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MDs for flexible memory configuration . . . . . . . . . . . . . . . . . . . . . .
Safety Integrated (SI) data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NC setting data (NC SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cycles machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7

Drive Machine Data (SIMODRIVE Drive MD)

7.1
7.1.1
7.1.2
7.2
7.2.1
7.2.2
7.3
7.3.1
7.3.2
7.4
7.4.1
7.4.2
7.4.3
7.5

611A main spindle drive machine data (MSD MD) (SW 3)
........
MSD MD input (SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MSD MD (data description - SW 3) . . . . . . . . . . . . . . . . . . . . . . . .
611D feed drive machine data (SW 3) . . . . . . . . . . . . . . . . . . . . . .
FDD MD input (SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FDD MD (data description - SW 3) . . . . . . . . . . . . . . . . . . . . . . . . .
611D drive machine data (FDD/MSD - as from SW 4) . . . . . . . . . . .
Drive MD input (as from SW 4) . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive MD (data description) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FDD/MSD-specific diagnosis/service machine data (as from SW 3) . .
Output of diagnosis/service machine data (as from SW 3)
........
Servo service data (SSD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnosis/service MD (data description - as from SW 3)
.........
Safety Integrated (SI) data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8

PLC Machine Data (PLC MD)

8.1
8.1.1
8.1.2
8.2
8.3
8.4
8.5
8.6
8.7

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Entering PLC MD (up to SW 2) . . . . . . . . . . . . . . . . . . . . . . . . . . .
Breakdown of the PLC MD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC MD for the operating system (system data) . . . . . . . . . . . . . . .
PLC MD for function blocks (FB data)
......................
PLC MD for the user . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC MD for the operating system (system bits) . . . . . . . . . . . . . . . .
PLC MD bits for function blocks (FB bits) . . . . . . . . . . . . . . . . . . . .
PLC MD bits for the user (user bits) . . . . . . . . . . . . . . . . . . . . . . . .

9

Drive Servo Start-Up Application (as from SW 3)

............

9–1

9.1
9.1.1
9.1.2

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selection of/menu trees of drive servo start-up application . . . . . . . .
Softkeys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9–1
9–4
9–6

9.2
9.2.1
9.2.2

Measuing the drive servo loops (current, speed, position) . . . . . . . . .
Current control loop (axis and spindle - as from SW 3) . . . . . . . . . . .
Speed control loop (axis and spindle) - measurement parameters
(4 basic settings - as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed control loop (axis and spindle - as from SW 3)
...........
Position control loop (axis and spindle) - measurement parameters
(4 basic settings - as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . .
Position control loop (axis and spindle - as from SW 3)
..........
Position control loop (axis and spindle) - measurement parameters
(9 basic settings - as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . .

9–11
9–13

9.2.3
9.2.4
9.2.5
9.2.6

................

...........................

6–155
6–158
6–180
6–195
6–196
6–205
6–211
6–216
6–217
6–217
6–230
7–1
7–1
7–1
7–1
7–47
7–47
7–47
7–74
7–74
7–74
7–167
7–167
7–167
7–168
7–177
8–1
8–1
8–1
8–2
8–3
8–12
8–12
8–13
8–28
8–29

9–14
9–15
9–16
9–19
9–20

9.3
9.3.1

9.5
9.5.1
9.5.2
9.5.3
9.5.3.1
9.5.3.2
9.5.4
9.5.4.1
9.5.4.2
9.5.4.3
9.6
9.6.1
9.6.2

Function generator (axis and spindle - as from SW 3)
...........
Function generator (axis and spindle) - signal parameters
(as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Additional information (notes) on measurement and signal
parameters (as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signal waveforms of function generator (SW 3) . . . . . . . . . . . . . . . .
Mixed I/O configuration and digital-analog converter, DAC
(as from SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Quadrant error compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Circularity test (option - SW 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Conventional quadrant error compensation (as from SW 2) . . . . . . . .
Installation without adaptation characteristic . . . . . . . . . . . . . . . . . .
Installation with adaptation characteristic . . . . . . . . . . . . . . . . . . . . .
Neural quadrant error compensation (QEC - SW 4) . . . . . . . . . . . . .
Start-up of neural QEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Further optimization and intervention options . . . . . . . . . . . . . . . . . .
Power ON/OFF - monitoring function - special functions (SW 4)
....
SERVO trace (SW 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selection of measured signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SERVO trace display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9–33
9–39
9–39
9–39
9–44
9–44
9–48
9–50
9–55
9–58
9–63
9–64
9–66
9–68

10

Axis and Spindle Installation

10–1

10.1
10.2
10.2.1
10.2.2
10.2.3
10.2.4
10.2.5
10.2.6
10.2.7
10.2.8
10.2.9
10.2.10
10.3
10.4
10.4.1
10.4.1.1
10.4.1.2
10.4.1.3
10.4.1.4
10.4.1.5
10.4.1.6
10.4.1.7
10.4.2
10.4.3
10.4.3.1
10.4.3.2
10.4.4
10.4.4.1
10.4.4.2
10.4.4.3
10.4.4.4
10.4.4.5
10.4.5
10.4.5.1

Determining sampling interval and interpolation time . . . . . . . . . . . .
Axis-specific resolutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General remarks on the axis-specific resolutions . . . . . . . . . . . . . . .
Input, display and position control resolution . . . . . . . . . . . . . . . . . .
Resolution block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Permissible resolution combinations . . . . . . . . . . . . . . . . . . . . . . . .
The influence of resolution on velocity . . . . . . . . . . . . . . . . . . . . . .
Maximum velocity for thread cutting . . . . . . . . . . . . . . . . . . . . . . . .
Maximum traversing range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Influence on the display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Influence on the modes/function . . . . . . . . . . . . . . . . . . . . . . . . . .
BERO (SW 4 and higher) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Checking and setting the control direction of the feed axes . . . . . . . .
Speed setpoint matching/tacho compensation . . . . . . . . . . . . . . . . .
Servo gain factor KV NC MD 252* . . . . . . . . . . . . . . . . . . . . . . . . .
Acceleration NC MD 276* . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jerk limitation (as from SW 6) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dynamic contour monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis traversing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Traversing in jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program-controlled traversing . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference point approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference point approach without automatic direction recognition . . .
Reference point approach with automatic direction recognition . . . . .
Program-controlled reference point approach . . . . . . . . . . . . . . . . .
Referencing without programmed motion (with SW 4 and higher)
...
Setting reference dimension by a PLC request (SW 4 and higher) . . .
Distance-coded reference marks . . . . . . . . . . . . . . . . . . . . . . . . . .
Initial installation of distance-coded reference marks . . . . . . . . . . . .

9.3.2
9.3.3
9.4

...........................

9–23
9–24
9–25
9–26

10–1
10–4
10–4
10–4
10–6
10–7
10–8
10–9
10–11
10–12
10–15
10–15
10–18
10–19
10–19
10–19
10–21
10–24
10–26
10–28
10–30
10–31
10–32
10–33
10–33
10–34
10–35
10–35
10–38
10–39
10–40
10–41
10–43
10–45

10.5
10.5.1
10.5.2
10.5.3
10.5.3.1
10.5.3.2
10.5.3.3
10.5.3.4
10.5.3.5
10.5.3.6
10.5.4
10.5.5

Spindle installation, spindle functions . . . . . . . . . . . . . . . . . . . . . . .
Open-loop control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Oscillation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Positioning mode, M19, M19 through several revolutions . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Absolute positioning sequence (M19) . . . . . . . . . . . . . . . . . . . . . . .
Incremental positioning sequence (M19 through several revolutions) .
Method A and B in the NC-internal solution . . . . . . . . . . . . . . . . . . .
Gain factor change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Aborting the positioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Curved acceleration characteristic (SW 4 and higher)
...........
PLC intervention in spindle control . . . . . . . . . . . . . . . . . . . . . . . . .

11

Data Backup/CPU Replacement

11.1
11.1.1
11.1.2
11.1.3
11.1.4
11.1.5
11.1.6
11.1.7
11.1.8

Data area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ways of backing up data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General notes on data backup . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Saving/loading NCK data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data backup procedure via streamer . . . . . . . . . . . . . . . . . . . . . . .
Restarting after MMC CPU replacement . . . . . . . . . . . . . . . . . . . . .
Loading via V24 interface or FD-E2 . . . . . . . . . . . . . . . . . . . . . . . .
Loading from hard disk (control startup with user data) . . . . . . . . . . .
CPU replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

Functional Descriptions

12.1
12.1.1
12.1.2

Leadscrew error compensation 6FC5 150-0AH01-0AA0 . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2
12.2.1
12.2.2

Rotary axis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–10
12–10
12–10

12.3
12.3.1
12.3.2
12.3.3

Endlessly rotating axis (SW 4 and higher)
.................
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Display of endlessly rotating axis . . . . . . . . . . . . . . . . . . . . . . . . . .
Reaction of endlessly rotating function to NC-STOP and NC-RESET .

12–12
12–12
12–12
12–13
12–13

12.4
12.4.1
12.4.2
12.4.2.1

Dwell in relation to axes or spindles . . . . . . . . . . . . . . . . . . . . . .
Dead time compensation, NC MD 330 . . . . . . . . . . . . . . . . . . . . . .
Extension of dwell (SW 5 and higher) . . . . . . . . . . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–14
12–14
12–15
12–15

12.5
12.5.1
12.5.2

Warm restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–16
12–16
12–16

.........................

...............................

10–49
10–51
10–54
10–54
10–54
10–57
10–60
10–62
10–63
10–65
10–66
10–69

11–1
11–1
11–2
11–3
11–5
11–7
11–8
11–9
11–10
11–15

12–1
12–1
12–1
12–1

12.6
12.6.1
12.6.2
12.6.3
12.6.3.1
12.6.4
12.6.5
12.6.6
12.6.7

Coordinate transformation 6FC5 150-0AD04-0AA0 . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The transformation data set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definition of machine data for coordinate transformation . . . . . . . . . .
Transformation parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Machine data for fictitious axes . . . . . . . . . . . . . . . . . . . . . . . . . . .
NC PLC interface signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Explanation of the programming and operation of coordinate
transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Examples of coordinate transformation . . . . . . . . . . . . . . . . . . . . . .
Example of TRANSMIT coordinate transformation . . . . . . . . . . . . . .
Example of 2D coordinate transformation . . . . . . . . . . . . . . . . . . . .
Example of 3D coordinate transformation . . . . . . . . . . . . . . . . . . . .
Transformation machine data change without warm restart . . . . . . . .

12–18
12–18
12–19
12–20
12–21
12–23
12–26
12–27

Spindle functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of the spindle modes . . . . . . . . . . . . . . . . . . . . . . . . . .
Open-loop control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selecting the open-loop control mode . . . . . . . . . . . . . . . . . . . . . . .
Gear ratio changing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Oscillation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Positioning mode (M19, M19 through several revolutions) . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selecting the positioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The positioning sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gain factor change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Aborting the positioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Curved acceleration characteristic (SW 4 and higher)
...........
C axis mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selection and deselection of the C axis mode . . . . . . . . . . . . . . . . .
Block search via blocks with M functions for C axis ON/OFF
......
C axis synchronization (SW 4 and higher) . . . . . . . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Synchronizing and referencing . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Initiating the C axis mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder-specific resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Possible configurations for the C axis mode . . . . . . . . . . . . . . . . . .

12–34
12–34
12–36
12–36
12–36
12–37
12–37
12–38
12–38
12–38
12–39
12–39
12–40
12–47
12–49
12–49
12–53
12–53
12–54
12–54
12–54
12–54
12–55
12–58
12–60
12–61

12.8
12.8.1
12.8.2

Following error compensation for thread cutting . . . . . . . . . . . .
Multiple thread . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Thread re-cutting/setting up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–64
12–64
12–65

12.9
12.9.1
12.9.2
12.9.2.1
12.9.2.2
12.9.3
12.9.4
12.9.5
12.9.6
12.9.7
12.9.8

Thread cutting position controlled spindle (SW 2 and higher)
..
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Switching on the function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Switching off the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter set switchover with thread functions . . . . . . . . . . . . . . . .
Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reset behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reading in G functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–66
12–66
12–66
12–67
12–68
12–70
12–70
12–70
12–71
12–71
12–71

12.6.8
12.6.8.1
12.6.8.2
12.6.8.3
12.6.9
12.7
12.7.1
12.7.2
12.7.2.1

12.7.2.2
12.7.2.3

12.7.2.4

12–28
12–30
12–30
12–31
12–32
12–33

12.10
12.10.1
12.10.2
12.10.2.1

FIFO/predecoding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Rapid block change using FIFO function (up to SW 2 only) . . . . . . . .
Control of predecoding (SW 5 and higher) . . . . . . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–71
12–71
12–73
12–73

12.11
12.11.1
12.11.1.1
12.11.1.2
12.11.1.3
12.11.1.4
12.11.1.5
12.11.1.6

Absolute encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SIPOS absolute encoder up to SW 4 . . . . . . . . . . . . . . . . . . . . . . .
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Synchronizing the absolute encoder with the machine absolute system
What happens on warm restart (POWER ON) . . . . . . . . . . . . . . . . .
Special case ”Parking axis” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Absolute encoder error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SIPOS absolute encoder errors . . . . . . . . . . . . . . . . . . . . . . . . . . .
ENDAT absolute encoder (SW 5.2 and higher) . . . . . . . . . . . . . . . .
Function features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special features for large traversing ranges . . . . . . . . . . . . . . . . . . .
Offset of the absolute encoder from the machine absolute system
..
Behaviour on power on) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special case ”Parking axis” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Absolute encoder error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range extension with ENDAT absolute encoder (as from SW 6) . . . .
Description of function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Storing absolute information . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
First start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special start-up cases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Start-up after data loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–74
12–74
12–74
12–74
12–75
12–78
12–78
12–78
12–79
12–80
12–81
12–81
12–82
12–82
12–84
12–86
12–90
12–90
12–90
12–90
12–90
12–91
12–93
12–94
12–94

Path dimension from PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Execution of the function ”Path dimension from the PLC”
........
Termination of the function ”Path dimension from the PLC”
.......
Interruption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Meaning of NC MD 5008, bit 7
...........................
Influence of the modes on the path dimension function from the PLC
Path dimension from the PLC and JOG operating mode . . . . . . . . . .
Path dimension from the PLC and MDA, TEACH IN and AUTOMATIC
modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–95
12–95
12–95
12–96
12–96
12–97
12–97
12–97
12–98
12–100

12.13.1
12.13.2
12.13.3
12.13.4
12.13.5
12.13.6
12.13.7
12.13.8
12.13.9
12.13.10

Indexing function from the PLC . . . . . . . . . . . . . . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Division in set-up mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Division from the PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Explanation of indexing function terms . . . . . . . . . . . . . . . . . . . . . .
Machine data for the function ”Setup mode division related”
......
Traversing an indexing axis to the reference point . . . . . . . . . . . . . .
Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual value display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC user interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Conditions for the function ”Setup mode division related” . . . . . . . . .
Error messages from the NC to the PLC . . . . . . . . . . . . . . . . . . . . .

12–102
12–102
12–103
12–103
12–104
12–107
12–109
12–110
12–110
12–112
12–112
12–113

12.14
12.14.1
12.14.1.1
12.14.1.2
12.14.2

Dynamic feedforward control and setpoint smoothing filter
....
Feedforward control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setpoint filter in drive (SW 4 and higher) . . . . . . . . . . . . . . . . . . . . .

12–113
12–114
12–114
12–114
12–115

12.11.1.7
12.11.2
12.11.2.1
12.11.2.2
12.11.2.3
12.11.2.4
12.11.2.5
12.11.2.6
12.11.2.7
12.11.2.8
12.11.3
12.11.3.1
12.11.3.2
12.11.3.3
12.11.3.4
12.11.3.5
12.12
12.12.1
12.12.2
12.12.3
12.12.4
12.12.5
12.12.5.1
12.12.5.2

12.13

12.15
12.15.1
12.15.2
12.15.3
12.15.4

Switchover measuring system 1 or 2 (SW 2 and higher) . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Feed axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Measuring circuit monitoring and alarm processing . . . . . . . . . . . . .
C axes to spindles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–116
12–116
12–116
12–117
12–117

12.16
12.16.1
12.16.2
12.16.3
12.16.3.1
12.16.3.2

Quadrant error compensation (SW 2 and higher) . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation without adaptation characteristic . . . . . . . . . . . . . . . . . .
Installation with adaptation characteristic . . . . . . . . . . . . . . . . . . . . .

12–118
12–118
12–118
12–119
12–120
12–123

12.17
12.17.1

Axis converter/spindle converter (SW 2 and higher) . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Spindle converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–125
12–125
12–125
12–125
12–125
12–126
12–126
12–126
12–127
12–127

12.17.2
12.17.2.1
12.17.2.2
12.17.3
12.17.3.1
12.17.3.2
12.17.3.3
12.18
12.18.1
12.18.2
12.18.2.1
12.18.3
12.18.4
12.18.4.1
12.18.4.2
12.18.4.3

Functional description of gearbox interpolation (up to SW 3) . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Brief description of GI functions . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definition of leading and following drives . . . . . . . . . . . . . . . . . . . . .
Operating principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Link types with constant link factor . . . . . . . . . . . . . . . . . . . . . . . . .
Setpoint link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual value link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setpoint velocity/actual position link (SW 4 and higher)
..........
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Compensatory control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.5
Curve-gearbox interpolation (CGI) (SW 4 and higher) . . . . . . . . . . . .
12.18.5.1
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.5.2
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.6
Variable cascading of GI following drives (SW 4 and higher) . . . . . . .
12.18.7
Gearbox interpolation chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.8
Following drive overlays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.9
Influencing the following error . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.10
Block search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.11
GI monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.11.1 Monitoring for maximum velocity/speed and maximum acceleration . .
12.18.11.1.1 Velocity/speed limitation of ELG following axex (as from SW 6.3)
...
12.18.11.2 Fine/coarse synchronism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.11.3 ”Emergency retraction” message (SW 3) . . . . . . . . . . . . . . . . . . . .
12.18.11.4 Maintaining the link in the event of faults (controlled follow-up)
(SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.11.5 HW/SW limit switches of following drive . . . . . . . . . . . . . . . . . . . . .
12.18.11.6 Special features relating to following axes . . . . . . . . . . . . . . . . . . . .
12.18.11.7 Special features relating to following spindles . . . . . . . . . . . . . . . . .
12.18.12
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.12.1 Programming via NC part program . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.12.2 Programming via PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.12.3 Programming via input display . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18.12.4 Default settings via machine data . . . . . . . . . . . . . . . . . . . . . . . . . .

12–128
12–128
12–129
12–129
12–131
12–132
12–132
12–133
12–133
12–133
12–133
12–134
12–135
12–135
12–135
12–138
12–138
12–139
12–140
12–141
12–141
12–142
12–143
12–146
12–147
12–148
12–149
12–150
12–150
12–150
12–155
12–155
12–155
12–155

12.18.13
12.18.13.1
12.18.13.2

12.18.14
12.18.14.1
12.18.14.2
12.18.15
12.18.15.1
12.18.16
12.18.16.1
12.18.16.2
12.18.16.3
12.19
12.19.1
12.19.2
12.19.3
12.19.4
12.19.4.1
12.19.4.2
12.19.4.3
12.19.4.4
12.19.5
12.19.5.1
12.19.5.2
12.19.5.3

12.19.5.4
12.19.5.5
12.19.5.6
12.19.5.7
12.19.5.8
12.19.5.9
12.19.5.10
12.20
12.20.1
12.20.2
12.20.3
12.20.4
12.20.4.1
12.20.4.2
12.20.4.3

Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Brief start-up of a GI grouping . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Full start-up procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set position control sampling times . . . . . . . . . . . . . . . . . . . . . . . .
Drift and tacho compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General optimization of axes and spindles . . . . . . . . . . . . . . . . . . . .
Setting the feedforward control . . . . . . . . . . . . . . . . . . . . . . . . . . .
Matching the dynamic response of the drives . . . . . . . . . . . . . . . . .
Setting the GI machine data and the necessary PLC signals . . . . . . .
Optimization of the compensatory controller . . . . . . . . . . . . . . . . . .
Calculating the time constant for the parallel model . . . . . . . . . . . . .
Entering the monitoring threshold values . . . . . . . . . . . . . . . . . . . . .
Checking the GI programming functions . . . . . . . . . . . . . . . . . . . . .
Setting the interlocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special cases of gearbox interpolation . . . . . . . . . . . . . . . . . . . . . .
Synchronous spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gantry axes; machines with forced coupling . . . . . . . . . . . . . . . . . .
Gearbox interpolation status data . . . . . . . . . . . . . . . . . . . . . . . . . .
Format of data list (SW 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of application examples . . . . . . . . . . . . . . . . . . . . . . . . . .
Hobbing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inclined infeed axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–156
12–156
12–157
12–158
12–158
12–159
12–159
12–159
12–161
12–162
12–163
12–164
12–165
12–166
12–166
12–166
12–170
12–174
12–174
12–175
12–175
12–175
12–177

Interpolation and compensation with tables and temperature
compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interlocks and monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Temperature compensation TC . . . . . . . . . . . . . . . . . . . . . . . . . . .
Types of influence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Activation of function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interpolation and compensation with tables . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data structures and data assignment . . . . . . . . . . . . . . . . . . . . . . .
Data access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data access via operator panel/machine data dialog . . . . . . . . . . . . .
Data access via part program . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data access via MMC/data transfer . . . . . . . . . . . . . . . . . . . . . . . .
Data access via PLC (command channel, DB 41) . . . . . . . . . . . . . .
Activating IKA data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of valid IKA data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IKA calculation sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Meaning of the data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Links between IKA data areas . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Viewing the IKA data during programming . . . . . . . . . . . . . . . . . . . .
Compensation beyond the working area . . . . . . . . . . . . . . . . . . . . .

12–181
12–181
12–182
12–184
12–187
12–187
12–189
12–189
12–190
12–191
12–193
12–194
12–194
12–195
12–195
12–199
12–200
12–201
12–202
12–204
12–206
12–210
12–211
12–211

Extended stop and retract (ESR) (SW 4 and higher)
..........
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameterization, control and programming . . . . . . . . . . . . . . . . . . .
Monitoring sources (error detection) . . . . . . . . . . . . . . . . . . . . . . . .
Mains failure detection and mains buffering . . . . . . . . . . . . . . . . . . .
Mains failure detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DC link overvoltage limitation (611D) . . . . . . . . . . . . . . . . . . . . . . .
Mains buffering (611D only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–212
12–212
12–213
12–213
12–215
12–216
12–216
12–216
12–216

12.20.4.4
12.20.5
12.20.5.1
12.20.5.2
12.20.5.3
12.20.5.4
12.20.6
12.20.6.1
12.20.6.2
12.20.7
12.20.7.1
12.20.7.2
12.20.8
12.20.8.1
12.20.8.2
12.21
12.21.1

DC link undervoltage monitoring in 611D . . . . . . . . . . . . . . . . . . . .
DC link buffering and monitoring of generator minimum speed limit . .
DC link buffering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Monitoring for generator minimum speed limit . . . . . . . . . . . . . . . . .
Communications/control failure . . . . . . . . . . . . . . . . . . . . . . . . . . .
840C/611D detects error/request and specifies "Extended stop and
retract" as autonomous drive function
......................
Stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Stopping as open-loop control function . . . . . . . . . . . . . . . . . . . . . .
Stopping as autonomous drive function . . . . . . . . . . . . . . . . . . . . . .
Retraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Retraction as open-loop control function . . . . . . . . . . . . . . . . . . . . .
Retraction as autonomous drive function (611D) . . . . . . . . . . . . . . .
Configuration help for generator operation and emergency
retraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special case voltage failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Activating autonomous drive emergency retraction in case of
PLC failure or 5 V undervoltage (as from SW 6.3) . . . . . . . . . . . . . .

12–217
12–218
12–218
12–219
12–219
12–219
12–219
12–220
12–220
12–222
12–222
12–224
12–226
12–227
12–227
12–231

12.21.2

Simultaneous axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Handwheel for simultaneous axes in automatic mode . . . . . . . . . . . .

12–232
12–232
12–232
12–232

12.22
12.22.1
12.22.2

Software cam (position measuring signals) . . . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–234
12–234
12–234

12.23
12.23.1
12.23.2
12.23.3
12.23.4

Actual-value system for workpiece . . . . . . . . . . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Example of function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–240
12–240
12–240
12–241
12–242

12.24
12.24.1
12.24.2
12.24.3
12.24.4

Travel to fixed stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Travel to fixed stop with analog drives . . . . . . . . . . . . . . . . . . . . . .
Travel to fixed stop with fixed clamping torque
(torque limitation via terminal 96) . . . . . . . . . . . . . . . . . . . . . . . . . .
SIMODRIVE 611A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SIMODRIVE 611A MSD or SIMODRIVE 660 . . . . . . . . . . . . . . . . . .
Travel to fixed stop with programmable clamping torque
(switchover of drive actuator to current-controlled operation) . . . . . . .
SIMODRIVE 611A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SIMODRIVE 611A MSD or SIMODRIVE 660 . . . . . . . . . . . . . . . . . .
Deselection of the function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagrams for selection/deselection of travel to fixed stop . . . . . . . . .
Selection of travel to fixed stop (fixed stop is reached) ANALOG . . . .
Selection of travel to fixed stop (fixed stop is not reached) . . . . . . . .
Deselection of travel to fixed stop
.........................
Meaning of signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Travel to fixed stop with digital drives (SIMODRIVE 611D MSD/FDD)

12–243
12–243
12–243
12–245

Flexible memory configuration (SW 4 and higher)
...........
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System features, boundary conditions . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Memory configuration on control power-up . . . . . . . . . . . . . . . . . . .

12–258
12–258
12–258
12–259
12–260
12–260

12.24.4.1
12.24.4.2
12.24.5
12.24.5.1
12.24.5.2
12.24.6
12.24.7
12.24.7.1
12.24.7.2
12.24.7.3
12.24.7.4
12.24.7.5
12.25
12.25.1
12.25.2
12.25.3
12.25.4

12–245
12–246
12–247
12–248
12–248
12–250
12–251
12–252
12–252
12–253
12–254
12–255
12–256

12.26

BERO interface (SW 4 and higher)

12.27
12.27.1

Parameter set switchover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter set switchover (up to SW 3)
.....................
Axis parameter sets (NCK/SERVO) . . . . . . . . . . . . . . . . . . . . . . . .
Spindle parameter sets (NCK/SERVO) . . . . . . . . . . . . . . . . . . . . . .
FDD parameter sets (611D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MSD parameter sets (611D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter set switchover with SW 4 and higher (option)
.........
”Position control” parameter group
........................
”Ratio” parameter group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive parameter group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Switchover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operator inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power ON, system start, power OFF, restart . . . . . . . . . . . . . . . . . .
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–270
12–270
12–270
12–271
12–272
12–272
12–273
12–274
12–276
12–277
12–277
12–279
12–280
12–280
12–280

High-speed data channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Format of interface data blocks . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of a high-speed data channel . . . . . . . . . . . . . . . . . . .
Fast synchronous data channel . . . . . . . . . . . . . . . . . . . . . . . . . . .
Use of a high-speed data channel . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of function identifiers and configuring parameters
(DB 2, DR 2 ... DR 6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–281
12–281
12–281
12–283
12–284
12–288
12–288
12–289

Extension of inprocess measurement (SW 4 and higher)
......
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General hardware conditions for ”Extended measurement”
.......

12–298
12–298
12–298
12–301
12–304
12–304
12–304
12–305
12–305

12.30.5
12.30.6

Master/slave for drives, SW 4.4 and higher, option . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Difference to synchronous spindle/GI . . . . . . . . . . . . . . . . . . . . . . .
Function description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Activating/deactivating the master/slave torque compensation
control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Response in the event of an error . . . . . . . . . . . . . . . . . . . . . . . . .
Effects on existing functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.31
12.31.1
12.31.2

Dynamic SW limit switches for following axes . . . . . . . . . . . . . .
Corresponding data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–312
12–312
12–312

12.32
12.32.1
12.32.2
12.32.3
12.32.4
12.32.5
12.32.6
12.32.7
12.32.8
12.32.9
12.32.10
12.32.11
12.32.12
12.32.13

Collision monitoring (as from SW 6) . . . . . . . . . . . . . . . . . . . . . .
General description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Defining a protection zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Activation of collision monitoring of a protection zone . . . . . . . . . . . .
The motion axes of a protection zone . . . . . . . . . . . . . . . . . . . . . . .
Machine coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adaptation of the protection zone to the active tool
.............
Activating machine space adaptation . . . . . . . . . . . . . . . . . . . . . . .
Reduction zone of a protection zone . . . . . . . . . . . . . . . . . . . . . . .
Reduction factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dead-time compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Protection zone collision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Collision alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Deselection of collision of monitoring of a protection zone
........

12–315
12–315
12–315
12–316
12–317
12–317
12–318
12–319
12–320
12–321
12–322
12–322
12–323
12–323

12.27.2

12.27.3
12.27.4
12.27.5
12.27.6
12.27.7
12.28
12.28.1
12.28.2
12.28.3
12.28.4
12.28.5
12.28.6
12.28.7
12.28.8
12.29
12.29.1
12.29.2
12.30
12.30.1
12.30.2
12.30.3
12.30.4

.......................

12–269

12–290

12–308
12–309
12–311

12.32.14
12.32.15
12.32.15.1
12.32.15.2
12.32.15.3
12.33
12.33.1
12.33.1.1
12.33.1.2
12.33.1.3
12.33.2
12.33.2.1
12.33.2.2
12.33.2.3

Example on a double-slide turning machine . . . . . . . . . . . . . . . . . . .
Collision monitoring (as from SW 6.3) . . . . . . . . . . . . . . . . . . . . . . .
Additive protection zone adjustment via setting data . . . . . . . . . . . . .
Collision monitoring without reduction zone . . . . . . . . . . . . . . . . . . .
Automatic protection zone adjustment for tool types > = 20
(as from SW 6.3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–324
12–329
12–329
12–329
12–330
12–331
12–331
12–335
12–335
12–336
12–336
12–337
12–337

12.33.3
12.33.3.1
12.33.3.2
12.33.3.3
12.33.4
12.33.4.1
12.33.4.2
12.33.5
12.33.5.1
12.33.5.2

Description of function of current and speed setpoint filters
...
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fourier analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Measurement range (bandwidth), measurement time . . . . . . . . . . . .
Measurement procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optimization of speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . .
Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optimization of proportional gain of speed controller . . . . . . . . . . . .
Optimization of integral-action component (reset time) of speed
controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current setpoint filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scope of application of low pass as current setpoint filter . . . . . . . . .
Scope of application of bandstops as current setpoint filter . . . . . . . .
Speed-dependent current setpoint filter . . . . . . . . . . . . . . . . . . . . .
Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed setpoint filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bandstops and low passes as speed setpoint filter . . . . . . . . . . . . . .

12.34
12.34.1
12.34.2
12.34.3
12.34.4
12.34.5

Actual value passive monitoring axis (as from SW 6.3) . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Alarm messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameterization examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–352
12–352
12–352
12–352
12–352
12–353

12.35

Uninterruptible power supply (UPS) (as from SW 6.3)
(Express shutdown) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–354

12.36
12.36.1
12.36.2
12.36.3
12.36.4
12.36.5
12.36.6
12.36.7
12.36.8
12.36.9

Inch/metric switchover function (as from SW 6.3) . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inch/metric switchover function . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inch/metric conversion function . . . . . . . . . . . . . . . . . . . . . . . . . . .
Deleting the conversion data . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configurability of the conversion . . . . . . . . . . . . . . . . . . . . . . . . . .
List of descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12–359
12–359
12–359
12–359
12–360
12–361
12–363
12–363
12–364
12–367

13

Index

.............................................

12–337
12–338
12–339
12–340
12–342
12–347
12–347
12–347
12–348
12–348
12–349

13-1

11.92

1 Prerequisites and Visual Inspection
1.1 Prerequisites

1

Prerequisites and Visual Inspection

1.1

Prerequisites

The following prerequisites must be fulfilled prior to initial start-up:
•

Electrical and mechanical installation of the machine must have been completed and the
axes prepared for operation.
The following points must be confirmed by the customer!

•

Customer PLC program operational and pretested.

•

Measuring system installed and wired as far as SINUMERIK.

•

Cables connected to the machine. Cable shields run to the control neutral point as per
Interface Description. Flexible earth wires installed. Earthing concept observed (inspect
carefully!).

•

Customer personnel support for work on the interface unit, work on the machine, machine
operation and customer produced PLC program.
Recommendation:
Prelimit travel ranges (greater clearance distances) by displacing the end stop
(EMERGENCY STOP cam).

•

The specified machine data is available.

•

Data carriers are available for checking machine specific functions.

1.2

Visual inspection

General remarks:
Refer to the "EMC Guidelines", Order No. 6FC 3987-7DB
These guidelines provide the following information:
•

Why are EMC guidelines necessary?

•

What external interference sources affect the control?

•

How can interference be prevented?

•

Practical examples for an interference free installation.

•

How should electronically endangered components (EEC) be handled?

•

How can an EMC problem be rectified?

•

What standards are relevant to EMC?

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

1–1

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1.2.1

•
•
•

Identification
on packaging:

Identification on the PCB:

1–2
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1 Prerequisites and Visual Inspection
1.2.1 Information on module handling
11.92

Information on module handling

•
Synthetic or rubber soling, and in particular flooring and carpeting, may produce static
charges of several kilovolts in human beings. Integrated circuits are sensitive to this kind of
high voltage discharge.

•
Electrostatic charging can cause damage even when the control is switched off. Shortcircuiting across the VCC RAM printed conductors, for instance, can corrupt the data
stored in the battery backed CMOS RAM chips or even cause the printed conductors to
burn out.

•
The safety measures listed below must therefore be carefully observed in order to avoid
damage caused by improper handling.

•
Never touch the printed conductors or components without first discharging on a grounded
system part.

•
Remove or insert modules and power supply cables only when the control is switched off.

Note:

If modules have to be replaced or should a malfunction occur, always make sure that all
ICs are inserted properly and in the right place.

Special instructions regarding the handling of modules equipped with MOS chips:

MOS is a technology used to produce LSI digital circuits. "MOS" stands for Metal Oxide
Semiconductor.

The principle advantages of MOS technology are:

Simple transistor design
High component density
Extremely low power consumption

There are special safety regulations for modules equipped with MOS chips. These modules
are thus specially marked:

MOS

Caution!
Observe safety
regulations!

MOS

M
O
S

The printed circuit board is fitted with MOS chips. To prevent these
chips from being irreparably damaged, equipotential bonding must be
ensured prior to installing the PCB. Remove the PCB together with the
conductive foam plastic from the packaging and touch a part of the
system that has been grounded.
Do not touch the printed conductors or components!

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

06.93

1 Prerequisites and Visual Inspection
1.2.1 Information on module handling

Additional instructions:
•
•
•

Do not open the special packaging unnecessarily.
Do not bring into contact with synthetic materials (possibility of static charging).
Disconnect the power supply prior to insertion and removal.

1.2.2

Grounding system

Proper grounding to divert external interference is vital to trouble-free operation. It must be
ensured that the ground wires are not looped and have the required cross section.
Grounding concept
•
•
•
•
•

The grounding system fulfils the requirements of the DIN VDE 0160 standard.
The grounding concept for NC, PC, drives and machines is uniform.
The ground connections are run in star configuration to a central mass point.
The equipotential bonding strip is used for equipotential bonding of the external
components.
PE terminal.

Refer to the instruction manual for an example of the grounding concept for SINUMERIK 840.

1.2.3

Position encoders

Particular attention is to be paid to the prescribed installation of the graduated scales (air gap,
etc.) and the pulse generators (coupling) (also see Heidenhain installation and adjustment
instructions).
Check to make sure that the connectors are correctly wired and properly inserted.
If the customer has inserted plug/socket connectors in the measuring-circuit cables, a careful
check must be made to ensure connection, strain relief and above all observance of the
prescribed shielding.
The use of position encoders from other manufacturers may result in inaccuracy and surface
quality problems beyond our control.

1.2.4

Cable laying

Power cables and control cables should be laid separately whenever possible. Do not produce
ground loops, as such loops or non-regulation grounding may generate ripple voltage which
would affect the speed controller setpoint. Smooth running of the motor at minimum speeds is
then no longer guaranteed.
Care must be taken that the cables are run properly and that they are rolled carefully on the
cable drum. Avoid kinking. Observe the permissible bend radii.
(Please refer to the Interface Description, Part 2, for information on connecting the cables.)

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

1–3

1 Prerequisites and Visual Inspection
1.2.5 Cables

1.2.5

06.93

Cables

Check all cables in accordance with the cable and equipment overview (refer to Interface
Description, Part 2). This applies particularly to cables made up by the customer.
A random check should be made on at least one connector. Particular attention should be paid
to elastomeric connections.
In the event of failure to comply with our guidelines, the relevant dealer must be notified and
any necessary corrective measures instigated.

1.2.6 Shielding
The overall shields of all cables running to or from the control must be grounded at the control
via the connectors (refer to Interface Description, Part 2). Only SINUMERIK connectors may
be used, as other connectors cause interference problems.

1.2.7 Interference suppression
All d.c. and a.c. relays must be interference-suppressed using suitable means, as must a.c. or
three-phase motors (e.g. lubricating pumps and the like). Observance of the prescribed
measures for interference suppression should be checked on a random basis (also refer to the
Instruction Manual).

1.2.8 Operator panel
Check to make sure that pushbuttons, keys, lamps, symbols and display are operational.

1.2.9 Overall state
Check the module mounts and blanking plates.
Make sure that the front panel screws have been tightened (ground connection).
Check to see that the accessory pack is complete.
The accessory pack must contain the following:
•
•
•
•

1–4

Log book
Complete parts list (the parts list is included with the original delivery note and must be
inserted in the log book)
Transparent cover plates and symbol overlays for keys
Instruction manual

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

1.2.10

1 Prerequisites and Visual Inspection
1.2.10 Jumpering

Jumpering

The jumper configurations on the modules required at the time of installation and start-up is
discussed in Part 2 of the Interface Description.

1.2.11 Position control, input and measuring system resolution
In SINUMERIK, position control resolution and input resolution can be entered separately. In
order to maintain a closed position control loop, however, it is necessary to coordinate the
pulses from the digital measuring system with the control's precision capability.
The "unit (MS)" is used as unit of measurement for the position control resolution, the "unit
(IS)" as unit of measurement for the input resolution.
The following applies:
1 unit
1 unit

(MS) =
(IS) =

2 units of position control resolution
1 unit of input resolution

Example:
If the position control resolution is 0.0005 mm and the input resolution is 0.001 mm, then
1 unit (IS) = 1 unit (MS) = 1 µm
Refer to NC MD 5002, NC MD 1800*, NC MD 524* for details on input, position control and
display resolution.

1.2.12 Input units
Unit (MS)

= 2 units of position control resolution (reference system MS)
e.g. 1 unit of position control resolution = 1/2 µm (MD 1800* = xxxx0100)
x..is irrelevant here
1 unit (MS) = 1 µm

Unit (IS)

= 1 unit of input resolution (reference system IS)
e.g. 1 unit of input resolution = 1 µm (MD 5002 = 0100xxxx)
1 unit (IS) = 1 µm

VELO ...smallest unit used by the digital-analog converter (DAC) for setpoint conversion
10
In the case of a 14 bit DAC:
1 VELO = ––––––– = 1.22 mV
8192

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

1–5

1 Prerequisites and Visual Inspection
1.3 Standard/Export version

1.3

10.94

Standard/Export version

Export regulations
Due to the fact that the German export list requires approval for certain control functions, two
versions of the SINUMERIK 840C can be configured.
The Standard Version (840C) is allowed to include the whole scope of functions of the control
and is therefore subject to export approval concerning its type.
The following options are not available with the Export Version (840CE):
–
–

5D interpolation
interpolation and compensation with tables and extended IKA, with SW 4 or higher

The corresponding option bits can be set but have no effect (alarm triggered if functions are
programmed). As far as its type is concerned, the export version does not require export
approval.
It is however possible that the intended application nevertheless requires export approval.
The character of the control depends on the installed system software, which can be delivered
in the two versions Standard and Export. This also applies to the licences! Consequently, a
control system requires export approval if a system software subject to export approval is
installed on it (see specifications on delivery note or invoice of system software). This is of
particular importance if the system software is changed or upgraded because the control can
then become subject to export approval.

Identification of control
In addition to the specifications on the delivery note and the invoice, unambiguous labels
identify the delivered software components as Standard or Export versions.
The package contains additional labels for identifying the control after installation.
If the software is loaded the first time when the control is installed, the included small label for
the system software version has to be attached to the front plate of the MMC module in such
a way that is is clearly visible (applies also to licence software).
The package label for the system software version, which is also included, is to be put into the
logbook of the control. If new licences are supplied the corresponding number of labels is
included, and they are to be dealt with in the same way.
After the control has been powered up, the Export version is identified by the additional
character ”E” in the Service screen (NC information).
These measures for identification of the control version are important for servicing, and they
are also useful if the version of the control must be proved for export purposes, in particular if
existing negative certificates concerning the export version are to be used.

1–6

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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03.95

1.4

1 Prerequisites and Visual Inspection
1.4 Installation Checklist 840C

Installation Checklist 840C

F-No. . . . . . . . . . . . . . . . . . . . . .

Installation sequence
Section 1 of the Installation Guide, Interface Description Part 2, and the information
presented in the Instruction Manual must be carefully observed!

Copy the installation checklist, fill it out, and enclose it in the log book after installation.

Make a cross next to Yes or No after each section has been completed.

Enter all required values where stated.

Information relating to the individual sections is provided in the Installation Guide.

First installation
Name . . . . . . . . . . . . . . . . . . . .
Office

Manufacturer . . . . . . . . . . . . . . .
Address

Name . . . . . . . . . . . . . . . . . . . .
Office

Customer
Address

.................

3. Version of the control software:

4. Voltage test:

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

...............

...............

1. Are the prerequisites for installation per Section 1 fulfilled?

2. Visual inspection:Mains connection, EMERGENCY STOP,
grounding concept, grounding of the position
encoders, cabling, shielding, external machine
control panel, input/output modules, overall state
OK?

NCK
MMC
PLC
INT-DMP
WOP-M/T
SIMULATION-M
S5/MT on MMC

6FC5197- AA50

Date . . . . . . . . .

..............................

Second installation

Date . . . . . . . . .

..............................
Yes

Yes

No

No

.........................
.........................
.........................
.........................
.........................
.........................
.........................

Power supply unit in the central controller

230 V AC (90...260 V), 50/60 Hz (45...65 Hz).
24 DC (20...30 V)

Monitor

230 V AC (90...260 V), 50/60 Hz (45...65 Hz).

Operator panel

230 V AC/24 V DC

1–7

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1–8
•

Drive machine data (611D)

Yes

a
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•

NC machine data

Yes

•

QEC data

Yes

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•

•

PLC machine data
WOP data

Yes
Yes

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•

Cycle machine data

Yes

•

Cycle setting data

Yes

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•

NC setting data

Yes

a
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•

IKA data / ELG data

Yes

•

R parameters

Yes

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•

Interface setting on MMC-CPU for customer devices

Yes

•

UMS (as source floppy!)

Yes

•

PLC user program + data blocks

Yes

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•

Were these data deposited at the machine?

Yes

a
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•

Have the stickers for the installed system software been stuck
on the hardware and in the log book as specified in Section 1.3,
Standard/Export version?

Yes

a
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•

Installation checklist completely filled out (including options),
inserted in the log book and deposited at the control?

Yes

a
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•

Were the following functions explained to the customer:

•

Drift compensation, reference point adjustment

Yes

a
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•

Did the customer sign the installation report?

Yes

•

All data saved on HD of MMC-CPU and backup of HD

Yes

a
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9. Were backup copies made of the following data:

First installation
Yes

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8. All conventional functions tested?
(10 mm programmed = 10 mm on machine)
Function test performed with test
program (by customer)?
Yes

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6. PLC program entered and tested (safety functions)?

Yes

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aaaaaaaaa aaaa
aaaa
aaaa aaaa aaaaaaaaaaaaa aaaaaaaa aaaa aaaaaaaa aaaaaaaa aaaaaaaa aaaa aaaa
a

1 Prerequisites and Visual Inspection
1.4 Installation Checklist 840C
03.95

Yes

Yes

© Siemens AG 1992 All Rights Reserved

No

No

7. Position control loops of axes installed and the following checked:
Axis speeds / tachogenerator compensation / multigain / servo gain
(KV factor) / acceleration / exact positioning / position control loop
monitors / analog spindle speed / spindle positioning / traversing
ranges?
No

No

No

No

No
No

No

No
No
No

No

No

No

No

No

No

No

No

No

No

No

No

No

Signatures

Second installation

SINUMERIK 840C (IA)

6FC5197- AA50

10.94

1 Prerequisites and Visual Inspection
1.5.1 Self-test and system start-up

1.5

Voltage and functional tests

1.5.1

Self-test and system start-up

NC area
The checksum of the system program memory is generated whenever the control is switched
on (Power On routines) and during cyclic operation. The control flags discrepancies between
reference and actual checksum in different ways.
The NC CPU flashes continuously (red LED) and goes into the stop state.
MMC area:
If the tests are carried out without any interruptions, the following messages appear in the
MMC area on the screen:
386 Modular BIOS v3.05acf, MR0 1.45 *
Copyright (c)1984-90 Award Software Inc.
(c)1991-92 SIEMENS AG ERLANGEN
TESTING INTERRUPT CONTROLLER #1 . . . . . . . . . . . . . . . . . . . . . . .
TESTING INTERRUPT CONTROLLER #2 . . . . . . . . . . . . . . . . . . . . . . .
TESTING CMOS BATTERY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TESTING CMOS CHECKSUM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TESTING EXTENDED CHECKSUM . . . . . . . . . . . . . . . . . . . . . . . . . . .
SIZING SYSTEM MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . .
640K
TESTING SYSTEM MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CHECKING UNEXPECTED INTERRUPTS AND STUCK NMI . . . . . . . . . .
TESTING PROTECTED MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SIZING EXTENDED MEMORY . . . . . . . . . . . . . . . . . . . . . . . .
3072K
TESTING MEMORY IN PROTECTED MODE . . . . . . . . . . . . . .
3072K
TESTING PROCESSOR EXCEPTION INTERRUPTS . . . . . . . . . . . . . . .
BIOS SHADOW RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VIDEO SHADOW RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PASS
PASS
PASS
PASS
PASS
FOUND
PASS
PASS
PASS
FOUND
PASS
PASS
ENABLED
ENABLED

Powering up
Hard-disk check (as from SW 4)
During booting from the MMC area, the consistency of the hard disk is checked. This check is
time-dependent and is performed once every week. In this context, it is important to note that
free disk space can be reduced due to lost clusters resulting from frequent switching on and
off the control. It is only by means of a hard-disk check that this disk space can once again be
made available. For this reason, a hard-disk check is also initiated if the remaining available
disk space drops to less than 1 MB.
The setting for the hard-disk check is possible only in the Service Mode and can be carried
out by the system service only.

_______
*

BIOS version

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

1–9

1 Prerequisites and Visual Inspection
1.5.1 Self-test and system start-up

03.95

File system check (SOFTWARE 4.4 and higher)
Messages during the file system check:
The previous message
Checking file system

COMPLETE

is replaced by the following:
•

During the file system check:
Verifying file system: Pass 1
Verifying file system: Pass 2
Verifying file system: Pass 3

•

COMPLETE
COMPLETE
COMPLETE

If the WOP work file has to be recreated, the following message also appears:
Creating WOP working file ...

The following messages are output if an error occurs:
•

If the file system cannot be restored
ERROR in file system: can't fix

•

If the WOP work file cannot be created:
ERROR on WOP working file: can't create

After these error messages, the previous message
Can't start MMC - REBOOTING
appears.
Then the system branches to DOS.
Selection menu "SETUP/CONFIGURE OPTIONS"
The following entry has been added to the menu (so that the WOP working file can also be
created via menu):
Create WOP working file
The menu is now structured as follows:
Please select:
1
2
3
4
5

Setup WOP option
Create WOP working file
Set streamer type
Setup disk check
Return to main menu

Enter a number [1-5]:

1–10

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

1.6

1 Prerequisites and Visual Inspection
1.6 Loading data into the NCK on starting up the control (as from SW 2)

Loading data into the NCK on starting up the control
(as from SW 2)

After the control has been switched on, data are transmitted from the hard disk of the MMC
into the memory of the NCK-CPU in 3 phases:
Phase 1:

The system program of the NC-CPU is booted if
•

the NC-CPU (using the Boot-EPROM) detects that the system program has
been lost in the DRAM (the program memory ist not buffered by a battery)

•

a preceding boot process has been aborted by PO or mains off

•

user operations have initiated forced booting

•

the NCK operating system has detected a system error before mains off (or
PO reset) and is consequently no longer able to maintain data consistency
(alarm: start-up due to system error)

In this phase the "NCK system being loaded" message is displayed. The user cannot
influence this loading process.
Phase 2:

Booting of user data which become effective after PO and are in the volatile
memory (DRAM).
After phase 1 the NC branches into the booted system program and requests the
following data from the MMC:
•

the UMS (unless a customer UMS has been installed and activated, the
SIEMENS standard UMS is loaded) if the UMS size has been set to 0
(memory configuration as from SW 4)

•

all user data records which were found in the data management tree under
user/NC data in the user branch.
Data records of the IKA*, etc. type are recognized and loaded.
If IKA is used, it is recommended to use this branch for storing the
IKA 2 and IKA 3 data records which are used for machine fault
compensation (use the Services area for copying).

In this phase the message "NCK user data being loaded" is again displayed.
After booting these user data records, the NC initiates a communication bus reset and runs its
initialisation programs (e.g. preparation and calculation of IKA data records) and subsequently
reports NC-RDY provided SIMODRIVE 611 D is switched on.
TEA 1, 2, 3, 4 are not loaded during start-up!
Phase 3:

Now any data stored in the standard workpiece are loaded into the NCK.

Note:
The following data are booted:
as from SW 2, NCK data
as from SW 3, NCK and PLC data
as from SW 4, NCK, PLC and drive data (611D)

END OF SECTION

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2 General Reset and Standard Start-Up
2.1 First installation and start-up of control (as from SW 3)

2

General Reset and Standard Start-Up
As from software version 3, machine data dialog is used for
the standard start-up.
For further details, refer to Machine Data Dialog (MDD)
Section.

2.1

First installation and start-up of control (as from SW 3)

Hardware

The central units of the SINUMERIK 840C are designed in a modular way. For
system configuration, structure, slots, frame assignment, wiring diagrams, interface assignment and I/O interfaces, please refer to the Interface Description,
Part 2 (NS 2).
Do not use other than the specified types of cable for connecting the components
according to the wiring overview (NS 2).

Software

The standard version of the MMC CPU is programmed with the following standard
software:
DR DOS V6.0
VALITEK SW + INSTALLATIONSTOOLS
The system software can be read in from magnetic tape.
Further optional software can be ordered either preinstalled or on cartridges.
For further information, please refer to the Catalog.

2.1.1

Erasing the S-RAM area of the NCK (as from SW 6)

General notes

In order to obtain a defined initial state when installing/upgrading the control you
must erase the S–RAM of the NCK–CPU. In this way you will avoid errors caused
by incorrectly initialized data.

Explanation

The S–RAM of the NCK–CPU contains data that must be stored permanently in
the control, even after it has been switched off. These are user data (machine
data, R parameters, tool data ...) and internal data.
Pressing the softkey ”Format user data” on starting up the control only initializes
the user data, the other r areas remain partially undefined which can result in sporadic errors.
In SW 6 and higher, the S–RAM of the NCK–CPU is automatically deleted when
you update the software or when the CSB battery fails, thus providing a defined
initial state.
On initial start–up of the control after the software has been updated, alarm 10
”Start–up after software update” is displayed and the control powers up in start–
up mode. You must then perform a start–up of the control.



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08.96

2 General Reset and Standard Start-Up
2.2 Standard installation and start-up as flowchart (as from SW 3)

2.2

Standard installation and start-up as flowchart (as from SW 3)
Default values can be used for data in general reset mode during initial installation
or after a loss of data caused by, for example, removal of a module, hardware
defect of a module or empty back-up battery in the case of power failure.
START

Yes

MMC-CPU
supplied with system
software

No

Start-up switch on CSB
in position “Start-up”
(1)

Connect
Valitek streamer

Switch on

Switch on

General reset mode
refer to General Reset
Section

Booting performed in
Backup menu

Load system software
from magnetic tape,
see Backup Section 4

Softkey time/date

Set time and date

Switch off

Load MD in MDD
Configure memory
(as from SW 4)

Start-up
control

END

2-2

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2 General Reset and Standard Start-Up
2.2 Standard installation and start-up as flowchart (as from SW 3)

2.3

Select general reset mode (as from SW 3)
START
NC-ON

Communication
to NCK

No

Yes

Yes

General reset
mode display
– Start-up switch on
CSB in position
“Start-up” (1)

No

– NC ON/OFF
Operating area
DIAGNOSIS
Operating area
DIAGNOSIS

Operating area
DIAGNOSIS
Password entry
possible

No

Yes

Start-up softkey

GENERAL RESET
MODE softkey

Fig. 2.1,
see next page



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2 General Reset and Standard Start-Up
2.4 General reset (as from SW 3)

2.4

General reset (as from SW 3)

Fig. 2.1

The DIAGNOSIS, START-UP and GENERAL RESET MODE softkeys are used
for selecting the GENERAL RESET MODE basic display.
Functions in GENERAL
RESET MODE
FORCEDBOOT
NCK-PLC

Required only for changing operating system of NC and PLC. This softkey initiates an identifier for NCK and PLC which results in subsequent booting.
CAUTION! Booting is started automatically after the next POWER ON-RESET
(e.g. END GENERAL RESET MODE). Then a general reset of the NCK and the
PLC is to be carried out.

PLC
GEN. RESET

The PLC user memory is deleted and any existing user program is copied from
the hard disk to the PLC. If the PLC is to be cleared, the ANW_PROG program
must previously be deleted on the hard disk. More than one PLC program can be
managed under SERVICES, however, ANW_PROG is the only program to be
loaded in the PLC during general reset.
The cursor keys are used for selecting the toggle fields.

The selection key is used for selecting the objects to be deleted.

FORMAT
NCK AWS

2-4

Formats the user memory of the NCK. The data areas to be formatted can be selected individually by means of the YES/NO toggle fields. The default setting is
“YES”.

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2 General Reset and Standard Start-Up
2.4 General reset (as from SW 3)

DRIVE
GEN. RESET

The configuration file for digital drives is deleted on the hard disk. This function
has no effect on analog drives.

Caution!
Pressing the DRIVE GEN. RESET softkey deletes the contents of the BOOT FILE in the standard data. Any existing
DAC parameterization boot files (see Section 5) are also
deleted.

SAVE
PLC

The user program currently in the PLC is copied onto the hard disk as
ANW_PROG file.
If the software is to be upgraded, this function must be executed before a forced
boot.

END GENERL
RESET MODE

Note

Terminates general reset mode. This function triggers a POWER-ON-RESET.
CAUTION! It is also possible to use the RECALL key for leaving the general reset
screen, but then no mode switchover is involved. The control consequently
remains in general reset mode (operating the machine, for example, is not
possible).

S The PLC-MDs are not valid until general reset mode has been terminated.
S As from SW 4, the drives are booted.
S Take into account flexible memory configuration function.



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2 General Reset and Standard Start-Up
2.5 Memory configuration (as from SW 3)

2.5

Memory configuration (as from SW 3)

Standard values
for DRAM

Softw. 3

Softw. 4
4 MB DRAM

Softw. 4
8 MB DRAM

1 MB Part prog.

704 kB Part prog.

704 kB Part prog.

512 kB
UMS

256 kB
UMS

256 kB
UMS

256 kB IKA
16 000 points

64 kB IKA
4 000 points

64 kB IKA
4 000 points

240 kB
Block buffer

240 kB
Block buffer

0 kB
Meas. value mem.

0 kB
Meas. value mem.

0 kB
FDD/MSD

0 kB
FDD/MSD
2 MB free (SW 4.1–4.3)
3.896 MB free (as from
SW 4.4)
or see below (maximum)

Setting ranges
for DRAM

Note: The ranges cannot be set in software version 3.
As from SW 4.4

SW 4.1 – 4.3

As from SW 5.4

Part programs

32 kB to

2 760 kB

32 kB to

4 920 kB

UMS

0

to

1 024 kB

0

to

2 760 kB 1)

IKA

0
0

to
to

1 024 kB
65 535 points

0
0

to
to

1 024 kB
65 535 points

FDD/MSD

0

or

194/388 kB

0

or

194/388 kB

Block buffer

0
0

to
to

2 760 kB
approx. 1 800
buffers

0
0

to
to

5 026 kB
approx. 3 450
buffers

Measured value
memory

0
0

to
to

2 760 kB
700 000
meas. values

0
0

to
to

2 760 kB
700 000
meas. values

Number of real axes

Axes 15 to 30

16 kB
each

Data for extended
overstore

Axes 1 to 6

49 kB
each

Number of measured
value buffers

Axes 1 to 30

4 byte
each

Maximum
1 264 kB with 4 MB DRAM
3 264 kB with 8 MB DRAM SW 4.1–4.3
5 160 kB with 8 MB DRAM as from SW 4.4
Note as from SW 4:

For UMS at least the memory capacity specified by the WS 800 configuration
station must be entered (not the length of the UMS file transferred).

1) WS 800 can up to 1024

2-6

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2 General Reset and Standard Start-Up
2.5 Memory configuration (as from SW 3)

Setting ranges
for SRAM
Default values

Setting ranges

Tool offsets
32 kB

0 to 1 638 tools
0 to 64 kB

R parameters
19 kB

Channel: 0 to 700 parameters
Central: 700 to 9 999 parameters
0 to 64 kB

Free
13 kB
64 kB are available for tool offsets and R parameters.

Caution:
The memory must be reformatted after every change.
SK “NCK AWS format.” In general reset mode.

Changing the memory
configuration

The operating sequence “Changing the memory configuration” (see below) must
be performed if the size of any of the following memories changes:

S FDD/MSD for digital drives
S UMS memory
S PP memory
S IKA (see Sect. 12: Interpolation and compensation with tables and temperature compensation)

S Block buffer (see Sect. 12: FIFO/predecoding)
S Measured value memory (see Sect. 12: Extended measuring)
Inputs

Procedure for changing the memory configuration
Step
1
2
3

4
5

6
7
8
9



Operation
Select general reset mode in the operating area diagnostics.
Selection of the file function: SK machine data/SK NC-MD/key ETC/
SK memory config./SK file function
Copy the file “NCMEMCFG” from the Siemens branch to the user
branch with SK “Preset”
Caution! If the file “NCMEMCFG” is already in the user branch it is
overwritten with the default values.
Make the necessary settings in the file “NCMEMCFG” by editing the
user file.
Press SK “Reconfig. memory”.
The settings are transferred to the NC-MD and the memory is reconfigured.
Reconfigure NCK user memory if the setting has been changed for
the SRAM. SK “Format NCK AWS”. Press initial clear in the display.
Deselect general reset mode
The values set can be checked in NC-MD 60000 to 62029.
Save the file “NCMEMCFG” from directory NC/data with PC format.

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2 General Reset and Standard Start-Up
2.6 Loading machine data (as from SW 3)

2.6

Loading machine data (as from SW 3)

Note

Loading the machine data function takes several seconds and is accompanied by
the flashing message “Wait”.

Selection

The following softkeys must be pressed: Diagnosis, Startup, Machine data, File
functions:

Fig. 2.2

Procedure
Step
1

Operation

Comment

Activate the standard
data window with the
key

2

Select STANDD_T or
STANDD_M

3

SK Load from disk

4

Select STANDARD

5

SK Load from disk

The window has a yellow border

NC-MD

The MD in the NCK
area are cleared
and assigned standard values

PLC MD, cycl. MD

Initial start-up

On initial start-up (state as supplied from Siemens), no files are available in the
“User data” window(see Fig.).

Subsequent start-up

On subsequent start-up, user files from the “User data” window can be loaded
instead of the files STANDD_T, STANDD_M, STANDARD in the “Standard data”
window.
Make sure that no communication is taking place with the digital drive systems. If
the user file contains drive data (TEA3), you must acknowledge the drive-specific

2-8

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09.95

2 General Reset and Standard Start-Up
2.6 Loading machine data (as from SW 3)

error messages that occur during the Load from disk function. On ending general
reset mode, load the drive data (under file functions drive configuration) or the
complete file (under file functions machine configuration) again.
Info key

You can obtain a summary of the procedure described above in the General reset mode display if you press the Info key.

End of standard
start-up

With the following steps you can terminate standard start-up.
Step



Description

1

Enter the area General reset mode using the Recall key and the
General reset mode softkey. There you can execute the functions
PLC initial clear, Format NCK AWS and, possibly, Drive gen. reset
(for digital drive systems only).

2

Deselection of General reset mode (see also the flow diagram below).
Set the switch on the CSB module to 0.
Now press the softkey End gen. reset mode and you have performed the standard start-up and prepared the further start-up steps.

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2 General Reset and Standard Start-Up
2.7 Deselect general reset mode

2.7

Deselect general reset mode
START

General reset mode

Start-up end
softkey 1)

S-U switch
on CSB set to Startup position

Yes

No

S-U
switch on
CSB set
to 0

Yes

No

NORMAL MODE

S-U switch on
CSB set to 0 and
power on

Password is deleted

PLC is restarted
Power-on routine for
NC software is
running

1) in SW 3 softkey end of GENERAL RESET

2-10

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09.95

2 General Reset and Standard Start-Up
2.8 Standard installation short version (up to SW 2)

2.8

Standard installation short version (up to SW 2)

As from software version 3, machine data dialog is used for
standard installation and start-up.
See Machine Data Dialog Section (MDD).

Operation

The following sequence must be followed for standard SINUMERIK 840C installation and start-up:
1. The control and the external components must be connected as described in
the SINUMERIK 840C Interface Description.
2. Cabling and electrical operating conditions must be checked as defined in the
Interface Description, Part 2.
3. Observe Section 1 of the Installation Guide carefully.
4. Installation of the axes and spindles, including the speed controller.
5. Servo disable set at the hardware level for all axes and spindles.
6. All input/output modules and handwheels connected.
7. NC MD and PLC MD entered.
8. All data, in particular NC MD and PLC MD, must be checked for validity.
9. Enclose the installation checklist in the completed log book.

Password

Data and files are protected against unauthorized access with the password.
The MMC and NCK areas are each protected with their own password.

Selecting a password
in the NCK area

DIAGNOSIS

NC
DIAGNOSIS

NC
START-UP

ENTER
PASSWORD



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2 General Reset and Standard Start-Up
2.8 Standard installation short version (up to SW 2)

When the softkeys, DIAGNOSIS, NC DIAGNOSIS, NC START-UP and ENTER
PASSWORD have been pressed, the following display appears:

MACHINE

PARAMETER PROGRAMM.

SERVICES

DIAGNOSIS

16:38
JOG

M. No. :1
Chann :1

PROGRAM RESET
NC alarms

Enter password
NC
MA. DAT

****

PLC
MA. DAT.

CYCLE
MA. DAT.

ENTER
PASSWORD

LOCK
PASSWORD

GENERAL
RESET MODE

Fig. 2.3

The password for the NCK area is set in machine data 11. The default value 0
+
+
+
.
corresponds to password
Any other value defined in machine data 11 must have four digits.
The value is accepted with the INPUT key and the text “ENTER PASSWORD”
disappears.

LOCK
PASSWORD

2-12

The password is reset with the “Lock password” softkey.
If the password has not been set correctly, the message “Password incorrect” appears.

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09.95

2 General Reset and Standard Start-Up
2.9 General reset (up to SW 2)

2.9

General reset (up to SW 2)

MACHINE

PARAMETER PROGRAMM.

SERVICES

DIAGNOSIS

16:38
JOG

M. No. :1
Chann :1

PROGRAM RESET
Installation mode general reset

Delete machine data, load standard values
Initialize NC memory/user data, part program
Initial clear PLC memory/load basic program

Display NC alarms
Conclude installation, return to normal operation,
disable password (switchkey on central service board
module to 0!)

Del/load
MD

Initial
memory

Initial clear
PLC

Display
NC alarms

End
start-up

Fig. 2.4

The start-up sequence is obligatory since the NC and PLC machine data must
have been entered before the user memory is formatted and the part program
memory is deleted.
“DEL./LOAD MACH. DATA”: The delete/load screenform is displayed.

DEL./LOAD
MACH. DATA

“DELETE NC-MD”: NC-MD are deleted and formatted.

DELETE
NC-MD
LOAD NC-MD
T VERSION
LOAD

DELETE
PLC-MD
LOAD
PLC-MD

Note



or

LOAD NC-MD
M VERSION

“NC-MD LOAD T VERSION” or “NC-MD LOAD M VERSION”:
Standard MD for T or M version are loaded.

If files exist on hard disk in the DIAGNOSIS, NC DATA MANAGEMENT, PC
DATA MANAGEMENT areas, softkey “LOAD” can be used to load these files from
the hard disk to the NCK-CPU.
“DELETE PLC-MD”: PLC-MD are deleted and formatted.

“LOAD PLC-MD”: The default PLC-MDs are loaded.
PLC-MDs are not transferred to the PLC until the general reset mode is exited.
For selecting data management, press the area switchover key, “DIAGNOSIS”
and “SHIFT” + “RECALL” in the General reset selection form.

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2-13

09.95

2 General Reset and Standard Start-Up
2.9 General reset (up to SW 2)

DELETE
CYCLES MD

“DELETE CYCLES-MD”: The cycle setting data and MIB parameters are deleted
and formatted.
The MIB parameters are the machine input buffers for the standard cycles during
program support.
Activating the RECALL key calls the general reset screenform.

INITIAL. MEMORY
FORMAT
USER DATA

“INITIALIZE MEMORY”: The Initialize NC memory screenform is called.

“FORMAT USER DATA”: Setting data, zero offsets, tool offsets, R parameters,
cycle setting data are deleted and formatted.

FORMAT
PART PROG.

“FORMAT PART PROGRAM”:
The dialog text DELETE DATA ? is displayed.
If the Format part program softkey is pressed again, the part programs are deleted and formatted.

PLC
GEN. RESET

Activating the PLC GENERAL RESET softkey calls the PLC functions screenform. The PLC general reset softkey is pressed again for starting PLC general
reset.
Activating the RECALL key calls the General reset screenform.

END
START-UP

2-14

The “END START-UP” softkey is pressed to leave general reset mode. This results in the message “NCK RESET – please wait ...” and PLC restart, the password is deleted and the JOG mode basic display is called.



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09.95

2 General Reset and Standard Start-Up
2.10 Standard installation and start-up as flowchart (up to SW 2 only)

2.10

Standard installation and start-up as flowchart (up to SW 2 only)
START

Voltage test
Functional test

NC-MD

PLC-MD

Axis start-up

Spindle start-up

Test run

Save data to
HD of MMC CPU

END

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2-15

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2 General Reset and Standard Start-Up
2.11 Enter PLC machine data (up to SW 2 only)

2.11

Enter PLC machine data (up to SW 2 only)
START

Enter PLC MD

Data area

Parameter
softkey 1)

NC diagnostics
softkey

NC start-up
softkey

Press PLC MD
softkey

Correct PLC MD
Entries cannot be made until
password has been entered

Go back with
RECALL key

General reset mode
softkey
Start-up
end softkey

END

1) SW 1 only

2-16

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09.95

2 General Reset and Standard Start-Up
2.12 Enter NC machine data (up to SW 2 only)

2.12

Enter NC machine data (up to SW 2 only)
START

Enter PLC MD

Data area

Parameter
softkey 1)

NC diagnostics
softkey

NC start-up
softkey

Press PLC MD
softkey

Correct PLC MD
Entries cannot be made until
password has been entered

Go back with
RECALL key

General reset mode
softkey
Start-up
end softkey

END

1) SW 1 only



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2 General Reset and Standard Start-Up
2.13 Axis installation (simplified, up to SW 2 only)

2.13

Axis installation (simplified, up to SW 2 only)
START

JOG mode

Axis traversing movement (direction key)

Check of PLC
program

Check the enables

Yes
Feed
hold?

No

Feed enable?

Yes

No
Alarm?

Yes
Position control
direction OK?
(s. Sect. 5, check MDs)

No
Rapid traverse

Alarm?

Yes
Check MDs: 256*,
260*, 268*, 276*, 280*,
264*, 364*, 368*

No
1000 mm
set movement=1000 mm
at machine?

No
NC MD 364*, 368*,
1800*

Yes
No

All axes
traversed?
Yes
Perform drift compensation (NC-MD 272*)

END

2-18

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09.95

2 General Reset and Standard Start-Up
2.14 Spindle installation (Example: one spindle, up to SW 2 only)

2.14

Spindle installation (Example: one spindle, up to SW 2 only)
START

1st spindle
available?

No
1

Yes
No

Spindle
pulse encoder
available?

No

Yes

Spindle
rotating?
Yes

Spindle
pulse encoder with
1024 pulses?
Yes

No

No

Change bit 1 of
NC MD 521*

Analog
spindle speed?
Yes

With 840 M:
Buy option

Correct dir.
of rotation?
Yes

Enter channel no. in
DB31 DL2

Enter spindle no. in
DB10–13 DL3

No

Bit 7 NC MD 521*
= “1”?
Yes

Set Bit 7 in NC MD
521* and POWER ON

No

Enter speed limitations
in spindle SD

NC MD 400*
correct?
Correct NC MD 400*
(Section 8)

No
Check NC MD 403* to
410* and tacho compensation

Actual speed =
prog. speed at
100% override?
Yes

No

Yes
Enter spindle drift
(NC MD 401*)

Check setpoint
cable

Specify M and S
values via
OVERSTORE

Execute
POWER ON

Spindle enable
Spindle contr. enable

Further gear
Yes speeds?
No

1st gear speed
processed?
No

Select next
gear speed

Yes
Select 1st gear
speed

END
1

END OF SECTION



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2-19

09.95

3 PLC Installation
3.1 General remarks

3

PLC Installation

3.1

General remarks

PLC CPU versions

Three different PLC CPU versions can be used in the SINUMERIK 840C:

S PLC CPU 135 WB2 with interface PLC and EPROM submodules for the operating system and the user program (the operating system and the user program are loaded from EPROM into RAM, up to software version 2 only)

S PLC CPU 135 WB2 with interface PLC and RESTART EPROM submodule
(as from software version 3, the operating system and the user program are
loaded from hard disk into RAM)

S PLC CPU 135 WD without interface PLC (as from software version 3, the operating system and the user program are loaded from hard disk into RAM)
Connection of the
programming device

Link to X111 interface which is always active

PG function via
MMC
Cable 6FC9 340–8W
link X151

Cable 6FC9 340–4R
PG 7 ...
(S5 PLC)
(COM1 RS 232 C/
MODEM)

Interface PLC
or PLC 135 WD
Fig. 3.1

Note



Only PG 7 ... programming devices may be used with the SINUMERIK 840C for
programming and servicing the PLC.

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3-1

09.95

3 PLC Installation
3.1 General remarks

PG interface
Only the following values are permissible for the PG interface on the PLC 135 WD:
9600 BAUD
PARITY EVEN
2 STOP BITS
The PG interface is always active.

PG operation
Step

3.2

Activity

1

Connect cable NC-PG

2

PG 7xx

Start S5-DOS

3

PG 7xx

Select on-line mode

PG function via MMC

The function exists on SW 4 and higher and can be obtained as an option. It is mainly for servicing, testing and
commissioning.

General notes

With this function you can use the functionality of the SIMATIC software STEP
5/MT level 6 on the SINUMERIK 840C control. PG functions can thus be
executed on the operating panel or on an MF2 keyboard. Operation via the operator panel or MF2 keyboard is restricted compared with operation on the programmer.
For the connection between the MMC and the PLC (on-line operation), the following cable is required:
MMC-CPU, X151 <–––– 6FC9340–8W –––> PLC CPU, X111
(see INTERFACE DESCRIPTION PART 2 CONNECTION CONDITIONS).
The PG function via MMC is mainly used for:
Support in servicing, testing, installation and start-up with the following
functions:

S Status module
S Status variable
S Force PLC
S PLC info with BSTACK and USTACK and
S Cross-reference lists
Moreover, modules can be edited and loaded/stored from/to diskette (floppy FD–
E2).
A programming device (e.g. PG 750) is still required to write large PLC user programs because operation is restricted.

3-2

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3.2 PG function via MMC

When the PG software is selected, the 1st serial interface is disabled. It is only
enabled again when the PG mode is terminated.

Caution
With the PG software, it is possible to select other files as
well (not S5 files) to delete or copy them etc. with the function: object\DOS file\. The user is responsible for using this
function. System files can be deleted too.

Operation and application of the SIMATIC software STEP
5/MT level 6 is described in the relevant manual.

Installation

The function is supplied on tape and is installed in the BACKUP menu (see Section BACKUP).

Operation

Starting from the DIAGNOSIS area, the function can be selected using softkey
PG function.
When operating the PG functions via the operator panel or MF2 keyboard, please
note the following changes in the key functions.

Key on the operator panel

Key on the MF2 keyboard1)

Equivalent key/function on the
programming device

SK1

F3

F1

SK2

F4

F2

SK3

F5

F3

SK4

F6

F4

SK5

F7

F5

SK6

F8

F6

SK7

F9

F7

F2

F8 (Cancel, ESC)

Shift +SK1

Shift+F3

Shift+F1

Shift +SK2

Shift+F4

Shift+F2

Shift +SK3

Shift+F5

Shift+F3

Shift +SK4

Shift+F6

Shift+F4

Shift +SK5

Shift+F7

Shift+F5

Shift +SK6

Shift+F8

Shift+F6

Shift +SK7

Shift+F9

Shift+F7

Shift+F1

Shift+F8

RECALL

1) The keyboard must be connected to the interface on the MMC-CPU.
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3.2 PG function via MMC

Delete
character

Backspace

not possible 1)

Shift +

not possible 1)

.
DEL

.
DEL
.
DEL

Shift +

0
INS

Shift +

Delete char.
to the left
.
DEL

0
INSERT

9

Pg Up

Shift +

Pg Up

Shift +

Shift+

Scroll
up

Pg Dn

Shift+

5
CORR

5

no meaning

ESC

no meaning

no meaning

F11

no meaning

no meaning

F12

no meaning

Page
up

9

3

Pg Dn

Shift +

Enter

End of input
(return)

ENTER

Shift +

Delete
field

Scroll
down
3

Page
down

Editing mode

1) Delete with the backspace key

3-4

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3.2 PG function via MMC

Restrictions

S The data management function BTRIEVE is not installed.
S For output on the printer via the parallel interface parallel 1 (Centronics, X122)
on the MMC-CPU, LPT1 must be set in the printer parameters.

S The following characters cannot be displayed on the operator panel: “#”, “{”, “
}”, “~”, “’”, “$”, “&”, “ |”, “\”

S Data exchange with external PGs can only be performed with the FD-E2
diskette unit.

3.3

PLC general reset
PLC general reset
With NC operator panel

or

Select general reset
mode PLC general reset

PG 7xx

See Section 2
General reset

3.4

See
Programming Guide

Procedure for starting up the PLC

Overview

Load user program
File ANW_PROG
exists
Check
– Operator area Services
– SK Data management
– Dir. PLC/program.

Load Step 5 program
into PLC 135 with PG
Load WD

Back up PLC prog. on disk,
in general reset mode.

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3.4 Procedure for starting up the PLC

Save/load

PLC
135 WD

MMC
Disk
PLC save

S-RAM
user program
memory

X111

1)

X151

S-RAM
user data
memory

PG 7xx save/load
Step 5 program

Procedure
up to SW 2

Directory
PLC/program file
ANW_PROG

Save/load to
external in PC
format
e.g. PCIN 3.X
PCIN 4.X

PLC 135 WB2 with EPROM submodules for the operating system and the
user program
Prerequisites: The PLC user program is available either on diskette or hard disk,
the RAM of the PLC CPU is clear.
Step

Note

Description

1

For the initial installation of the PLC, the PLC user program must first
be stored in the non-volatile memory of the control. For this purpose,
the PLC user program must be transferred onto the appropriate
EPROM submodule (6FC5 130–0CA01–0AA0), e.g. by means of the
PG750 programmer. The EPROM submodule is then plugged into the
X321 submodule slot (with the control being switched off).

2

Select general reset on the control:
SK ”Diagnosis” –> SK “NC diagnosis” –> SK “NC start-up” –>
SK “General reset”

3

Then the “PLC gen. reset” softkey in the “General reset” installation
menu is pressed to select deletion of the user memory and subsequent copying of the PLC user program from the EPROM submodule
into the RAM memory. The selection does not become effective until
the “Start-up end” softkey is pressed.

4

The PLC user program is now in the RAM of the PLC CPU and is
processed.

If you press the “PLC gen. reset” softkey and then the “Start-up end” softkey in
General reset mode, this causes the PLC user program in the RAM to be deleted
and the user program stored on the EPROM submodule is then loaded in the
RAM. If no EPROM submodule with a user program is plugged in, the RAM
remains clear; no user program is loaded.

1) The user data are transferred from the PG to the user data memory using the PG segment switch

3-6

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3.4 Procedure for starting up the PLC

Procedure
as from SW 3

PLC 135 WB2 with RESTART EPROM submodule and PLC 135 WD
Prerequisites: The PLC user program should exist either on diskette or on the
hard disk, the RAM of the PLC CPU is empty.
Step

Note

Description

1

The Restart EPROM submodule must be plugged in the X231 submodule slot (PLC 135 WB2 only).

2

Connect PG7xx to the control and load the STEP5 program.

3

Select General reset mode on the control.
SK “Diagnosis” –> SK “Start-up” –> SK “General reset mode”

4

Transfer the PLC user program from the PG7xx into the control. The
PLC user program is now in the buffered RAM of the PLC CPU.

5

In order to prevent a loss of data, it is advisable to store the PLC user
program on the hard disk of the MMC CPU. You can press the “Save
PLC” SK to achieve this. The selection becomes effective as soon as
the “End general reset mode” SK is pressed. The PLC user program
is stored in the Services area under User/PLC/Programs as
ANW_PRG file. You can also copy this program to another name. In
this way you can store a number of different PLC user programs on
the hard disk.

If you press the “PLC gen. reset” softkey the PLC user program in the RAM is
deleted and the user program stored on the hard disk as ANW_PRG is then loaded into the RAM. The data in the user data memory are also deleted.
The RAM remains clear if the ANW_PRG file is not in the User/PLC/Program directory or has been deleted; no PLC user program is loaded.
If the PLC user program is available in PC format, you must read in the program
via the V24 interface. The PLC user program is then automatically stored under
User/PLC/Program as ANW_PRG file.

S A PLC general reset must then be performed.

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3.5 PLC diagnostics

3.5

PLC diagnostics
The following diagnostics displays exist:
Displayed by

3.5.1

Brief description

1

LED

CPU hardware fault

2

–

System initialization program

3

USTACK
detailed error
coding

Displays programming errors

4

PLC status

5

Timeout

Displays and changes (password) to PLC data
(I, O, F, D, T, C)
Timeout analysis of write access

LED display
After switching on the mains voltage, the interface control runs a self-diagnostics
program. This program tests the most important hardware components and initializes the software required for continuing system start up.
If errors in the system are recognized, the LED on the front plate displays the
error.
For a detailed error list, please refer to the “SINUMERIK 840C, Diagnostics
Guide”.

3-8

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3.5.2 System initialization program

3.5.2

System initialization program
After the self diagnostics program has been run through, the system initialization
program is requested.
In its first section, the data required for running the organization program are set
up. This setting up includes:

S Stack organization,
S Segmentation for word processor and co-processor,
S Entries in the location dependent CPU interrupt table,
S Task priority lists,
S Setting up task data,
S Initialization of counts and periodic values.
In the second section the system initialization program defines the type of start up
after switching on the mains voltage. The following points are checked:

S Whether the switch-on test pattern is missing (i.e. data lost)
S Whether there is a battery interrupt
S If the setting-up bit is set
S Request from the NC “automatic warm restart after setting-up overall reset”
S STOZUS operating status bit set (acquisition of interupt event or continuation
of the STOP state, see Section 8)

S Cold restart or warm restart attempt aborted.
If the STOZUS identifier is set, the control remains in the STOP state.
If, in the second section, (testing of run-up after switching on the mains voltage)
the STOZUS identifier is not set, but one of the other conditions is fulfilled, an automatic cold restart is executed; a warm restart of the control only occurs if none
of the mentioned conditions are fulfilled.
Overall reset with subsequent bootstrapping of the user memory (ORLOE = 1) is
always required

S If first setting up is instigated,
S Data loss has occurred by removing the PLC CPU or, in the case of power
failure, due to simultaneous battery voltage failure.

S After forced boot (SW 3 and higher)
If the mains voltage fails during active processing checks, the processing checks
are aborted by the programmer. The system initialization program instigates the
cold restart.

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3.5.3 USTACK, detailed error coding

3.5.3

USTACK, detailed error coding
The operating system can detect malfunctioning of the central processor, errors in
the system program or effects of incorrect programming by the user.
If the interpreter comes across an error during command processing or if another
error occurs that cause a program interruption, the PLC enters the STOP loop.
A more precise analysis of the error can be obtained using the programmer or the
detailed error coding integrated into the control. The interrupt stack and the detailed error coding are available for this, which are kept up-to-date in the Installation List up to SW4 and in the Diagnostics Guide for SW5 and higher.

Selection

S Up to software version 2:
SK “Diagnosis” –> SK “NC diagnosis” –> SK “Service display” –> SK “PLC
error detection”

S On software version 3 and higher:
SK “Diagnosis” –> SK “Service display” –> SK “PLC service”

Fig. 3.2

3-10

Detailed error code for cause of PLC stop

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3.5.4 PLC status

3.5.4

PLC status
In the “PLC STATUS” mode, the user can read out the contents of counters and
timers and read out and write input words, output words, flag words, data words
and data double words. These words can only be written when a password has
been entered.

S Up to software version 2:

Selection

SK “Diagnosis” –> SK “NC diagnosis” –> SK “Service display” –> SK “PLC
error recognition”

S Software version 3 and higher:
SK “Diagnosis” –> SK “Service display” –> SK “PLC service”

KM

IW

QW

FW

DB

KH

KF

KT

KC

DW

DD
parallel

KH

KF

DX

C

T

Data areas
Read

Write

Data number

Input word

x

x

0–126

Output word

x

x

0–126

Flag word

x

x

0–254

Data word

x

x

0–254

Data double word

x

x

0–254

Times

x

–

0–255

Counter

x

–

0–255

Operator entries in
PLC STATUS mode
Any existing byte number may be preselected



Page DOWN:

The byte number is incremented by one

Page UP:

The byte number is decremented by one

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3.5.4 PLC status

Example of operation

INPUT:

Enter new value for the selected word or bit

RECALL:

Return to preceding display

S Reading input, output and flag words
Softkey: IW, QW, FW
Keys

+

Preselect word
number 14

+

S Reading data words
Softkey DB
Softkey DX

to select a DB
to select a DX

Preselect DB (DX) with
Preselect data word with DB
Preselect data words from two contiguous DBs (DXs) with DD
Example:
Selecting DW 5 in DB 10
PLC Status softkey
DW softkey
Keys

+

+

to select DB 10

Softkey DW 1)
Keys

+

to preselect word no. 5

S Reading the contents of timers and counters
Softkey: T or C
Keys

+

Preselect timer or counter number 6

The time is always displayed in seconds, regardless of how it was programmed in STEP 5. The count is displayed in BCD code.
Display formats
KM:
KH:
KF:
KT:
KZ:

Binary
Hexadecimal
Fixed-point
Time
Count

numbers
numbers
numbers
numbers
numbers

0 and 1
0 to F
0 to 9
0.01 to 999
0 to 999

1) Actuation of the DD softkey selects data words from DB10 and DB11, e.g. DW5 in DB10 and in DB11.

3-12

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3.5.5 Timeout analysis

3.5.5

Timeout analysis
A write access to the communication or local bus is executed by the bus interface.
The processor immediately receives an acknowledgement and continues. (Buffered access to communication/local bus). If a timeout occurs during such an access, the current state of the registers of the processor and coprocessor give no
information as to the cause of the timeout.
The user can switch off buffered accesses to the communication and local bus
(e.g. to test STEP 5 programs during the installation phase) via machine data
(PLC operating system MD bits 6049.0). These accesses are then slower because the processor only receives an acknowledgement when the whole bus cycle has finished.
Machine data 6049.0 must be set in order to be able to determine the exact cause
of a timeout.

3.6

Procedure for error search after PLC stop
The table below describes the procedure for an error search in the PLC after
alarm: PLC CPU failure has been displayed on the operator panel.
Step

Description

1

Alarm display on operator panel: PLC CPU failure

2

LED on PLC CPU flashing: evaluate flashing frequency: for a description see error displays: “SINUMERIK 840C, Installation Lists”

3

LED on PLC CPU permanently lit: USTACK, read out detailed error
coding, for operation see above in this section

4

If the contents of the 1st error code word are 00FFH an error has occurred in the FBs.
For an error description see Diagnostics Guide, Section Error messages

5

If the contents of the 1st error code word are not equal to 00FFH, see
error description in Diagnostics Guide, Section Error messages

END OF SECTION

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MMC Area Diagnosis

4.1 General notes/overviews

4

MMC Area Diagnosis

4.1

General notes/overviews

4.1.1

Password
A password protects data against unauthorized access.
The MMC and NCK areas are password-protected.

Selection of the password
in the MMC area

from SW 3
Diagnosis

up to SW 2
Diagnosis

Start-up

Password

Password

The password for the MMC area is defined with MD11 in the NCK area. Every
additional value in MD11 must be 4 digits long. The standard value 0 corresponds to password
1 +

1 +

1 +

1

Enter digit 1 four times using the keyboard.

Confirm with the INPUT key.

Set the password with the SET key.
SET

DELETE

If the password is set correctly, the following text appears in the alarm line:
“120000 PASSWORD SET”.
With the softkey DELETE, you can clear the password, the message “120001
PASSWORD RESET” then appears.
If the password was not enetered correctly, the message “120009 PASSWORD
INCORRECT” appears. The display is acknowledged with the softkey OK.

Note:



The password must be deleted after start-up.

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4.1.2 Simplified switchover between languages (as from SW 5)

4.1.2

Simplified switchover between languages (as from SW 5)
In the Diagnosis area it is possible to changed the language of the input screens
that appear subsequently. This is done with the softkey “Language/Sprache” in
the initial display of the Diagnosis area.

Fig. 4.1

Toggle field (Language) In the areas System (MMC, NCK), WOP, Simulation and the PG (STEP5 Software) it is possible to switch over the language using the toggle field (Language).
The current configuration is preselected. If any of the options (WOP, Simulation
and PG-SW) is not installed, “–” appears in the Language field.
Installed languages

The toggle fields only offer for selection the languages currently installed on the
control in the area in question. A message text appears on the display (in German and English) indicating how to operate the toggle field.

Password

Changing the language is password-protected, i.e. of you press the softkey “OK”
it is possible to enter the password subsequently.

Softkey “OK”

With the softkey “OK” you can take over the changed configuration which is activated on the next start-up. The diagnostics changes the reserved words LANGUAGE in the master control config file in the user branch. If there is still no master control config file in the user branch, it is copied from the Siemens branch.

Reserved words

Assignment of the reserved words to the area
Area
System
WOP
Simulation*
PG

“RECALL”

Reserved word
LANGUAGE
LANGUAGE1
LANGUAGE2
LANGUAGE3

With “RECALL”, you can exit the display without saving any changes.
* As from SW 5.4, also for Graphic Tool Path Simulation

4–2

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4.1.3 Printing screen hardcopies

4.1.3

Printing screen hardcopies
The screen hardcopies are stored in a compressed TIFF or PCX format to reduce
the transmission times via the RS 232 interface. The format is selected in two
Bedconf entries. The formats can be interpreted with Windows tools, such as
Word.
First entry, screen colour: //BCOLORMONO_DEF
a 15 1 CO
or
a 15 1 MO

for colour screen
for monochrome screen

Second entry, for output format: //BHARDCOPY_DEF
a 15 6 CO
or
a 15 6 MO

TIFF
PCX

With these settings you can create the following file formats:
Entry in BEDCONF

Note



File format generated

a 151

a 156

CO

PCX

X.PCX, compressed, color

MO

PCX

X.PCX, compressed, monochrome

CO

TIFF

X.TIF, compressed, color

MO

TIFF

X.TIF, uncompressed, monochrome

With the entry in “a 151 CO” or “MO” the screen display is changed, to colour or
monochrome.

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4.1.3 Printing screen hardcopies

4.1.4

Selection of the Diagnosis area

Diagnosis

Select the DIAGNOSIS area with this softkey in the area menu bar. The initial
display that appears shows you the alarms currently pending.
With the vertical softkey bar it is possible to switch to the display of the current
messages.

Fig. 4.2

Display by
priority

Initial display of the diagnosis area

With these softkey functions you can sort the alarms/messages currently pending
by priority or chronologically.

Display by
time
Press this softkey to display the current messages
Messages
Switch back to display of the alarms
Alarms
See Section “Simplified language switchover”
Language/
Sprache
See Section “Password”
Password
See Section 3, Start-up PLC
PG function

4–4

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4.1.4 Selection of the diagnosis area

Service
display
Start-up

A

Fig. 4.3

Alarm log 1

Default setting: All alarms and messages are included.

Alarm log 2

Default setting: All reset and power ON alarms are included.
Note: Both files are configured in the CONFIG file.

Fig. 4.4



Alarm log 1

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4.1.4 Selection of the diagnosis area

Display NCK software version
NC info
For description see NC service in this section.
NC service
PLC
service

The displays are used for debugging incorrect programs. The status display is
used to show PLC data (e.g.: I, Q, ...).
For description see Section 3, Start-up PLC
Subsection ISTACK, detailed error coding, PLC status

Drive MSD/
FDD

For description see under subsection: Drive service displays for spindle and axis.

For OEM applications
Exit points

A

Start-up

Fig. 4.5

Logbook

In SW4 the logbook contains the current version numbers of the software components installed on the hard disk.
As from SW5, the first line also indicates the sum software version.
Caution: As from SW4, no entries must be made in the logbook, because it would
be overwritten on every software upgrade.
Up to and including SW3 information can be placed in the logbook which is important for service on the control.

4–6

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4.1.4 Selection of the diagnosis area

Machine
data

For a description of the machine data dialog MDD (on SW3 and higher) see Section 5, Machine data dialog (MDD).
For a description of NC-MD see Section 6, NC machine data (NC-MD), NC setting data (NC-SD).
For a description of the drive MD see Section 7, drive machine data (SIMODRIVE drive MD).
For a description of the PLC-MD see Section 8, PLC machine data (PLC-MD).

Drive servo
startup

As from SW3:
The following functions can be selected:
Measurement of the drive servo loops
Set function generator, signal forms
Configure DAC and mixed I/O
Quadrant error compensation (QEC) and circularity test
Servo trace, freely programmable oscilloscope function (as from SW 4)
For a description see Section 9, drive servo startup application

General
reset mode

For a description see Section 2, general reset and standard start-up.
On initial start-up or after data loss, e.g. because a module has been removed,
hardware defect in a module or flat back-up battery on power failure, data can be
assigned standard values in initial clear mode.
For a description see Subsection PC data.

PC data

The operation system can be set in configuration files. The files are preset to default values. They can be changed in the MMC area DIAGNOSIS using the ASCII
editor (the ASCII editor is described in the Operator’s Guide)
As from SW3: enabling options

Options

For a description see below under subsection : Enabling options.

Backup

A complete backup of all data can be made on magnetic tape using the VALITEK
streamer.
For a description see below in subsection: BACKUP with Valitek streamer.
Possible input values are:

Time/date

Hour

0 – 23

Minute

0 – 59

Day

1 – 31

Month

1 – 12

Year

80 – 99
The values are entered on the numeric keypad and confirmed with INPUT.

SET

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With the softkey SET, the values are activated. The function
is password protected.

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4.1.4 Selection of the diagnosis area

NCK power
ON

NCK power ON without voltage failure.
Features:

S MD are activated.
S Reference point values are lost.
S PC data are not updated.
Terminate the machine data dialog (MDD).
Start-up end

4.2

NC Service
For drive optimization and error diagnosis it is necessary to check the data transmitted from the NC to the axes or spindles and from the axis or spindles to the
NC.
The following service data for axes are displayed:

S Following error in position control resolution (limit = 2 position control resolution units)

S Absolute actual value in position control resolution units
True position of the axes on the machine.

S Setpoint in position control resolution units
Default which has been determined by the control system on the basis of programming or setpoint position entered manually.
Normally, setpoint and absolute actual value are identical. In standstill, the
difference (following error) can be compensated with the drift compensation.

S Abs. compensation value
Sum of IKA and temperature compensations.

S Speed setpoint in 0.01 % of the maximum speed
Digital value which has been determined by the control system (maximum
value see NC-MD 268*). This is converted into an analog value (0 V to 10 V)
on the measuring circuit module and output as speed setpoint to the drive.

S Partial actual value in position control resolution units
Pulses per interpolation clock sent by the measuring system (standard 16
ms).

S Partial setpoint in position control resolution units.
Partial setpoints per interpolation time sent by the interpolator to the position
control (standard 16 ms).

S Contour monitoring
The current contour deviation is displayed with this value (fluctuations of the
following error due to adjustments on the speed controller caused by settling
due to load changes).

S Synchronous run error
Deviation between leading axis and following axis.

S Parameter set position control.

4–8

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4.2 NC Service

S Parameter set conversion
Selected parameter set is displayed.

S Service no.
See the Diagnostics Guide for the list of service nos.

Service values are displayed in double size, i.e. in position
control resolution unit (e.g. following error displayed 2000
with position control resolution 0.5 mm , the result is a true
following error of 1000 mm.



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4.2.1 Selection of service data

4.2.1

Selection of service data

Data range

Diagnosis

Service
display

NC
service

Further
axes/
spindles

Single
axes

Single
spindles

Service Axes single display
Following error
Absolute actual value
Absolute setpoint value
Abs. compensation val.
Speed set value (0.01%)
Part actual value
Contour deviation
Synchronous run error
Parameter block position control
Parameter block gear control
Service number

Axis 1 (1–8)
Fig. see Section
Start-Up

Service axes and spindles

4–10

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MMC Area Diagnosis

4.2.1 Selection of service data

The figure for single display is updated more frequently than the figure for several
axes and spindles.
Note

Use the single figure for exact control.
Change to the following axes with “Page down” key.

If you enter the digit “8” and press the search key, e.g. axis 8 can be selected
directly.
You can move back to the previous axes with the “Page up” key.

4.2.2

Service data for the spindle
For optimization and error diagnosis, it is possible to display the current spindle
values.

S Speed set value (0.01%):
Digital voltage output from the NC on the measuring circuit.

S Speed set value (rev/min) Progr.:
Value entered by the user;
e.g.: Input S 1000 Display: Speed set value 1000 (rev/min)

S Current speed set value:
Currently effective correct-sign current speed set value with calculated override without speed limitation by setting data or MD.

S Actual speed value (rev/min):
The pulses sent by the spindle encoder are evaluated by the NC and displayed as speed in rev/min.

S Position set value:
The spindle position preset in degrees by the user is converted by the NC
intop the corresponding number of pulses,
e.g.:

0_
=
180_ =
359_ =

0
2048
4059

S Actual position value
The pulses sent by the spindle encoder are evaluated and displayed by the
NC.

S Following error:
Difference between position set value and actual position value. In standstill,
the following error is a measure for the position deviation with active M19. A
following error is also displayed in controlled operation.

S Error synchronism
Deviation between leading spindle and following spindle

S Override:
The position of the spindle override switch is displayed.

S Gear stage:
The current gear stage is displayed (DB 31 DR K +1 bit 0 to 2).

S Parameter set position control
S Parameter set speed ratio
Selected parameter set is displayed.

S Service No.
The service numbers are listed in the Diagnostics Guide.

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MMC Area Diagnosis

4.2.2 Service data for the spindle

Selection of the
spindle service data

The display of the service data is selected with the softkey Diagnosis, Service
displays. Selection see also Section 5.4.
You change over to the following axes with the “Page down” key.

You enter the digit “4” and press the search key to select directly axis 4, for
example.
If necessary, you move back to the previous axes with the “Page up” key.

4.3

Drive service displays for spindle (MSD) and axis (FDD) – (as
from SW 3)
Diagnosis

Service
display
Drive
MSD/FDD

Explanation

Press the Diagnosis, Service display and Drive MSD/FDD softkeys to call up the
drive service display MSD 1st screen

Fig. 4.6

Explanation

4–12

The drive service display MSD 1st screen gives you an overview of the signals
and statuses of the MSD drives and is only a display. The specific drive data (NC,
PLC, Drives) set, determine the contents of the display fields.

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MMC Area Diagnosis

4.3 Drive service displays for spindle (MSD) and axis (FDD) – as from SW 3)

Explanation of display fields MSD 1st screen
Drive status

This display field describes the ramp-up and operating status of the digital drives.
This status is generated in the SERVO during start-up and then changed accordingly in the display (SW 4: Drive MD 11008).
Possible data:
08
18
28
38
48
58

OFF
On (after the drive has returned status signal to SERVO)
On-line (communication possible)
Bootstrap (drive must be rebooted)
Connected (drive ramp-up completed)
Ready (drive under closed loop control, Power On)

Main spindle drive

This display field describes the actual MSD drive, i.e. the one which has been
selected using softkeys drive +/–.

Ramp-up phase

This display field contains the control word for the ramp-up control of the 611D
components and exists for each logical digital drive number (drive MD 11000).
The ramp-up state set by the SERVO is shown in the high byte and the state acknowledged by the drive is shown in the low byte (see description drive status).
Possible information:
High byte 8 Set ramp-up status
(SERVO)
Values:
0–5
Low byte 8 Acknowledged ramp-up state (drive)
Values:
0–5
Possible display range: 0000 – 0505

Pulse enable
(terminal 63/48)

This display field contains the status of terminal 63/48 of the infeed/regenerative
feedback unit. (SW 3: drive MD 11.2 – pulse suppression for all drives – SW 4:
MD 1700.2).
Possible display range: off or on.

Drive enable
(terminal 64/63)

This display field contains the status of terminal 64 of the infeed/regenerative
feedback unit (SW 3: drive MD 11.6 – for all drives – SW 4: drive MD 1700.6).
Possible display range: off or on.

Pulse enable
(terminal 663)

This display field contains the status of terminal 663 (SW 3: drive MD 11.1 –
module-specific pulse suppression – SW 4: drive MD 1700.1).
Possible display range: off or on.

Pulse enable
PLC setpoint

This display field contains the status of the pulse enable PLC of the cyclic control
word 2 (drive MD 11005.7).
Possible display range: off or on.

Speed controller
enable setpoint

This display field shows the condition of the speed controller enable NC of cyclic
control word 2 (drive MD 11005.9).
Possible display range: off or on.

Setpoint parameter set

This display field contains the current set parameter set of cyclic control word 2
(drive MD 11005.0–2).
Possible display range: 0 – 7

Motor selection setpoint This display field contains the current motor type of cyclic control word 2 (drive
MD 11005.3).
Possible display range: Y or D (8 star or delta)
CRC error



This display field contains the number of bus transmission errors between NC
and drive detected by the hardware (drive MD 11001).
Possible display range: 0000 – FFFF

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MMC Area Diagnosis

4.3 Drive service displays for spindle (MSD) and axis (FDD) – as from SW 3)

Message ZK1

This display field contains the state of message state class 1 of cyclic status
word 1 (drive MD 11002.0).
Possible display range: off or on.

Pulse enable actual

This display field contains the state of enabled pulses of cyclic status word 2
(drive MD 11003.7).
Possible display range: off or on

DC link

This display field contains the status of the DC link (drive MD 11006.0).
Possible display range: off or on

Actual parameter set

This display field contains the current actual parameter set of cyclic status word 2
(drive MD 11003.0–2).
Possible display range: 0 – 7

Actual motor selection

This display field contains the actual motor type of cyclic status word 2 (drive MD
11003.3).
Possible display range: Y or D (8 star or delta)

Position actual value

This display field contains the current positional actual value (SW 4: drive MD
12000). It is dependent on the position control of the rotary axis (NC MD 5640.5)
and position control resolution (NC MD 18000.0–3).

Speed actual value

This display field contains the current speed actual value of the motor (SW 3:
drive MD 2/SW 4: drive MD 1707).

Speed setpoint

This display field contains the current speed setpoint of the motor (SW 3: drive
MD 1/SW 4: drive MD 1706).

Capacity utilization

This display field shows the capacity utilization of the main spindle drive. Up to
the rated speed, the ratio of torque to maximum torque is displayed, and above
the rated speed the ratio of power to maximum power is displayed
(SW 3: drive MD 4/SW 4: drive MD 1722).

Active power (SW 4)

This display field shows the current active power (drive MD 11011).

Smoothed current
actual value (SW 4)

This display field shows the smoothed current actual value in percent
(drive MD 1708).

Motor temperature

This display field shows the current motor temperature
(SW 3: drive MD 10/SW 4: drive MD 1702).

Status of binary
inputs (SW 3)

This display field contains the state of the binary input (drive MD 11).
Possible display range: 0000 – FFFF

Display of active
functions 1 (SW 3)

This display field contains the current status of active functions 1
(drive MD 254).
Possible display range: 0000 – FFFF

Display of active
functions 2 (SW 3)

This display field contains the current status of active functions 2
(drive MD 255).
Possible display range: 0000 – FFFF

4–14

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MMC Area Diagnosis

4.3 Drive service displays for spindle (MSD) and axis (FDD) – as from SW 3)

Drive service display MSD 2nd screen
MSD
2nd screen

Press the MSD 2nd screen softkey in the service area for drive MSD/FDD.

Fig. 4.7

Explanation

The drive service display MSD 2nd screen gives you an overview of the signals
and statuses of the MSD drives and is only a display. The specific drive data (NC,
PLC, Drives) set, determine the contents of the display fields.

Explanation of display fields MSD 2nd screen
Drive status

This display field describes the ramp-up and operating status of the digital drives.
This status is generated in the SERVO during start-up and then changed accordingly in the display (SW 4: drive MD 11008).
Possible data:
08
18
28
38
48
58

Off
On (after the drive has returned status signal to SERVO)
On-line (communication possible)
Bootstrap (drive must be rebooted)
Connected (drive ramp-up completed)
Ready (drive under closed loop control, Power On)

Main spindle drive

This display field describes the actual MSD drive, i.e. the one which has been
selected using softkeys drive +/–.

Set-up mode actual
value

This display field shows the set-up mode status of cyclic status word 1
(drive MD 11002.8).
Possible display range: off or on

Parking axis setpoint

This display field shows the status of parking axis of cyclic control word 1 (drive
MD 11004.1).
Possible display range: off or on

Travel to fixed stop
actual value

This display field contains the status of travel to fixed stop of cyclic status word 2
(drive MD 11003.13).
Possible display range: off or on

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MMC Area Diagnosis

4.3 Drive service displays for spindle (MSD) and axis (FDD) – as from SW 3)

Speed setpoint
This display field contains the status of speed setpoint smoothing of cyclic status
smoothing actual value word 1 (drive MD 11002.11).
Ramp-function
generator rapid stop

This display field contains the status of ram-function generator rapid stop of cyclic
status word 1 (drive MD 11002.9).
Possible display range: off or on

V/F mode

This display field contains the status of V/F mode of cyclic status word 2 (drive
MD 11003.12).
Possible display range: off or on

2nd momentary limit
actual value

This display field shows the status of 2nd momentary limit of cyclic status word 1
(drive MD 11002.10).
Possible display range: off or on

Integrator inhibit
actual value

This display field shows the status of the integrator inhibit of cyclic status word 1
(drive MD 11003.6).
Possible display range: off or on

Motor temperature
warning

This display field shows the state of the motor temperature warning
(drive MD 11006.14).
Possible display range: off or on

Heat sink temperature
warning

This display field shows the state of the heat sink temperature warning
(drive MD 11006.15).
Possible display range: off or on

Programmable
messages (SW 3)

This display field shows the status of programmable messages 1–6
(drive MD 11007.0–5).
Possible display range: off or on

Ramp-up
completed (SW 4)

This display field shows the current status of the message Ramp-function
procedure completed (drive MD 11007.0).

IMd I < Mdx (SW 4)

This display field shows the current status of the message IMdI < Mdx (drive MD
11007.1).

Inact I < nmin (SW 4)

This display field shows the current status of the message InactI < nmin (drive MD
11007.2).

Inact I < nx (SW 4)

This display field shows the current status of the message InactI < nx (drive MD
11007.3).

nset < nact (SW 4)

This display field shows the current status of the message nset< nact (drive MD
11007.4).

Variable message
function (SW 4)

This display field shows the current status of the message
Variable message function (drive MD 11007.5).

Position actual value

This display field shows the current positional actual value (SW 4: drive MD
12000). It depends on the position control of the rotary axis (NC MD 5640.5) and
the position control resolution (NC MD 18000.0–3).

Speed actual value

This display field contains the current speed actual value of the motor (SW 3:
drive MD 2/SW 4: drive MD 1707).

Speed setpoint

This display field contains the current speed setpoint of the motor (SW 3: drive
MD 1/SW 4: drive MD 1706).

Capacity utilization

This display field shows the capacity utilization of the main spindle drive. Up to
the rated speed, the ratio torque to maximum torque is displayed and above the
rated speed, the ratio performance to maximum performance is displayed
(SW 3: drive MD 4/SW 4: drive MD 1722).

Variable message
function (SW 4)

This display field shows the current status of the message Variable message
function (drive MD 11011).

Smoothed current
actual value (SW 4)

This display field shows the smoothed current actual value in percent
(drive MD 1708).

4–16

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MMC Area Diagnosis

4.3 Drive service displays for spindle (MSD) and axis (FDD) – as from SW 3)

Motor temperature

This display field shows the current motor temperature
(SW 3: drive MD 1/SW 4: drive MD 1702).

Status of binary inputs
(SW 3)

This display field contains the state of the binary input (drive MD 11).
Possible display range: 0000 – FFFF

Display of active
functions 1 (SW 3)

This display field contains the current status of active functions 1
(drive MD 254).
Possible display range: 0000 – FFFF

Display of active
functions 2 (SW 3)

This display field contains the current status of active functions 2
(drive MD 255).
Possible display range: 0000 – FFFF

Drive service display FDD 1st screen
FDD
1st screen

Press the FDD 1st screen softkey in the service area for drive MSD/FDD.

Fig. 4.8

Explanation

The drive service display FDD 1st screen gives you an overview of the signals
and statuses of the MSD drives and is only a display. This specific drive data
(NC, PLC, Drives) set, determine the contents of the display fields.

Explanation of display fields FDD 1st screen
Drive status

This display field describes the ramp-up and operating status of the digital drives.
This status is generated in the SERVO during start-up and then changed accordingly in the display. (SW 4: drive MD 11008).
Possible data:
08
18
28
28
38
48
58



Off
On (after the drive has returned status signal to SERVO)
On-line (communication possible)
Bootstrap (drive must be rebooted)
Connected (drive ramp-up completed)
Ready (drive under closed loop control, Power On)

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MMC Area Diagnosis

4.3 Drive service displays for spindle (MSD) and axis (FDD) – as from SW 3)

Feed drive

This display field describes the currently selected FDD drive as selected via softkeys drive +/–.

Ramp-up phase

This display field contains the control word for the ramp-up control of the 611D
components and exists for each logical digital drive number (drive MD 11000).
The ramp-up state set by the SERVO is shown in the high byte and the state acknowledged by the drive is shown in the low byte (see description drive status).

Pulse enable
(terminal 63/48)

This display field contains the status of CI 63/48 of the infeed/regenerative
feedback unit. (Drive MD 1700.2 – pulse suppression for all drives).
Possible display range: off or on

Drive enable
(terminal 64/63)

This display field contains the status of terminal 64 of the infeed/regenerative
feedback unit. (Drive MD 1700.6 – for all drives).
Possible display range: off or on

Pulse enable
(terminal 663)

This display field contains the status of terminal 663 (drive MD 1700.1
– module-specific pulse suppression).
Possible display range: off or on

Pulse enable PLC
setpoint

This display field contains the status of the pulse enable PLC of the cyclic
control word 2 (drive MD 11005.7).
Possible display range: off or on

Speed controller
enable setpoint

This display field shows the condition of the speed controller enable NC of cyclic
control word 2 (drive MD 11005.9).
Possible display range: off or on

Set of setpoint
parameter

This display field contains the current set parameter set of cyclic control word 2
(drive MD 11005.0–2).
Possible display range: 0 – 7

CRC error

This display field contains the number of bus transmission errors between NC
and drive detected by the hardware (drive MD 11001).
Possible display range: 0000 – FFFF

Message ZK1

This display field contains the state of message state class 1 of cyclic status
word 1 (drive MD 11002.0).
Possible display range: off or on

Pulse enable actual

This display field contains the state of enabled pulses of cyclic status word 2
(drive MD 11003.7).
Possible display range: off or on

DC link

This display field contains the status of the DC link (drive MD 11006.0).
Possible display range: off or on

Actual parameter set

This display field contains the current actual parameter set of cyclic status word 2
(drive MD 11003.0–2).
Possible display range: 0 – 7

Position actual value

This display field contains the current positional actual value (SW 4: drive MD
12000). It is dependent on the position control of the rotary axis (NC MD 5640.5)
and position control resolution (NC MD 18000.0–3).

Speed actual value

This display field contains the current speed actual value of the motor (drive MD
1707).

Speed setpoint

This display field contains the current speed setpoint of the motor (drive MD
1706).

Capacity utilization
(SW 4)

This display field shows the capacity utilization of the feed drive. Up to the rated
speed, the ratio of torque to maximum torque is displayed, and above the rated
speed the ratio of power to maximum power is displayed (drive MD 1722).

4–18

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MMC Area Diagnosis

4.3 Drive service displays for spindle (MSD) and axis (FDD) – as from SW 3)

Active power (SW 4)

This display field shows the current active power (drive MD 11011).

Smoothed current
actual value

This display field shows the smoothed current actual value in percent
(drive MD 1708).

Motor temperature

This display field shows the current motor temperature (drive MD 1702).

FDD drive service display 2nd screen
FDD
2nd screen

Select the FDD 2nd screen softkey in the service area for drive MSD/FDD.

Fig. 4.9

Explanation

The drive service display FDD 2nd screen gives you an overview of the signals
and statuses of the MSD drives and is only a display. The specific drive data (NC,
PLC, Drives) set, determine the contents of the display fields.

Explanation of display fields FDD 2nd screen
Drive status

This display field describes the ramp-up operating status of the digital drives.
This status is generated in the SERVO during start-up and then changed accordingly in the display (SW 4: drive MD 11008).
Possible data:
08
18
28
38
48
58

Off
On (after the drive has returned status signal to
SERVO)
On-line (communication possible)
Bootstrap (drive must be rebooted)
Connected (drive ramp-up completed)
Ready (drive under closed loop control, Power On)

Feed drive

This display field describes the currently selected FDD drive as selected via
sofkeys drive +/–.

Set-up mode actual

This display field shows the set-up mode status of cyclic status word 1
(drive MD 11002.8)
Possible display range: off or on

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MMC Area Diagnosis

4.3 Drive service displays for spindle (MSD) and axis (FDD) – as from SW 3)

Parking axis setpoint

This display field shows the status of parking axis of cyclic control word 1
(drive MD 11004.1)
Possible display range: off or on

Travel to fixed stop
actual

This display field contains the status of Travel to fixed stop of cyclic status word 2
(drive MD 11003.13)
Possible display range: off or on

Speed setpoint
This display field contains the status of speed setpoint smoothing of cyclic status
smoothing actual value word 1 (drive MD 11002.11).
Ramp-function
generator rapid
stop actual value

This display field contains the status of ramp-function generator rapid stop of
cyclic status word 1 (drive MD 11002.9).
Possible display range: off or on

V/F mode

This display field contains the status of V/F mode of cyclic status word 2
(drive MD 11003.12).
Possible display range: off or on

2nd torque limit
actual value

This display field shows the status of 2nd torque limit of cyclic status word 1
(drive MD 11002.10).
Possible display range: off or on

Integrator inhibit
actual value

This display field shows the status of the integrator inhibit of cyclic status word 1
(drive MD 11003.6).
Possible display range: off or on

Motor temperature
warning

This display field shows the state of the motor temperature warning
(drive MD 11006.14)
Possible display range: off or on

Heat sink temperature
warning

This display field shows the state of the heat sink temperature warning
(drive MD 11006.15)
Possible display range: off or on

Ramp-up completed
(SW 4)

This display field shows the current status of the message Ramp-function
procedure completed (drive MD 11007.0).

IMd I < Mdx (SW 4)

This display field shows the current status of the message IMdI < Mdx (drive MD
11007.1).

Inact I < nmin (SW 4)

This display field shows the current status of the message InactI < nmin (drive MD
11007.2).

Inact I < nx (SW 4)

This display field shows the current status of the message InactI < nx (drive MD
11007.3).

nset < nact (SW 4)

This display field shows the current status of the message nset< nact (drive MD
11007.4).

Variable message
function (SW 4)

This display field shows the current status of the message Variable message
function (drive MD 11007.5).

4–20

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4 MMC Area Diagnosis
4.4 PC data

4.4

PC data

All data not documented in the following sections must not
be changed.

Overview

\

Alt

\LIST MODULE

\LANGUAGES

JOB LIST

\WOP

\MESS.
ATTR.

\CONFIG.

\MASTER
CONTROL

\BASIC
SETTINGS

\OPERATION

\USER

\FUNCTION AREAS ...

MELDTEXT
BEDCONF

BEDCONF
WOP FILES

\DIAGNOSIS

MELDINFO

NEMOCLUT

NECOLLI
POCOLLI
POCOCLUT

ANWMTEXT

NECOCLUT

NECOCLUT
POMOCLUT
POCOCLUT

POMOCLUT
NEMOCLUT

Fig. 4.10

MMC directories and files

Note

\LIST_MODULE = directory, MELDTEXT = file

General notes
\List_module

Configuration of the MDD using the list module is described in Section Machine
data dialog (MDD SW 3 and higher)

Introduction

The user interface of the 840C control is divided into MACHINE, PARAMETERS,
PROGRAMMING, SERVICES, and DIAGNOSIS function areas. 1)
You can set up the operator system using a configuration file and a series of
other files. The files initially contain default values, but you can change these with
the ASCII editor in the MMC area DIAGNOSIS (the ASCII editor is described in
the Operator’s Guide).
The file system is made up of two branches, SIEMENS and USER. SIEMENS
contains the initial system settings which cannot be changed.
If the control does not find any data in the USER branch, it obtains its data from
the SIEMENS branch.

1) As from SW 3 also SIMULATION, as from SW 4 simulation is stored in the PROGRAMMING area.

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4 MMC Area Diagnosis
4.4.1 Copying and editing PC data

Keyswitch
If the keyswitch is in position 3 when the system starts up, the control takes its
data from the SIEMENS branch. All user data are password protected.
A case where this is necessary is, for example, after a system failure if the configuration files are wrongly parameterized.
Note

This does no apply to the CONFIG file in the directory Master Control.
If the PLC is in the stop state, it cannot read the input image of the machine control panel. In this case, the position of the keyswitch is not evaluated on start-up.
Keyswitch position 3 is set internally on PLC stop.

4.4.1
Selection

Copying and editing PC data
Pressing the softkeys DIAGNOSIS, START-UP and PC DATA will take you into
the basic display for PC data.

Fig. 4.11

The control is supplied with system data from the directories MASTER CONTROL and OPERATION:
The upper part of the basic display is the SIEMENS branch, containing the initial
system settings. This data is protected and cannot be changed.
PRESET

4–22

Press the softkey PRESET to copy files from the SIEMENS branch to the USER
branch.

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4 MMC Area Diagnosis
4.4.1 Copying and editing PC data

!

Danger
Up to SW 4:
The data in the USER branch are overwritten without confirmation.
As from SW5:
When you press softkey PRESET you are asked whether you really
want to overwrite the data in the USER branch.

Example

Suppose we want to copy the file CONFIG into the directory MASTER CONTROL.
First press the Home key to select the SIEMENS branch in the basic display of
the PC data.
Now press the cursor key to select the directory MASTER CONTROL

and confirm with the INPUT key.

Now press the cursor key to select the file CONFIG.

Fig. 4.12

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4 MMC Area Diagnosis
4.4.1 Copying and editing PC data

PRESET

Press the softkey PRESET to copy the file into the USER branch (from SW 5 a
configuration window is also displayed).

Fig. 4.13

It does not matter which branch is selected. The PRESET softkey always copies
the file selected in the SIEMENS branch.

4–24

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4 MMC Area Diagnosis
4.4.2 Configuration file CONFIG

4.4.2

Configuration file CONFIG

Any files which are not documented here must not be
edited.

Selection: SK ... ,
PC data

Fig. 4.14

Data format of the
configuration file

The configuration file is stored in ASCII format. It consists of a series of lines of
up to 80 characters each. Each line consists of a reserved word. Comments begin with the characters // and go on to the end of the line.

Description

The configuration file CONFIG contains the parameters for the following as reserved words (words reserved by the system)

S the language
S the operator panel interface
S the format and number of the entries in the alarm logs,
S the priority of the alarms, messages, comments

1)

S the format of the time in the protocols.

1) Up to SW 2 only


Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197–jAA50

4–25

09.95

4 MMC Area Diagnosis
4.4.2 Configuration file CONFIG

4.4.2.1 Keywords
Keywords are words reserved by the system.
The following keywords exist:

S LANGUAGE

Language set for NCK and MMC

S LANGUAGE1

Language set for WOP 3)

S LANGUAGE2

Language set for simulation 3)

S LANGUAGE3

Language set for PG function 3)

S LANGUAGE4

Language set for user 3)

S BT_NAME

FlexOS name of the operator panel interface

S BT_PARAM

Name “”; operation without operator panel

S PROTLEN1

Size of the alarm log in number of messages

S PROTLEN2

Size of the service log in number of messages

S FLUSHLEN1

Maximum number of messages buffered for the alarm log

S FLUSHLEN 2

Maximum number of messages buffered for the service log

S FLUSHTIME

Maximum buffering time for messages in milliseconds

S PROTMASK1

Type of messages to be entered in the alarm log 1)

S PROTMASK2

Type of messages to be entered in the service log

S PRIO_PO

Display priority of NCK alarms with alarm type “power on” 1)

S PRIO_RE

Display priority of NCK alarms with alarm type “reset” 1)

S PRIO_CA

Display priority of NCK alarms with alarm type “cancel” 1)

S PRIO_PA

Display priority of PLC alarms 1)

S PRIO_PM

Display priority of PLC messages 1)

S PRIO_KO

Display priority of NCK comments 1)

S SYSFONT

Defines the character set in the configuration file of the
master control 2)

S TFORMAT

Format in which the times are to be written to the log

1) Up to SW 2 only
2) SW 4.4 and higher
3) SW 5 and higher

4–26



Siemens AG 2001

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

09.01
09.95

4 MMC Area Diagnosis
4.4.2 Configuration file CONFIG

4.4.2.2 Value ranges and default values
Keyword

Value range

LANGUAGE

String of max. 8 characters

“DEUTSCH”

BT_NAME

String of max. 8 characters

“SER:”

PROTLEN1

1 – 32767 (with PROTMODEDISK)

25

PROTLEN2

1 – 32767 (1–200 without
PROTMODEDISK)

25

FLUSHLEN1

0 .. 10

0

FLUSHLEN2

0 .. 10

2

FLUSHTIME

0.1 – 32767

0

PROTMASK1 )

Special format

K = OT < 4
K>0

PROTMASK2

Special format

T<2

PRIO_PO

1)

10

PRIO_RE 1 )

110

PRIO_CA 1 )

210
0,1 – < 32000

PRIO_PA 1 )

310

PRIO_PM 1 )

350

1)

510

PRIO_KO

Language

Default value

SYSFONT 2)

0, 1, 2

0

TFORMAT

String of max. 20 characters, see
above

“hh:mm:ss DD.MM.YY”

This defines the language.
The possible languages are:

S
S
S
S
S

DEUTSCH
ENGLISH
ITALIANO
FRANÇAIS
ESPAÑOL

The default setting is DEUTSCH (upper case mandatory).
For certain software versions, SWEDISH, RUSSIAN and HUNGARIAN are
available.
SYSFONT
With SW 4.4 and higher, the character set is defined by an entry in the
 configuration file of the master control.
Possible character set numbers:
0
Standard character set
1
Cyrillic character set
2
Character set for Slavonic languages (and Hungarian)
3
Portuguese
With SW 5.* and higher, the SYSFONT is stored in the system when selecting
the language.
1) Up to SW 2 only
2) SW 4.4 and higher



Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197–jAA50

4–27

09.95

4 MMC Area Diagnosis
4.4.2 Configuration file CONFIG

BT_Name

FlexOS name of the operator panel interface.
For operation without the operator panel enter “” only. The default setting is
“SER” (upper case mandatory).

PROTLEN1

This defines the number of messages that are entered in alarm log 1.

PROTLEN2

This defines the number of messages that are entered in alarm log 2.

FLUSHLEN1

Maximum number of messages buffered for the alarm log (lost on voltage
failure).

FLUSHLEN2

Maximum number of messages buffered for the service log (lost on voltage
failure).

4.4.2.3 Format for log masks
Note

As from SW3, the alarms are configured in the ‘MELDATTR’ and ‘MELDTEXT’
files. For configuring notes, please refere to Interface, Part 1.
You can define which messages are to be entered in the log by specifying the
attributes of these messages and the limitations which apply to them. Each message attribute is abbreviated to its initial letter (Number, Klasse = class), Type,
Priority). The limitations are specified using the characters ‘<’, ‘>’, ‘=’ and ‘–’.
Examples:
Messages with a number greater than 1000 are logged
Messages with a priority less than 5 are logged
Messages with a priority of 0 are logged
Messages with a priority between 50 and 100 are logged.

N > 1000
P<5
P=0
N50 – 100

A ‘PROTMASK’ line can comprise several such limitations, which are then interpreted as logically ANDed. If several ‘PROTMASK’ lines (up to 5) are specified
for one log they are logically ORed.
The values of type and class of a message are coded as follows:
Type of alarm

Coding

Power-on alarm

0

Reset larm

1

Cancel alarm

2

PLC alarm

3

PLC message

4

NCK comment

5 1)
Class

Coding

NCK

0

System / master control

1

Services

2

Diagnosis

3

Programming

4

User (OEM)

6

Table 4.1 Coding of message types and classes

1) Up to SW2

4–28



Siemens AG 2001

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

01.99
09.95

4 MMC Area Diagnosis
4.4.2 Configuration file CONFIG

For example, the interpretation of following configuration entry:
PROTMASK1
PROTMASK1
PROTMASK2

K = OT < 4
K > OP < 100
N1000 – 110000

All the NCK alarms with a message type smaller than 4 are entered in the alarm
log (i.e. power-on until PLC alarm) and all non-NCK messages with a priority
smaller than 100. All messages with numbers between 1000 and 110000 are
entered in the service log.
TFORMAT

Format for times in the logs.
To define the format in which the times of message input and acknowledgement
are entered in the logs, a string of up to 20 characters is specified in the configuration file.
The following patterns indicate the positions of time values:

S DD

Day

S MM

Month

S YY

Year in two figures

S YYYY Year in four figures
S hh

Hour

S mm

Minute

S ss

Second

For example, the pattern “DD.MM.YYYY – hh:mm.ss” generates times in the following format:
“17.05.1992 – 14:32.21”
and the pattern “hh:mm [MM/DD/YY]”:
“14:32 [05/17/92]”.

4.4.2.4 Reduce number of accesses to the hard disk (HD)
General

The SINUMERIK 840C system software allows you to reduce the number of accesses to the hard disk (HD) of the MMC CPU. This helps to extend the service
life of the hard disk. The reduction of the number of accesses to the MMC CPU
hard disk is particularly advisable for machines with a high rate of vibration.
Most accesses to the hard disk (HD) of the MMC CPU occur in the automatic
mode and by entering alarms and messages into the alarm log 1 and log 2. The
entries in the alarm logs should, therefore, be reduced to a minimum.

Reduction of entries
in the alarm logs

The following applies to system software up to version 6:
You can assign the password PROTMASK1 and PROTMASK2 to the entries in
question in the configuration file CONFIG of the master control. These entries are
explained in section 4.4.2 ”Configuration file CONFIG” and in section 4.4.2.3
”Format for log masks”.
The following applies to system software as from SW 6 and higher:
The alarm logs are stored in their basic setting in the RAM and are written to the
hard disk (HD) of the MMC CPU through one of the following operator actions:

S Softkey function ”Save to disk”
S Display a log
S Redisplay a log



Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197–jAA50

4–29

01.99
09.95

4 MMC Area Diagnosis
4.4.2 Configuration file CONFIG

You can reactivate the write enable function on the hard disk of the MMC CPU
making an entry to the configuration file of the master control CONFIG (PROTMODE DISK). This way you can provide for the same compatible behavior as is
applicable to systems with SW 6 and lower.
In addition, a cache has been built in for alarm descriptions (SW 6 and higher).
This reduces the read accesses to a minimum. The last 50 alarm occurrences
are listed in the default memory setting of this cache. The number can be preset
by entering the following command in the configuration file CONFIG:
MELDCACHE 
Be sure that a capacity of approx. 100 byte RAM is reserved for each item in the
cache.
Use the command MELDCACHE 0 to provide for the same compatible behavior
as is applicable to systems with SW 6 and lower.

4.4.3

BEDCONF configuration file

Description

Various BEDCONF files are available.
The configuration data stored in the file BEDCONF parameterize the operator
system with the MMC areas to be managed and the globally set system characteristics. These files are ASCII files and can be edited. To edit it, press “PC data”
in the MMC area DIAGNOSIS.

!

4–30

Caution
Errors in this file can cause system failure!
Unassigned parameters must not be changed.



Siemens AG 2001

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

09.95

4 MMC Area Diagnosis
4.4.3 BEDCONF configuration file

4.4.3.1 Configuration file BEDCONF in directory Operation/Basic Setting
// . 0 0 0

reftab.tb

a 2 5 3

i 1
a 2

i 1
a 2

i 1
a 2

i 1
a 2

i 1
a 2

i 1
a 2

i 1
a 2

i 1
a 2

i 1
a 2

i 1
a 2

i 1
i 2

i 1
i 2

i
i
i
i

1
2
1
2

i 1
i 2



’MASCHIN’ ’PARAMET’ ’PROGRAM’ ’ANWENDE’ ’DIENSTE’
\
’DIAGNOS’ ’ANWENDE’ ’PROGSYS’ ’PLC’
’PLC_DG’
\
’PLC_PR’
’DG_PLC’
’MDD’
’IBN’
’SIMULAT’
//
1 15000 0
//
5 1
’BedNCSys’ ’BedNCSys’ ’BedASys’ ’BedASys’ ’BedASys’ \
’BedASys’ ’BedASys’ ’BedWSys’ ’BedNCSys’ ’BedNCSys’ \
’BedNCSys’ ’BedWSys’ ’BedASys’ ’BedASys’ ’BedASys’
//
1 15000
//
5 2
’FK’
’FK’
’fd’
’fd’
’fk’
\
’fk’
’fd’
’FD’
’FK’
’FK’
\
’FK’
’fd’
’fk’
’fk’
’fd’
//
1 15000
//
5 0
’NCA’
’NCA’
’P_pr’
’bdappl’
’DI_pr’
\
’DG_pr’
’bdappl’
’PS_pr’
’NCA’
’NCA’
\
’NCA’
’S5_pr’
’mdd’
’IBSAI’
’Simreg’
//
1 15000
//
5 5
’NCA.286’ ’NCA.286’ ’P_PR.286’ ’BDAPPL.286’ ’DI_PR.286’ \
’DG_PR.286’ ’BDAPPL.286’ ’PROGSYS.386’ ’NCA.286’ ’NCA.286’\
’NCA.286’ ’S5_PR.286’ ’MDD.286’ ’IBSAI.286’ ’SIMREG.286’ //
1 15000
//
1 3
’–100’
’–100’
’14’
’–100’
’–100’
\
’9’
’–100’
’–2’
’–100’
’–5’
\
’–2’
’–5’
’–5’
’–5’
’–2’
//
1 15000
//
1 0
’1’
’2’
’0’
’0’
’4’
\
’0’
’0’
’0’
’3’
’0’
\
’0’
’0’
’0’
’0’
’0’
//
1 15000
//
1 1
’0’
’0’
’0’
’0’
’0’
\
’0’
’0’
’1’
’0’
’0’
\
’0’
’0’
’0’
’0’
’2’
//
1 15000
//
1 5
’0’
’0’
’0’
’4’
’0’
\
’0’
’4’
’1’
’0’
’0’
\
’0’
’3’
’0’
’0’
’2’
//
1 15000
//
1 2
’0’
’0’
’0’
’0’
’0’
\
’0’
’0’
’0’
’0’
’0’
\
’0’
’0’
’0’
’0’
’0’
//
1 15000
//
1 4
’0’
’0’
’0’
’0’
’0’
\
’0’
’0’
’0’
’1’
’0’
\
’0’
’0’
’0’
’0’
’0’
//
1 15000
//
5 15000 ’d_ma_co:’ ’d_pa_co:’ ’0’
’0’
’0’
\
’0’
’0’
’0’
’d_pe_co:’ ’d_dp_02:’
\
’d_pp_02:’ ’0’
’0’
’0’
’0’
//
1 15000
//
5 15001 ’d_ma_ft:’ ’d_pa_ft:’ ’0’
’0’
’0’
\
’0’
’0’
’0’
’d_pe_ft:’ ’d_dp_01:’
\
’d_pp_01:’ ’0’
’0’
’0’
’0’
//
1 15000
//
5 15002 ’0,0’ ’0,0’ ’0,0’ ’0,0’ ’0,0’ ’0,0’ ’0,0’
//
1 15000
//
2 15000 ’0’
’0’
’0’
’0’
’0’
\
’0’
’0’
’0’
’0’
’134’
\
’138’
’0’
’0’
’0’
’0’
//
1 15000
//
2 15001 ’0’
’0’
’0’
’0’
’0’
\
’0’
’0’
’0’
’0’
’0’
\

Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197–jAA50

BAPPLDHNAM
BAPPLIND

BBESYLIST
BAPPLIND

BAPPLTASTLIST
BAPPLIND

BAPPLIST
BAPPLIND

BAPPLRUNNAM
BAPPLIND

BAPPLSONLIST
BAPPLIND

BAPPLSTARTLIST
BAPPLIND

BAPPLCLUTLIST
BAPPLIND

BAPPLLANLIST
BAPPLIND

BAPPLCLUSTLIST
BAPPLIND

BAPPLIMPLANWAHL
BAPPLIND

BAPPLSWKKLIST
BAPPLIND

BAPPLSWKFTLIST
BAPPLIND
BAPPLANWSKLIST
BAPPLIND

BAPPLMENINDLIST
BAPPLIND

4–31

09.95

4 MMC Area Diagnosis
4.4.3 BEDCONF configuration file

’0’
i 1 1 15000
i 2 2 15002 ’0’
’0’
’1’
i 1 1 15000

’0’

’0’

’0’

’0’

’1’
’0’
’0’

’0’
’0’
’0’

’0’
’2’
’0’

’0’
’1’
’0’

a 2 1 100

’0’
’0’
’0’
0
’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiMachine

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiParameter

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiProgramming

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiUser

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiServices

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiDiagnosis

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiUser

’11’
’0’
’0’
’12’
’0’
’0’

’12’
’0’
’0’
’13’
’0’
’0’

’13’
’0’
’0’
’0’
’0’
’0’

’0’
’0’
’0’
’0’
’0’
’0’

\
\
// TermiWOP
\
\
// TermiWOP

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiPLC

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiPLC_DG

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiPLC_PR

’7’
’0’
’0’

’12’
’0’
’0’

’13’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiDG_PLC

’7’
’0’
’0’

’11’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
// TermiMDD

’7’
’0’

’11’
’0’

’0’
’0’

’0’
’0’

\
\

a 1 1 3
a 2 1 101

a 1 1 3
a 2 1 102

a 1 1 3
a 2 1 103

a 1 1 3
a 2 1 104

a 1 1 3
a 2 1 105

a 1 1 3
a 2 1 106

a 1 1 3
a 2 1 107

//a 2
//
//
a 1 1
a 2 1

a 1 1
a 2 1

a 1 1
a 2 1

a 1 1
a 2 1

a 1 1
a 2 1

a 1 1
a 2 1

4–32

’14’
’0’
’0’
1 107 ’11’
’0’
’0’
3
108
’0’
’0’
’0’
3
109
’0’
’0’
’0’
3
110
’0’
’0’
’0’
3
111
’14’
’0’
’0’
3
112
’14’
’0’
’0’
3
113
’14’
’0’



Siemens AG 2001

//
//
\
\
//
//

BAPPLMENMODLIST
BAPPLIND

BAPPLNCBERLIST
BAPPLIND

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

09.95
04.96

4 MMC Area Diagnosis
4.4.3 BEDCONF configuration file

’0’

’0’

’0’

’0’

’0’

// TermiIBN

a 2 1 114

’7’
’0’
’0’
//a 2 1 114 ’11’
//
’0’
//
’0’
a 1 1 3

’11’
’0’
’0’
’12’
’0’
’0’

’12’
’0’
’0’
’13’
’0’
’0’

’13’
’0’
’0’
’0’
’0’
’0’

’0’
’0’
’0’
’0’
’0’
’0’

\
\
// TermiSimulation
\
\
// TermiSimulation

a
a
a
a
a
a
a
a
a
a
a
i

1
1
1
1
1
1
1
1
1
1
1
1

1
1
1
1
1
5
5
5
5
5
7
2

1
15
2
12
5
106
6
98
7
0
1
CO
2
PO
4
MMCSYS:BIN/
6
TIFF
7
0
0
3600000
15000 2

//
//
//
//
//
//
//
//
//
//
//
//

BAPPLANZ
BINPUTMODE
BBUSY_FCOL
BBUSY_BCOL
BSK_NOT_CENTER
BCOLORMONO_DEF
BPOSNEG_DEF
BPOSNEG_DEF
BHARDCOPY_DEF
Hardcopy File Format
BSCREENSAVE
BANZLINESMZ_DEF

i
i
i
i
i

1
1
1
1
1

2
2
2
2
2

2207
2208
2209
2210
2211

//
//
//
//
//

BAEFGCOLOR_DFLT
BAEBGCOLOR_DFLT
BAESATZNR_FLAG_DFLT
BAESATZNR_STEP_DFLT
BAESATZNR_START_DFLT

a 1 1 3

0
7
0
5
5

l 1 2 16000 0
l 1 2 16001 0

// Change to 1 only when MMC-CPU with 16MB RAM
//

l 1 5 16002 0
l 1 5 16003 .
l 1 6 16004 0

// HD Bytes free
// Name for search
// Simulation

l
l
l
l
l

//
//
//
//
//

1
1
1
1
1

2
2
2
2
2

15010
15011
15012
15013
15014

0
0
0
0
0

Icon
Icon
Icon
Icon
Icon

1
2
3
4
5

Note

The parameters described below are to be found in different lines of file
BEDCONF depending on the software version.

BAPPL CLUTLIST

The parameter BAPPL CLUTLIST defines whether a CLUT list is assigned to the
area in question. Enter a “1” to activate the CLUT list assigned to this area.

BSYSFONT

The parameter BSYSFONT assigns a character set to the language which is set
in the KONFIG configuration file in the MASTER CONTROL area. The value 0 is
assigned to the European languages (Standard languages). The value 1 is assigned to the Russian language (cyrillic character set). The value 2 is assigned to
the scandinavian languages (Hungarian).
With SW 4.4 and higher, the character set is defined by an entry in the configuration file of the master control.

BSK_NOT_CENTER
(as from SW 5.4)

This parameter defines whether the softkey texts are to be output centered or
without any formatting. The default setting is centered. If the value is changed to
1, the centering is deactivated and the texts in the softkeys appear in the way
they have been configured.

BCOLORMONO_DEF

The parameter BCOLORMONO_DEF defines whether the screen display is in
monochrome mode (enter MO) or in color mode (enter CO).
You can enter MO or CO here but be sure to enter the parameter in capital letters.



Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197–jAA50

4–33

08.96
09.95

4 MMC Area Diagnosis
4.4.3 BEDCONF configuration file

BPOSNEG_DEF

The parameter BPOSNEG_DEF sets whether the screen display is to be in positive mode (enter PO) or in negative mode (enter NE).
You can enter PO or NE here but be sure to enter the parameter in capital letters.
Positive mode means black lettering on a white background and negative mode
means white lettering on a black background.

BSCREENSAVE

The parameter BSCREENSAVE defines the time after which the screen saver of
the operator panel will darken the screen if no input has been made. The default
3600000 defines a time delay of two hours. The value must be positive,d a value
of 500 represents a delay of one second.
You can switch off the screen saver by placing the comment characters in front of
the value, (e.g. // a 1 7 0 3600000 ).

Note

CLUT
MO
CO
PO
NE

:
:
:
:
:

Color Look-up Table
Monochrome mode
Color mode
Positive mode
NEGATIVE mode

Caution!
There is also a screen saver in the PLC (DB48).

BANZLINESMZ_DEF

The parameter BANZLINESMZ_DEF
The number of lines in the message line, either one or two, is defined in
BANZLINESMZ_DEF.
The following values are permissible:
1:
2:

one-line message line
two-line message line
Values

i 1 2 15000

2

BANZLINESMZ_DEF

BAEFCOLOR_DFLT

The ASCII editor is preset with the values. The value in BAEFCOLOR_DFLT defines the foreground color. Values from 0 to 7 are permissible (see color look-up
table).

BAEBCOLOR_DFLT

The parameter BAEBCOLOR_DFLT line 134 defines the background color. Values from 0 to 7 are permissible.
Values recommended for monochrome display:
CLUT

4–34

POMOCLUT POCOCLUT NEMOCLUT

NECOCLUT

Foreground
Line 133

5

0

7

7

Background
Line 134

7

7

0

0



Siemens AG 2001

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

09.95

4 MMC Area Diagnosis
4.4.3 BEDCONF configuration file

The parameters below contain the preset values for block generation.
BEASATZNR_FLAG_
DFLT

The BEASATZNR_FLAG_DFLT word specifies the selection;
block number YES parameter = 1 or block number NO parameter = 0.

BAESATZNR_STEP_
DFLT

The value specified in BAESATZNR_STEP_DFLT defines the block
number steps.

BAESATZNR_START_
DFLT

The starting address is specified in BAESATZNR_START_DFLT.
These values can be changed temporarily in the ASCII editor. After power on,
however, the preset values are valid.
If an MMC CPU with 16 MB is used, the following line must be inserted in Bedconf file (in the user branch) unless it already exists:
l 1 2 16000 1 // Change to 1 only when MMC-CPU with 16 MB RAM LF

ICON 1–5

Three icon fields underneath the system clock are available for displaying the
icons. The first icon field is assigned to the MMC area. (Icon fields 2 and 3 are
assigned by the PLC, see Interface, Part 1).

Mutual exclusion of applications depending on the capacity of the main memory
Because the main memory capacity is not unlimited, some applications are mutually exclusive.
A “termination list” therefore exists for every application.
This list contains the applications that must be terminated to be able to start the
selected application.
Example:
The possible applications are defined by the following lines in the file BEDCONF:
a 2 5 3

’MASCHIN’
’DIAGNOS’
’PLC_PR’

’PARAMET’
’ANWENDE’
’DG_PLC’

’PROGRAM’
’PROGSYS’
’MDD’

’ANWENDE’
’PLC’
’IBN’

’DIENSTE’
’PLC_DG’
’SIMULAT’

\
\
//BAPPLDHNAM

where MACHINE is the 0th application, PARAMETER the 1st, SIMULATION the
14th.
In the WOP and SIMULATION applications the mutual exclusion is defined by the
following lines from the BEDCONF file:
a 2 1 107

’14’
’0’
’0’

’11’
’0’
’0’

’12’
’0’
’0’

’13’
’0’
’0’

’0’
’0’
’0’

\
\
//TermiWOP

a 2 1 114

’7’
’0’
’0’

’11’
’0’
’0’

’12’
’0’
’0’

’13’
’0’
’0’

’0’
’0’
’0’

\
\
//TermiSimulation

For simulation this means that if they are running, the following applications must
be terminated before it can be started:
7
11
12
13



Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

PROGSYS
DG_PLC
MDD
IBN

6FC5197–jAA50

(= WOP)
(= S5 programming)
(= Machine data dialog)
(= Drive servo start-up)

4–35

09.95

4 MMC Area Diagnosis
4.4.3 BEDCONF configuration file

With a main memory capacity of 16 MB the mutual exclusion of certain applications can be cancelled.
This is the case for the mutual exclusion of the optional applications WOP and
SIMULATION.
To cancel the exclusion of WOP, the following lines have already been inserted in
the BEDCONF file:
/ / a 2 1 107 ’11’
//
’0’
//
’0’

’12’
’0’
’0’

’13’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
//TermiWOP

/ / a 2 1 114
//
//

’12’
’0’
’0’

’13’
’0’
’0’

’0’
’0’
’0’

’0’
’0’
’0’

\
\
//TermiSimulation

’11’
’0’
’0’

These lines are marked as comments by the characters // at the beginning of the
line and therefore have no effect.
To activate them, remove the comment characters and place them in front of the
three immediately preceding lines instead.
Because it is only possible to process the file in the user branch, the file BEDCONF is copied there by Preset.

4.4.3.2 Configuring file BEDCONF in directory OPERATION/PROGRAM
Example

The text in the toggle fields for the screen form channel information for setting the
wait marks is configured in the BEDCONF file (variable a 45232).


   

Paste from
clipboard


Nubmer

m
Type


 



 

Channel


 


 	


 

Undo

 
>>

OK

Fig. 4.15

With the PRESET softkey, the file is copied to the user branch where it can be
edited with the ASCII editor.

PRESET

!

Caution
Any errors in this file can lead to system failure.

Any text of maximum 10 characters can be entered in line 37 between the
speech marks.
Any changes made are stored on the hard disk using the SAVE softkey.
SAVE

4–36



Siemens AG 2001

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

09.95

4 MMC Area Diagnosis
4.4.3 BEDCONF configuration file

The configured texts are activated on Power on.

35
36
37
38
39

LF
a 4 5 232 \
’– ’ ’Slide1’ ’Slide2’ ’PORTAL’ ’Loader’ LF
d 1 1 0 LF
LF

// Values for

Fig. 4.16

4.4.3.3 Configuration file BEDCONF in directory/Operation/DIAGNOS
If changes are made in the system menus NC service, PLC service and NC info,
line
d 2 5 51 127,0 105,0 102,0 // NC service PLC service NC info
must be replaced by
d 2 5 51 127,4 105,4 102,4 // NC service PLC service NC info
in this file.



Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197–jAA50

4–37

09.95

4 MMC Area Diagnosis
4.4.5 Color mapping lists

4.4.4

Color definition tables

4.4.4.1 10” color display (up to SW 4.4)

6FC5 103–0ABV2–0BA0

Introduction

In the color definition tables, you can define the individual colors by mixing RGB
proportions. The operator system reserves a default color table for each of the
possible system settings in the BEDCONF file combining positive or negative
with color or monochrome mode. These default tables can be activated if this is
defined in the configuration file for the relevant area.

Naming

The color tables are named according to the following rules: The last four letters
of the name of all the tables are CLUT; The two letters preceding those are the
code for color or monochrome mode (CO or MO) and the first two letters of the
name are the code for positive or negative display mode (PO or NE). There is
therefore always a set of four tables named: POCOCLUT, POMOCLUT, NECOCLUT and NEMOCLUT.
Color tables are ASCII files that can be edited with the editor. A color table contains the definitions of 16 colors, each defined on a separate line. The example
below shows POCOCLUT with its default values. There are global CLUTs and
CLUTs. The global CLUTS are stored in the directory BASIC SETTINGS and the
area CLUTs are stored in the individual areas (MACHINE, SERVICES etc.). By
changing the data in the area CLUTs, you can assign a new color definition to an
individual MMC area (e.g. MACHINE or DIAGNOSIS).

Example
(Color and positive
display modes)

Suppose we want to change the colors displayed in the MACHINE area. A zero
is entered in the configuration file BEDCONF (in the global area) to indicate that
no CLUT is defined for the area MACHINE in the “BAPPLCLUTLIST” (variable
a211). If we now enter a 2 (or any other value >0), we indicate that we want an
area CLUT to be used. If the same value has been entered at another point in the
BAPPLCLUTLIST, CLUT is not reloaded when the area is changed.

Fig. 4.17

4–38



Siemens AG 2001

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

09.95

4 MMC Area Diagnosis
4.4.5 Color mapping lists

Changing the file POCOCLUT for the MACHINE area
PRESET

If no CLUTs are available in the user branch OPERATION/MACHINE, they must
be copied from the Siemens branch to the user branch with the softkey.

Fig. 4.18

The file POCOCLUT is selected with the cursor in the user area OPERATION/
MACHINE and softkey EDIT.

Fig. 4.19



Color table: POCOCLUT

Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197–jAA50

4–39

01.99
09.95

4 MMC Area Diagnosis
4.4.5 Color mapping lists

SAVE

The change is made in the ASCII editor and must be saved on the hard disk
using the softkey save.
The new colors become active after the next POWER ON.
The value range for each primary color is between 0 and 1000. 1000 is the highest intensity of color.

Color table

POCOCLUT
Color index
0
1
2
3
4
5
6
7
8
9
102)
110)
12
13
14
15

Color table

NECOCLUT
Color
black
red
green
blue
yellow
violet
cyan
white
grey
orange
free2)
free1)
grey
petrol
free
free

Green
0
0
714
0
1000
111
1000
985
524
397
0
0
159
508
0
0

Blue
0
0
0
714
0
397
1000
952
540
16
0
0
159
444
0
0

POMOCLUT
Color index
0
1
2
3
4
5
6
7
8
9
102)
11
12
13
14
15

0)
1)
2)
3)

Red
0
1000
0
0
1000
524
0
952
444
794
0
0
159
0
0
0

Color
black
red
green
blue
yellow
violet
cyan
white
grey
orange
free
free
grey
petrol
free
free

Red
0
1000
0
0
1000
650 3)
0
1000
444
1000
0
0
159
0
0
0

Green
0
0
714
0
1000
0
1000
1000
524
492
0
0
159
508
0
0

Blue
0
0
0
1000
0
650 3)
1000
1000
540
0
0
0
159
444
0
0

Green
0
794
1000
1000
1000
604
698
1000
524
413
0
0
159
508
0
0

Blue
0
794
1000
1000
1000
604
698
1000
524
413
0
0
159
508
0
0

NEMOCLUT
Color
black
grey
black
black
black
grey
grey
white
grey
grey
free2)
free
grey
grey
free
free

Red
0
256
0
0
0
413
698
1000
524
413
0
0
698
508
0
0

Green
0
256
0
0
0
413
698
1000
524
413
0
0
698
508
0
0

Blue
0
256
0
0
0
413
698
1000
524
413
0
0
698
508
0
0

Color
black
grey
white
white
white
grey
grey
white
grey
grey
free1)
free
grey
grey
free
free

Red
0
794
1000
1000
1000
604
698
1000
524
413
0
0
159
508
0
0

As from SW 2 not available for users
As from SW 3 = 794
As from SW 3 = 720
As from SW 3 = 750

4–40



Siemens AG 2001

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

01.99
09.95

4 MMC Area Diagnosis
4.4.5 Color mapping lists

4.4.4.2 New 19” operator panel as from SW 4.5 (5)
6FC5 103–0ABVV–VAA1
Standard CLUT table

There is a new standard POCOCLUT and NECOCLUT table for color. The values
entered then apply to the 19” operator panel with a 14” color screen and the 19”
slimline operator panel with a 9.5” color screen. The standard POMOCLUT and
NEMOCLUT are also adapted to the new 19” slimline operator panel with a 9.5”
monochrome screen.
If the old 19” monochrome slimline operator panel is used (with a red display) the
settings must still be made as described in the section, Color settings for monochrome display.

Color table
Standard setting



For positive screen display:

For negative screen display:

POCOCLUT

NECOCLUT

Color index

Color

Red

Green

Blue

Color

Red

Green

Blue

0

black

0

0

0

black

0

0

0

1

red

1000

0

0

red

1000

0

0

2

green

0

690

0

green

0

760

0

3

blue

0

0

690

blue

0

0

1000

4

yellow

1000

1000

0

yellow

1000

1000

0

5

violet

565

188

439

violet

690

0

690

6

cyan

0

1000

1000

cyan

0

1000

1000

7

white

1000

1000

1000

white

1000

1000

1000

8

grey

439

439

439

grey

439

439

439

9

orange

815

439

0

orange

1000

439

0

10

free

690

690

690

free

0

0

0

11

free

0

0

0

free

0

0

0

12

grey

188

188

188

grey

188

188

188

13

petrol

0

565

439

petrol

0

565

439

14

free

0

0

0

free

0

0

0

15

free

0

0

0

free

0

0

0

Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197–jAA50

4–41

01.99
09.95

4 MMC Area Diagnosis
4.4.5 Color mapping lists

Color table
Standard setting
8 tones of grey

For positive screen display:
POMOCLUT
Color index
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

4–42

For negative screen display:
NEMOCLUT

Color
black
grey
black
black
black
grey
grey
white
grey
grey
free
free
grey
grey
free
free

Red
0
0
0
0
376
376
627
1000
376
0
627
0
627
627
0
0



Green
0
0
0
0
376
376
627
1000
376
0
627
0
627
627
0
0

Siemens AG 2001

Blue
0
0
0
0
376
376
627
1000
376
0
627
0
627
627
0
0

Color
black
grey
white
white
white
grey
grey
white
grey
grey
free
free
grey
grey
free
free

Red
0
627
1000
1000
1000
627
627
1000
376
376
627
0
376
627
0
0

Green
0
627
1000
1000
1000
627
627
1000
376
376
627
0
376
627
0
0

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

Blue
0
627
1000
1000
1000
627
627
1000
376
376
627
0
376
627
0
0

09.95

4 MMC Area Diagnosis
4.4.5 Color mapping lists

4.4.4.3 Defining individual color tables (as from SW 5.4)
Introduction

As from SW 5.4, the user can define his own color tables (for example, for different
displays).
The names for the color tables (object type clut) of the applications are selectable;
however, some rules must be observed.
As a convention, the names of the individual color tables are formed by combining the
acronyms PO or NE (for positive/negative representation) and CO or MO (for color/
monochrome representation) followed by the designation CLUT; this convention is extended by the selection of acronyms for color/monochrome representation. It is now
possible to use not only the acronyms CO or MO, but also C0 to C9 (M0 to M9) and
CA to CZ (MA to MZ). It is allowed to add name extensions to the acronyms C and M
in the form of numbers 0 to 9 or letters A to Z (no special characters).
It is therefore possible to form color tables with the following names:

S POC[0–9, A–Z]CLUT
S POC[0–9, A–Z]CLUT
S POM[0–9, A–Z]CLUT
S NEM[0–9, A–Z]CLUT
The acronyms are stored as follows in the configuration file of the operator system:

a 1 5 1 MZ //BCOLORMONO_DEF
a 1 5 2 NE // BPOSNEG_DEF
Example 1 for entries in the configuration file:

a 1 5 1 MZ //BCOLORMONO_DEF
a 1 5 2 NE // BPOSNEG_DEF
The color table with the name POC1CLUT is loaded for the corresponding application
if it is available there, otherwise the color table POCOCLUT is taken as standard setting.
Example 2 for entries in the configuration file:

a 1 5 1 MZ //BCOLORMONO_DEF
a 1 5 2 NE // BPOSNEG_DEF
The color table with the name NEMZCLUT is loaded for the corresponding application
if it is available there, otherwise the color table NEMOCLUT is taken as standard setting.

Note

S When using the CLUT names, it must be observed that the corresponding file (e.g.
POC1CLUT) must be available both in the file tree under the catalog Operation/Basic settings and in the catalog Operation/Function area, with the term Function area
standing for the corresponding application, e.g. diagnosis or simulation.

S When selecting the acronyms, it must be observed that the numbers 0 to 9 and the
letter O are reserved for the system (Siemens).

S When naming the color tables, you must also take into account the names for the
icons. If necessary, the files moikone1 to moikone5 and modanger must be
changed to mzikone1 to mzikone5 and mzdanger.



Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197–jAA50

4–43

09.95
04.96

4 MMC Area Diagnosis
4.4.5 Color mapping lists

4.4.5

Color mapping lists

Introduction

The operator system works with symbolic colors represented by numbers within
the range 0 to 127. For example, the background of the softkey bars is in color
65. A real color (from the color table) is assigned to color 65 in a color mapping
list.
A color mapping list consists of 127 entries. The position of each entry in the list
corresponds to the number of a color. The value at that position is a reference to
the color definition table.
The mapping tables POCOLLI and NECOLLI are shown below (named according
to rules analogous to those of the definition tables).
You will find these files in directory Operation/Basic settings.
The parts of the display where the symbolic colors are used is defined in the table for assigning picture elements to symbolic colors.

Color mapping list

POCOLLI 1)

0
0

1
1

2
2

3
3

4
4

5
5

6
6

7
7

8
8

9
9

10
10

11
11

12
12

13
13

14
14

15
15

16
0

17
0

18
0

19
0

20
0

21
0

22
0

23
0

24
0

25
0

26
0

27
0

28
0

29
0

30
0

31
0

32
0

33
0

34
0

35
0

36
0

37
0

38
0

39
0

40
0

41
0

42
0

43
0

44
0

45
0

46
0

47
0

48
0

49
0

50
0

51
0

52
0

53
0

54
0

55
0

56
0

57
0

58
0

59
0

60
0

61
0

62
0

63
0

64
7

65
8

66
7

67
8

68
1

69
5

70
7

71
7

72
5

73
9

74
7

75
1

76
12

77
9

78
12

79
7

80
12

81
2

82
7

83
5

84
0

85
13

86
7

87
8

88
7

89
12

90
12

91
0

92
1

93
3

94
9

95
0

96
5

97
5

98
9

99
8

100
9

101
7

102
0

103
3

104
6

105
2

106
4

107
0

108
0

109
0

110
0

111
0

112
7

113
8

114
7

115
8

116
7

117* 118* 119* 120* 121* 122* 123*
7
0 (7)
0
0
0(13)
0
0

124
0

125
0

126
0

127
0

Color mapping list

NECOLLI

0
0
16
0

1
1

2
2

3
3

4
4

5
5

6
6

7
7

8
8

9
9

10
10

11
11

12
12

13
13

14
14

15
15

17
0

18
0

19
0

20
0

21
0

22
0

23
0

24
0

25
0

26
0

27
0

28
0

29
0

30
0

31
0

32
0

33
0

34
0

35
0

36
0

37
0

38
0

39
0

40
0

41
0

42
0

43
0

44
0

45
0

46
0

47
0

48
0

49
0

50
0

51
0

52
0

53
0

54
0

55
0

56
0

57
0

58
0

59
0

60
0

61
0

62
0

63
0

64
7

65
8

66
7

67
8

68
1

69
5

70
0

71
7

72
5

73
4

74
0

75
1

76
12

77
4

78
12

79
7

80
12

81
2

82
7

83
5

84
0

85
13

86
7

87
8

88
0

89
12

90
12

91
7

92
1

93
2

94
4

95
3

96
6

97
5

98
9

99
8

100
14

101
7

102
0

103
6

104
3

105
2

106
4

107
0

108
0

109
0

110
0

111
0

112
7

113
8

114
12

115
11

116 117* 118* 119* 120* 121* 122* 123*
11(8) 11 0(11)
0
0
0(13)
0
0

124
0

125
0

126
0

127
0

* As from SW2 reserved by the system
( ) As from SW3
1) For an example of the contents of file POCOLLI see below.

4–44



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4 MMC Area Diagnosis
4.4.5 Color mapping lists

Example 1
Suppose we want to change the background color of the softkey bar. In the
(with color and
table for assigning picture elements to symbolic colors, the symbolic
positive display modes) color code for the softkey bar background is the number 65. In the color mapping
list, a number 8 is entered at position 65. In the color definition table POCOCLUT,
number 8 stands for grey. If we replace the 8 in the color mapping list POCOLLI
by a number 1 the background of the softkey bar becomes red.
Example 2
Suppose we want to change the text color of the alarms. In the table for
(with color and
assigning picture elements to symbolic colors, the symbolic color code
positive display modes) for the text color of alarms is the number 75. In the color mapping list, a number 1
is entered at position 75. In the color definition table POCOCLUT, number 1
stands for red. The standard color for alarms is therefore red. If we replace the 1
by a 4 the color of the text of alarms changes to yellow.
Symbolic color
Picture elements

Background
color

Text
color

MMC area bar normal

85

84

85

102

90

MMC area bar active

87

86

87

––

––

Message line for alarms

76

75

76

102

90

Message line for messages

78

77

78

102

90

Message line for comments

80

79

80

102

90

Input cursor blinking

––

100

––

––

––

Softkey bar normal

65

64

65

102

90

Softkey bar active

67

66

67

––

––

Borders for 3D display

––

––

––

99
101

––

Symbol for Recall

––

68

––

––

––

Symbol etc.

––

68

––

––

––

Symbol for Info

––

105

––

––

––

Border for active window

112

––

––

106

––

Input fields

113

––

––

––

––

Toggle field writeable

114

––

––

––

––

Toggle field not writeable

115

––

––

––

––

Data selector

116

––

––

––

––

Editor

117

––

––

––

––

Input values

––

73

88

––

––

MMC

––

60

97

––

––

NCK

––

82

83

––

––

NC status

89

71

89

102

90

Mode

89

71

89

102

88

Function

––

71

98

––

––

PC status field

––

81

89

––

––

Channel status

––

81

89

––

––

Mode group + channel no.

89

71

89

102

88

Window header

Tab. 4.2



Text
Border Border
backcolor backgr.
ground

Assignment of picture elements to symbolic colors

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4 MMC Area Diagnosis
4.4.5 Color mapping lists

Symbolic color
Picture elements

Background
color

Text
color

Configuration area 0 and 1

89

free

88

––

––

Application field

88

––

––

––

––

Cursor text in config. area

––

free

88

––

––

Dialog line

70

69

70

91

88

Cursor text in dialog line

––

free

70

––

––

Input line

74

72

74

91

88

Part program cursor

––

73

88

––

––

Pseudo part program cursor

––

83

88

––

––

Actual values

––

83

88

––

––

Other

––

91

88

91

88

Tab. 4.2

Note

Text
Border Border
backcolor backgr.
ground

(continued): Assignment of picture elements to symbolic colors

The colors 82 and 83 are used in the NCK displays.
In the MMC displays, color index 97 is used for the text background of the display
header line and color index 60 is used for the text color.
Therefore, if changes are made to the POCOLLI, indices 82, 83, 97 and 60 must
be changed.

Fig. 4.20

4–46

Color mapping list: POCOLLI



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4 MMC Area Diagnosis
4.4.6 Color settings for monochrome display

4.4.6

Color settings for monochrome display

4.4.6.1 10” monochrome display (up to SW 4.4)
Introduction

6FC5 103–0ABV2–0AA0

The BEDCONF, NECOLLI and NEMOCLUT files have to be edited for improving
the quality of the screen display.
In addition, an anti-reflex filter for the screen has to be installed, order number
6FC5148–0AC01–0AA0.

Color setting

BEDCONF
a
a
a
a
a

Color setting
0
1
2
0
1
2
16
17
18
0
0
0
32
33
34
0
0
0
48
49
50
0
0
0
64
65
66
0
14
7
80
81
82
11
2
0
96
97
98
6
5
12
112 113 114
1
8
12
Color setting

3
3
19
0
35
0
51
0
67
0
83
4
99
8
115
11

1
1
1
1
1

1
1
5
5
7

1
2
1
2
0

11
12
MO
NE
450000

NECOLLI
4
5
4
5
20
21
0
0
36
37
0
0
52
53
0
0
68
69
0
14
84
85
2
15
100 101
4
7
116 117
11
11

// BAPLANZ
// BINPUTMODE
// BCOLORMONO_DEF
// BPOSNEG_DEF
// BSCREENSAVE

6
6
22
0
38
0
54
0
70
0
86
15
102
0
118
11

7
7
23
0
39
0
55
0
71
7
87
14
103
6
119
0

8
8
24
0
40
0
56
0
72
5
88
0
104
3
120
0

9
9
25
0
41
0
57
0
73
4
89
12
105
0
121
13

10
10
26
0
42
0
58
0
74
0
90
8
106
4
122
0

11
11
27
0
43
0
59
0
75
2
91
7
107
0
123
0

12
12
28
0
44
0
60
0
76
0
92
1
108
0
124
0

13
13
29
0
45
0
61
0
77
4
93
2
109
0
125
0

14
14
30
0
46
0
62
0
78
15
94
4
110
0
126
0

15
15
31
0
47
0
63
0
79
7
95
3
111
0
127
0

NEMOCLUT
0
794
1000
1000
1000
604
698
1000
524
413
0
0
159
508
950
80

0
794
1000
1000
1000
604
698
1000
524
413
0
0
159
508
950
80

0
794
1000
1000
1000
604
698
1000
524
413
0
0
159
508
950
80

4.4.6.2 9.5” monochrome display (as from SW 4.5)
In the case of a positive display the basic setting of the ASCII editor must also be
changed.
In file BEDCONF
Entry
replace with



Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

i 1 2 2207 0//BAEFGCOLOR_DFLT
i 1 2 2207 5//BAEFGCOLOR_DFLT

6FC5197–jAA50

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4 MMC Area Diagnosis
4.4.7 Cycles

4.4.7

Cycles
Press the DIAGNOSIS and PC DATA softkeys to select the cycles area.
This area is password-protected.

Save as
cycle

SPF .. subroutines stored in a workpiece in the LOCAL or GLOBAL directory can
be copied into the NC/data directory in the user branch, which defines them as
user cycles. They can then be protected in the same way as standard cycles via
cycle disable (see Interface, Part 1).
User cycles in the NC/DATA directory cannot be edited. It is possible to read in
and out via the RS 232 C in PC format from SW 5.

Delete
cycle

Note

Deletes user cycles in the NC/DATA directory.

Cycle disable must be configured in the PLC user program.
For load instructions for cycles, please refer to the Operator’s Guide, Section 5.

4–48

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4 MMC Area Diagnosis
4.5 Activating options (as from SW3)

4.5

Activating options (as from SW3)
Press the DIAGNOSIS/START-UP/OPTIONS softkeys to change over to the Options basic display.

Fig. 4.21

Note

A PLC cold restart is required before you can implement PLC expansions.

Note

The total number of real axes limits the entry “Axis exists” in the menu NC configuration
This also applies to spindles, channels and mode groups.
MODIFY
OPTIONS

Press the MODIFY OPTIONS softkey to select the function.

Press the INPUT key to save the option password.
If the password is not entered correctly, the message WRONG OPTION PASSWORD is displayed.
Press the OK softkey to acknowledge.
Pressing the OK softkey activates the option screen form.
OK

The cursor keys are used for selecting the required option.



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4 MMC Area Diagnosis
4.5 Activating options (as from SW3)

Press the select key to select.

ACTIVATE
OPTIONS

Notes

Press the ACTIVATE OPTIONS key for activating the selected option.

The options Graphic Programming System Turning/Milling, DIN simulation, PG
software and special languages cannot be activated via the menu Start-up/Options.
This installation is always performed via menu item “Install MMC system” in the
BACK-UP menu (see Section 4.6, BACKUP with Valitek streamer).
If the system software is updated all of the above mentioned software options
must be reinstalled from magnetic tape.

4.6

BACKUP with Valitek streamer/PC link
The function BACKUP backs up all the data on the hard disk using a VALITEK
streamer/PC link, i.e. the system software (SIEMENS), the user software (e.g.
customer UMS), part programs and machine data are all stored on a magnetic
tape cartridge or external PC.
Up to SW 1 it is not possible to store any user data using the VALITEK streamer
(hardware option). With SW 2 and higher user data can be stored separately.
It is necessary to perform a BACKUP after every start-up, otherwise all data
would be lost if there were a fault on the MMC CPU! The choice of VALITEK
streamer or PC link can be made via the menu Set I/O device.

Caution!
The software for the BACKUP function is suitable for use
with the VALITEK streamer or PC link.

Caution! For Valitek streamers only!
Save system data and user data on separate cartridges
since backup overwrites any data already existing on the
cartridge.

Installation of the VALITEK streamer:
The VALITEK streamer can only be connected to the parallel interface (CENTRONICS interface) of the MMC CPU with Siemens cable 6FC9 344–4XV. It is
not possible to connect another streamer because the software is only suitable
for the VALITEK streamer.

If you connect to the interface SERIAL1 or SERIAL2 instead of the interface PARALLEL1, you will destroy the
MMC CPU!

4–50

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4 MMC Area Diagnosis
4.6 BACKUP with Valitek streamer/PC link

Accessing the CD ROM via PC link software (SW 6 and higher)
Installation sequence

A software update can be made with PC link (SW 6 and higher). The software is
delivered on CD ROM.
10.Install the PC link on the external PC by starting the file ”install.bat”
11. The control is connected to the external PC via parallel cable.

Note

The PC link cable required for installation and startup procedures does not comply with the electromagnetic compatibility requirements for cables used during
normal operations. It may therefore only be used for service purposes (parallel
transmission cable, Order No. 6FX2 002–1AA02–1AD0).
12.More about the installation sequence is explained in the ”readme.txt” file in
the root directory of the CD ROM.

Note

Select the respective menu item (Backup or Restore) in the control menu before
starting backup or restore on the external PC.

The menu items of the PC link program on the external PC
are activated as a function of the selection (Backup Restore, Install or Free Data Transfer) on the control.



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4 MMC Area Diagnosis
4.6 BACKUP with Valitek streamer/PC link

Selecting BACKUP

Press the softkeys DIAGNOSIS then START-UP 1) then BACKUP to obtain the
basic display for BACKUP.
When BACKUP is selected, the entire MMC area is stopped. The NC must be in
the RESET state.
When you have pressed the softkey BACKUP the following screen appears:

Fig. 4.22

START

Press the softkey START to activate the function BACKUP. The main menu is
displayed, from which you can choose between the following functions:
As from SW 4, you are prompted to enter the correct time and date. Press the
Input key to confirm your input. The values are activated after Power ON.

1) Up to software version 2, this softkey is called PC START-UP.

4–52

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4 MMC Area Diagnosis
4.6 BACKUP with Valitek streamer/PC link

Backup menu tree
1

Restore/backup (first install correct streamer with Item 2/Item3 set streamer type)
1

Install MMC system
When you select menu item 1, new MMC software, SW options (e.g. graphic programming) or software updates are transferred to and installed on the hard disk.

2

Backup system
With the 2nd menu item it is possible to perform a complete system BACKUP, i.e. all
the software (operating system – software, user software and software options) are
transferred from the hard disk to the streamer.

3

Restore system
With the function SYSTEM RESTORE it is possible to transfer a complete previous
BACKUP from the streamer to the hard disk of the MMC CPU. Any existing user data
of the same name are overwritten.
Note:
Other user data are not deleted.

4

Backup user data
With the function BACKUP USER DATA all data in the user branch are transferred
from the hard disk to the streamer.

5

Restore user data
With the function RESTORE USER DATA it is possible to transfer a complete previous
BACKUP copy of the user data from the streamer onto the hard disk of the MMC CPU.
Any existing user data of the same name are overwritten.
Note:
Other user data are not deleted.

6

Free data transfer
1

Uninstall NCK
If you select the function UNINSTALL NCK the entire NCK system software
is erased from the hard disk.

2

Uninstall PG software
If you select the function UNINSTALL PG software, the PG software is
erased.

3

Uninstall the complete system
If you select the function UNINSTALL THE COMPLETE SYSTEM the entire
system software and all user data are erased.

4

Return to previous menu

Note:
Up to SW 4, menu item 6 exists under the designation Setup Streamer. This menu
item is installed for service only and is password-protected. For further information
please refer to the VALITEK MANUAL. This menu item must not be used to select the
type of streamer!



7

Uninstall MMC system

8

Set streamer device

9

Return to main menu

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4 MMC Area Diagnosis
4.6 BACKUP with Valitek streamer/PC link

2

Setup / Configure options
1

Setup WOP options
See Configuring Guide Graphic Programming System

2

Create WOP working file
Service function for creating a new WOP working file

3

4

Set I/O device
1

Valitek PST–160

2

Valitek PST2 – M1200

3

Valitek PST2 – M1200 to read PST–160 tapes

4

PC link

Set disk check
Settings for checking the consistency of the file system on the hard disk (similar to the
DOS command CHKDSK).
1

Set new configuration
To set the intervals at which the check file system procedure is to be performed when the control is booted.

2

Reset to default configuration
Restore default setting, i.e. file check every 24 hours.

3

3

Return to previous menu

5

Adjust display (as from SW 5.6, for service only)

6

Return to previous menu

DR DOS shell
For service task only (password protected)

4

MMC system check (SERVICE mode)
Check sum of all the system software installed on the hard disk

5

OEM
For more detailed information please refer to the OEM documentation.

6

End (load MMC)
Starts the MMC

4–54

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4 MMC Area Diagnosis
4.7 Customer UMS

Activating the hard
disk options
(up to SW 3 only)

The hard disk is configured with 5 Mbytes for user data. It is possible to use
more memory area if one or several hard disk options are activated. A hard disk
option makes one of three areas of the hard disk available for additional user
data: an area of 5 Mbytes, an area of 10 Mbytes and an area of  20 Mbytes.

How to activate hard
disk options

First press the softkey PC START-UP/BACKUP in MMC area DIAGNOSIS under
menu item Setup/Add Options; Add user memory options.

Passwords

The following passwords have been allocated:
Menu item

1
2
3

MEMO1
MEMO2
MEMO3

When upgrading to software version >2, these options must first be enabled.

4.7

Customer UMS

General remarks

The customer UMS is created using the SW 800A workstation.
The UMS data are given the identifier “%UMS” and assigned to a language directory (e.g. ENGLISH) in the SERVICES area. Several UMS files with different names can exist side-by-side in the language directory. On POWER OFF and ON,
only the file with the name UMS can be loaded from the current language directory (set language) to the NCK.
An exact description of the operating sequences for loading data from an external
data storage device is to be found in the Operator’s Guide.

Up to SW 3

Up to SW 3 the customer UMS is enabled with an entry (ASMLEN) in the CONFIG file under Master control.

As from SW 4

With SW 4 and higher, please follow the description “Flexible memory configuration”, see Section “Functional Descriptions”.

Note

The standard UMS is contained in the scope of supply of the SINUMERIK 840C.
If the user configures his own UMS, the standard UMS is not loaded in the NCK.

Menu 48,
RECALL Key

The system setting may not allow you to leave menu 48 in the programming area
using the RECALL key. If this happens, the setting in the BEDCONF file must be
changed. See the entry BAPPLMENMODLIST in the following figure:
23 i 2 2 15000

’0’ ’0’ ’0’ ’0’ ’0’ ’0’ ’0’ ’0’ ’0’ ’134’ ’48’ // BAPPLMENINDLIST

24 i 1 1 15000
25 i 2 2 15001

// BAPPLIND
’0’ ’0’ ’0’ ’0’ ’0’ ’0’ ’0’ ’0’ ’0’ ’0’ ’4’ // BAPPLMENMODLIST

26 i 1 1 15000
27 i 2 2 15002



Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

// BAPPLIND
’0’ ’1’ ’0’ ’0’ ’0’ ’0’ ’0’ ’0’ ’2’ ’1’ ’1’ // BAPPLNCBERLIST

6FC5197–jAA50

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4 MMC Area Diagnosis
4.8 Functions up to SW 2

4.8

Functions up to SW 2

4.8.1

NC data management (up to SW 2)
As from SW 3 NC data management has been moved to
the Services area. Please refer to the Operator’s Guide for
more detailed information. The description below applies to
SW 1 and SW 2.

In the area DIAGNOSIS/NC DATA management, data for the NCK can be saved
to hard disk or loaded from the hard disk into the NCK memory. It is also possible
to edit them in the ASCII editor.

S NC machine data (TEA1)
S Cycle machine data (TEA4)
S Setting data (SEA)
S Cycle setting data (SEA4)
S R parameters (RPA)
S Zero offsets (ZOA)
S Tool offsets (TOA)
The correct sequence of operation is described in the Operator’s Guide up to
SW2

S Selecting NC data
Diagnosis

NC data
management

To obtain the basic display for NC data, press the softkeys DIAGNOSIS,
START-UP then NC DATA MANAGEMENT.

4–56

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4 MMC Area Diagnosis
4.8.1 NC data management (up to SW 2)

MACHINE

PARAMETER PROGRAMM.

SERVICES

DIAGNOSIS

14:22
Start-up/SIEMENS/NC data
NC/data
Name
...

Length

Date

Length

Date

Start-up/User/NC data
NC/data
Name
..
TEA1
SEA1
SEA1
SAVE

96145
96145
10440
EDIT

02–17–1993
02–18–1992
02–17–1993

13:21:22
08:06:36
13:21:44

LOAD

Fig. 4.23

You can only save, edit and load in the user branch. This function is password
protected.
SAVE

The data are loaded from the NCK CPU to the hard disk. Press the softkey SAVE
to obtain the following screen form. You select the desire file by moving the cursor keys and the INPUT key:
MACHINE

PARAMETER PROGRAMM.

SERVICES

DIAGNOSIS

14:27
Start-up/Save NC data


 	



 
 	 





	 
 	




	  







	
 	 
  	  	 
! 	" 	 	 	  ##
	  	 $  	  	  	 	 
! 	 %& 
 	 %	

START

Fig. 4.24

START



Press the START key to load the data selected from the NCK CPU onto the hard
disk.

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4 MMC Area Diagnosis
4.8.1 NC data management (up to SW 2)

During data transmission the following dialog text appears:
!!! Transmission of NC to PC active !!!

If a file of the same name already exists, you are asked if you want to overwrite
this file:
PC data exist. Overwrite ?

You acknowledge with the OK softkey.
OK

LOAD

Press the softkey LOAD to load the data selected into the NCK CPU. The password must have been entered in the NCK area.
The following dialog text appears during data transmission.
!!! Transmission from PC to NC active !!!

MACHINE

PARAMETER PROGRAMM.

SERVICES

DIAGNOSIS

14:45
Start-up/SIEMENS/NC data
NC
Name
...

Length

Date

Length

Date

Start-up/User/NC data
NC/data
Name
..
TEA1
SEA1
SEA1

96145
96145
10440

02–17–1993
02–18–1992
02–17–1993

13:21:22
08:06:36
13:21:44

!!! Transmission from PC to NC active !!!
ABORT

Fig. 4.25

SW 1

The Operator’s Guide describes how to edit NC data.
EDIT

4–58

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4 MMC Area Diagnosis
4.8.2 PLC data (up to SW 2)

4.8.2

PLC data (up to SW 2)
As from SW 3 NC data management has been moved to
the Services area. Please refer to the Operator’s Guide for
more detailed information.

In the DIAGNOSIS PLC data management area you can save PCF files or PLC
machine data on the hard disk or load them from the hard disk into the NCK memory. You can also edit them in the USER branch.

S PCF files (PCF)
S PLC machine data (TEA2)
Selecting PLC data

Diagnosis

PLC data
management

Press the softkeys DIAGNOSIS and PLC DATA management to obtain the basic
display for PLC data.
Operation continues as described in section: NC data management (up to SW 2).



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4 MMC Area Diagnosis
4.8.3 PCF files (up to SW 2)

4.8.3

PCF files (up to SW 2)
From SW 3 the files MELDDATR and MELDTEXT are responsible for the entire alarm concept. Configuration is described in the Interface Description Part 1, Signals.

PCF files are files in which the user can store alarm texts and messages. The
files are assigned to the language defined in the configuration file KONFIG.
On POWER ON, PCF files are automatically loaded from the current language
directory (set language) to the NCK if the file name is between PCF1 and
PCF9999.
Example of PCF files

In the directory DEUTSCH you will find the file PCF1

MACHINE

PARAMETER PROGRAMM.

SERVICES

DIAGNOSIS

11:33
Start-up/SIEMENS/PLC data
PLC/data
Name
..

Length

DEUTSCH
ENGLISCH
ESPANOL
FRANCAIS
ITALIANO
TEA2

12258

Date

03–09–1993

15:46:08

Start-up/SIEMENS/PLC data
PLC/data/DEUTSCH
Name
..
PCF1
18
LADER
0
PCF11
0
TUER1
0

SAVE

Fig. 4.26

Length

Date

03–12–1993
03–12–1993
03–12–1993
03–12–1993

EDIT

11:14:00
11:10:34
11:02:14
11:05:08

LOAD

PCF files in the directory DEUTSCH in the range DIAGNOSIS

If no PCF files yet exist in the language directory, they must first be created. You
can open and edit files in the following ways:

S Create and edit a PCF file in the SERVICES area
S Create and edit a PCF file in the PROGRAMMING area
S Read in a file via V24 in the SERVICES area
With software version 2 and higher, message texts can also be configured using
the files MEDEATTR. and MELDETEXT in the DIAGNOSIS PC DATA/MASTER
CONTROL area.
A detailed description is to be found in Section 12 of the Interface Description
Part 1, Signals.

4–60

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4 MMC Area Diagnosis
4.8.3 PCF files (up to SW 2)

Creating a file in the SERVICES area
Select the SERVICES area.
SERVICES

Press the MANAGEMENT softkey.
MANAGEMENT

Press NEW softkey.
NEW

Select PLC in the directory of all possible subdirectories in the user branch using
the cursor keys and accept with INPUT.
Position the cursor on DATA and accept with INPUT.
The directory of all available languages is displayed.
You select the required language directory using the cursor keys and accept with
INPUT.
A directory of files which have been stored under the selected language is displayed.

Creating a new file
Press softkey NEW.
NEW

You can then enter any name (maximum 8 characters) in the input field.
The input is accepted with INPUT and OK.

If the PCF file is to be loaded into the NCK memory or runup according to the entry in the KONFIG file (language),
then the identifier PCF ... must be used.

If PCF is not used as the identifier, this file is not loaded into the NCK on POWER
ON.
These files can be loaded into the NCK memory using the softkey function LOAD
in the DIAGNOSIS area.
Operating sequence
LOAD

The area DIAGNOSIS PLC DATA MANAGEMENT/DEUTSCH is selected in the
user area.
Select the files to be transferred using the cursor and the input key.

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4 MMC Area Diagnosis
4.8.3 PCF files (up to SW 2)

MACHINE

PARAMETER PROGRAMM.

SERVICES

DIAGNOSIS

11:33
Start-up/SIEMENS/PLC data
PLC/data
Name
..
DEUTSCH
ENGLISCH
ESPANOL
FRANCAIS
ITALIANO
TEA2
12258
Start-up/User/PLC data

Length

Date

03–09–1993

15:46:08

PLC/data
Name
..
PCF1

18

03–12–1993

11:14:00

LADER
PCF11
TUER1

0
0
0

03–12–1993
03–12–1993
03–12–1993

11:10:34
11:02:14
11:05:08

SAVE

Length

EDIT

Date

OK

LOAD

Fig. 4.27

Press LOAD softkey.
LOAD

You must enter a program number which does not yet exist in the NCK memory
in the input field.
When you press the softkey OK, the PCF file is loaded into the NCK memory.

OK

If a file with this identifier already exists, the following message appears:
PLC error texts exist. Overwrite?

You overwrite the file by acknowledging with the OK softkey.
OK

Editing the PCF files:
Press the area switchover key.

Select DIAGNOSIS area.
DIAGNOSIS

PLC data
management

Press the PLC DATA MANAGEMENT softkey.
Switch to the user branch with the HOME key (the active window is marked).
Keep pressing the CURSOR keys and INPUT key in the DATA directory until you
reach the directory containing the language files. Select the language required.
You will find the PCF file you created in the SERVICES area in the selected language directory.
You select the PCF file using the cursor and the EDIT softkey.

4–62

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4 MMC Area Diagnosis
4.8.3 PCF files (up to SW 2)

You can create the PCF file with the ASCII editor, configuring is described in Interface Description Part 1. The ASCII editor is described in the Operator’s Guide.
You store the file onto the hard disk with the SAVE softkey.
SAVE

Creating and editing PCF files in the programming area (NCK area)
Press the area switchover key.

Press programming key.
Programm.

EDIT
NC

SELECT
PROGRAM

Press the edit NC softkey.

Enter the required program with the identifier “%PCF...” in the input line and accept with the PROGRAMMING softkey.
The DIN editor is displayed. Please refer to the Interface Description Part 1, Signals, for notes on configuring. The DIN editor is described in the Operator’s
Guide.

When you have completed editing, you must load the created PCF file from the NCK memory in the DIAGNOSIS area
to the hard disk, as data are lost when the control is
switche doff.

Saving the PCF file

Enter passwords in the NCK and MMC area.
Select the DIAGNOSIS/START-UP/PLC DATA area with the cursor and the input
key and keep pressing the keys until you reach the directory of language files,
select and accept the required language.

SAVE

Press the SAVE softkey. A dialog screen form with a toggle field and 4 input
fields appears.
You select the PCF data type with the horizontal cursor keys in the PLC
SOURCE toggle field. The input fields are filled in according to the entries in the
NCK memory.

START

You initiate transmission with the START softkey. The following message appears:
!!! Transmission from NC to PC active !!!

If a PCF file of the same name already exists you are asked whether you wish to
overwrite it:
PC data exists. Overwrite?

The PC data are overwritten when you press the softkey OK.
OK

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4 MMC Area Diagnosis
4.8.3 PCF files (up to SW 2)

Setting data for PCF files:
You define the active PCF file in the general setting data.
The setting data are described in the Operator’s Guide.

MACHINE

PARAMETER PROGRAMM.

SERVICES

DIAGNOSIS

16:38
JOG

BAG
Kanal

PROGRAM RESET

:1
:1

General data
'&  			


(



)		 *	  )
 *%	
)
 *

(

+

,   	 



(

-  	. 	


Work area
limitation

Fig. 4.28

Example

/


0

General
data

Spindle
data

Scale

General
bits

Axial
bits

Cycle
data

SW 1

PCF file

MACHINE

PARAMETER PROGRAMM.

SERVICES

DIAGNOSIS

09:22
Start-up/Edit PLC data

1

1+

1


1
+

19

:

=



+



#/ -

2-!, '!!30 -
2-453)

 #)
 36'70 -
2
!!- 530 -
268'34-) !)- #)
 36'0 -
2!)- )-
3 ')3
80 -
2,;)
6 !
 #)
 '3)< 7770 -
2'3)< ! > >), '
)<0 -
2,3), #),,)
?0 -
2
 )-43 7770 -
2-!'3 
 '
)<0 -

PCF1
Insert/
overwrite
Cut to
clipboard
Copy to
clipboard
Search
Paste from
clipboard
Undo
>>

SAVE

Fig. 4.29

ASCII editor with PCF 1 file

1) Not in SW 1

4–64

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4 MMC Area Diagnosis
4.9 Equivalent keys on the PC keyboard and the operator panel

4.9

Equivalent keys on the PC keyboard and the operator panel
The following table lists all keys that have a different form on the PC keyboard
and the operator panel control but the same function.
PC keyboard

Operator panel

Function

Home, POS1

Home key

End

End key

Backspace key

DELETE

Delete key

Return key

ESC

Escape key

INSERT

Insert key

PageUp

PageUp key

PageDown

PageDown key

F3 – F9

Softkey 1 to 7 below

Selection of menu points below

Shift + F3 – F9

Softkey 1 to 7 right

Selection of menu points right

Shift + F1

Call up help screen

F11

Area switchover key

F12

Channel and mode group switchover

END OF SECTION

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5

Machine Data Dialog (MDD – as from SW 3)
5.1 General remarks

5

Machine Data Dialog
(MDD – as from SW 3)

5.1

General remarks

Introduction

The SINUMERIK 840C and Machine Data Dialog operation.
The Machine Data Dialog replaces the conventional method of entering machine
data via lists. Wherever possible, the machine data are represented in their real
units. Complicated relationships are represented and input via configuring
displays. The machine data are sorted into groups and are displayed together
with the MD no., text, value and unit. The logical procedure for entering the MD
(for example during initial startup) is to work through the menu lists from left to
right.
Example NC MD (procedure)
NC configuring data
↓
General NC MD –> Geometry/motion –> Channel MD –> etc.
In addition to entering machine data individually it is also possible to load
complete MD records and to save data that already exist. A data management
system has been implemented for organizing the different machine data records.
Machine data can be processed online (data sets in the machine) and offline
(machine data file).
You can select the Machine Data Dialog by pressing the softkeys Diagnosis/
Start-up/Machine data.

Machine data
(SW 3 and higher)

The Machine data area is found by pressing the Diagnosis and Start-up
softkeys. The machine data are divided up into the following areas:

S Machine configuration
S NC configuration and NC machine data
S PLC configuration and PLC machine data
S Drive configuration and drive machine data
S Cycle machine data
S IKA data (interpolation compensation with tables)
S User displays
Section

Diagnosis

Start-up

Machine
data

Note



It takes several seconds to load the function Machine data during which time the
flashing message “Wait” is displayed.

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5 Machine Data Dialog (MDD – as from SW 3)
5.1 General remarks

Note

Press the info key to display a short description of the machine configuration.

Fig. 5.1

Explanation

The machine configuration display gives you an overview of the current data
record and is only a display. The functions and setpoint/actual value assignment
for each of the spindles and axes are displayed for the data that you have
entered in the data record. The contents of the display fields is determined by the
following machine data.
Spindles

S Function:
The display text “Spindle” or “Following spindle” appears when NC MD 5210.7
ff (spindle available) and/or NC MD 5250.0 is set.

S Setpoint:
The connection location of the setpoint appears in this window when NC MD
4600.6–7 ff (drive/ measuring circuit module number) is set.
For analog drives:
“MS x.x”
and digital drives:
“DIG x.x” or “MSD x.”

S Actual value 1:
The connection location of actual value 1 appears in this window when NC
MD 4000.6–7 ff (drive/ measuring circuit module number) is set.
For analog drives:
“MS x.x”
and digital drives:
“DIG x.x” or “MSD x.”

5–2

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5 Machine Data Dialog (MDD – as from SW 3)
5.1 General remarks

Axes

S Name:
The name of the axis appears in this window when NC MD 5680 ff (axis
name) is set. Possible input values are: X–X15, Y–Y15, Z–Z15, A–A15,
B–B15, C–C15, U–U15, V–V15, W–W15, Q–Q15, E–E15.

S Function:
Possible display texts are (when NC MD 5640.7 ff – axis exists–input = yes)
– “Linear” : NC MD 5640.5 ff (rotary axis)
Input = No
– “Rotary” : NC MD 5640.5 ff (rotary axis)
Input = Yes
– “Following” : NC MD 18440.0 ff (axis can be following axis) Input = Yes
– “Facing”: NC MD 5720.1 ff (facing axis) Input = Yes

S Setpoint:
The connection value of the setpoint appears in this window when NC MD
3840.6–7 ff (drive/measuring circuit module number) has been set.
For analog drives:
“MC x.x” (Measuring circuit in
measuring circuit modules)
and digital drives:
“DIG x.x” or “FDD x.”

S Actual value 1:
The connection value of actual value 1 appears in this window when NC MD
2000.6–7 ff (drive/
measuring circuit module number) has been set.
For analog drives:
“MC x.x” (Measuring circuit in
measuring circuit modules)
and digital drives:
“DIG x.x” or “FDD x.”

S Actual value 2:
The connection value of actual value 2 appears in this window when NC MD
13880.6–7 ff (drive/
measuring circuit module number) has been set.
For analog drives:
“MC x.x” (Measuring circuit in
measuring circuit modules)
and digital drives:
“DIG x.x” or “FDD x.”

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5 Machine Data Dialog (MDD – as from SW 3)
5.1.1 General notes on operation

5.1.1

General notes on operation

Search
Explanation

Search (SW 3 and higher)
Select the Search function with this key.
With this function you can either search for a “Term” (e.g. following spindle) or a
machine data. When you have selected the function an input field appears, in
which you enter either the term or the machine data which you then acknowledge
with the input key. You can choose between softkeys Search global and Search
local.
Search global means that you search all data lists, i.e. of the drive, NC, PLC,
Cycles and IKA for the term or MD you are looking for. Once the term or the MD
has been found, the list display showing the data appears on the screen. It can
be altered immediately. The softkey path under which the list display with the
data can be found is also displayed. You can continue the search with the softkey
Continue search and you can terminate it with the softkey Search end.
Search local means that you can look for the term or machine data within a list
display. This corresponds to the search in the NC lists available until now.

Notes

Please note the text under the input column:
“Input: Text or data number (without ‘.’ and ‘:’!)”. You cannot search for the bit or
parameter set in SW 3.
In SW 4 it is possible to search for the bit, parameter set or select a digit.
You can use the wildcard character * for symbols or characters (used in foreign
languages) which are not on the operator
panel.

Password
Explanation

Password (SW 3 and higher)
You select the function Password with this softkey.
The password in the NCK, PLC and MMC areas is defined with machine data 11.
You can alter the password (MD 11) via the User displays and Edit list softkeys.
Default value 0 corresponds to the password 1111. Any other value entered in
machine data 11 must be 4 digits long.
You will automatically be asked to enter the password for certain functions in the
machine data dialog or if you have operated the softkey Password. An input field
appears with the command “Enter password”.
You enter the password and confirm your entry with the softkey Set. You can
clear the password with the softkey Delete.
The message “Wrong password” appears if an incorrect password has been
entered. Acknowledge with OK and enter the correct password.

Notes

Machine data 11 (password) is not named when you call it up in the function user
displays.
In SW 3 the password is deleted on Power on Reset or NCK Reset and in SW 4
with Control off/on (hardware).

5–4

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5 Machine Data Dialog (MDD – as from SW 3)
5.1.1 General notes on operation

MD info window
(SW 3 and higher)
Select the MD info window function with the “End” hardkey.

Fig. 5.2

Explanation

With the “End” hardkey you can call up an info window for any machine data on
which the cursor is placed (not in Machine configuration). Minimum and
maximum values, the internal representation, any relationships with other
machine data and any inputs if they exist (e.g. yes/no) are displayed next to the
text and number.
In SW 4 and higher, an optional fixed text can be assigned to any individual machine data, viewed and values entered or toggled.
In SW 4 it is also possible to select transformation blocks and configurations.

Increment/decrement
function
(SW 3 and higher)
“+/–” function
(SW 3 and higher)

Calc. controll. data

The values of certain machine data can be altered either in percent or by
predefined values using the hardkeys + (increment) and – (decrement). Operate
the End hardkey to find out which changes can be made. Under possible inputs
you will find the next value in the + and – direction.
You can select the available (configured) drives, axes, spindles, channels and
numbers (e.g. IKA) using the +/– function.
Calculating controller data (SW 4 and higher)
Press this softkey to select the function Calculate controller data.
As from SW 4, it is possible to load the standard data from the hard disk for
motor selection (previously: data for MSD from EPROM). When the standard
data have been loaded some of the controller data are automatically calculated
and set in the drive. If a motor from a different manufacturer is used no guarantee
can be made that this procedure will be carried out. First, the specific motor data
must be entered manually and then the following controller data must be
calculated and set by pressing the Calculate controller data softkey:

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5 Machine Data Dialog (MDD – as from SW 3)
5.1.1 General notes on operation

Current controller:
MD 1120
P gain current controller (FDD/MSD)
MD 1121
Reset time current controller (FDD/MSD)
Flux controller:
MD 1150
P gain flux controller (MSD)
MD 1151
Reset time flux controller (MSD)
Torque and output limits:
MD 1230
1st torque limit (FDD)
MD 1235
1st output limit (FDD)
Speed interface normalization:
MD 1401
Speed for max. motor working
speed (FDD/MSD)
Speed controller:
MD 1147
Speed limitation (FDD/MSD)
MD 1405
Monitoring speed motor (FDD/MSD)
MD 1407
P gain speed controller (FDD/MSD)
MD 1408
P gain upper adaptation speed (MSD)
MD 1409
Reset time speed controller (FDD/MSD)
MD 1410
Reset time upper adaptation speed (MSD)
MD 1411
Lower adaptation speed (MSD)
MD 1412
Upper adaptation speed (MSD)
MD 1413
Selection adaptation speed controller (MSD)
AM operation:
MD 1451
P gain speed controller AM (MSD)
MD 1453
Integral action time speed controller AM (MSD)
MD 1466
Changeover speed closed/open loop control AM (MSD
MD 1465
Changeover speed MSD/AM (MSD only when MD 1011.5=1)
MD 1608
Fixed temperature (MSD only when MD 1011.5=1)
v/f operation:
MD 1127
Voltage with f=0 V/F-mode (MSD)

Please note that any controller data entered manually will
be overwritten when softkey Calculate controller data is
pressed!

+

Selecting displayed data in header (SW 4 and higher)
You select the displayed parameter number (top left) for position control, ratio
and drive and the displayed axis number for the axis by pressing the Shift and
the Home hardkeys simultaneously.

Explanation

With these keys it is possible to enter the data directly in all displays in which the
current data are displayed in the header. It is also possible to toggle and move
forwards/backwards with the +/– and select keys. The cursor remains positioned
on the parameter number in the header until either a correct number has been
entered or the Enter, Shift-Home, Backspace, Delete, Cursor key has been
operated and the field is exited without making any changes.

Note

This function replaces the previous Search local function for IKA 2 (IKA curve
pointer) and IKA 3 (IKA error points).

Copy to
clipboard

Example of application:
Copying data from one axis into another axis.

Paste from
clipboard
5–6

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5 Machine Data Dialog (MDD – as from SW 3)
5.1.2 Fast switching between MDD and service display (as from SW 5)

5.1.2

Fast switching between MDD and service display (as from SW 5)

Service displays
for axes

In all axis specific displays it is possible to select the axis service display with the
highest vertical softkey.
The data are requested via I code 20E. The refresh rate is 59 ms in a state of
rest.

Axis service display

Fig. 5.3

Horizontal softkey bar

As in other displays you can access the other axis displays directly using the horizontal softkeys.

Input disabled

Because all values of this display are interlocked against input, the cursor is positioned on the axis number (new feature of the list displays).

Softkey axis +
Softkey axis –

Here, it is not only possible to select the axis with the softkeys “Axis +” and
“Axis –” but also with the toggle key or with “+” or “–”.

Softkey <<

You can return to the previous display with the vertical softkey “<<”.

Softkey perform
drift comp

With the vertical softkey “Perform drift compensation”, it is possible to initiate I
code 419. This performs a drift compensation for the axis currently selected. The
following errors can occur:

S The currently selected axis does not exist internally:
Alarm 165049 Axis does not exist internally

S The currently selected axis is moving:
Alarm 165050 Axis is not in reset state

S Other errors:
Alarm 165048 Drift compensation is not performed.
Softkey several axes



It is possible to change to a display via the vertical softkey “several axes” in
which the service values of any three axes are displayed.

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08.96

5 Machine Data Dialog (MDD – as from SW 3)
5.1.2 Fast switching between MDD and service display (as from SW 5)

Service display for
several axes

Fig. 5.4

In the three-axis display, the units column is omitted for space reasons.
Selecting columns

The columns are selected using the home key. In each column which is selected,
the axis can be selected as in the single-axis display.

Softkey <<

You can return to the previous axis display with the vertical softkey “<<”.

Softkey single axis

The vertical softkey “single axis” is used to return the single axis display to increase the refresh rate.

Service displays for
spindles

A spindle service display that works on the same principle has been set up and
can be accessed via the top vertical softkey.
The spindle service display is similar to the axis service display with the only difference that there is no softkey “Drift compensation”.

5–8

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08.96

5 Machine Data Dialog (MDD – as from SW 3)
5.2 NC configuration and NC machine data (as from SW 3)

5.2

NC configuration and NC machine data (as from SW 3)

5.2.1

NC configuration

Selection

Diagnosis

Start-up

Machine
data

NC MD

Press the Diagnosis, Start-up, Machine data and NC MD softkeys to call the NC
configuration display.
Note

A brief description of the NC configuration and NC machine data is displayed
when you press the info key.

Copy
spindle
Insert
spindle
Copy
axis
Insert axis

Fig. 5.5

Explanation

In this display you enter the current assignments (mode group, name, axis type,
exists) for channel, spindle and axis number. The contents of the display fields
show the settings of the following machine data.
Channel

S Mode group:
The assignment of mode group to channel is determined by the setting in NC
MD 1000 ff (channel valid in mode group).



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5 Machine Data Dialog (MDD – as from SW 3)
5.2.1 NC configuration

Spindle

S Mode group:
The assignment of mode group to spindle is determined by the setting in NC
MD 4530 ff (spindle valid in mode group).

S Available:
The spindle is displayed as existing when NC MD 5210.7 ff (spindle exists) is
set.
Axis No.

S Mode group:
The assignment of mode group to axis no. is determined by the setting in NC
MD 3600 ff (axis no. valid in mode group).

S Name
The name of the axis appears in this window when NC MD 5680 ff (axis
name) is set.
Possible inputs are: X–X15, Y–Y15, Z–Z15, A–A15, B–B15, C–C15, U–U15,
V–V15, W–W15, Q–Q15, E–E15.

S Available:
The axis is displayed as existing when NC MD 5640.7 ff (axis exists) is set.

S Axis type:
The display tells you whether the axis is real or fictitious, as set in NC MD
5640.6 ff.
real:
Input = No
fictitious:
Input = Yes

S Rotary axis:
The display tells you whether the axis is a linear or rotary axis, as set in NC
MD 5640.5 ff.
linear: Input = No
rotary: Input = Yes
Notes

Only the channels, axes and spindles defined in the NC configuration display are
also displayed in the following displays (channel, axis, spindle MD softkeys).
You must execute a PLC cold restart via the General reset mode function if you
wish to alter the number of channels, spindles and axes.

5–10

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5 Machine Data Dialog (MDD – as from SW 3)
5.2.2 NC machine data

5.2.2

NC machine data

Menu tree
NC MD
General
NC MD

(1)

Geometry
motion

(2)

Channel

Axis

Spindle

Gearbox
interpol.

(3)

(4)

(5)

(6)

File
functions

(7)

Memory
config.
(SW 4)

(8)

(1)
General
Basic MD

Face axis
functions

Modes

Keyswitch

Technology MD

Computer
link

File
functions

(2)
Geometry
MD

Coupl. axis
combin.

Coord.
Override
transform.

Tool
offset

File
functions

(3)
Basic MD

Auxiliary
functions

Multichannel Gen. reset
display
G groups

File
functions

(4)
Basic MD

File
functions

Monitoring
limitation

Velocities

Meas. sys.
data

Controller
data

Monitoring
limitation

Rotational
speeds

Meas. sys.
data

Controller
data

File
functions

GI
axis

GI
spindle

File
functions

LEC

(5)
Basic MD

(6)

(8)
DRAM
data (SW4)

SRAM
data (SW4)

Reconfig.
memory
(SW4)

File
functions

See next pages for explanations to (1) to (8).



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5 Machine Data Dialog (MDD – as from SW 3)
5.2.2 NC machine data

Note

A list of the individual NC machine data is given on the following pages. The
machine data are grouped according to their functions within these areas. The
functions of the individual machine data are described in the section entitled “NC
Machine Data” where they are listed alphanumerically. A number of machine data
depend on the parameter set (see “Selecting a displayed parameter number”).

(1) NC MD/General NC MD
Softkey General
basic MD

This softkey contains dimension unit, system clock, general
basic and PLC function machine data.

Softkey
Face axis functions

This softkey contains various face axis function machine data.

Softkey
Modes

This softkey contains various operating mode machine data.

Softkey
Keyswitch

This softkey contains various keyswitch machine data for
defining the input disable.

Softkey
Technology MD

This softkey contains function activation, thread, programming,
position signal, mixed I/O and KISP machine data.

Softkey
Computer link

This softkey contains different computer link machine data.

(2) NC-MD/Geometry motion
Softkey
Geometry MD

This softkey contains various geometry machine data.

Softkey Coupled
motion combination

This softkey contains various coupled motion combination
machine data.

Softkey Coordinate
transformation

This softkey contains various coordinate transformation
machine data.

Softkey Override

This softkey contains feedrate override and spindle override machine data.

Softkey
Tool offset

This softkey contains various tool offset machine data.

(3) NC-MD/Channel
Softkey Basic MD

This softkey contains various channel basic machine data.

Softkey
auxiliary functions

This softkey contains output auxiliary function, fast auxiliary
function and block search machine data.

Softkey
Multichannel display

This softkey contains axis assignment and spindle assignment
multichannel display machine data.

Softkey Initial
setting G group

This softkey contains initial setting machine data for various
G groups.

(4) NC-MD/Axis
Softkey Basic MD

This softkey contains units of measurement, system clock, setpoint/actual value
assignment, general basic, face axis, rotary axis, indexing axis, mixed I/O
switchover signal and leading axis machine data.

Softkey Monitoring
limitation

This softkey contains referencing, software limit switch, general
monitoring and measuring loop machine data.

Softkey
Velocities

This softkey contains various velocity machine data.

Softkey
Measuring system

This softkey contains adaptation actual value 1/actual value 2
and encoder/absolute encoder machine data.

5–12

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5 Machine Data Dialog (MDD – as from SW 3)
5.2.2 NC machine data

Softkey Controller data

This softkey contains position controller, compensation, feedforward control, filter
setting and travel to fixed stop machine data. SW 4 also contains quadrant error
compensation (from SW 4.4) machine data.

Softkey LEC

This softkey contains various leadscrew error compensation machine data.

(5) NC-MD/Spindle
Softkey Basic MD

This softkey contains dimension unit, system clock, setpoint/actual value
assignment, general basic, mixed I/O switchover signals and leading spindle
machine data.

Softkey Monitoring
limitation

This softkey contains speed range and measuring loop
monitoring machine data.

Softkey Speeds

This softkey contains various speed machine data for the gear stages.

Softkey Measuring
system data

This softkey contains various adaptation actual value 1
measuring data.

Softkey Controller data

This softkey contains position controller, oriented spindle stop M19 and (as from
SW 4.4) feedforward control machine data.

(6) NC-MD/gearbox interpolation
Softkey GI axis

This softkey contains controller parameter following axis, traversing range
following axis and setting gearbox interpolation machine data.

Softkey GI spindle

This softkey contains controller parameters following axis, traversing range
following spindle and setting gearbox interpolation machine data.

(7) No explanation here
(8) NC-MD/memory configuration (as from SW 4)
Softkey
DRAM data (SW 4)

This softkey contains general configuration, number
of block buffers in block memory and number of measuring value buffer
memories for axis machine data.

Softkey
SRAM data (SW 4)

This softkey contains various general data II machine
data.

Softkey Reconfigure
memory (SW 4)

The function ”Flexible memory configuration” is introduced with SW 4.
The Reconfig. memory softkey is used to activate a previously set configuration
for which several conditions must be fulfilled (see the section entitled “Functional
Descriptions”).

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5 Machine Data Dialog (MDD – as from SW 3)
5.2.3 Setpoint-Actual value matching for axes and spindles

5.2.3

Setpoint-Actual value matching for axes and spindles
The following NC machine data still have to be set before you can operate the
drives after drive installation. You will find them by pressing the Diagnosis/Startup/Machine data/NC MD softkeys for the Axes (FDD) or Spindles (MSD) and
then Basic MD softkey.

Note

In the case of digital drives you should first enter the drive configuration before
the axis/spindle assignment.

Example axis (FDD)

Setpoint/actual value

Axis1

analog

MD 3840

Setpoint output

MC1.4

FDD1.0

MD 3840/2–3
MD 3840/6–7

Setpoint on digital drive
Drive/measuring circuit module number
SPC/HMS setpoint output

No
1

Yes
1

MD 3840/4–5
MD 18240.2
MD 2000
MD 2000/2–3
MD 2000/6–7
MD 2000/4–5

4

0

Multiple assignment
setpoints (611D)
1st measuring system connection

No

No

MC1.1

FDD1.1

Actual value of digital drive
Drive/measuring circuit module number
Measuring circuit connection
number

No
1

Yes
1

1

1

Example spindle (MSD) Setpoint/actual val. assign. spindle 1
MD 4600
MD 4600/2–3
MD 4600/6–7
MD 4600/4–5
MD 5220.2
MD 4000
MD 5200.1
MD 4000/2–3
MD 4000/6–7
MD 4000/4–5
Note

5–14

digital

analog

Setpoint output
Setpoint on digital drive
Drive/measuring circuit module number
SPC/HMS setpoint output
Multiple assignment
setpoints (611D)
Measuring system
connection
Sign change actual value
Actual value of digital
drive
Drive/measuring circuit module number
Measuring circuit connection
number

digital

MC1.6
No
1

MSD1.0
Yes
1

6
No

0
No

MC1.3

MSD1.1

No
No

No
Yes

1

1

3

1

Machine data MD 3840, MD 2000, MD 4600 and MD 4000 display the
assignments of each of the setpoints and actual values.

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5 Machine Data Dialog (MDD – as from SW 3)
5.2.4 Measuring system adaptation for axes and spindles (as from SW 4)

5.2.4

Measuring system adaptation for axes and spindles
(as from SW 4)

Explanation

Notes

This function is used to automatically calculate the position control resolution and
measuring system resolution (optimization of the closed position control loop).
You will find the function under the softkey path Machine data/NC MD/Axis (or
Spindle) measuring system data. After you have entered the parameters (see
table below), move to the NC machine data Pulses var. incremental weighting
(Axis: NC MD 3640/Spindle NC MD: 4550) or Traversing path var. incremental
weighting (Axis: NC MD 3680/Spindle: NC MD 4560) and trigger calculation by
pressing the toggle key.
If the data do not correspond, a number sign ”#” is displayed next to the machine
data ”Pulses var. incremental weighting” and ”Traversing path var. incremental
weighting”. As soon as the values have been calculated a tick ”n” is displayed.
Machine data f: Pulse multiplication EXE/611D/HMS (Axis: NC MD
11160/Spindle: NC-MD 4580) should be matched in such a way that the condition
measuring system resolution < position control resolution is given.

Parameter table
Parameter

This table lists the parameters for the measuring system adaptation.
Symbol

NC-MD
axis/spindle

Meaning

Position control
resolution

b

Pulse multiplication
EXE/611D/HMS

f

11160/4580

Grating constant

g

39120/–

Distance between marks on a linear scale

Spindle pitch

l

39120/–

Leadscrew pitch

Measuring system resolution

m

–

Pulses per revolution

p

39080/24220

Gear factor

r

–

Number of revolutions
on load site

r1

39000/24200

Actual speed of axis or spindle

Number of revolutions
on motor side

r2

39040/24210

Actual speed of motor for axis or spindle

Pulses variable
incremental weighting

u

3640/4550

Position control resolution weighting

Traversing path variable
incremental weighting

v

3680/4560

Measuring system resolution weighting

Note
Formulas used
for calculation



18000.0–3/5240.0–3 Internal computational resolution of control
Multiplier input

Maximum resolution of measuring systemThe value is used as the basis
Number of encoder pulses per revolution
Speed ratio between number of revolutions
on load side (r1) and number of revolutions
on motor side (r2)

Machine data 39000–39120 and 24210–24220 are used for internal calculations
only.
rxl
4xpxf
rxg
or m +
4xpxf
r x 360 degr.
Measuring system resolution (spindle) : m +
4xpxf
Measuring system resolution
m
v
Ratio :
å +u
Position control resolution
b
r1
Gearbox factor : r +
r2
Measuring system resolution (axis) : m +

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5 Machine Data Dialog (MDD – as from SW 3)
5.2.4 Measuring system adaptation for axes and spindles (as from SW 4)

Motor measuring
system example

Linear measuring
system example

Information required:

m+

Gearbox factor:

r+

Information required:

rxl
4xpxf

r1 (leadscrew)
r2 (motor)

Leadscrew pitch:

l

Pulses per revolution:

p

Pulse multiplication:

f

m+

rxg
4xf
r + r1 + 1
r2

Gearbox factor:
(8direct measuring system)

Rotary axis example

Information required

Grating constant:

g

Pulse multiplication:

f

m+

r x 360 degrees
4xpxf

Gearbox factor:
r
(depends on whether direct or indirect measuring
sysem is used)

Note

5–16

Pulses per revolution:

p

Pulse multiplication:

f

Additional information about measuring system adaptation is given in machine
data NC MD 3640 (Pulses var. incremental weighting) and NC MD 3680 (Traversing path var. incremental weighting).

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08.96

5 Machine Data Dialog (MDD – as from SW 3)
5.2.5 Copying a complete machine data block (as from SW 5.6)

5.2.5

Copying a complete machine data block (as from SW 5.6)

General

The “NC configuration” basic screen contains the softkeys for copying and inserting
complete spindle and axis data blocks. The “Drive configuration” basic screen contains
the softkeys for drive data blocks.

Precondition

The password is set.

Select axis/spindle

You can call the NC configuration screen by selecting softkeys Diagnosis, Startup,
Machine data and NC-MD.

Copy spindle

By selecting softkey Copy spindle, you can copy the data of the spindle selected in
the spindle sub-window to the clipboard. The dialog text
!!!Transfer from NC to PC in progress!!!
is output during the copy process.

Insert spindle

By selecting softkey Insert spindle, you can copy the data stored in the clipboard to
the spindle selected in the spindle sub-window. The dialog text
“Insert from clipboard?
(overwrite whole axis/spindle/drive)
then appears. The data is transferred when you select softkey OK.

Copy axis
Insert axis

Axis data blocks are copied and inserted in the same way as spindle data blocks
(see above).

Select drive data

You can go to the drive configuration display by selecting softkeys Diagnosis,
Startup, Machine data and Drive MD. When you select softkey Copy/Insert, the softkeys Copy to clipboard and Insert from clipboard are added on the right of the softkey bar.

Copy to clipboard

When you select softkey Copy to clipboard, the data of the selected slot is copied
complete to the clipboard. The dialog text
!!!Transfer from NC to PC in progress!!!
is displayed during the copy operation.

Insert from clipboard

When you select softkey Insert from clipboard, the data from the clipboard is copied
to the selected slot. The dialog text
“Insert from clipboard?
(overwrite whole axis/spindle/drive)”
then appears. The data is transferred when you select softkey OK.

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5 Machine Data Dialog (MDD – as from SW 3)
5.3 PLC configuration and PLC machine data (as from SW 3)

5.3

PLC configuration and PLC machine data (as from SW 3)

5.3.1

PLC configuration

Selection

Diagnosis

Start-up

Machine
data

PLC MD

The PLC configuration display appears on the screen when you press the Diagnosis, Start-up, Machine data and PLC MD softkeys.
Note

A brief description of the PLC configuration and PLC machine data appears on
the screen when you press the info key.

Fig. 5.6

Explanation

In this display you configure the current assignments (control panel available,
address, TT machine, etc.) for the 1st and 2nd machine control panel. The contents of the display fields show the settings in the following machine data.
1st machine control panel (MCP)

S Available:
The 1st machine control panel is displayed as available when PLC MD 6066.0
(machine control panel available) is set.

5–18

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5 Machine Data Dialog (MDD – as from SW 3)
5.3.1 PLC configuration

S Address:
The address assignment for the 1st machine control panel is determined in
PLC MD 128 (initial address for 1st machine control panel).
S TT machine:
The setting in PLC MD 6066.4 (configuration 1st machine control panel TT
machine) determines whether the machine is a T or a TT machine (double
slide).
T machine:
Input = No
TT machine:
Input = Yes
S Direction key processing:
The setting in PLC MD 6066.5 (processing of direction keys by user)
determines whether the direction keys are processed by the PLC operating
system or the user.
PLC operating system:
Input = No
User:
Input = Yes
2nd machine control panel (MCP)

S Available:
The 2nd machine control panel is displayed as available when PLC MD
6067.0 (machine control panel available) is set.

S Address:
The address assignment for the 2nd machine control panel is determined in
PLC MD 129 (initial address for 2nd machine control panel).

S TT machine:
The setting in PLC MD 6067.4 (configuration 2nd machine control panel TT
machine) determines whether the machine is a T or a TT machine (double
slide).
T machine:
Input = No
TT machine:
Input = Yes

S Direction key processing:
The setting in PLC MD 6067.5 (processing of direction keys by user program)
determines whether the direction keys are processed by the PLC operating
system or the user program.
PLC operating system:
Input = No
User program:
Input = Yes
Travel key display

S For both machine control panels:
The setting in PLC MD 6065.0 (travel key display) determines whether the
travel key display comes from the PLC operating system or the user program.
The LEDs receive a signal from the user program.
Input = No
The LEDs receive a signal from the PLC operating system: Input = Yes
Free configuration

S Selection Yes ´ No (PLC MD 136)
S Block type:
The input field for the block type is displayed with PLC MD136 (No. of project
block).
There are two types:
DB:
Numbered
1 to 255
DX:
Numbered 1000 to 1255

S Block No.
The input field for the block number appears with PLC MD136 (No. of project
block).
Possible input values:
for DB:
1 to 255
for DX:
0 to 255

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5 Machine Data Dialog (MDD – as from SW 3)
5.3.2 PLC machine data

5.3.2

PLC machine data

Menu tree
PLC MD

Peripheral
setting

Alarms,
messages

(1)

(2)

PLC
basic data

(3)

User
MD

(4)

Tool
managem.

(5)

Computer
link

(6)

File
functions

(7)

(1)
DMP
config.

Interrupts

Process
alarms

File
functions

(2)
General

Channel

Axis

File
functions

Spindle

(3)
Program

Interface

File
functions

(4)
Edit
texts

Edit
list

File
functions

(5)
Basic
data

Magazine 1

Magazine 2

Magazine 3

File
functions

Magazine 4

(6)
System
setting

Note

5–20

General
functions

File
functions

Tool dialog
code carr.

A list of the individual PLC machine data areas is given on the following pages.
The machine data are grouped according to their functions within these areas.
The functions of the individual machine data are described in the section entitled
“PLC Machine Data”, where they are listed alphanumerically.

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5 Machine Data Dialog (MDD – as from SW 3)
5.3.2 PLC machine data

(1) PLC MD/Peripherals setting
Softkey
DMP configuration

This softkey contains various interface DMP interface and PLC 135 WD
user machine data.

Softkey Interrupts

This softkey contains central and distributed interrupt machine data.

Softkey
Process alarms

This softkey contains various process alarm machine data.

(2) PLC MD/Alarm messages
Softkey General

This softkey contains general message and alarm machine data.

Softkey Channel

This softkey contains channel message and channel alarm machine data.

Softkey Axis

This softkey contains axis message and axis alarm machine data.

Softkey Spindle

This softkey contains spindle message and spindle alarm machine data.

(3) PLC MD/PLC basic data
Softkey Program

This softkey contains operation block and program machine data.

Softkey Interface

This softkey contains various interface machine data.

(4) PLC MD/User MD
Softkey User MD

This softkey contains user value and user bits machine data.

Softkey Edit list/texts

The User MD softkey offers facilities to the user for putting together machine data
with his own list and texts in the PLC MD area. This means that the user can see
all the PLC machine data relevant to his needs at a glance. The lists are created
by pressing the Edit list softkey and then entering texts under the Edit texts
softkey (see functional description of User displays – Edit list).

(5) PLC MD/Tool management
Softkey Basic data

This softkey contains various tool management machine data.

Softkey Magazine 1–4

This softkey contains various tool management machine data for magazines
1 – 4.

(6) PLC MD/Computer link
Softkey System setting

This softkey contains various system setting machine data for the computer link.

Softkey
General functions

This softkey contains various function machine data for the computer link.

Softkey
This softkey contains tool identifier and code carrier machine data.
Tool dialog/code carrier

(7) No explanation here

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08.96

5 Machine Data Dialog (MDD – as from SW 3)
5.4 Drive configuration and drive machine data (as from SW 3)

5.4

Drive configuration and drive machine data (as from SW 3)

5.4.1

Drive configuration

Selection

Diagnosis

Start-up

Machine
data

Drive MD

Press the Diagnosis, Start-up, Machine data and Drive MD softkeys to display
the drive configuration display.
Note

Press the info key for a short description of the drive configuration and drive machine data.

Copy/
insert

Fig. 5.7

Explanation

The actual drive modules for the FDD and MSD motors are entered and activated
in this drive configuration display. The drive number is assigned the same number as the module slot and the modules are selected using the Select module
softkey. This configuration must then be backed up in the boot file with Accept
conf + NCKP0 softkey.

Note

When selecting the module please ensure that the order no. taken from the
selection list and hardware coincide. Some order numbers are nearly identical.
For example, MSD module 45/60/76A:
1. Order no.: 6SN112x–1AA00–0GA0
2. Order no.: 6SN112x–1AA01–0GA0

5–22

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09.95

5 Machine Data Dialog (MDD – as from SW 3)
5.4.2 Drive machine data for axes (FDD) and spindles (MSD)

5.4.2

Drive machine data for axes (FDD) and spindles (MSD)

Menu tree

Drive
MD
Axis
(FDD)

(1)
(1)

(2)

Note

Motor/PS
data

Monitor’g, Message
limitation data

Motor/PS
data

Monitor’g, Message
limitation data

Meas.
sys. data

Meas.
sys. data

Controller
data

Controller
data

Status
data

Status
data

Spindle
(MSD)

File
functions

(2)

File
functions

File
functions

A list of the individual drive machine data areas is given on the following pages.
The machine data are grouped according to their functions within these areas.
The functions of the individual machine data are described in the section entitled
“Drive Machine Data” where they are listed alphanumerically.

(1) Drive MD/Axis (FDD)
Softkey
Motor/PS data

This softkey contains the drive system and motor/power section machine data.

Softkey
Monitoring/limitation

This softkey contains the monitoring, limitation, concealable alarm, cutout
behaviour on alarm, emergency retraction and generator mode machine data.

Softkey
Message data

This softkey contains various message machine data.

Softkey Measuring
system data

This softkey contains various measuring system machine data.

Softkey
Controller data

This softkey contains speed controller, speed setpoint smoothing, current
setpoint filter, limitation I component, reference model speed control loop,
adaptation speed controller, current controller, speed torque feedforward control
and RFG automatic control machine data.

Softkey
Status data

This softkey contains status display, current values (drive, servo), status register,
min., max. memory, monitoring function, I/F mode, dn/dt monitoring and
diagnostics servo machine data.

(2) Drive MD/Spindle (MSD)
Softkey
Motor/ PS data

This softkey contains the drive system and motor/power section (motor 1 and 2)
machine data.

Softkey
Monitoring/limitation

This softkey contains monitoring, limitation and concealable alarm machine data
(motor 1 and 2).

Softkey

This softkey contains several message machine data (motor 1 and 2).SW 3 contains additional selectable relay function and programmable message
machine data.

Message Data

Softkey
This softkey contains various measuring machine data (motor 1 and 2).
Measuring system data
Softkey
Controller data



For SW 4 this softkey contains speed controller (motor and 2), speed setpoint
smoothing, current setpoint smoothing, limitation I component, reference model
speed control loop, adaptation speed controller (motor 1 and 2), current controller
(motor 1 and 2) and flux controller (motor 1 and 2) machine data. SW 3 contains
speed controller, filter setting and current controller machine data.

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5 Machine Data Dialog (MDD – as from SW 3)
5.4.2 Drive machine data for axes (FDD) and spindles (MSD)

Softkey
Status Data

This softkey contains status display, current values (drive/servo), status register,
motor encoder diagnostics, min., max. memory, monitor function, I/F mode,
diagnostics servo and communications servo/611D machine data. SW 3 also
contains monitoring memory location and transient recorder function machine
data.

Note

Some of the machine data are parameter set dependent (see ”Selecting a displayed parameter number”).

5.4.3

Axis/spindle start-up for the digital drive (as from SW 3)

Note

Two different drive installation versions exist:

S Installation for analog drives is performed as usual by setting parameters
and potentiometer in the drive (for a more detailed description see Section
Start-up Axis and Spindle).

S Digital drives are started-up by entering and installing the module and motor
type. The drive data are preset with standard data from the control by this
method.
See also Section 10.
Procedure

The digital drives can be started up via the file functions by loading one of the
available TEA3 files or via standard start-up procedure with module and motor
selection.

The Flexible memory configuration function has been introduced with SW 4. This means that during the first startup, the memory capacity and requirement are selected via
NC MD 60003 (memory for drive SW MSD) and NC MD
60004 (memory for drive SW FDD) by entering ”yes”. 194
Kbytes of memory are assigned to each function.

Standard start-up

Select the Drive MD area via the Diagnosis/Start-up/Machine data softkeys. You
are now in the drive configuration screen. The order of the slots symbolizes the
arrangement of the FDD/MSD modules in the control cabinet:
First of all for SW 3, for example, you enter number 1 in the field Slot for
module selection. As a result, the display cursor jumps to the drive number
input field. Here you enter the Drive No. (e.g. No. 1). For SW 4 only the drive
number has to be entered. Now switch the drive from Passive to Active using
the Toggle key. Now select the current module type via the Select module
softkey. Acknowledge your selection with ok.

Note

When selecting the module please ensure that the order no. taken from the
selection list and hardware coincide. Some order numbers are nearly identical.
For example, MSD module 45/60/76A:
1. Order no.: 6SN112x–1AA00–0GA0
2. Order no.: 6SN112x–1AA01–0GA0
Follow the procedure above to enter several modules. Enter a consecutive number for the drive number for the next module.
Please note: With SW 3 you must also select a slot no.

5–24

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5 Machine Data Dialog (MDD – as from SW 3)
5.4.3 Axis/spindle start-up for the digital drive (as from SW 3)

Note

Any number from 1 to 15 (up to SW 4, from SW 5, 1-30) in any order can be
used for the drive number.
Power-up is performed and the bus initialized using the softkey Accept conf +
NCKPO. The message Start-up necessary is also displayed, i.e. the individual
axes and spindles connected to the drive bus do not have a machine data record.
The motor is selected via the Diagnosis/Start-up/Machine data/Drive MD softkeys
and axis (FDD) or spindle (MSD) in the motor/PS data display. In the case of the
axis (FDD), the order number of the connected motor is selected via the Select
motor softkey.
When you have confirmed the selection with ok, the message Transfer from PC
to NC in progress appears. All the FDD machine data, and with SW 4 and higher, all MSD machine data, have now received standard preset values.
For the spindle (MSD), two motors and the number of pulses per revolution must
be entered under the menu Select motor. Only when the number of pulses per
revolution has been confirmed with ok are the other machine data preset
(general reset) from the list (SW 3 only) stored for the spindle (MSD) for the
motor selected. If 2nd motor not available is selected when the second motor is
selected, the general reset for the second motor is executed with the previously
entered motor (default value). This also applies to SW 3 only. With SW 4, no machine data are preset if a 2nd motor is not available.
Now use the Recall key to call up the drive configuration display and then press
the softkey Accept all + NCKPO. The boot file on the hard disk is updated.

Note

In SW 3 the MSD data are backed up in the FEPROM. As from SW 4, the boot
data records for the FDD and MSD are backed up on the NCK hard disk only.
After start-up the drives are ready for operation (LED has gone out on the
individual modules). A drive that has already been installed can be reinstalled by
deleting the boot data record (delete boot drives) using the file functions and then
pressing the softkey NCK Power On.

Start-up: Loading a
user data record

Load the user data record configuration in the drive configuration display using
the Load from disk and Area config file functions. Accept conf + NCKP0 starts
up and initializes the bus. The message Start-up necessary then appears. Now
load the drive data using the Load from disk and Area drives file functions.
Complete this step by pressing the Accept all + NCKP0 softkey. After executing
an NCK Power On you must enter the password again (SW 3 only).
The following conditions apply when entering drive machine data:

S The machine data are divided up into Power On and online data. The online
data are active immediately, whereas the Power On data are not activated
until a NCK Power On.

S The described start-up procedure (select motor, load standard data) can be
executed at any time.

S If the motor selection is executed for the spindle (MSD) after a successful
power-up (power-up status 5), the online active machine data are not
overwritten by the default values (SW 3 only).
Entering data for a
non-Siemens motor

If the spindle (MSD) is to be driven by an non-Siemens motor, i.e. the motor data
have to be altered, the machine data first have to be entered and then set to the
motor in question via Select motor (SW 3 only).
With SW 4, first the non-Siemens motor must be selected with Select motor,
then the corresponding machine data must be entered and start-up concluded
with the function Calculate controller data.

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5 Machine Data Dialog (MDD – as from SW 3)
5.4.3 Axis/spindle start-up for the digital drive (as from SW 3)

On SW5 and higher, it is possible to enter non-Siemens motors for which only the
rating plate data of the motor is known and not the equivalent circuit diagram
data (motor data).
After you have pressed the softkey Non-Siemens motor 1 (Non-Siemens motor 2) and confirmed the query with the OK softkey the control enters code number 99 for non-Siemens motors. If you press the softkey of the selected
Non-Siemens motor 1 (Non-Siemens motor 2) again and confirm the query
with the OK softkey, the input form for rating plate data appears. After you have
entered the data and pressed the softkey Calculate eq. Ct. diag the equivalent
circuit diagram data (motor data) are calculated from the rating plate data. With
the function Calculate controller data, the controller data are calculated from
the equivalent circuit diagram data. An exact adaptation of the data to the machine requirements can then be made manually.

Data loss

The configuration data drives and MD drives are changed in the non back-up
DRAM, i.e. the data are lost if the power supply fails.

Saving data

Save the configuration and drive machine data to the boot file with the softkey
“Accept all” and NCKPO (NCK Power On).
The drive configuration and drive machine data must also be backed up to a user
file.

Boot file

5–26

The boot file is stored on disk and contains only the drive and configuration machine data. When the control is switched on, the drives are automatically configured with the data from the boot file and the MD transferred to the drive.

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5 Machine Data Dialog (MDD – as from SW 3)
5.5 Cycles machine data (as from SW 3)

5.5

Cycles machine data (as from SW 3)

Selection

Diagnosis

Start-up

Machine
data

Cycles MD

Press the Diagnosis, Start-up, Machine data and Cycle MD softkeys to call up the
cycles machine data display.

Fig. 5.8

Explanation

Measuring cycles and machining cycles are available for standard machining
routines that are repeated several times. The cycles can be assigned the
required machine data via the Cycles MD softkey. In this area you will find
central and channel-dependent cycle machine data. The Central cycles MD are
divided up into memory groups for measuring elements, measuring element data,
control bit, user data and user bits. The Channel-dependent cycles MD are
divided into values for measuring cycles, control bits for measuring cycles, user
data and user bits.

Note

The functions of the individual machine data are described in the Installation
Guide, User Guide and Programming Guide for cycles.

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5 Machine Data Dialog (MDD – as from SW 3)
5.6 IKA data (interpolation and compensation with tables – as from SW 3)

5.6

IKA data (interpolation and compensation with tables – as from
SW 3)

Selection

Diagnosis

Start-up

Machine
data

IKA data

Press the Diagnosis, Start-up, Machine data and IKA data softkeys to call up the
IKA data display.

Fig. 5.9

Explanation

Machine tools are expected to meet ever increasing demands which in turn calls
for improved functionality between machine and measuring system to
compensate for errors. The IKA data (interpolation compensation with tables) are
used for the following complex functions:

S Compensation function: Leadscrew error compensation and sag
S Interpolation function: Table-controlled geometry and velocity profile (SW 4
and higher)
Note

5–28

A list of the individual IKA data areas is given below. The IKA data (T parameters) are grouped together according to their functions within these areas. New
IKA data (T parameters) are additionally available with SW 4.The functions of the

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5 Machine Data Dialog (MDD – as from SW 3)
5.6 IKA data (interpolation and compensation with tables – as from SW 3)

individual data are described in the functional description of “Interpolation and
compensation with tables” (Installation Guide).

IKA data
Softkey
IKA configuration

This softkey contains various IKA data (T parameters) that define the
configuration.

Softkey
IKA curve pointer

With this softkey it is possible to input different curves with a start and end pointer
which can then be calculated by pressing the Calculate curve softkey.

Softkey IKA points

With this softkey it is possible to enter points, the intermediate points of the input
variable with its assigned interpolation values in order to determine the output
variable.

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5 Machine Data Dialog (MDD – as from SW 3)
5.7 User displays (as from SW 3)

5.7

User displays (as from SW 3)

Selection

Diagnosis

Start-up

Machine
data

User
displays

Press the Diagnosis, Start-up, Machine data and User MD softkeys to call up the
User displays screen.

Fig. 5.10

Explanation

The user can configure his own lists of machine data in the NC data, NC axis, NC
spindle, PLC data, Drive FDD and Drive MSD areas which are accessed by
operating the User displays softkey.
This means that the user can look at all the machine data of the individual areas
that are important to him at a single glance. The lists can be configured under the
Edit list softkey.

5–30

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5 Machine Data Dialog (MDD – as from SW 3)
5.7.1 Edit list

5.7.1

Edit list

Edit
list

Select the softkey edit list in the User display area.

Fig. 5.11

Explanation

The header contains information about the display format and addressing the
data.

Only the parameters for the display layout in the header
may be altered.

Parameters that
must not be altered

TEA1 8 NC MD – additional possibilties TEA2, TEA3
a 8 axis-specific – additional possibilities:
n
k
s
vsa
hsa

Parameters that
can be changed
(for display layout)

=
=
=
=
=

General NC MD
Channel (c)
Spindle
Digital feed drive (fdd)
Digital main spindle drive (msd)

N9 T35 V12 U10: Column widths:

Date number
Text
Value
Unit
Explanation



N=9
T = 35
V = 12
U = 10

The machine data to be displayed must first be entered in the correct list (axisspecific, spindle-specific etc.). The data of the first axis or spindle (e.g. NC MD
3840) must always be entered for axis/spindle-specific NC data. When entering a

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5 Machine Data Dialog (MDD – as from SW 3)
5.7.1 Edit list

machine data, place the cursor on a free or an occupied line. Then select the required function using the softkey Insert/overwrite and then enter the machine
data number.
Jump back to the user displays using the Save softkey and the Recall key and
the machine data is then displayed with text.
You can define customer-specific intermediate headings in the list. These headings are marked with H+No., e.g. H0 8 you insert a space line.
List of header
texts H...

With the softkey VIEW ONLY under SERVICES/DATA MANAGEMENT and
the paths
SIEMENS/list module/TEA1/ENGLISH/tea1head
SIEMENS/list module/TEA2/ENGLISH/tea2head
SIEMENS/list module/TEA3/ENGLISH/tea3head
you can view and select one of the existing header texts.

Please refer to the OEM User Documentation for information on configuring customer-specific text lines and
headings.

Note

The display and the MDD data displayed can be reconfigured using the function
“Configure list module”.
Please refer to Section 4, subsection “Configuring the list module for the MDD”.

5–32

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5 Machine Data Dialog (MDD – as from SW 3)
5.8 File functions (as from SW 3)

5.8

File functions (as from SW 3)

5.8.1

1st level: Machine configuration (as from SW 3)

Fig. 5.12
Drive
MD

NC MD

PLC MD

Cycle
MD

IKA
data

User
MD

File
functions

Explanation

On the first level the file functions refer to all the machine data areas (Drives, NC,
PLC, Cycles, IKA). The data selector always displays the relevent files (TEA3,
TEA1, TEA2, TEA4, IKA1, IKA2, IKA3).

Notes

When saving the cycles MD (TEA4), always make sure that the TEA4 file can
consist internally of up to 7 files. This is because the channel-dependent cycles
MD are saved in one file per channel, the central MD are stored in another file.
The channel number is added to the file name, i.e. the name of the file to be stored is limited to 7 letters on the first level.
The steps required to load the files containing the drive data, “Accept config. +
NCKP0” and “Accept all + NCKP0”, are executed automatically. Such a file must
therefore always contain a complete drive file (configuration + drive).
When the drive files are being loaded the display jumps back to the basic display
(JOG) after the configuration has been automatically saved and NCK Power On.
The message “Start-up necessary – Power On” appears. The drive data are then
loaded and NCK – Power On is repeated. The message “Start-up necessary –
Power On” disappears.
When loading files on the first level, the message “Start-up necessary – Power
On” must not be acknowledged with “Power On” (switch on/switch off).
An NCK Reset must be executed when TEA3 data are loaded (drive machine
data) even if no drive exists.

Saving and loading NQEC data
The MDD functions “Save all” and “Load all” have been expanded to include the
NQEC data.

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5 Machine Data Dialog (MDD – as from SW 3)
5.8.2 2nd level: Configuring the individual machine data areas (as from SW 3)

In the case of “Save all” the NQEC parameterization including the measured values from the NCK/servo are read out and stored in ASCII files under the selected
name.
In the case of “Load all”, the selected NQEC ASCII files are read in and stored as
boot files. A backup mechanism which is similar to that of TEA2-Load-all is implemented which is able to recover the NQEC boot files automatically on a power
failure, emergency stop, if the hard disk is full or the abort key has been operated
etc.
New alarms for this function: 165051 to 165054.

5.8.2

2nd level: Configuring the individual
machine data areas (SW 3 and higher)
Drive machine data (TEA3)
Axis
(FDD)

Spindle
(MSD)

Axis

Spindle

File
functions

NC machine data (TEA1)
General
NC MD

Geometry
motion

Channel

Gearbox
interpol.

File
functions

"

Memory
config.

PLC machine data (TEA2)
I/O device
setting

Alarms
messages

PLC basic
data

User
MD

Tool
management

Computer
link

File
functions

Cycle machine data (TEA4)
Central
cycle MD

Chan. dep.
cycle MD

File
functions

Interpolation compensation machine data (IKA1 – IKA3)
IKA configuration

Explanation

5–34

IKA curve
pointer

IKA error
points

File
functions

On the 2nd level the file functions refer to the data of the individual machine data
areas. If the same file names are assigned to data records in different areas, they
appear on the first level (machine configuration) under one data selector and can
be loaded together from there.

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5 Machine Data Dialog (MDD – as from SW 3)
5.8.3 3rd level: Configuring within the machine data areas of individual machine data displays (as from SW 3)

5.8.3

3rd level: Configuring within the machine data areas of individual
machine data displays (as from SW 3)
Motor/
PS data

Monitoring
limitation

Message
data

Meas. sys.
data

Controller
data

Status
data

File
functions

Message
data

Meas. sys.
data

Controller
data

Status
data

File
functions

Message
data

Meas. sys.
data

Controller
data

Status
data

File
functions

Keyswitch

Technology
MD

Computer
link

File
functions

Coordin.
transform.

Override

Tool offset

Multichannel display

Gen. reset
G groups

Velocities

Meas. sys.
data

Controller
data

Speeds

Meas. sys.
data

Controller
data

File
functions

GI
axis

GI
spindle

File
functions

Axis (TEA3)
Motor/
PS data

Monitoring
limitation

Spindle (TEA3)
Motor/
PS data

Monitoring
limitation

General NC MD (TEA1)
General basic MD

Face axis
functions

Modes

Geometry motion (TEA1)
Geometry
MD

Coupled
axis comb.

File
functions

Channel (TEA1)
Channel
basic MD

Auxiliary
functions

File
functions

Axis (TEA1)
Basic MD

Monitoring
limitation

Leadscrew
error comp.

File
functions

Spindle (TEA1)
Spindle
basic MD

Monitoring
limitation

Gearbox interpolation (TEA1)

Memory configuration (TEA1)
DRAM
data

SRAM
data

Reconfig.
memory

File
functions

I/O device setting (TEA2)
DMP
config.

Interrupts

Process
alarms

File
functions

Alarms messages (TEA2)
General

Channel

Axis

Spindle

File
functions

PLC basic data (TEA2)
Program



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File
functions

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5 Machine Data Dialog (MDD – as from SW 3)
5.8.3 3rd level: Configuring within the machine data areas of individual machine data displays (as from SW 3)

User MD (TEA2)
Edit
list

Edit
texts

File
functions

Tool management (TEA2)
Basic
data

Magazine 1

Magazine 2

Magazine 3

Magazine 4

File
functions

Computer link (TEA2)
System
setting

General
functions

Tool dialog
code carr.

File
functions

Central cycle MD (TEA4)
Central
cycle MD

File
functions

Channel dependent cycle MD (TEA4)
Chan. dep.
cycle MD

File
functions

IKA configuration (IKA1)
IKA configuration

File
functions

IKA compensation points (IKA2)
IKA comp.
points

File
functions

IKA error points (IKA3)
IKA error
points

Explanation

5–36

File
functions

On the 3rd level it is possible to select individual parts of a data record. If data is
saved into an existing file only, the data referring to the contents of the display
are overwritten, e.g. Axis basic MD (TEA1).

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5 Machine Data Dialog (MDD – as from SW 3)
5.8.4 File functions (sequence of operation – as from SW 3)

5.8.4

File functions (sequence of operation – as from SW 3)

5.8.4.1 1st level: File functions
Diagnosis

Start-up

Machine
data

File
functions

Explanation

Press the Diagnosis, Start-up, Machine data and File functions softkeys to call
the 1st level file functions display.

Fig. 5.13

Edit
New
Edit

Delete



A new file can be created. You are prompted to enter a name.

Select a file that already exists from the manufacturer (Siemens) or user field.
Only the BOOT file cannot be selected. It is a special file required for the drive
installation. The selected file is displayed in the data record field in the
configuration display.
Files already existing can be deleted together with their contents in the display
field. First select the file to be deleted. Caution, if you select the BOOT file in the
Siemens branch (above) you will delete its contents!

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5 Machine Data Dialog (MDD – as from SW 3)
5.8.4 File functions (sequence of operation – as from SW 3)

Copy

Save to
disk
Load
from disk
Note

Selected file can be copied.

The on-line file data are saved into the selected file. Here again the BOOT file
has a special status (see drive installation/start-up).
The lower user data area must be selected.
The selected file is loaded into the NCK. The on-line file and the BOOT file
cannot be loaded.
If the file functions are selected after an NCK Power On, the password has to be
entered again.

5.8.4.2 2nd level: File functions
Selection/ (Example
drive MD)

Diagnosis

Start-up

Machine
data

Drive
MD

Axis
(FDD)

Explanation

5–38

Spindle
(MSD)

File
functions

Press the Diagnosis, Start-up, Machine data, Drive MD (e.g.) and File functions
softkeys to call up the 2nd level file functions display.

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5 Machine Data Dialog (MDD – as from SW 3)
5.8.4 File functions (sequence of operation – as from SW 3)

Fig. 5.14

Explanation

The functions of the individual softkeys are the same as for the first level.

Notes

With the Save to disk softkey, you can choose between Conf (8 drive configuration only) and All.
With the Load from disk softkey, you can choose between Conf (8 drive configuration only) and Drives (8 drive MD without configuration), i.e. loading of a
TEA3 file (drive) in the 2nd level is always carried out in 2 stages (see drive
installation/start-up).

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5 Machine Data Dialog (MDD – as from SW 3)
5.8.4 File functions (sequence of operation – as from SW 3)

5.8.4.3 3rd level: File functions
Selection (Example
drive MD axis)

Diagnosis

Start-up

Machine
data

Drive
MD

Axis
(FDD)

File
functions

Explanation

Press the Diagnosis, Start-up, Machine data, Drive MD (e.g.), Axis (FDD) and
File functions softkeys to call up the 3rd level file functions display.

Fig. 5.15

Explanation

5–40

The functions of the softkeys are the same as for the first level. However, the
functions of the two softkeys Save and Load can be expanded.

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5 Machine Data Dialog (MDD – as from SW 3)
5.8.4 File functions (sequence of operation – as from SW 3)

Example: File function 3rd level NC MD
This can be seen from the example of the NC machine data structure. On the 3rd
level, in each case the display contents (selected list display) are saved or loaded, and this can be extended to include (for instance) all the data of an individual axis or all axes.
Example A
If only the controller data of the 2nd axis (shaded field ➀) are to be saved, then
the file functions must be set as follows:
– Select Axis/Controller data file functions/Save to disk
– Area: Select display contents with toggle key
– Enter axis No. 2
Example B
If all the data of axis 5, for example, are to be stored, the settings are as follows
(shaded field B)
– Select axis
– Call file functions
in Area: Select “All data” with toggle key
under Axis No.: enter number 5
Axis/chan./ Gen. NC MD, Geometry and motion
Spindle No.

Channel MD

Axis MD

ÉÉ
ÉÉ
ÉÉ
ÉÉ
ÉÉ

1
2
3
4
5

B

6

ÉÉ

Spindle MD

A

Leadscrew error
compensation
Controller
data

Basic MD
Monitor
Limitation
Velocities

Measuring
systems

NC machine data structure
Explanation

When saving you can select either “display contents”, (selected area) or “all data”
call areas of the SK bar) in “Area”.

Notes

If the number 0 is set for channel, axis, spindle, drive etc., all data (e.g. for velocities of all axes are loaded or saved!
Data that are stored at this level (e.g. axis 1 only) should also be reloaded at this
level. If these data are loaded on the 1st level some MD bits might get lost.

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5 Machine Data Dialog (MDD – as from SW 3)
5.9 Procedure for altering configurations

5.9

Procedure for altering configurations

5.9.1

Standard installation of digital drives (as from SW 3)

Specifications (Example) Drive modules

1 double axis FDD module
2 single axis FDD module
1 MSD module

Module slots:
Slot 1:
(Installation location) Slot 2:
Slot 3:
Slot 4:
Slot 6:
Entering the
drive configuration

MSD module
free
free
2 axis FDD module
1 axis FDD module

Set the configuration from the specified values in the configuration display. Select
the actual module type using the Select module softkey. Confirm these settings
with the Accept Conf + NCKP0 softkey.

Fig. 5.16

5–42

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5 Machine Data Dialog (MDD – as from SW 3)
5.9.1 Standard installation of digital drives (SW 3 and higher)

Motor selection

Press the Diagnosis/Start-up/Machine data/Drive MD and Axis (FDD) or Spindle
(MSD) softkeys to call up the display motor/PS data to make the motor selection.
Select the actual motor type with the Enter motor softkey. Once you have selected all the motors confirm these settings with the Accept all + NCKP0 softkey in
the previous display.

Fig. 5.17

Note

Please make sure that you enter the NC MD

S MD 3840, MD 2000 (FDD)
S MD 4600, MD 4000 (MSD)
correctly (assign).

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5 Machine Data Dialog (MDD – as from SW 3)
5.9.2 Adding a 1-axis FDD module (as from SW 3)

5.9.2

Adding a 1-axis FDD module (as from SW 3)

Specifications

Module slots:
Slot 1:
(Installation location) Slot 2:
Slot 3:
Slot 4:
Slot 6:

MSD module
free
free
2 axis FDD module
1 axis FDD module

Entering the
drive configuration

Enter the additional 1 axis FDD module for slot 2 (installation location) in the
drive configuration display. Select the actual module type with Select module
softkey. Confirm these settings with the Accept Conf + NCKP0 softkey.

Fig. 5.18

Motor selection

Select the actual motor type with the Enter motor softkey. Confirm this setting
with the Accept all + NCKP0 softkey.

Notes

Please make sure that you enter NC MD 3840 and 2000 correctly (assign).
The drive numbers of drives already installed must not be changed, i.e. a new
drive must be given a new drive number.

5–44

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5 Machine Data Dialog (MDD – as from SW 3)
5.9.3 Replacing a 1-axis FDD module with a 2-axis FDD module (as from SW 3)

5.9.3

Replacing a 1-axis FDD module with a 2-axis FDD module (as
from SW 3)

Requirement

A 1-axis FDD module is to be replaced by a 2-axis FDD module with the same
current rating.
Module slots:
Slot 1:
(Installation loc.) Slot 2:
Slot 3:
Slot 4:

Entering the
the drive configuration

MSD module
1-axis FDD module
(9/18 A)
free (if not, slot 3 is overwritten)
2-axis FDD module

Delete slot 2 with the Delete slot softkey.
Confirm this setting with the Accept Conf + NCKP0 softkey.
Now enter the actual 2-axis FDD module (9/18 A) for slot 2 with the Select module softkey. If no motor exists for the 3rd slot, switch it to passive. Again confirm
this setting with the Accept Conf + NCKP0 softkey.

Fig. 5.19

Motor selection
Select the actual motor with the Enter motor softkey. Confirm this setting with
(only for new motor type) the Accept all + NCKP0 softkey.
Notes

Please make sure that you enter NC MD 3840 and 2000 correctly (assign).
The drive numbers of drives already installed must not be changed, i.e. a new
drive must be given a new drive number.

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5 Machine Data Dialog (MDD – as from SW 3)
5.9.4 Replacing a 2-axis FDD module (9/18 A) with a 2-axis FDD module (18/36 A) (as from SW3)

5.9.4

Replacing a 2-axis FDD module (9/18 A) with a 2-axis FDD module
(18/36 A) (as from SW3)

Specifications

A 2-axis FDD module (9/18 A) is to be replaced by a 2-axis FDD module (18/36
A) with a higher current rating.
Module slots:
(Installation loc.)

Entering the
drive configuration

Slot 1:
Slot 2:
Slot 3:
Slot 4:

MSD module
1-axis FDD module
free
2-axis FDD module
(9/18 A)

Delete the slot for the 2-axis FDD modules with the Delete slot softkey.
Confirm this setting with softkey Accept Conf + NCKP0.
Now enter the actual 2 axis FDD module (18/36 A) for the correct slot using softkey Select module. Again, confirm this setting with the Accept Conf + NCKP0
softkey.

Fig. 5.20

Motor selection

Select the current motors with the Enter motor softkey. Confirm the settings with
the Accept Conf + NCKP0 softkey.

Note

Please make sure that you enter NC MD 3840 and 2000 correctly (assign).
The drive numbers of drives already installed must not be changed, i.e. a new
drive must be given a new drive number.

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5 Machine Data Dialog (MDD – as from SW 3)
5.9.5 Drive active or passive (as from SW3)

5.9.5

Drive active or passive (as from SW3)

Application

For example, when using a 2-axis FDD module, one of the axes is disconnected
from the bus temporarily.

Procedure

Switch the axis from the active to the passive state in the drive configuration
display. Confirm this setting with the Accept Conf + NCKP0 softkey.
You return to the previous state by switching the axis back to active and confirming this setting with the Accept Conf + NCKP0 softkey.

Fig. 5.21

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5 Machine Data Dialog (MDD – as from SW 3)
5.9.6 Using a new motor type (as from SW 3)

5.9.6

Using a new motor type (as from SW 3)

Application

A new motor type is to be installed on the machine tool. The same drive module
is used.

Procedure

Operate the Enter motor softkey in the Motor/PS data display. Select the type of
motor you want. If you are using a motor made by a different manufacturer, you
must adapt the motor data from a data sheet. Confirm this setting with the Accept Conf + NCKP0 softkey.

Fig. 5.22

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5 Machine Data Dialog (MDD – as from SW 3)
5.9.7 Reinstallation of existing and new drive components using the existing drive files (TEA3)

5.9.7

Reinstallation of existing and new drive components using the
existing drive files (TEA3)

Application

You require a two-tier configuration, i.e. a 2nd module group is to be added.
TEA3 user files already exist for the individual modules and motors.

Procedure
(1st method)

Select the File functions softkey in the configuring display and then operate the
Load from disk softkey. A menu bar appears in which you enter the existing
TEA3 files together with the file names and then select the Config area with the
toggle key.
Operate the Load start softkey. The data are loaded into the drive. Confirm these
settings with the Accept conf + NCKP0 softkey.

Fig. 5.23

Procedure 1
(2nd method)



Again select the drive configuration display and the File functions softkey. Using
the Load from disk softkey, load the TEA3 files in the Drives area into the drive
using the Load start softkey. Confirm this setting with the Accept all + NCKP0
softkey.

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5 Machine Data Dialog (MDD – as from SW 3)
5.9.7 Reinstallation of existing and new drive components using the existing drive files (TEA3)

Fig. 5.24

Procedure 2

Select the File functions softkey in the machine configuration display and
operate the Load from disk softkey. A menu bar appears into which you enter
the required TEA3 file together with file name and select the All MD area with the
toggle key. Press the Load start softkey. The data are loaded into the BOOT file.
Confirm these settings with the Accept all + NCKP0 softkey.

Note

Please make sure that you correctly enter (assign) the NC MD

S MD 3840, MD 2000 (VSA)
S MD 4600, MD 4000 (HSA)

5.9.8
Notes

Additional information when altering the configuration (as from
SW 3)
If one of the 1-axis modules in the grouping is faulty and is to be replaced by a
2-axis module, it is possible that a display line for the 2nd axis does not exist in
the drive configuration display. You must therefore move the following modules
on by 1 slot. However, it is important that you keep the drive number. The advantage of this is that you will not have to reload the motors. Confirm these settings
with the Accept conf + NCKP0 softkey.
It is very easy to remove a module from the grouping temporarily. Enter the number 0 for the drive number, i.e. the data for the deselected module are retained in
the boot file. Confirm this setting with the Accept conf + NCKP0 softkey.

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5 Machine Data Dialog (MDD – as from SW 3)
5.10 Configuring the MDD

5.10

Configuring the MDD

5.10.1

Description
The MDD is configured with the list module (as from SW4). The texts in the
screens can be edited.
The data that are to be displayed in the screens have been configured.
As from SW 5, it is possible to print out the list module.

Introduction

The list module is configured by means of 3 ASCII lists:
Data lists
For each list display, there is a data list in which the

S display title
S column width
S data to be displayed
are described.
Text lists
The text lists are organized language specifically. They contain one text for each
data and additional texts for headings, units etc.
Semantics list
For each item of data, this contains information on

S internal format
S display format
S input limits
S special treatment
Separate text and semantics lists exist for each machine data area (e.g. NC MD).
Help texts/info lists
The info lists are organized language specifically. They contain one text for each
data which can consist of several lines.
Explanation

The list module looks in these lists for all information regarding display structure and
the data to be displayed and stores them in a compressed file (binary file). If this file
already exists it is accessed as soon as the list display is called up,
i.e., the ASCII lists are not used.

The list module first looks for the data lists in the user path. If it does not find
them here, it uses the data lists in the Siemens path.
If the data list exists in the user area the text and semantics lists are taken from
the user AND Siemens area.
If the data list only exists in the Siemens area the text and semantic lists are only
taken from the Siemens area.
If the keyswitch is in position 3, only the lists in the Siemens path are used. If
the password is not set the keyswitch is re-evaluated every time a display is
selected. The keyswitch position is ignored with “Set password”.
If you wish to display other data or use other texts or input limits, you can copy
the data lists from the Siemens path into the user path and edit them as
necessary.

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5 Machine Data Dialog (MDD – as from SW 3)
5.10.1 Description

The paths and file names and simple examples of file contents (configuring data)
are explained in the points below. Other configuration possibilities are given in
the lists in the control.
List module paths
and files
(e.g. TEA1 MD)

ASCII lists:
S Data lists (e.g.)
SIEMENS list module/TEA1/LB data lists/nc11
User list module/TEA1/LB data lists/nc11

S Text lists (e.g.)
SIEMENS list module/TEA1/ENGLISH/tea1txt
User list module/TEA1/ENGLISH/tea1txt

S Semantic lists (e.g.)
SIEMENS list module/TEA1/LB-Semantics lists/tea1sem
User list module/TEA1/LB-Semantics lists/tea1sem

S Helptexts/infolists
SIEMENS list module/TEA3/ENGLISH/tea3help
User list module/TEA3/ENGLISH/tea3help
List contents: Data lists The data lists contain the data to be displayed in each display. The file names
are such that the contents of the lists can be recognized from the name.
Examples:

nc

1 1. 103
1st softkey: Basic data (3rd level)
1st softkey: General NC MD
(2nd level)
NC MD (1st level)

an

5 6. 103
6th softkey: Status data (3rd level)
5th softkey: MSD (2nd level)
Drive data (1st level)

The file contents of 42.103, for example, are structured as follows:
TEA1 a 1 (bits 3, normal “N9 T36 V10 U10”,
headline “B40 S11 p2 L0”, path 42)
H421
2400

Contains the intermediate heading (of file
tea1head.106 )
Contains machine data (e.g. MD 240* becomes
MD 2400)

The header can be interpreted as follows:
TEA1
a
1
“N9 T36 V10 U10”

path 42

5–52

NC MD
axis-specific
(n = normal, k = channel, s = spindle)
to file function “Edit”
linked, 0 = always on-line
Column width for
Data number:
9
Text:
36
Word:
10
Unit:
10
Softkey path of display (stored in
file tea1...). It is evaluated when
“search” and “global” are selected.

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5 Machine Data Dialog (MDD – as from SW 3)
5.10.2 Practical example for user adaptation list display

List contents:
Text lists
Examples:

The texts for all data are stored in the text lists.
2040
2080
5600.0
5600.2

“Exact stop limit coarse”
“Exact stop limit fine”
“No measuring circuit monitoring”
“Rounding to whole/half degrees”

List contents:
Semantic lists

The data type (L = long, C = 8 bits, S = short, etc.) and the display format, any
special treatment and input limits are stored in the semantics lists.

Examples:

Data

Type

160

L

05

164

L

00

168

L

“0.0625 5.2 2”

208

L

72

Treatment

Input limits

! (write-protected)
[

2.32]

[ 1.99999999]

The information under “Treatment” is interpreted as follows:
00
1:1 - representation
05 bzw. 07
special treatment or.
-representation
“0.0625 5.2 2”
Unit no.
(the units are in text list tea1unit.106)
5 places, of which 2 are behind the decimal point
Factor for display

List contents: Info lists

Explanations for all the data that appear in the information display (key ¼) can
be stored in the information lists.

Example:

2040

5.10.2
Problem

“This data is not active until Power On”.

Practical example for user adaptation list display
“PLC machine data 2007 is supplied with the text ”Number of assigned magazine” and with input limits 0 to 4
The user wishes to change this text to the following:
“Number of assigned tool turret”
and the input limits to 1 to 99.

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5 Machine Data Dialog (MDD – as from SW 3)
5.10.2 Practical example for user adaptation list display

Solution

The following steps are necessary:
1. The file list of the display in which the data is to appear must be copied completely from the Siemens branch to the user branch (“Services” area) so that
the user semantics and user text lists are used.
Data 2007 is contained in display “PLC MD/Tool management/Magazine 1”
when supplied. Data list plc52.103 also belongs here.
Softkey DEFAULT under ”Diagnosis/Startup/PC data”.
2. Create new file
A new text list must be created in the user area under “Services”. This is done
by copying a text list from the Siemens area into the clipboard and giving it a
new name on execution of “Insert from clipboard”. This file is then edited and
the existing text is deleted.
File contents:
Only the following line is entered under the “Diagnosis” area:
2007 “Number of assigned tool turret”
All other information is then taken from the Siemens file.
3. A semantics list containing the altered input limits must be created in the user
branch.
File contents:
The following single line is enough:
2007 L 00 [ 1 , 99 ]
All other information is then taken from the Siemens file.
4. All the changes have now been made. When the display “PLC MD/Tool management/Magazine 1” is next called up, the message “106001 List display
[User/TEA2/Data lists/plc52] is being generated...” will appear and the changes stored in a compressed binary file.
5. Subsequent changes could be any of the following:
a) Data lists already copied into the user branch are to be changed (e.g.
machine data sequence).
These changes are automatically observed the next time the display is
generated. Message “106001 List display [name] is being generated...”.
b) The characteristics of a data that appear in a display other than the one
already altered are to be changed.
The text required by the user is stored in a user text list and the input limits
required by the user are stored in a user semantics list.
In order to make these changes active, the data list of this additional
display must now be copied from the Siemens branch to the user branch.
Only then will the user characteristics of the data be observed. When the
display is next generated the message “106001 List display [name] is
being generated ...” appears.

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5 Machine Data Dialog (MDD – as from SW 3)
5.10.3 Configuring the parameter set switchover in the list display

c) The already altered characteristics of a data are to be changed again or
the characteristics of another data in the same display are to be changed.
If the data list of this display was already copied into the user branch
when the first change was made and if the data list was not changed
when the texts and input limits were changed again, these new changes to
the texts and input limits will not automatically be included.
In order to save time during display generation only one alteration to the
data list is automatically recognized (by the date in the file).
The changes made to the text or semantics list are accepted with the key
combination “@” and “!” (in the list display).
The message “106001 List display [name] is being generated ...” appears
and the display is generated again.
6. Please note:
The message “106001 List display [name] is being generated ...” may in some
cases be hidden by higher priority alarms, or be displayed for too short a time.
However, under Diagnosis/Service displays/Alarm log 1 it is possible to find
out whether the message has already been issued. It is thus possible in the
cases mentioned above to check whether an alteration has been included for
the display generation.

5.10.3

Configuring the parameter set switchover in the list display

Introduction

Three parameter set groups are supported by SW 4 and higher:
1) Parameter set position control (G1)
2) Parameter set speed ratio
(G2)
3) Parameter set drive
(G3)
For each of these groups exactly one parameter set is always selected for display in the list displays. This selection is valid for all displays, i.e. when the display is changed the selection remains valid and also applies to displays subsequently selected.
All three parameter set groups each have 8 parameter sets.

Displaying the data
of all parameter sets

If all the parameter sets of a data are to be displayed one above the other, the
usual procedure is followed:
The data numbers are displayed in a data list.
Example:
2040
15400
15440
15480
15520
15560
15600
15640
In the drive machine data list the parameter set number is displayed with a colon.
Example:
1500:1
1500:2
1500:3
1500:4
1500:5
1500:6
1500:7
1500:8

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5 Machine Data Dialog (MDD – as from SW 3)
5.10.3 Configuring the parameter set switchover in the list display

for which the following short-hand notation can now be used (SW 4 and higher):
Example:
1500:1–8
By resorting it is possible to display in the usual way first all the data of the first
parameter set, then the data of the second parameter set, etc.
Example:
1407:1
1409:1
1500:1
...
1407:2
1409:2
1500:2
...
1407:3
1409:3
1500:3
...
Displaying the current
parameter set only

A special function now makes it possible to display one data at
a time, in each case that of the selected parameter set.
This function is used in the supplied system displays.
The individual data remain intrinsically independent, i.e. they can all have different texts and characteristics.
In order to apply this function, the data numbers in the data list are enclosed in
parentheses and a “G” is placed before the number of the parameter set group.
Example:
G1 ( 2040
15400
15440
15480
15520
15560
15600
15640 )
As a result, of these 8 data only the one belonging to the active parameter set of
the group “Position control” is displayed.
The arrangement (one above the other, next to one another) is irrelevant.
The abbreviated notation used in the past can be used in the brackets.

Example:
G3 ( 1500:1–8 )
Displaying the current
Definition of term: The axis number, channel number, spindle number,
parameter set selection transformation block number, drive number, slot number, IKA relation number,
IKA curve number and IKA point number are all referred to below as “Parameter
number”.
Display of the current parameter set selection is configured in the same way as
the current parameter number in the headline of the data list using the command
“headline”.
Previously, it was possible to configure the parameter designation and the current
parameter number here. As from SW 4, the axis name can also be displayed.

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5 Machine Data Dialog (MDD – as from SW 3)
5.10.4 Printing the list module data (as from SW 5)

Example:
headline “S16 P3 N7”
This reserves 16 characters for the parameter name (e.g. the word “axis”), 3 characters for the current parameter number (e.g. axis number) and 7 characters for
the number of the current parameter (e.g. “C2”).
In the same way it is now possible to display the name of the parameter set
group and the current parameter set number in additional fields. The letters “S”
and “P” together with a length are added in the same way. They must be preceded, however by the relevant G number of the required parameter set group
(see above).
Example:
headline “G2 S30 P3”
The text “Parameter set ratio” “n” now appears on the screen, “n” representing
the current parameter set number.
If the above configurable information such as parameter number etc. are to appear without “G” with “S”, “P” and “N” after the parameter set information, they
must be introduced with “G0”.
Example
Parameter number: headline “S16 P3 N7”
Parameter set number: headline “G2 S30 P3”
Parameter number and parameter set number:
headline “S16 P3 N7 G2 S30 P3”
Parameter set number and parameter number:
headline “G2 S30 P3 G0 S16 P3 N7”
Selecting the
parameter set

It is possible to jump to the parameter set number in the same way as to the
parameter number using the key combination  + (shift key and left
diagonal up arrowkey – new as from SW 4).
Here, a number can be entered directly or the toggle key can be used to switch to
the next value.
The arrow keys can be used to jump between several input fields in the headline
(e.g. parameter number and parameter set number).

Note

No guarantee can be given regarding future alterations and expansions to the
structure of the lists.
No liability can be accepted if the contents of the lists are altered.
Please refer to the OEM documentation for additional configuring information.

5.10.4

Printing the list module data (as from SW 5)
As from SW 5.1 it is possible to store the contents of a list module in a print file.

@P

This function is triggered with @P in the appropriate list display. The entire list
display is stored, not only the section visible on the screen.

File name

The print file is stored in the user branch in directory Start-up/Logs. The file name
is generated from the selected data area (TEA1, TEA2, ...) and a sequence number, e.g. TEA1_001.

Output in PC format

These files can be output via Services “Print serial” or Data output (in PC format).
END OF SECTION

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12.93

1)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.1 NC machine data (NC MD)

6
NC Machine Data (NC MD)
NC Setting Data (NC SD)

6.1
NC machine data (NC MD)

6.1.1
Entering NC machine data

NC machine data are used to adapt the NC to the machine tool. It is up to the person installing
to ascertain and optimize all items of machine data not preset by the manufacturer or end
user.

Selection:

General
data

General
bits

© Siemens AG
Data area (up to SW 2)

Diagnosis

NC
diagnosis

NC
start-up 1)

NC
MD

PLC
MD

Channel
data

Channel
bits 1

SINUMERIK 840C (IA)

Cycles
MD

Axial Data
1

Channel
bits 2

1992 All Rights Reserved

Enter
password

Axial Data
2

Axial
bits 1

6FC5197- AA50

Lock
password

Spindle
data

Axial
bits 2
Overall
reset mode

Channel
memory

Spindle
bits
Bits

Compensation flags

A password must be entered before machine data can be modified.

_______

Start-up can be locked out with the keyswitch when bit 5 of NC MD 5006 is "1".

6–1

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.1.1 Entering NC machine data

6.1.2

6–2

© Siemens AG

09.95

Note: With SW 3 and higher, the machine data are called in the MDD.

The machine data dialog replaces the previous method of entering MD.
See the ”Machine Data Dialog” section for sequence of operation.

Notes:

•
The meaning of an NC MD bit always refers to the set state of that bit. The statement
(name) must be negated when the bit is not set.

•
Items of machine data for which there are no descriptions are either set to 0 when the
standard machine data are loaded or the control installed, or are preset according to the
control's configuration. In "Overall Reset" mode, the standard machine data are preset
when the NC MD are loaded.

•
Once the machine data have been entered or modified, the input enable must be revoked
via the "Inhibit Password" softkey.

•
The following applies to machine data that become active after "NC Stop":

–
Channel-specific machine data are active after a change if the signal "NC Start
possible" has been set in the relevant channel after NC Stop.

–
Axis/spindle-specific and general machine data are active after a change if the
channel-specific signal "NC Start possible" has been set in all the channels of the
relevant mode group after NC Stop.

NC configuration

The configuration can be defined during installation and in some cases during operation (warm
restart). See also ”Flexible memory configuration” function.

With the basic software scope a total of five axes, main spindles or auxiliary spindles can be
controlled with SINUMERIK 840C. If analog drives systems are used, one servo loop module is
required for every three axes, main spindles or auxiliary spindles and must be ordered
separately.

Number of axes + number of spindles = 15 (up to SW 4)

30 data blocks are available for axes and 6 data blocks are available for spindles.

Every axis can be used either as a linear axis or as a rotary axis.

Number of axes + number of spindles = 30 (as from SW 5)

Up to 30 servo loops (measuring circuits) can be defined (611D).

Example:

30 axes or 24 axes plus 6 spindles/18 axes plus 6 spindles plus 6 C axes

No fictitious axes can be defined in addition to the 30 "Axes". The limitation to max. 15 real
axes or spindles (axes/spindles with servo loops) for analog drives still applies.

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.1.3 Configuring information

6.1.3

Configuring information

Two 1) mode groups and four 1) channels can be implemented on the SINUMERIK 840C. The
channels are allocated to the mode groups via machine data, i.e. the channels are subordinate
to the mode groups. The available axes are also allocated to the mode groups via machine
data.
Basically, each channel is comparable to a separate machine. Each channel can execute its
own program under PLC control. All channels allocated to one and the same mode group must
all be operated in the same mode, while channels assigned to different mode groups via
machine data can be operated in different modes simultaneously. However, a channel can only
be assigned to one mode group.
The axes are allocated to the channels in the part program rather than via machine data. This
means that an axis can operate in different channels within a mode group, but not
simultaneously.
In order to prevent collisions based on programming errors, it is possible to prohibit operation
of a particular axis in a specific channel (NC machine data). The operator can select the
various mode groups and channels via the operator panel keyboard. Each mode group must
be assigned at least one channel and one axis. Mode groups without spindles are allowed.
Gaps in the channels are not allowed.

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A channel can traverse only the axes in the mode group assigned to it. An axis can be
traversed only in its assigned mode group. The warm restart function can be used to modify
the configuration (mode group assignments) without having to reapproach the reference points
(for a detailed description of the warm restart function, refer to Section Functional
Descriptions).

Spindle 1 to 6

NC MD 200*
NC MD 384*

Axis 1 to 30

NC
configuration

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Meas. circuit 1 to 15

Channel 1 to 4 1)

NC part
program

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a

NC MD 360*

DB10-13
DL 3

NC MD 104*
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Mode group 1 to 2 1)

NC MD 400*
NC MD 460*

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NC MD 453*

DB31
DL k + 2

TO area 1 to 4

Note:
Up to SW 4:

The limitation to max. 15 real axes or spindles (axes/spindles with servo
loops) for analog drives still applies.

SW 5 and higher:

Up to 30 servo loops can be defined (611D).
Example: 30 axes or 24 axes plus 6 spindles/C axes
No fictitious axes can be defined in addition to the 30 "Axes".

_______
1)

As from SW 4: 6 channels, 6 mode groups

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–3

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.1.3 Configuring information

12.93

Tasks performed by the master channel
Within a mode group, the channels are processed in ascending order. Internally, the first
channel of a mode group (the channel with the lowest number) assumes the role of master
channel.
If the signals
•
•

mode group
DRF

are specified in the master channel (DB 10 to DB 13) 1), they then also apply to all other
channels of this mode group.
Effects of Signal Reset:
Software version 1:
A reset command via the interface can only be defined in the master channel.
Effects of a reset command via the PLC in the master channel.
•
•

Processing of all channels in this mode group is aborted.
Any active channel and mode group specific reset alarms are acknowledged if the cause
of the alarm has been remedied.

Software version 2:
The function Channel Specific Reset is implemented with Software version 2 and higher.
This function makes it possible for the user to abort channel-specific processing via his PLC
user program without affecting processing in other channels in the mode group.
Mode group and DRF selection are still only possible in the master channel of the mode group.
Effects of a reset command via the PLC in a specific channel:
•
•
•

Processing in the channel is aborted.
Any active channel-specific reset alarms such as, for example, alarm 2062 ”Feedrate
missing” are acknowledged.
Mode group specific reset alarms such as, for example, alarm 122* ”Software limit switch
approached” are not acknowledged.

All channels of the mode group must receive a reset command at the same time to make it
possible to acknowledge mode group specific reset alarms such as, for example, alarm 148*
”Zero speed monitoring”.
Note:
The channel-specific reset command should only be executed via the PLC user program in
AUTOMATIC mode.
In all other modes and with alarms that acknowledge operating mode ready, the reset
command should be given to all channels of the mode group.

_______
1)

6–4

As from SW 4 DB10 - DB15

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.1.4 Breakdown of NC MDs/drive machine data

6.1.4

Breakdown of NC MDs/drive machine data

NC MD
0
to
999
1000
to
1599
2000
to
3999
4000
to
4999
5000
to
5199
5200
to
5399
5400
to
5599
5600
to
5999
6000
to
6999
9000
to
9299
11000
to
17969
18000
to
18599
20400
to
20449
2400*
to
3944*1)

Description

Softkey

Section

General MD

General data

6.2

Channel-specific MD

Channel data

6.3

Axis-specific MD 1

Axial data 1

6.4

Spindle-specific MD

Spindle data

6.5

General MD bits

General bits

6.6.1

Spindle-specific MD bits

Spindle bits

6.6.2

Channel-specific MD bits 1

Channel bits 1

6.6.3

Axis-specific MD bits 1

Axial bits 1

6.6.4

Leadscrew error
compensation bits

Compensations flags

6.6.5

Channel-specific MD bits 2

Channel bits 2

6.6.6

Axis-specific MD 2

Axial data 2

6.7

Axis-specific MD bits 2

Axial bits 2

6.7.1

MD for multi-channel display

Channel memory

6.8

MD for parameter set
switchover
Dyn. software limit switch
Collision monitoring

Various axial data

–––

MD for flexible memory
configuration

Memory configuration

6.10

SIMODRIVE drive MDs
(SW 3 and higher)

–––

–––

Safety Integrated
(SW 5 and higher)

Safety functions
(see Functional Description,
Safety Integrated)

–––

6000*
to
6200*1)
1
to
18000
4000*
to
4740*1)
_______
1)

As from SW 4

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–5

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

6.2

03.95

General machine data (general data)

1

Active on
NC Stop

Velocity behind pre-limit switch
Lower input limit

Upper input limit

Units

500

+0

100 000

1 000 units/
min (IS)

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Default value

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V (m/min)

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NC MD 1100*

Braking characteristic

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Velocity behind SW pre-limit switch

Position of SW limit switch
NC MD 2240-2371

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Position of SW pre-limit switch

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s (mm)

Axis stop point

Velocity diagram on crossing the software limit switch with circular interpolation

Note:
NC MD 1 has no effect when 0 is entered in NC MD 1100*.
See also NC MD 2240-2371, NC MD 1100* and NC MD 5003.7.

6–6

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

a
a
aaaaaaa
a
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aaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaa
a

09.95
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

3
Corner deceleration rate

Default value

© Siemens AG

SINUMERIK 840C (IA)

Lower input limit

500
+0

G 64

1992 All Rights Reserved

6FC5197- AA50

Active on
NC Stop

Upper input limit
Units

100 000
1 000 units/
min (IS)

In continuous-path operation (G64), block transitions are covered without feedrate reduction,
i.e. the path is rounded at points of discontinuity in the contour to an extent that depends on
the traversing rate.

As a result of function G62 (continuous-path operation with feedrate reduction), the tool path
feedrate is reduced to the rate entered in NC MD 3, provided the selected feedrate was
greater.

The rounding radius is thus reduced at discontinuous block transitions.

G 62

Exact positioning

Exact positioning

Practical application:

When the traversing rate must not become zero on a block change (exact positioning) but the
feedrate in continuous-path operation is too high.

Note:

With SW 5 and higher, separate values can be set for G620/G00, G62/G01 and G62/G36.
See MD 146*, MD 148*, MD 150*.

6–7

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

12.93

Note:
The reduction speed with G62 is not quite reached. The error tolerance band is described as
follows.
FG62
Fact
Fdecel

=
=
=

Reduction speed
”Actual reduction speed” reached
Braking step (speed reduction per Ipo cycle)

FG62 Fact (FG62 + Fdecel)
where Fdecel is calculated from:
a
tipo

=
=

Fdecel
––––––– =
min

acceleration (see NC MD 276*]
IPO cycle [ms]
a
–––
m
–––
s2

x

tipo
––––––– x
ms

60

No speed reduction takes place at the first block limit if F1 FG62 + Fdecel.
No speed reduction to F3 takes place at the second block limit if F2 FG62 + Fdecel.
FG62 values (MD3) smaller than Fdecel are not sensible.

6–8

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

Active in
next block

6

Threshold for switchover intersection *

Default value

Lower input limit

Upper input limit

Units

+0

16 000
2 000 (as from SW 4)

units (IS)

1 000

One or two intermediate blocks are inserted for circle intersection (straight line/arc, arc/straight
line and arc/arc) with external contours with circle intersections and obtuse angles (90° <
< 180°) (see Programming Guide Section 10.4).

R

R

R

A

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_
AC < 2 · MD6
C

S

R

_
AC < MD6
C

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R

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a

A

_
AC > MD6
C

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a

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B

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aaaaa
a

If the angle is nearly 180°, the paths to be traversed in the intermediate blocks become very
small and can cause a standstill in continuous path mode. The control can suppress the
intermediate blocks to prevent this. It either switches from ”TRC with intersection” to ”TRC
with transition circle” to avoid an intermediate block or it approaches the intersection of the
two blocks. In this case no intermediate block is generated.

Before switching over, the distance A to C is compared with machine data 6 (MD6). If the
distance from A to C is smaller than MD6, the intersection of the two blocks is traversed
(applies to all circle transitions with ”TRC with transition circle” G450 and ”TRC with
intersection” G451).
If the distance from A to C is smaller than 2 · MD6, the control switches from ”TRC with
intersection” G451 and transition arc/arc to ”TRC with transition circle” G450.
Caution:
When approaching the intersection of the two blocks the programmed arc(s) is (are)
increased. If the circle is enlarged to beyond 360°, only the section above 360° is traversed.

No intermediate block. The correct compensation is not
reached until the end (E) of the block has been reached.

Contour error

a
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A

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a

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a

If there is no intersection or the intersection is located too far from the contour (> 1.5 . tool
radius), intermediate blocks are again inserted in the angular range 90° < <170° as
otherwise a major contour error may occur. In the angular range 170° < < 180° the normal
circular block is approached and movement is then continued. Only a slight contour error
occurs.

E

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R

R

_______
*

As from SW 2

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–9

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

7

03.95

Active in
next block

Circle end position monitoring

Default value

Lower input limit

Upper input limit

Units

5

+0

32 000

units (IS)

Before a circular block is processed, the NC checks the "correctness" of the programmed
values by determining the difference between the radii for the starting and end positions. If the
difference exceeds the upper limit defined above, the block is not cleared for processing and
alarm 2048 (circle end position error) is displayed.
If the difference is less than but not equal to zero, the circle centre parameters are corrected,
as it is then assumed that the end position has been correctly programmed. The circle is then
traversed on the basis of the new centre point.

Corrected circle

A

E

RProgr.

Programmed
circle

Mk
K2
Mp

Mp =programmed circle centre
Mk =corrected circle centre

6–10

K1

K1, K2 circle centre offset Mp - Mk

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

a
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a
aaaaaaaaaaaaaaaaaaaaaaaaaaaaa
a

09.95
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

9
Error window for repositioning on circle contour

A

© Siemens AG

SINUMERIK 840C (IA)

1992 All Rights Reserved

6FC5197- AA50

Active in
next block

Default value
Lower input limit
Upper input limit
Units

200
+0
32 000
units (IS)

An automatic interruption during circular contouring (G2/G3) results in departure from the
contour in JOG mode.

Prior to a new NC start, the contour must be reapproached in JOG mode.

If the axis is not within the tolerance limits (shaded area) specified in NC MD 9 following the
NC start, alarm 3018 is displayed and the program is not started.

MD 9 or path ”S”

MD 9 or path ”S”

B

6–11

a
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aaaaaaaaaaaaaaaaaaaaaaaaaaaa
a

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.1.4 Breakdown of NC MDs/drive machine data

10
Default value

1 000

6–12
Lower input limit

12.93

Feed after block search

+0

N10

Start

© Siemens AG

Active in
next block

Upper input limit
Units

100 000
1 000 units/
min (IS)

If the machining program is started via a block search at a particular block rather than from the
beginning, it is possible that the programmed rate will not match the travel (G95 or G96 active
although no spindle is rotating; extremely low F value programmed).

Should the axes be at any position other than at the starting point of the first block selected in
the block search, the control would output the programmed rate of the traversing block. Since
this could result in some very unusual situations, the axes are traversed to the first start
position following a block search with the value specified in NC MD 10 (with G94).
Position before block search
F = MD 10

N20

N30

End

Example

Note carefully!

MD 10 has no effect on a block search with G00.

The programmed feedrate from the part program is always used to

traverse to the end point of the target block if the value 0 is

entered in NC MD 10.

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

12.93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.1.4 Breakdown of NC MDs/drive machine data

13

Number of TO parameters

Active
see below

Default value

Lower input limit

Upper input limit

Units

10

10

32

–

Normally, each tool offset has up to ten permanently allocated TO parameters. When required,
the user can upgrade the number of parameters to 32, and must allocate the added parameters (10 to 32) using the configuring terminal. The greater the number of TO parameters
allocated to a tool offset, the lower the number of tool offsets available to the user, as the
memory space available for tool offsets is limited.
Parameter
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32

TO
204
186
170
157
146
136
128
120
113
107
102
97
93
89
85
81
78
75
73
70
68
66
64

Comments
409
372
341
315
292
273
256
240
227
215
204
195
186
178
170
163
157
151
146
141
136
132
128

Initial setting

(16 K tool memory)
Basic version with 8 K tool memory
Note carefully:
Modifications do not take effect until user memory has been formatted.
User memory is formatted in "Overall Reset" mode with either the "Format User Data" or the
"Format TO Data" softkey. For inform. on selecting "Overall Reset" mode, refer to Section
General Reset.
Number of D memories=

Memory configuration [BYTES]
Number of TO parameters *4

For SW 4 and higher see functional description "Flexible Memory Configuration".

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–13

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

09.95

14, 15

Password-protected R parameters

16, 17

Keyswitch-protected R parameters

Active
at once
Active
at once

Default value

Lower input limit

Upper input limit

Units

0

0

999 *
1 299 (as from SW 4)

–

Appropriate specifications NC MD 14/15 and/or 16/17 make it possible to protect general and
channel-specific R parameters. Channel-specific specifications apply to all channels. The
parameter area defined in MD 14-15 is password-protected, the area defined by MD 16-17 is
protected via the keyswitch. The latter is effective only when bit 3 of NC MD 5005 is "1". If
exceeded, range MD 16-17 has priority.

18

Active
–

Zero offset group (L 960)

Default value

Lower input limit

Upper input limit

Units

1

0

10

–

MD 18 is of significance in conjunction with Siemens cycle L960 only, and may not be
modified.

20

Active
in n. block

Basic angle for nutating head

Default value

Lower input limit

0

0

Upper input limit

Units

10-3 deg

±180 000

Please observe NC MD 5010 (5D tool length compensation).

23

Number of buffer pairs CP 231-A

24

Number of buffer pairs CP 315-1

Active on
Power On
Active on
Power On

25

Number of buffer pairs CP 315-2

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

16

1

16

–

See Computer Link for details.

26

AP useful data length for CP 231

27

AP useful data length for CP 315-11-16

Active on
Power On
Active on
Power On

28

AP useful data length for CP 315-2

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

256
254 (as from SW 4)

characters

234
See Computer Link for details.
_______
1)

As from SW 4 see Flexible Memory Allocation

6–14

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

30

Active on
Power On

Number of Execution Memory Sectors

Default value

Lower input value

Upper input value

Units

10

5

1 000

Sector

Active: on POWER ON
When ”Working from external” or from the hard disk, the part program is read into a circular
buffer which executes the program at the same time. The circular buffer is part of the part
program memory. The size of the circular buffer is defined in NC MD 30 as number sectors
(1 sector = 507 bytes).

External mass
storage

Sinumerik 840C

a
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aaaa
a

Active RS232C (V.24) or Sinec H1

a
a
aaa
a
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aaaa
a

Unassigned circular buffer

a
aaaaa
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aaaa
a

Circular
buffer

Block pointer for execute

a
aaaaa
a
a
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aaaaa
a

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a
aaaaaaaaaaaaaaaaaaaaaaaaa
a

Block pointer for reading in

Full circular buffer

Program
execution

If the specified sectors are not available to the circular buffer on NC Start (either occupied by
part programs or part program memory too small), the circular buffer is reduced to the
maximum possible number of sectors by the control.
Additional machine data: (MD 130*, MD 5148-5152, option bit)
If processing is to take place from more than 1 interface, an appropriate area is reserved for
each of these interfaces.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–15

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

100 - 130

12.93

Active
at once

Positions 2 to 32 of the feedrate override switch

Default value

Lower input limit

Upper input limit

Units

see below

0

150

%

Use can be made of a feedrate override switch with up to 32 positions. The percent figures
may be allocated as required except the far left (i.e. first) position, which is always 0 %. In
contrast to position 1, FST (Feed Stop) is not shown in the on-screen channel status field
when 0 % is allocated to another switch position.
Allocations exceeding 150 % are possible, but 150 % is set in the NC as internal limiting
value.
Default values:
1, 2, 4, 6, 8, 10, 20, 30, 40, 50, 60, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, the
remaining NC MD (NC MD 122 to 130) are set to zero.

131 - 146

Active
see below

Positions 1 to 16 of the spindle override switch

Default value

Lower input limit

Upper input limit

Units

see below

50

150

%

Active: when all channels of the mode group are in STOP status.
Percentages may be assigned as needed to the max. 16 spindle override switch positions.
Default values:
50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120.

147 - 154

Active
at once

Positions 1 to 8 of the rapid traverse override switch

Default value

Lower input limit

Upper input limit

Units

see below

0

100

%

Default values: 1, 10, 50, 100, 0, 0, 0, 0.

Rapid traverse override must be activated via PLC interface signals. Also refer to the
description of NC MD 5004, bit 4.

6–16

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09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

155

Active on
Power On

Position control basic cycle time

Default value

Lower input limit

Upper input limit

1 1)

4

Units

Multiple of drive basic
cycle time

40

The sampling interval is defined as the time after which the control outputs a new setpoint
speed to the axes. For axes or spindles, this NC MD can be additionally influenced, i.e. slowed
down by means of a multiplier (NC MD 1396* and 466*).
See Section Axis (Analog) and Spindle Installation.
Table with possible input values
System cycle
ms
(MD 168)

Servo cycle
ms
(MD 155)

IPO cycle
ms
(MD 160)

1

ms

8

ms

32

1

ms

4

ms

0.75

ms

3

0.625 ms
0.5

ms

0.5
0.5

MD 168

MD 155

MD 160

ms

16

8

4

16

ms

16 *

4 *

4 *

ms

12

ms

12

4

4

2.5

ms

10

ms

10

4

4

2

ms

8

ms

8

4

4

ms

1

ms

4

ms

8

2

4

ms 2)

1

ms 2)

3

ms 2)

8 2)

2 2)

3 2)

1

ms 3)

0.125 ms 3)

0.125 ms 3)

as from SW 4

as from SW 4

156

as from SW 4

2 3)
as from SW 4

1 3)
as from SW 4

OFF delay for servo enable

8 3)
as from SW 4

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

200

0

1 000

ms

The enable signal for the speed controller (servo enable) on the measuring circuit is removed
when the programmed delay time has elapsed. There is a separate servo enable signal on the
measuring circuit for each axis; the control supplies these signals on a mode group basis.
The programmed delay time has the following effects:
1. Once the interpolator has reached the programmed position, the clamping tolerance
(MD 212*) is activated when the delay time has elapsed. The following error must therefore
be smaller than the clamping tolerance at this instant. The delay must be chosen so that it
is possible to reduce to zero the largest possible following error (rapid traverse). In the
event of an error, the servo enable signal is revoked on the measuring circuit and alarm
112* (zero-speed monitoring) activated.
This applies only when NC MD 372* (zero-speed monitoring delay) is 0.
_______
*

Standard value

1)

The lower limits only apply if the control is operated with one channel and 3 axes.
486 CPU only.
486 DX2 or DX4 only.

2)
3)

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

09.01

2. Delay for removal of the servo enable signal on the measuring circuit following
"EMERGENCY STOP" and other errors resulting in immediate shutdown of the axes (e.g.
contour monitoring).
3. Delay for removal of the servo enable signal on the measuring circuit when the PLC
revokes the servo enable for an axis.
4. MD 156 is only active if MD 1224* is set to zero (servo enable delay).

157

Active
–

Types of control for standard cycles

Default value

Lower input limit

Upper input limit

Units

see below

–

–

–

SINUMERIK

Identifier

Software version

61
62

1.1
1.1

840CT
840CM

”

Entry in
MD 157
6111
6211

MD 157 is loaded by the NC software, and must not be changed manually.
It is used by the standard cycles, i.e. measuring cycles for the relevant control.
The applicable Software Version is only displayed in on-line mode, it is entered by the NCK
system software during runup.

160

Active on
Power On

Interpolation cycle

Default value

Lower input limit

Upper input limit

Units

4

2*

32

–

In order to compensate for the fact that a machine's axes frequently differ in dynamic
response, the SINUMERIK 840C has been designed so that the operator can specify the ratio
of interpolation to position control (sampling interval = MD 155). The interpolation time is the
product obtained by multiplying the contents of MD160 with the contents of MD155. See
Section Axis (Analog) and Spindle Installation.

161

Activve
immediately

Number of IKA configurations via PLC/DB48

Default value

Lower input limit

Upper input limit

Units

0

0

32

–

By means of MD161 the number of IKA configurations is limited which can be controlled via
the PLC interface DB48. This MD is only effective with or released by MD 5189 bit 7=1.
Example: MD161=3
In DB48, the data words DW 16 to 73 are no longer processed. The interface is only updated
for IKA 1 to 3 (DW 10 to 15). The IKA center DW8 still applies only to DW10 to DW15. See
also the table below.
DW k
10
12
14

DW k+1
11
13
15

...

...

IKA n
1
2
3
...

DW k
2n+8
...
72

DW k+1
2n+9
...
73

IKA n
N
...
32

Explanation of the table (extract from DB48):
n= IKA number (IKA1 ... IKA32), k= data word number of DB48 (DW k)
The following is valid for all data words DW 'k'=10, 12, 14...72 (input signals: PLC to NCK):
k=2n+8
or n=(k-8)/2
The following is valid for all data words DW 'k+1'=11, 13, 15...73 (output signals: NCK to
PLC):
'k+1'=2n+9
or n=('k+1'-9)/2
_______
*

The lower limits only apply if the control is operated from a channel.

6–18

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09.01

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

164

Active
–

Dead time for calculation for extended thread

Default value

Lower input limit

36
28 (SW 5 and higher)

Upper input limit

Units

48

1/8 of the IPO
cycle

–

This machine data is preset by the system and should not be altered by the user. The function
EXTENDED THREADING PACKAGE is required.

168

Drive basic cycle time

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

16

8 * 4 (as from SW 4)

32

62.5 µs

MD 168 is set as the first MD. MDs 155 + 160 are dependant on MD 168, i.e. the input
resolution of MD 155 is determined by MD 168.
Permissible values: 8, 10, 12, 16, 32
If the machine data contains a value for the drive basic cycle time which is outside the
permissible range, the NC software automatically enters the default value 16 (1 ms) during
start up. The value is automatically entered in the machine data.
Note:
In the case of the 840C, the drive basic cycle time must be set to 1 ms or 2ms, taking the
larger value of 2 ms for a large number of axes.

208

Maximum tool wear P5, P6

Active
at once

209

Maximum tool wear P7

Active
at once

Default value

Lower input limit

Upper input limit

Units

999 999

1

999 999
999 999.99
(as from SW 4)

0.00001

NC MD 208 and 209 can be used to restrict the maximum value in the tool offset wear
memory. Specification of 999 999 limits the maximum entry in tool wear memory to 9.99999
units.
Entries made via the Input and Edit keys are subjected to a limit check.

210

Active
see below

Number of TO areas

Default value

Lower input limit

Upper input limit

Units

1

1

4

–

Note
The TO memory can be subdivided into as many as four TO areas for pallet changing or dualslide machines, the advantage being that the individual TO areas can be invoked for the
various channels over D-numbers D0 to Dx, i.e. the slides on a dual slide machine can
interchange programs, as both tool turrets can be referenced over D-numbers D0 to D8.
It may prove practical as a protective measure to prevent certain channels from accessing
specific TOs.
_______
*

The lower limits only apply if the control is operated from a channel.

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6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

09.95

The number of areas is specified in NC MD 210. The number of TO areas is limited to
between 1 and 4. One TO area is provided when a value of 0 is entered. If the specified value
exceeds 4, it is set to 4 internally and alarm 47 triggered.
The limits of the TO areas are defined by specifying the TO start numbers in NC MD 211 to
214. The last TO area extends from the last value specified in NC MD 211 - 214 to the
maximum tool offset number (observe NC MD 13 and 104x).
Caution!
A modification does not become effective until user memory is formatted. In "Overall Reset"
mode, user memory is formatted with the "Format User Data" or "Format TO Data" softkey.
For detailed information on invoking the "Overall Reset" mode, refer to Section General Reset.

211
212

Initial D no. for TO area 1

Active same
as MD 210

Initial D no. for TO area 2

Active same
as MD 210

213

Initial D no. for TO area 3

Active same
as MD 210

214

Initial D no. for TO area 4

Active same
as MD 210

Default value

Lower input limit

Upper input limit

Units

see below

1

809 *

–

Default value:

211 = 1, 212, 213, 214 = 0

The data location numbers for TO areas 1 to 4 must be given in ascending order. Only one TO
area will be set internally and alarm 47 triggered if this rule is not observed. The TO areas are
allocated to the channels in NC MD 104*.
Example
NC MD

13

10

Number of TO parameters

NC MD

210

4

Number of TO areas

NC MD

211

1

Initial D no. for TO area

1

NC MD

212

30

Initial D no. for TO area

2

NC MD

213

55

Initial D no. for TO area

3

NC MD

214

150

Initial D no. for TO area

4

_______
*)

As from SW 4 see Flexible Memory Allocation

6–20

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09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

Absolute
D number

TO
memory

D no. to be programmed
for each TO area (for
display also)

D1

D1

D29

D29

D30

D1

D54

D25

D55

D1

TO area 1

TO area 2

TO area 3

D149

D95

D150

D1
TO area 4

D204

D55

228

User menu for MDA

229

User menu for JOG

Active
see below
Active
siee below

230

User menu for TEACH-IN

Active
see below

231

User menu for AUTOMATIC

Active
see below

232

User menu for JOG/REFPOINT

Active
see below

Default value

Lower input limit

Upper input limit

Units

0

0

1 000

–

If a mode is selected and the standard system basic menu for this mode does not appear on
the screen, it is possible to define any user menu as the new basic menu for this mode by
entering the user menu number.
If value 0 is entered, the standard system basic menu when this mode is selected.
Note:
A change of NC MD 228 - 232 becomes valid the next time this mode is selected.

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6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

250

09.95

Active on
Power On

Language switchover 1)

Default value

Lower input limit

Upper input limit

Units

0

0

1

–

SINUMERIK 840C can display two languages at option.
The following entries are possible:
0 = Language 1
1 = Language 2
The following language combinations are available:
Language 1

Language 2

German

English

German

French

German

Italian

German

Spanish

English

French

English

Italian

English

Spanish

You can check which combination has been ordered and implemented via the ”Control info”
softkey.

260

Active on
NC Stop

M function ”C axis on”

Default value

Lower input limit

Upper input limit

Units

-1

-1

9 999

-1

261

Active on
NC Stop

M function ”C axis off”

Default value

Lower input limit

Upper input limit

-1

-1

9 999

Active:

Units

-

when all channels of the mode group are in STOP status.

C axis operation is selected and deselected via M functions. The numbers of these M
functions can be allocated on a customer-specific basis.

_______
1)

Up to SW 1

6–22

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07.97

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

When allocating the numbers, make sure that there is no collision with other M functions.
Generally, the following values are permissible:
0, 1, 2, 3, 4, 5, 17, 19, 30, 37
Example
MD 260 = 123
MD 261 = 456

Selection of C axis operation for spindle 1
Deselection of C axis operation for spindle 3

M1 = 123 LF
M3 = 456 LF

Note:
After C axis mode has been selected, all axes involved in the functions G02, G03, G12, G13,
G33, G34, G35, G36 must first have been traversed with G90.
Example
N10
N20
N30

M70
G0 C0 Z5
G36 C0 Z-15 K3 F200

300

(Selection of C axis operation)
(Traverse axes involved in thread cutting operation)
(Thread cutting position-controlled axes)
Active on
Power On

TO allowance for protection zone adjustment
Lower input limit

Upper input limit

Units

0

9999 9999

IS

0
Note:

For further information see description of the function collision monitoring.

310

Active on
Power On

Output byte to user interface 1)
Lower input limit

Upper input limit

0

91, 92, 93 and 94
999 (as from SW 4)

0

311

Units

-

Active on
Power On

Output byte to MIXED I/O
Lower input limit

Upper input limit

0

11, 12, or 21, 22
999 (as from SW 4)

0

Units

-

With NC MD 310 and 311, the cam signals can be assigned to an output byte of a certain HW
MIXED I/O. Enter either 11 or 91 if using the 1st output byte of the 1st MIXED I/O. Entering 22
or 92 gives an analog assignment of the output byte to the 2nd byte of the 2nd MIXED I/O.
The decimal values for the synchronous interface to the PLC are entered in the same way.
Both MDs have a default setting of 0. If illegal values are entered, alarm 45 is triggered.

312 - 317

Assignment of MIXED I/O module for emergency retraction
to a mode group 2)

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

0

22, 94 (as from SW 4)

–

A signal can be output via a MIXED I/O group to trigger a fast emergency retraction if a fault is
caused by external HW. One output byte is used for each mode group.
_______
1)
2)

As from SW 3
MD 314 to MD 317 as from SW 4

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6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

09.95

MD 312: Mixed I/O assignment for first mode group
MD 317: Mixed I/O assignment for sixth mode group
The first decimal place (units) defines the output byte of the module. Mixed I/O (1, 2) PLC 1-4.
The second decimal place (tens) defines the number of the mixed I/O module (counting from
left to right). Mixed I/O (1, 2) PLC 9.
After Power On or Reset all the outputs of the selected output byte are set to 1 (24 V).
If an emergency stop is triggered by a following axis/following spindle, the bits which are set to
1 in MD 588*/528* of the following axis/following spindle change to 0 in the mixed I/O.
(See description for these MDs).
On the Mixed I/O module, there is a switch that switches over the address coding betweeen
PAD (for NC) and DIP switch (PLC). In NC mode, this switch must be on ”PAD”.

318 - 323

Assignment of inputs of Mixed I/O module for retraction of
one mode group 1)

Default value

Active on
Power On

Lower input limit

Upper input limit

Units

0

1)

–

0

81, 94

8

2)

A signal can be read in via a mixed I/O module or CSB board to trigger a retraction. One input
byte is used for each mode group.
MD 318: Mixed I/O assignment for first mode group
MD 323: Mixed I/O assignment for sixth mode group
The first decimal place (units) defines the input byte of the module. Mixed I/O (1, 2) CSB 1,
PLC 1-4.
The second decimal place (tens) defines the number of the mixed I/O module. Mixed I/O (1, 2)
CSB 8, PLC 9.
Module identifier 8 stands for the CSB board (number of inputs is limited to 6: right-justified in
input byte).
Active:

On Power On

324

Active on
at once

Time for interpolator-controlled continuation 1)

Default value

0

Lower input limit

Upper input limit

Units

0

1 000
16 000 (as from SW 4.4)

ms

This MD defines for how much longer the parameterized axes are traversed by the interpolator
after Mode Group Stop has been recognized. Interpolator-controlled deceleration starts after
this time has elapsed (T1: see Section entitled ”Stop”).
Active:
On Power On

325

Maximum time for interpolator-controlled deceleration 1)

Active
at once

Default value

Lower input limit

Upper input limit

Units

0

0

1 000
16 000 (as from SW 4.4 )

ms

This MD defines for how much longer the parameterized axes are decelerated by the
interpolator after Mode Group Maximum has been recognized (Time T2: see Section entitled
”Stop”) before travel is continued with a speed setpoint zero injection and correction or
controlled follow-up (previous SW 3 ”Stop”).
Active:

Power On

_______
1)
2)

As from SW 4
As from SW 5

6–24

© Siemens AG 1992 All Rights Reserved

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SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

Deadtime compensation for dwell referred to axis
Actual value (SW 4 and higher)

330
Default value

Lower input limit

550

331

Upper input limit

0

16 000

Sine of angular range for tangential transitions TRC

Default value

2
(=appr.
ˆ
0.0005 degr.)

Lower input limit

1
(=appr.
ˆ
0.0003 degr.)

Upper input limit

16 000
(=approx.
ˆ
4.5 degr.)

Active on
NC Stop
Units

in % of the IPO
cycle
Active on
NC Stop
Units

0.5x10-5

This MD defines which angular range the tool radius compensation recognizes as the
tangential transition (180° ± MD 331). No intermediate blocks are inserted with tangential
transitions.
Deadtime compensation for dwell referred
to axis setpoint (SW 5 and higher)

332
Default value

Lower input limit

Upper input limit

450

0

16 000

Deadtime compensation for dwell referred to
spindle actual value (SW 5 and higher)

333
Default value

Lower input limit

Upper input limit

550

0

16 000

Deadtime compensation for dwell referred
to spindle setpoint (SW 5 and higher)

334
Default value

Lower input limit

Upper input limit

450

0

16 000

Active on
NC Stop
Units

in % of the IPO
cycle
Active on
NC Stop
Units

in % of the IPO
cycle
Active on
NC Stop
Units

in % of the IPO
cycle

With the ”Dwell referred to an axis” (G24), a time corresponding to the machine data above is
compensated statically. This data is used to observe the internal execution times in the control.
If the value is 0, there is no deadtime compensation.
With dwell on absolute position (G90) the speed of the axis/spindle must not become
greater than Dmax, so that overtravel of the dwell position is recognized reliably.
If the speed is greater than or equal to Dmax, dwell is terminated in the next IPO cycle.
Dmax[rpm]<30000/(Tab[ms]*(1+Kdead[%]/100)))
Tab:
IPO sampling time in ms
Kdead: Deadtime compensation value in %
Example of standard machine data:
Tab = 16 ms, Kdead = 450%:
Dmax < 30000/(16 *(1+4.5)) rpm = 340 rpm

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

335

07.97

Active
at once

Minimum reduction factor (as from SW 6)

Default value

Lower input limit

Upper input limit

Units

100

0

100

%

The minimum reduction factor is entered as a percentage in the general machine data.
The actual path velocity is adapted to the new set path velocity by way of the actual path
acceleration.

336

Active on
at once

Velocity increase factor (as from SW 6)

Default value

Lower input limit

Upper input limit

0

0

10 000

Units

0.01·%/TIPO

The velocity increase factor is the value in percent per IP cycle by which the reduction factor
is again increased to 100% after failure to reach the hysteresis threshold of the following axis
velocity.

337

2nd MCS offset in X coordinates (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

MS

Note:
For further information see description of the function collision monitoring.

338

2nd MCS offset in Y coordinates (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

MS

Note:
For further information see description of the function collision monitoring.

6–26

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07.97

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

339

2nd MCS offset in Z coordinates (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

MS

Note:
For further information see description of the function collision monitoring.

340

3rd MCS offset in X coordinates (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

MS

Note:
For further information see description of the function collision monitoring.

341

3rd MCS offset in Y coordinates (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

MS

Note:
For further information see description of the function collision monitoring.

342

3rd MCS offset in Z coordinates (as from SW 6)

Default value

Lower input limit

0

0

Upper input limit

POWER ON
Units

MS

Note:
For further information see description of the function collision monitoring.

343

4th MCS offset in X coordinates (as from SW 6)

Default value

Lower input limit

Upper input limit

0

0

99 999 999

POWER ON
Units

Note:
For further information see description of the function collision monitoring.

344

4th MCS offset in Y coordinates (as from SW 6)

Default value

Lower input limit

Upper input limit

0

0

99 999 999

POWER ON
Units

Note:
For further information see description of the function collision monitoring.

345

4th MCS offset in Z coordinates (as from SW 6)

Default value

Lower input limit

Upper input limit

0

0

99 999 999

POWER ON
Units

Note:
For further information see description of the function collision monitoring.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

730 - 739

09.95

Active on
Power On

1st transformation, parameters 1 to 10*

Default value

Lower input limit

Upper input limit

Units

0

-99 999 999

99 999 999

units (IS)

740 - 749

Active on
Power On

2nd transformation, parameters 1 to 10

Default value

Lower input limit

Upper input limit

Units

0

-99 999 999

99 999 999

units (IS)

750 - 759

Active on
Power On

3rd transformation, parameters 1 to 10

Default value

Lower input limit

Upper input limit

Units

0

-99 999 999

99 999 999

units (IS)

760 - 769

Active on
Power On

4th transformation, parameters 1 to 10

Default value

Lower input limit

Upper input limit

Units

0

-99 999 999

99 999 999

units (IS)

770 - 779

Active on
Power On

5th transformation, parameters 1 to 10

Default value

Lower input limit

Upper input limit

Units

0

-99 999 999

99 999 999

units (IS)

780 - 789

Active on
Power On

6th transformation, parameters 1 to 10

Default value

Lower input limit

Upper input limit

Units

0

-99 999 999

99 999 999

units (IS)

790 - 799

Active on
Power On

7th transformation, parameters 1 to 10

Default value

Lower input limit

Upper input limit

Units

0

-99 999 999

99 999 999

units (IS)

800 - 809

Active on
Power On

8th transformation, parameters 1 to 10

Default value

Lower input limit

Upper input limit

Units

0

-99 999 999

99 999 999

units (IS)

The transformation parameters are required for the 2D/3D coordinate transformation. Refer to
NC MD 5060 to 5069 and Section Functional Descriptions for more detailed information.
MD 739, 749, 759, 779, 789, 799, 809, axes numbers for G96.
Only values for defined fictitious axes are permitted for these MDs. Any other values lead to
undefined behaviour of formation with G96.
_______
*

For more detailed information about parameters 1-10 see the Installation Lists.

6–28

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09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

876 - 899

Active on
Power On 1)

Leading axis coupled axis

Default value

Lower input limit

Upper input limit

Units

0

0

9

–

The definition of these coupled axis groupings determines which axis is to be coupled when
a leading axis is traversed in Jog mode or under program control.

aaa
aaa
aaa
aaa
aaa

877

aaa
aaa
aaa
aaa
aaa
aaa

aaa
aaa
aaa
aaa
aaa

aaa
aaa
aaa
aaa
aaa
aaa

887

886

aaa
aaa
aaa
aaa
aaa

885

aaa
aaa
aaa
aaa
aaa
aaa

aaa
aaa
aaa
aaa
aaa

aaaa
aaaa
aaaa
aaaa
aaaa

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

aaaa
aaaa
aaaa
aaaa
aaaa

881

891

890

889

888

aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa

aaa
aaa
aaa
aaa
aaa
aaa

878

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

882

aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa

aaa
aaa
aaa
aaa
aaa

879

aaa
aaa
aaa
aaa
aaa
aaa

Leading
axis

aaa
aaa
aaa
aaa
aaa

aaa
aaa
aaa
aaa
aaa
aaa

880

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

883

Coupled axis

aaaa
aaaa
aaaa
aaaa
aaaa

aaa
aaa
aaa
aaa
aaa

Leading
axis

aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa

Leading
axis

aaa
aaa
aaa
aaa
aaa

aaa
aaa
aaa
aaa
aaa
aaa

Coupled axis

aaaa
aaaa
aaaa
aaaa
aaaa

Leading
axis

aaa
aaa
aaa
aaa
aaa
aaa

Coupled axis

876

aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa

Coupled axis

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa

It is possible to define a maximum of 9 coupled axis groupings. See also MD 5019, bit 3.

NC MD

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

884

NC MD

898

897

896

895

894

893

892

aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa

899

NC MD

The number of the relevant axis must be entered as follows in the MD:
0
1
2
:

No axis
1st axis (NC MD 5640 bit 7 = 1)
2nd axis (NC MD 5641 bit 7 = 1)

The coupled motion combinations (NC MD 5156 to 5182) determine how coupled axis
groupings are to perform (coupled motion in same direction /in opposite directions/...) and the
G functions with which they can be activated. All coupled-axis groupings are activated with
G151 ... G159. All the axes that have been declared as leading axes in the MD can be
programmed, even if they have been declared as coupled-motion axes in the grouping.
For coupled axis groupings the following must be observed (alarm 84 is issued if an error
occurs):
a. The axes in a coupled axis grouping must be in the same mode group.
b. The axes in a coupled axis grouping must have the same position control resolution and
display resolution.
c.

The axes in a coupled axis grouping must be of the same axis type:
Rotary axis . . . . . . . . . . . . . . . . . . . . . .
Actual value display modulo 360 ° . . . . . .
Modulo programming for rotary axes . . . .
Rotary axis . . . . . . . . . . . . . . . . . . . . . .
Grounding to whole/half degrees . . . . . . .
Auxiliary axis . . . . . . . . . . . . . . . . . . . . .
Transverse axis . . . . . . . . . . . . . . . . . . .

: MD 564*, 5
: MD 560*, 7
: MD 572*, 2
: MD 560*, 3
: MD 560*, 2
: MD 572*, 0
: MD 572*, 1

_______
1)

Use of the Warm Restart function enables activation of other assignments without the necessity of a
Power On. Refer to Section Functional Descriptions for a detailed description of the Warm Restart function.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–29

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.2 General machine data (general data)

12.93

d. It must be possible to program the axes of one coupled axis grouping in the same
channels MD 576* bits 7 to 0 and MD 580*, bits 7 to 0.
e. The axes in a coupled axis grouping must be available
(NC MD 564* bit 7 = 1).
f.

None of the axes of a coupled axis grouping is allowed to be a fictitious axis
(NC MD 564* bit 6 = 0).

g. One leading axis can couple several axes.
Example:

NC MD

Coupled
axis

Leading
axis

Coupled
axis

Leading
axis

Coupled
axis

Leading
axis

Coupled
axis

Leading
axis

883

882

881

880

879

878

877

876

0

0

6

1

5

1

4

1

Please also refer to the Programming Guide.
h.

The leading axis of a coupled axis grouping cannot at the same time be the coupled
axis of the same grouping (observe also NC MD 5156 to 5188).

NC MD

Coupled
axis

Leading
axis

Coupled
axis

Leading
axis

Coupled
axis

Leading
axis

Coupled
axis

Leading
axis

883

882

881

880

879

878

877

876

0

0

0

0

3

2

2

1
not possible

i.

The leading axis of a coupled axis grouping can also be the coupled axis of another
grouping (observe also NC MD 5156 to 5183).

j.

A leading axis cannot couple itself.

NC MD

k.

Coupled
axis

Leading
axis

Coupled
axis

Leading
axis

Coupled
axis

Leading
axis

Coupled
axis

Leading
axis

883

882

881

880

879

878

877

876

0

0

0

0

0

0

1

1

A coupled axis can be coupled with several leading axes if the leading axes are in other
coupled-axis groupings and these coupled-axis groupings are not active at the same
time.

The definition of the coupled-axis groupings can be changed with warm restart without
POWER ON (see Section Functional Descriptions for a more detailed description of warm
restart).

6–30

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.3 Channel-specific MD (channel data)

6.3

Channel-specific MD (channel data)

100*

Active on
Power On
Warm restart

Mode group

Default value

Lower input limit

Upper input limit

Units

1

1
0 (SW 4 and higher)

2
6 1)

–

MD 1000 must be set to "1" (default).
Gaps are not allowed in MD 100*. If an error occurs, alarm 79 ”Mode group no. of channel
invalid” is issued.
Example
1000
1002

1
0

1001
1003

2
0

allowed

1000
1002

1
2

1001
1003

0
0

not allowed

104*

Active
at once

TO area for channel

Default value

Lower input limit

Upper input limit

Units

1

1

4
6 1)

–

The TO area for each channel is entered in NC MD 104*. The maximum value must accord
with NC MD 210. A TO area must be allocated to each channel. Also refer to NC MD 210 to
214.

106*

No. of the enabled program

Default value

0

Lower input limit

Upper input limit

±see below

± see below

Active in
next block
Units

–

If 0 is entered, all programs are enabled in the first processing level for this channel. The
program number must be entered if only a particular program may be started in a channel in
the first processing level.
This may serve a practical purpose particularly when only a specific motion may be executed
in a channel, i.e. with respect to loaders, tool palleting, and the like.
Main programs:
Subprogram/cycle:
All main programs and subprograms:

1
–1
0

to +9999
to –9999

_______
1)

As from SW 4

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–31

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.3 Channel-specific MD (channel data)

108*-122*

09.95

Active in block
prior to decodg

Reset state G group

Default value

Lower input limit

Upper input limit

Units

see below

see table of input
values

see table of input
values

–

The reset state for G groups 1, 3, 6, 8, 12, 15 and 25 may be defined on a channel-specific
basis.
Only those G functions shown in the table below may be specified in NC MD 108* to 122* for
the relevant G group.
The reset state for G group 9 (G70/G71) is defined together with the input resolution in
NC MD 5002.

Default value
T

M

G group

108*

1

1

1

110*

18

17

3

112*

54

54

6

114*

64

60

8

116*

0

0

9

118*

95

94

12

120*

150

150

122*

450

450

15

1)

25

Table of input values
Internal
G group
0
1
2
3
4
5
6
7
8

G functions
00
MD
09
17
M
MD
40
M/T
53
54
M/T
MD

01
M/T
MD

10
MD

11
MD

18
T
MD

19
MD

16

41

42

55
MD

56
MD

57
MD

25

26
64
T
MD

58

04
60
M
MD

63
MD

70

71

02
MD

03
MD

33
MD

59

92

74

34
MD

35
MD

06
MD

12
MD

13
MD

36
MD

62
MD

_______
1)

As from SW 2

6–32

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.3 Channel-specific MD (channel data)

Internal
G group

G functions
80
M/T
90
M/T
94
M
MD
147

9
10
11
12

50
M/T
150
M/T
MD
130

13
14
15
16
17
18
19
20
21

81

82

83

91

68

95
T
MD
247

96
MD

97
MD

347

148

152
MD

153
MD

84

85

86

87

88

89

98
MD

295

248

348

48

110

111

112

154
MD

155
MD

156
MD

157
MD

158
MD

159
MD

1)

51
151
MD
131

133

135

230

231

233

235

330

331

931

932

333

335

933

934

935

422

423

424

640

620

171

24
25
26
27 1)
28 1)
302)

175
450
M/T
MD
455

176

420

421

451
MD
456

600
431
M

425

426

432
T

Refer to the Programming Guide for a detailed description of G groups and G functions.
With the 840 C, data can be read into the NCK circular buffer ("Execution from external") from
the hard disk and via the computer link file transfer. The device with which the data transfer is
executed is defined in the machine data (channel-specific 130* and 132*). The following
settings are possible:

130*

Active
–

Device type for Execution from external

Default value

Lower input limit

Upper input limit

Units

0

0

5

–

NC MD 130* defines the type of interface used to read in data for "Execution from external"
for each channel. The default value 0 defines the hard disk on the MMC.
Other possible values are:
MD 130* = 5 defines the computer link file transfer as the interface. The receiver has to be
defined in more detail in machine data 5148 to 5152 (see machine data description).
_______
1)
2)

As from SW 4
As from SW 5

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–33

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.3 Channel-specific MD (channel data)

132*

09.95

Active
–

Device No. for Execution from external

Default value

Lower input limit

Upper input limit

0

0

0

Units

NC MD 132* defines the device type number used to read in data for "Execution from
external" for each channel. The device number defines the device type in MD 130* in more
detail (e.g. 1st or 2nd interface). This machine data is not necessary for software versions 1
and 2.

134*

Active
At once

Cycle number on program start (as from SW 5)

Default value

Lower input limit

Upper input limit

Units

0

0

9 999

Subroutine no.

136*

Active
At once

Cycle number on end of program (as from SW 5)

Default value

Lower input limit

Upper input limit

Units

0

0

9 999

Subroutine no.

0
1-9 999

: No cycle is called on start/end of program
: Cycle no. 1- 9999 is called on start/end of program

With the increasing number of functions in the SINUMERIK 840C, on certain machines a
series of recurring functions must be considered when writing part programs (e.g. functions
like ELG, IKA and emergency retraction; initial settings of machine data, G16 plane etc.).
To simplify the handling for the programmer in such cases, the NC can execute a program
start cycle (cycle with channel-specific default settings) immediately after the selected program
is started before the first block in this program is executed.
An end cycle (e.g. deselection of the preset functions) is executed at the end of the part
program M02/M17/M30 after the selected part program has been executed on the main
program level.
Features:
•

Any functions programmed in the M02/M17/M30 are executed first.

•

The program start and end cycles are only called on the main program level in
AUTOMATIC, MDA and TEACH-IN modes, but not in "extended overstore".

•

No end cycle is called on a key reset.

•

Single block, DEC single block, M00/01 also apply in the cycles.

•

In the program start and end cycles, all functions can be programmed as previously. See
the Programmer's Guide.

•

The program start and end cycles can be transferred as cycles during control start-up.
This activates a cycle disable.

•

If the cycle set does not exist, alarm no. 2041 "Program not in memory" is triggered.

6–34

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

•

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.3 Channel-specific MD (channel data)

The function can also be switched off via the PLC (Program control, DB10-15, DR14, bit 3,
DL2, bit 3).

The channel-specific initial settings for ZO (G54 - G57) and TO (D number 0 - 819) after
POWER On are defined in NC MD 140* and 142*. With these values it is possible to determine
the state of the control (in terms of ZO and TO) after Power On.
Note:
See Programming Guide, Workpiece-related Actual Value System.

140*

Active on
Power On

Initial setting of 6th G group 1)

Default value

Lower input limit

Upper input limit

Units

54

54

57

–

142*

Active on
Power On

Initial setting of tool offset block 1)

Default value

Lower input limit

Upper input limit

Units

0

0

819

–

Corner deceleration speed with G620/G00
(as from SW 5)

146*

Active on

Default value

Lower input limit

Upper input limit

Units

0

0

100 000

1 000 units/min

Corner deceleration speed with G62 not including G36
(as from SW 5)

148*

Active on

Default value

Lower input limit

Upper input limit

Units

0

0

100 000

1 000 units/min

Corner deceleration speed with G62 with G36
(as from SW 5)

150*

Active on

Default value

Lower input limit

Upper input limit

Units

0

0

100 000

1 000 units/min

See machine data 3 for a description of MD 146* to 150*
Note for MD 146*, 148* and 150*:
If the value of the machine data in question is 0, machine data 3 is used for that corner
deceleration speed.

_______
1)

As from SW 3

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–35

a
a
aa
aa
a
aa
aa
aa
aa
aa
a
a
a
a
a
a
aa
aa
aa
a

a
aa
aa
aa
aaaa
aa
a
a
aa
aa
aa
aa
aa
aa
a a
aaa
aa
aa
aa
a
a
a
a
a
a
a
a
a
aa
aa
aaaa
a
aaa
aa
aa
aa
aa
aa
aa
aaaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
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a
a
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a
a
a
a
a
a
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a
a
a
a
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a
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a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaaaa
a

1 Input

Output
Output
Output

6–36
a
aaaa
a
aaaa
a
aa
aaa
aa
aaa
aa
a

a
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
a
a
a
a
a
a
a
a
aa
aa
aa
a

a
aaaaaaaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
a
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a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaaaaa
a
a
a
a
a
a
a
aa aaaaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
a
a
a
a
a
a
a
aaa
aaaaaaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
a
a
a
a
a
a
a
a
a
a
a aaaaa
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
a
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aa
a
a
a
a
a
a
aa
aa
aa
aaa a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
a
aaaaa

6.4

200*

No. of servo
loop module

No. of
servo loop

2

3

Setpoints 1, 2, 3
1 (identifier 4, 5, 6)

No. of servo loop connector
SPC servo loop module

a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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aaaaaaa
a

3 Input

a
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2 Input

a
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aaaaaaaaaaa
a

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)
09.95

Axis-specific MD 1 (axial data 1)
Assignment of axis to actual-value port (analog)

Digit No.
7
6
5
4
3
2
1
0

Example for structure
of a value in
MD 200*

0
1
0
1
0
0
0
0

Code
analog
drive

Input

Input

Input

Inputs or
outputs
depending
on submodule
type

© Siemens AG
1

Active on
Power On

Default value
Lower input limit
Upper input limit
Units

0
+0
05030000
–

Simulation axes and spindles are defined if no measuring system has been parameterized (no
servo loop and encoder defined in MD 200* and MD 400*).

The simulation axis derives the partial actual values from the partial setpoints and therefore
"traverses" without any following error. Reference point approach with simulation axes is not
possible. Contour monitoring and P feedforward control are always inactive.

Axis number of the servo loop module
(entered by the control)

Of no significance in the case of NC MD 384* (always 0)

Basic module

4

2

5

3

6
7
8

Submodule
slot 1

Submodule
slot 2

9

10
11
12

Submodule
slot 3

No. of servo loop connector
HMS servo loop module

MD 200* specifies the servo loop module or input for incoming actual position values.

All servo loop modules are interfaced to the same bus and are therefore numbered
automatically from left to right by the software on POWER ON. There is no wiring block for
these modules.

NC MD 384* is used to define the setpoint outputs.

Note:

See Section 5, Machine Data Dialog, for the servo loop assignment.

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

07.97

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

200*

Active on
Power On

1st measuring system connection (as from SW 3)

Default value

Lower input limit

Upper input limit

Units

+0

15021015 (up to SW 4)
30021030 (as from SW 5)

–

0

Digit No.

6

5

4

3

2

1

0

0

1

0

1

1

0

0

0

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a
aaaaa

Example for structure
of a value in
MD 200*

7

Logical
drive no.
(611-D)

No. of 611-D
servo loop
connection

Code
digital
drive

Axis number of servo loop module
(entered by the control)

Digit No. 1, 0: Local axis number
The control automatically enters the local number of the axis here.
Digit No. 3, 2: Code digital drive
Code 10(-15) assigns the address to 611-D (611-D servo loop or digital setpoint channel).
Codes 1-9, 11-15 are reserved for expansions in the future and are interpreted as for 00 or 10.
The code must be entered by the user.
Digit No. 5, 4: SPC/HMS setpoint output
Permissible values for digital drives are the values 01 and 02:
01:
02:

PCU slot 1 (for MSD permanent indirect measuring system)
PCU slot 2 (free direct or indirect measuring system)

Digit No. 7, 6: Logical drive number / Servo loop module number
The logical drive number is entered here for digital drives.
Input range (00..15):

00:
01..15:

No submodule available
According to logical drive number
For more detailed information see MDD

Input range (00..30):
(SW 5 and higher)

00:
01..30:

No submodule available
Logical drive number

Notes:
•

See Section 5, Machine Data Dialog, for the servo loop assignment.

•

Up to SW 4: Only 14 real axes can be defined with a fictitious axis.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–37

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

204*

03.95

Active on
NC Stop

Coarse stop tolerance range

Default value

Lower input limit

Upper input limit

Units

40

+0

16 000

units (MS)

40

+0

99 999 999
(as from SW 4.4)

units (MS)

The value defining the ”Coarse stop tolerance range ”can be higher than that defining the
”Fine stop tolerance range”. Consequently, a block change to the next machining block will be
initiated correspondingly sooner.
If this function is not required, it can be rendered ineffective by entering identical values in the
machine data locations for coarse exact stop and fine exact stop.
The coarse stop tolerance range is effective in the following cases:
•
•
•
•
•
•
•
•

G00
Block preceding G04
Block preceding setting data
Block ahead of which only auxiliary functions have been programmed
Single block without G60/G09
Jog
Incremental feed
End of program

Note:
The coarse stop tolerance range is not approached in continuous-path operation G64
(exception: G00 G64 coarse exact stop). There is no secondary error as a result of a large
number of consecutive positioning operations, as position control is not "deactivated" by the
stop tolerance range; instead, the second block is processed before the end position of the
first block is reached.
The current traversing path is now the remainder of block 1, block 2 and so on.
If the axis stops for an instant, e.g. because another axis is about to move or because there is
no axis movement in this program block, compensation is such that the following error is 0 and
the axis is precisely positioned. Also refer to NC MD 208* and 272*.
Note:
As from SW 4, for 8 parameter sets

6–38

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

03.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

208*

Active on
NC Stop

Fine stop tolerance range

Default value

Lower input limit

Upper input limit

10

+0

16 000

units (MS)

10

+0

99 999 999
(as from SW 4.4)

units (MS)

A traversing movement is completed when the axis has reached the setpoint position + - the
entered exact stop limit fine.
Corrective action:
e.g. drift compensation (see Section entitled ”Axis (Analog) and Spindle Installation”).
Exact stop limits

Actual value
Axes marked with
<

Setpoint position
Actual value
Axis not marked with
><

Actual value
Axes marked with
>

are not in position

has reached its position

are not in position

The fine exact stop limits operate for:
•
•

G09/G60
Block before G33 and G63

Note
In continuous-path operation (G64), neither the coarse nor the fine exact stop tolerance range
is approached (exception: G00).
Actual values are marked with < > in the machine display to indicate that an axis is not in
position.
Example: 840C screen (X axis not in position, Z axis in position)

Actual value
< X
-12.560
Z
10.000

Note:

As from SW 4, for 8 parameter sets

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–39

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

212*

03.95

Active on
NC Stop

Zero-speed monitoring

Default value

Lower input limit

Upper input limit

Units

100

0

16 000

units (MS)

100

0

99 999 999
(as from SW 4.4)

units (MS)

Fine exact stop

Negative axis
direction

SET POSITION

Positive axis
direction

Coarse exact
stop

ACTUAL
POSITION

Zero-speed monitoring

The NC monitors the position at zero speed (holding of position). If the zero-speed monitor is
timed out after the waiting time for the position monitor (NC MD 156/NC MD 372*) has
elapsed, alarm 112* is issued.
The following situations may occur:
a) If the interface controller revokes the servo enable signal for an axis, the NC can no longer
hold that axis in position. The interface controller must hold the axis in position itself by
means of clamping. However, the clamped axis may be forced out of position as a result
of mechanical forces.
b) The axis may be forced out of position as a result of major mechanical forces or faults in
the drive.
The value for zero-speed monitoring must be greater than the tolerance ranges for fine
stop and coarse stop.
Note:
As from SW 4, for 8 parameter sets

6–40

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

220*

Active on
NC Stop

Backlash compensation 1st measuring system

Default value

Lower input limit

Upper input limit

Units

0

–16 000

16 000

units (MS)

In the case of axes with indirect measuring systems, mechanical backlash results in corruption
of the traversing path. When the direction is reversed, traverse is either shortened or extended
by the amount of backlash, depending on the design.
Positive backlash (normal case)

Negative backlash

a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
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aa
aa
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a
a
a
a
a
a
aa
aa
a
a
a
a
a
a
a
a
a
a
a
aaa
a

Table
Table

Rack

a
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaa
a

a
aa
a
a
a
aa
a
a
aa
aa
a

Backlash

a
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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aa
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaa
a

M

a
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaa
a

Backlash

Encoder

Encoder

Actual encoder value ahead of real actual

Real actual value (table) ahead of actual

value (table): Too little table travel

encoder value: Too much table travel

The compensation value (amount of backlash) entered must be positive for positive backlash
and negative for negative backlash.
The control compensates the backlash specified in NC MD 220* (in all operating modes and in
all interpolation modes) each time the relevant axis changes its direction of travel.
Note:
As from SW 4, for 8 parameter sets
From SW 4 onwards interface signal "Reference point reached" is reset if MD 220* is
changed.

224*
228*

1st software limit switch plus

Active on
NC Stop

2nd software limit switch minus

Active on
NC Stop

232*

3rd software limit switch plus

Active on
NC Stop

236*

4th software limit switch minus

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

±0

99 999 999

units (MS)

±99 999 999
Default value
For 224*, 232*
For 228*, 236*

+ 99 999 999
– 99 999 999

A software limit switch may be used in addition to the customary range limit switch (hardware
limit switch). The operator enters the absolute position of the positive range limit for each axis.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–41

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

10.94

The software limit switches cannot fulfil their function correctly until the reference point has
been approached and NC MD 560 * 5 has been set to "1".
The software limit switches are always approached at the speed defined in NC MD 1 unless a
lower speed was selected in the current motion block. Deceleration to zero speed begins so
far ahead of the software limit switch that the limit switch is reached with absolute accuracy
but not overrun (in jog mode). The software limit switch can also be overrun under certain
conditions (see NC MD 1100*). (Traverse with handwheel, reference point approach mode)

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Software limit switch 1

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MD 1100*

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Software limit switch 2

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MD 1100*

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Customary travel limits

Mechanical limit
of travel

Hardware limit switch

EMERGENCY STOP

Note
When axes are traversed with interpolation, all axes are shut down upon reaching the limit of
any one of the axes. Stopping without a contour violation, however, can be guaranteed only
when bit 7 of NC MD 5003 ("No deceleration at limit switch") is not set, i.e. when the
acceleration ramp is used for braking.
A second software limit switch position can be specified in a clockwise direction. The PLC
selects either software limit switch 1 or 2 on the basis of an interface signal (refer to Part 1 of
the Interface Description, DB32, DL m + 1, bit 1).
e. g. DB32 DL1

Bit 1 = 0
Bit 1 = 1

.....
.....

1st switch for 1st axis
2nd switch for 2nd axis

Example of application
Reduction of the permissible traversing range with a retracted tailstock.

6–42

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

a
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240*

M

M
W
R
XMR
ZMR
...
...
...
...
...

© Siemens AG

SINUMERIK 840C (IA)

1992 All Rights Reserved
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

10.94
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

Reference point value

6FC5197- AA50

Active on
NC Stop

Default value
Lower input limit
Upper input limit
Units

0
±0
99 999 999
units (MS)

The difference between absolute machine zero and the fixed reference point is entered for the
respective axis. These values are set as actual values for reference point approach (also refer
to Section entitled ”Axis (Analog) and Spindle Installation” for a detailed description of
reference point approach).
X+

ZMR
R

XMR

Workholder
Workpiece

W

Z+

Example: Turning machine

Machine zero
Workpiece zero
Reference point
Reference point coordinate in X direction
Reference point coordinate in Z direction

6–43

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

244*

10.94

Active on
NC Stop

Reference point shift

Default value

Lower input limit

Upper input limit

Units

0

- 99 999 999

99 999 999

units (MS)

Reference point shift is used to shift the reference points of the measuring system. Instead of
mechanical shifting or rotating of the measuring equipment (and thus of the "deceleration"
cam), the reference point can be shifted electrically by up to ±9 999 units.
The reference point shift path is traversed at the cutoff speed (NC MD 284*), which must
already have been reached at the operating cam (also see Section Axis (Analog) and Spindle
Installation for details on reference point approach).
The reference point shift is also effective in conjunction with automatic reference point
approach (NC MD 560*, bit 6).
Without reference point shift, the reference point is 2000 units behind the first zero mark after
the operating cam has become free again.
If the entry in NC MD 244* is positive, the axis travels the specified number of units beyond
the normal reference point (2000 units beyond the zero mark) in a positive direction.
If the entry in NC MD 244* is negative, the axis, after overrunning the zero mark, travels to
the value represented by the difference between 2000 units and the input value. In the event
of a reference point shift of more than approximately 2000 units, the axis reverses its direction
of travel (backlash on reversal).
Reference point pulse = zero marker from encoder

Velocity
V
MD 296*
2000 units

MD 284*

S
Path

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Ref. cam

Ref. point pulse

MD 244* = 0

6–44

Ref. point

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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12.93
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

Velocity
V
2000 units

MD 244*

Path

S

Ref. cam

Ref. point pulse

© Siemens AG

SINUMERIK 840C (IA)

1992 All Rights Reserved

6FC5197- AA50
Ref. point

MD 244* > 0
(e.g. 1000 units)

Velocity

V
2000 units
MD 244*

S

Path

Ref. cam
Ref. point

Ref. point pulse

MD 244* less than 0
(e.g. 700 units)

6–45

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

252*
Default value

1 666

09.95

Active on
NC Stop

Kv factor
Lower input limit

Upper input limit

Units

0

10 000
80 000 (as from SW 5)

0.01 s-1

When specifying the KV factor, attention must be paid to the fact that the gain factor for the
entire position control loop is dependent on other controlled system parameters. Strictly
speaking, a distinction must therefore be made between the "required KV factor" (which is
specified in NC MD 252*) and the "actual KV factor" (obtained at the machine). Only when all
control loop parameters have been correctly attuned to one another are these two KV factors
identical. The parameters in question are:
•
•
•
•

Max. velocity (MD 280*)
Speed setpoint adaptation MD 256*, 260*
Tacho compensation on the speed controller
Tacho-generator on the drive

An input value of 1 666 is equivalent to a KV factor of 1.
The position controller loop is broken if the value 0 is entered.
Note:
Axes which are to interpolate and perform a machining operation together must exhibit
precisely the same gain in the position control loop (i.e. at the same speed they must exhibit
the same following error = 45 degree inclination).
Any deviations will result in contouring errors!
Only axes which never contribute to continuous-path operation may be defined with different
values.
The actual KV factor can be checked on the basis of the following error (in the Service
displays). Note that the drift must be compensated before carrying out the check.
Note:
As from SW 4, for 8 parameter sets

256*

Active for all
channels of
mode groups
in STOP

Scaling factor max. velocity

Default value

Lower input limit

Upper input limit

10 000

1

99 999 999

Units

mm inch degr.
–––– –––– ––––
min min min

The maximum load velocity is calculated from the maximum motor speed, the mechanical gear
and/or the spindle pitch.
with

r
=
nmax =
s
=

transmission [1]
max. motor speed [V/min]
spindle pitch [mm]

For linear axes:

max. load velocity = nmax · s · r

For rotary axes:

max. load velocity = nmax · r · 360 degrees

See Section Axis (Analog) and Spindle Installation.
Note:
As from SW 4, for 8 parameter sets

6–46

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

260*

Scaling factor maximum speed setpoint

Active for all
channels of
mode groups
in STOP

Default value

Lower input limit

Upper input limit

Units

8 000 1)
10 000 2)
9 000 3)

1
0
1

99 999 999
20 000
20 000

0.01 % of
max. setpoint

Active:

for all channels of mode group in stop

The multgain factor is used to match the controlled system to the KV factor specified in
NC MD 252*. The multgain is a pure multiplier for the specified KV factor, and should be used
for precision digital tacho-generator matching in view of the very fine adjustment
capabilities.
Following the correct entry or matching of the multgain, the KV factor produced for the relevant
axis must correspond precisely to the specified value.
Note:
Matching of the actual KV factor via NC MD 252* (KV factor) is not to be recommended, as
different input values would be obtained for the various axes despite identical gain in the
position control loop.
Where Umax is the speed setpoint voltage at maximum motor speed
Multgain = Umax [mV]
If problems of precision or restrictions caused by input limits occur, the factors between MD
256* and 260* can be reduced or increased. See Section entitled ”Axis (Analog) and Spindle
Installation”. See MD 141 for digital drive.

264*

Threshold value for drive errors

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

9 600 1)
12 000 2)

+0
0

15 000
20 000

VELO
0.01% of max.
motor speed

The specified setpoint speed is monitored; if it is too high (control loop and drive errors), alarm
156* is triggered.
The specified value must be greater than the highest maximum setpoint speed specified in NC
MD 268*.
Recommended value
Approx. 20 % higher than the value in NC MD 268*
See also Section entitled ”Axis (Analog) and Spindle Installation”.

_______
1)
2)
3)

Up to SW 2
As from SW 3
As from SW 4

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–47

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

268*

09.95

Active on
NC Stop

Maximum setpoint speed (IPO stop)

Default value
1)

8 192
10 000 2)
10 000 3)

Lower input limit

+0
0
0

Upper input limit

Units

8 192
20 000
20 000

VELO
0.01 % of max.
motor speed

This entry defines the maximum voltage value to be output as setpoint speed. This value
depends on the setpoint limiting values, if any, in the speed controller (normally 10 V). Alarm
104* (speed setpoint alarm limit) is triggered when the limiting value is exceeded.
Note carefully
It must be possible, however, to reach the maximum speed (rapid traverse) safely, i.e. tacho
compensation must be such that the IPO Stop limit is not reached because of reading and
adjustment inaccuracies resulting from fluctuations in speed during operation (e.g. maximum
speed = 9.5 V setpoint speed).
See also Section entitled ”Axis (Analog) and Spindle Installation”.

272*

Active on
NC Stop

Drift compensation

Default value

Lower input limit

Upper input limit

Units

0 1)
0 2)

- 500
- 500

500
500

VELO 1)
0.01 % of max.
motor speed 2)

The temperature drift in analog electronic components (primarily in the motor control unit)
causes the axes to wander from their set position until the following error produces a countersetpoint that corresponds to the temperature drift.
Failure of the > < characters next to the actual values in the Machine display to disappear
from the screen although the axes are at a standstill indicates that the following error brought
about by the drift has reached a value that is so high that the axes can no longer be moved
until the drift has been compensated.
Refer to Section entitled ”Axis (Analog) and Spindle Installation” for details on drift
compensation.

_______
1)
2)

Up to SW 2
As from SW 3

3)

As from SW 4

6–48

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.01

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

276*

Active on
NC Stop

Acceleration

Default value

Lower input limit

Upper input limit

+0

16 000 (SW 3)
9999 9999 (as from SW 4)
99 000 000 (as from SW 4.4)

50

Units

10 000

units
–––––
S2

V [m/min]

Rapid traverse
V max
Identical
slope

t [s]
0

The acceleration values for the axes need not be identical. The control assumes the lowest
acceleration value of the interpolating axes involved. These values also apply for deceleration
(braking).
The value in NC MD 276* takes effect each time the axis is accelerated or decelerated (i.e.
whenever there is a change in speed).
Exception
During reference point approach, the axis is decelerated as quickly as possible when the
reference point is reached; the reference point cutoff speed (NC MD 284*) should therefore be
as low as possible.
When an alarm is triggered, the relevant axis is decelerated as quickly as possible (also refer
to the descriptions of the various alarms).
Note:
Values of approximately 50 to 150 ( = 0.5 to 1.5 m/s2) are customary for standard machines.
NC MD 276* must specify the angular acceleration in the case of rotary axes.
Calculation of the permissible acceleration G36, C axis mode.
The set acceleration must not exceed the available acceleration reserves of the drive in
position control mode, otherwise deviations beyond the permissible limit occur during
acceleration causing the drive to come to a standstill (with alarms 156*, 116*, 2014*).
When parameterizing the maximum acceleration please take note that the available driving
torque decreases above the weak field limit.
ELG: With a following axis override, only 75% of the acceleration value are used for the
following axis. The remaining 25% are reserved for possible actual value linkage.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–49

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

09.95

MD 276* is calculated as follows:
Maximum speed [rev/min] . 360 degrees/input resolution
MD 276* = ––––––––––––––––––––––––––––––––––––––––––––––––––
60 x run-up time [sec] . 10000
Example:
Maximum speed:
1000 rev/min
Measured value:
200 msec
Reserve:
100 msec
C axis input resolution: 0.01 degrees
2000 rev. . 360 degrees . 100
MD 276* = ––––––––––––––––––––––––––––
= 400 [ units IS . 10000 / s2 ]
. 100
60 sec. . 0.3 sec

280*

Active on
NC Stop

Maximum speed with G00

Default value

Lower input limit

Upper input limit

Units

10 000

+0

99 999 999

1 000 units/min (IS)

NC MD 280* is used to define the maximum speed to which the axis can accelerate (rapid
traverse limit). If rapid traverse G00 has been programmed, the axis traverses at this speed.
All speeds programmed or input relate to this speed.
The maximum permissible speed depends on the position control resolution, the input
resolution and the interpolation time (refer to Section entitled ”Axis (Analog) and Spindle
Installation”).

284*

Active for all
channels of
mode group
in STOP

Ref. point cutoff speed

Default value

Lower input limit

Upper input limit

Units

300

+0

99 999 999

1 000 units/min (IS)

MD 284* is accepted when all channels of the mode group are in STOP and applies
from the next reference point approach.
During approach to the reference point, the cutoff speed takes effect as soon as the reducing
cam is reached, i.e. the "Deceleration" signal is active (see NC MD 244*). In the case of
distance coding, the whole referencing procedure is carried out with this speed. The feedrate
override switch is not taken into account, except in the first position (0 %). The specified cutoff
speed must not exceed the maximum speed (NC MD 280*). (For a detailed description of
reference point approach see also Section entitled ”Axis (Analog) and Spindle Installation”).
With reference point control with "distance coded reference marks", the reference point creep
velocity must not exceed a maximum value. See Section entitled ”Axis (Analog) and Spindle
Installation” for a calculation.
Recommended value:
A reasonable upper limiting value would be 1 m/min, but values between 100 and 500 mm/min,
depending on the KV factor, would be preferable.

6–50

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

288*

Active on
NC Stop

Jog feedrate

Default value

Lower input limit

Upper input limit

Units

2 000

+0

99 999 000

1 000 units/min (IS)

The specified value applies to travel in JOG mode with the feedrate override switch set to
100%.
The value in NC MD 288* must not exceed the maximum feedrate (NC MD 280*).

292*

Rapid traverse in jog mode

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

5 000

+0

99 999 999

1 000 units/min (IS)

The specified value applies to travel in JOG mode with the rapid traverse override key
actuated and the rapid traverse override switch set to 100 %.
The value defined in NC MD 292* must not exceed the maximum speed (NC MD 280*).
The value in NC MD 292* is not used for programmed rapid traverse G00, which is defined by
the maximum speed entered in NC MD 280*.
Recommended value
The selected value should be slightly lower than rapid traverse rate G00 to make allowance for
the operator's response time.

296*

Ref. point approach speed

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

10 000

+0

99 999 999

1 000 units/min (IS)

If the Direction key leading to the reference point is depressed in "Reference point approach"
mode, the axis accelerates to the reference point approach speed. (Exception: The axis is
already at the deceleration cam or automatic reference point approach has been selected; also
refer to NC MD 244*).
The direction of reference point approach is specified in NC MD 564*.
The value entered in NC MD 296* must not exceed the maximum speed (NC MD 280*).
Also refer to Section entitled ”Axis (Analog) and Spindle Installation” for details on reference
point approach.

300*

Incremental speed

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

500

+0

99 999 999

1 000 units/min (IS)

The specified speed takes effect in incremental feed mode only (INC1 ... 10 000), and must
not exceed the maximum speed (NC MD 280*).
When traversing with the handwheel in modes INC1 ... 10 000 or with the DRF function, the
speed is determined exclusively by the handwheel.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–51

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

304*

09.95

Active
in next block

Interpolation parameter name

Default value

Lower input limit

Upper input limit

Units

see table

+0

3

–

Default values
840C (T)

840C (M)

3040

1

1

3041

3

2

3042

0

3

3043
.
.
3069

0
.
.
0

0
.
.
0

In the case of circular movements (G2/G3) and thread cutting (G33, G34, G35), the individual
axes must be assigned an interpolation parameter:
0
1
2
3

=
=
=
=

No interpolation parameter
Interpolation parameter I
Interpolation parameter J
Interpolation parameter K

Standard MD:

X axis .......... I
Y axis .......... J
Z axis .......... K

Several axes may have the same interpolator name.
Programming when using identical parameter names
G2

X5

C10

J20

J20

LF

Assignment: 1st parameter for 1st programmed axis
2nd parameter for 2nd programmed axis

Axes without an interpolator name cannot execute circular or helical movements or perform
thread cutting.

6–52

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

308*

Active on
Power On

Limiting frequency C axis encoder

Default value

Lower input limit

Upper input limit

Units

200

0

16 000

kHz

The limiting frequency of the C axis actual value encoder is entered in machine data 308*.
The limiting frequency can be taken from the encoder manufacturer's specifications.
Pulses from the encoder may be lost when the limiting frequency is exceeded. Actual value
acquisition will then not be correct and C axis operation is no longer possible. Alarm 1004*
”Feedrate too high” is triggered.
Note:
MD 308* is used only if a separate encoder is provided for C axis operation.
If not, the limiting frequency of the spindle encoder (MD 462*) is monitored also in C axis
operation.

312*

Active
–

Feedforward control factor

Default value

Lower input limit

Upper input limit

Units

0

+0

1 000

0.1 %

Feedforward control is used to reduce the inaccuracy caused by the following error as much
as possible.
For feedforward control, the set part position is multiplied by the feedforward factor and fed
directly to the speed controller input. For static feedforward control, this value is fed directly to
the position controller input while for dynamic feedforward control it is fed to the position
controller input using a first order time-delay element after a delay specified in machine data
392*. No feedforward control is applied to the associated axis if feedforward factor 0 is entered
in 312*.
Option (6FC5 150-0AS03-0AA0) must be set to activate feedforward control. 1)
The feedforward factor can be adapted to suit the rigidity of the machine and the resulting
acceleration/deceleration of the axes. By using feedforward control, the following error is
reduced by the amount of the feedforward factor.
Assuming a feedforward factor of 1000 at zero speed, the following error will be approximately
0. However, it should be taken into account that this setting produces overshoots. To avoid
this, use the setpoint smoothing factor (MD 1272*).
See Section entitled ”Functional Descriptions”.
Note:
As from SW 4, for 8 parameter sets

*)

316*

Reference point pointer compensation +

320*

Reference point pointer compensation -

Active on
Power On
Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

+0

249

MD offset*)

MD offset means 127 instead of 6127

_______
1)

The feedforward control can be switched off via PLC MD with SW 2 and higher.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–53

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

09.95

The NC activates leadscrew error compensation (SSFK) after reaching the reference point.
The CNC must therefore be informed via MD 316* as to which of the 1000 possible
compensation points represents the reference point for the axis in question.
Separate compensation curves for positive and negative traversing movements are available
for direction dependent leadscrew error compensation, necessitating the use of two
compensation pointers (MD 316* for " + " and MD 320* for " - "). The value refers to the
compensation point which corresponds to the reference point (see Section entitled ”Functional
Descriptions”).

324*

Distance between 2 leadscrew error compensation values

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

+0

32 000

units (MS)

The distance between two compensation points depends on:
•
•
•

the permissible tolerance band
the maximum gradient of the sumcheck error characteristic of the spindle/measuring
system
the maximum number of compensation points

(See also Section entitled ”Functional Descriptions”).

328*

Active on
Power On

Leadscrew error compensation value

Default value

Lower input limit

Upper input limit

Units

0

+0

100

units (MS)

The compensation value depends on the permissible tolerance band for the axis position. The
value for the tolerance band or a slightly lower value is entered in order to make use of the full
bandwidth for each compensation procedure (also see Section entitled ”Functional
Descriptions” for details on leadscrew error compensation).
The compensation value entered in NC MD 328* must be less than that entered in NC MD
324*. This MD applies both to rotary and linear axes.

332*

Active for all
channels of
mode group
in STOP

Tolerance band for contour monitoring

Default value

Lower input limit

Upper input limit

Units

1 000

+0

99 999 999

units (MS)

The following error is proportional to the speed after acceleration or deceleration (i.e. in the
steady state), so no fluctuations in the following error may develop during travel at constant
speed, as this would result in contour deviations. Minor fluctuations in the following error which
trigger control processes are, however, allowed.
The definition of a tolerance band is intended to prevent false tripping of the contour monitor
due to slight fluctuations in speed caused by normal control processes.
For a detailed description, see Section entitled ”Axis (Analog) and Spindle Installation”.

6–54

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

336*

Active on
Power On

Contour threshold speed

Default value

Lower input limit

Upper input limit

Units

5

+0

1 000 000

1 000 units/min (IS)

NC MD 336* is used to define the speed at which the contour monitor is to be activated. At
speeds below this axis-specific threshold speed, the contour monitor remains inactive. The
zero speed monitor checks for illegal axis movements when the axes are at rest (alarm 112*).
For details, refer to Section entitled ”Axis (Analog) and Spindle Installation”.

344*

Active on
NC Stop

Rotary axis modulo value for LEC

Default value

Lower input limit

Upper input limit

Units

360 000

±0

92 160 000

units (MS)

NC MD 344* must define the compensation value for a rotary axis, which is normally 360 000
(corresponding to one revolution of the rotating table).
When specifying values > 360 000, care must be taken that a corresponding number of
leadscrew error compensation points are provided (for details on leadscrew error
compensation, see Section entitled ”Functional Descriptions”).

356*

Active
at once

IKA warning limit (as from SW 3)

Default value

Lower input limit

Upper input limit

– 9999 9999

+9999 9999

Units

units (MS)

If the set warning limit is exceeded, interface signal DB 32, DR K, bit 5 is set.

360*

Mode group

Active on
Power On1)

Default value

Lower input limit

Upper input limit

Units

1

+1

+1, 2
6 (as from SW 4)

–

NC MD 360* is used to allocate the axes to the mode groups, i.e. to ensure that a channel will
traverse only the axes in its mode group and not those of other mode groups. Within a mode
group, several channels can process an axis successively, provided that axial synchronization
of the "Block End Value" for that axis was carried out (NC STOP NC START) if the axis
was previously traversed by another channel.
Mode groups without axes are possible.

_______
1)

The warm restart function enables the allocation of axes to another mode group without a hardware reset and
without loss of the axes reference points (for a detailed description of the warm restart function, see Sect. 12)

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–55

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

364*

09.95

Active on
Power On

u: Variable increment weighting pulses

Default value

1

368*

Lower input limit

Upper input limit

Units

1

65 000 (SW 1)
9999 9999 (as from SW 2)

–

Active on
Power On

v: Variable increment weighting traversing path

Default value

2

Lower input limit

Upper input limit

Units

1

65 000 (SW 1)
9999 9999 (as from SW 2)

–

The pulses coming from the digital measuring system and the position control resolution must
be coordinated in order to produce a correctly closed position control loop.
NC machine data 364* and 368* can be used for this purpose.
The number of pulses of the encoder and the appropriate distance to go on the machine must
be known for determining machine data 364* and 368* .
The following formula represents the relation between these machine data:

Position control resolution × MD 368* = Measuring system resolution × MD 364*

Schematic block diagram of the position control parameters :

Meas.
system

Mech.
gearing

Multipl.
of pulses

Dist. to go
Pulse eval.

Pulses
Pulse eval.

Hardware

MD 368*

MD 364*

Meas. system resolution

Actual value adjustment

Pos. control
resolution

=

MD 1800*

Comput. resoln.

=

Note concerning upper input limits
MD 364* and MD 368* should always be reduced as much as possible (at least for values
100 000).
Note: as from SW 4
MD 3900* 3904* and 3908* in the MDD are used to automatically calculate MD 364*.

6–56

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

The following parameters are used for adaption to the measuring system:
Parameter

Symbol

MD

Meaning

Position control resolution

b

1800* Internal computational resolution of the
(Bit 0-3) control

Multiplier for EXE

f

(signifies e.g. a five-fold EXE multiplication
of the pulses coming from the scale with
the factor 5)

Grid constant

g

Period interval on a linear scale

Spindle pitch

l

Leadscrew pitch

Measuring system resolution

m

Maximum resolution of the measuring
system. The value serves as a basis for
determining the actual value adjustment
factors.

Pulses per revolution

p

Number of pulses per revolution of the
ROD encoder 1)

Transmission ratio of
mechanical gearing

r

Transmission ratio of a mechanical gearing
which may be present between motor and
ROD encoder

Factor for position control
pulses

u

364*

Evaluation of position control resolution

Factor for actual value
pulses

v

368*

Evaluation of measuring system resolution

The relation may be formulated as follows (see above) :

m×u=v×b

Determining the measuring system resolution and the variable increment weighting
•

The ROD encoder is mounted directly onto the leadscrew:
I
m = ––––
4p
Example: I = 10 mm; p = 2500; b = 0.5 × 10-3 mm;
10
m = –––––––– mm = 0.001 mm
4 × 2500
m
v
––– = ––– =
b
u

0.001 mm
2
––––––––––––––=
–––
0.5 × 10-3 mm
1

MD368* = 2; MD364* = 1;

_______
1)

If a linear scale is used as the measuring system, this parameter must be set to 0.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–57

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

•

12.93

The ROD encoder is mounted onto the motor and the gearing is located between the
motor and the leadscrew:
m=

I

×r

4p
Example 1: I = 0.2 inch; p = 1000; b = 2 × 10-5 inch; r = 1:2 (i.e. 2 motor revolutions
for 1 leadscrew revolution);
m=

0.2 × 2

inch = 10-4 inch

4 × 1000
=

b

v
u

10

aaaa
aaaa
aaaa

m

=

=

=

2 × 10-5 inch

2

MD368* = 5;

10-4 inch

10
2

=

5
1

MD364* = 1;
mm

Example 2: Same values as above, except b = 0.5 × 10-3 mm; K = 25.4

=ˆ
inch
Calculation factor inch mm

=

b

v
u

K × 10-6 inch

aaaaa
aaaaa
aaaaa
aaaaa

m

=

5.08

0.5 × 10-3 mm

MD368* =;
•

=

1

MD364* =;

A linear scale with EXE is used:
m=

g
4f

Example:

g = 0.02 mm; f = 10; b = 0.5 × 10-3 mm;
m=

0.02 mm
40

m

=

b

v

=

0.5 × 10-3 mm

1

=

0.5 × 10-3 mm

u

MD368* = 1;
•

= 0.0005 mm

1

MD364* = 1;

A rotary axis is used:
m=

360 degrees
4pf

Example:

p = 18000; f = 5; b = 0.5 × 10-3 degrees;
m=

360 degrees

= 0.001 degrees

18000 × 5 × 4
m
b

=

v
u

=

1 × 10-3 degr.
0.5 × 10-3 degr.

=

2
1

Should either of the values be greater than 100 000, both values must be divided by the same
divisor (e.g. one exponent of 10).
Recommendation: Reduce whenever possible

6–58

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

aaaaaaaa
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•
v

b
l
p
v
f
m
m=

=

u

=

MD
MD
MD

=
=
=
=
=
=

m=

f=

m=

MD
MD
MD
=

4xpxm

10 mm

4 x 2048 x 4

4xpxf

l
b
1024

l

4xpxm

SINUMERIK 840C (IA)

=

selected f = 128

3640 =
3680 =
11160 =
4 x 2048 x 4

10
0.5 x 10-3

0.5 x 10-3 degrees
360 degrees
2048 pulses/rev
1x1
?
0 x 5 x 10-3 degrees

=

© Siemens AG 1992 All Rights Reserved
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l

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f=
aaaa
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0.5 x 10-3 mm
10 mm
2048 pulses/rev
1x1
?
0 x 5 x 10-3 mm

10 mm

4 x 2048 x 0.5 x 10-3 mm

=

360

6FC5197- AA50

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m=

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=
=
=
=
=
=

4 x 2048 x 0.5 x 10-3 mm
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v
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u

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b
l
p
v
f
m

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•

4 x 2048 x 128 = 0.3 x 10-3 degrees
u
4xpxf
=
=
4 x 2048 x 128
v
l
512 x 2048
=
b
360
360 x 2 x 10-3
0.5 x 10-3
u
8192
=
v
5625
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12.93
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

Linear axis with SIMODRIVE 611-D

(Motor measuring system)
(SW EXE)
(desired)

l

4xpxf

= 2.44

selected f = 4

= 0.3 x 10-3 mm

16 x 2048

10 x 2 x 10-3

625

3640 = 1024
3680 = 625
11160 =
4

Rotary axis with SIMODRIVE 611-D

(Motor measuring system)

(SW EXE)
(desired)

l

4xpxf

= 87.89

360

8192
5625
128

6–59

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

372*

07.97

Active on
Reset

Delay time zero speed monitoring

Default value

Lower input limit

Upper input limit

Units

200

0

1 000

ms

NC MD 372* is used to specify the amount of time that is to elapse before zero speed
monitoring (NC MD 212*) is to be activated during the approach to position (set speed=0).
The time must be chosen so as to enable suppression of the largest possible following error.
Failure to specify an appropriate delay time will trigger alarm 112*.

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If NC MD 372* is 0, the value defined in NC MD 156 ("Servo enable cutoff delay") is taken as
delay time for zero speed monitoring.
S

Normal case : SMD 212*

S

MD 212*

Time

MD 372*
S....Following error (contouring error)
Acceleration during emergency retraction
guided by the control

376*

Active on

Default value

Lower input limit

Upper input limit

Units

0

0

99 000 000

10 000units/s2

You can enter your own acceleration in this MD. An emergency retraction block an thus be
made to respond more quickly.
If the value=0, the acceleration is taken from machine data 276* or from the parameter set for
acceleration.

6–60

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

384*

Active on
Power On

Setpoint output (up to SW 2)

Default value

Lower input limit

Upper input limit

Units

0

+0

05120000

–

Digit No.

6

5

4

3

2

1

0

0

1

0

4

0

0

0

0

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Example for
structure of a value
in MD 384* for
analog drives

7

Servo loop
module no.

No. of servo
loop setpoint
output

Identifier
analog
drive

Of no significance with
NC MD 384*
(always 0)

Input

Output
Output
Output

1

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Input

a
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Input

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a

Basic module

Input

2

2

Input
3

3

Input
1
Setpoint values 1, 2, 3
(identifiers 4, 5, 6)
Inputs or
outputs
depending
on the submodule type

4

Submodule
slot 1

5
6
7
8

Submodule
slot 2

9
10
11

Submodule
slot 3

12

No. of servo loop connection
HMS servo loop module

No. of servo loop connection
SPC servo loop module

MD 384* determines at which servo loop module or which output the axis setpoint values are
output (see also NC MD 200*).
Note:
See Section 5, Machine Data Dialog, for the servo loop assignment.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

384*

07.97

Active on
Power On

Setpoint output (as from SW 3)

Default value

Lower input limit

Upper input limit

Units

+0

15001000 (up to SW 4)
30001000 (as from SW 5)

–

0

7

6

5

4

3

2

1

0

Example for
structure of a value
MD 384* for digital
drives

0

1

0

0

1

0

0

0

a
a
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaa
aaa
aa
aa
aaaa
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaaaaaaa
aa
aa
aa
aaaa
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaaa

Digit No.

Servo loop
module no.

Always 0
but has no
effect on
digital
drives here.

Code
digital
drive

Digit No. 3, 2: Code digital drive
Code 10(-15) assigns the address to 611-D (611-D servo loop or digital setpoint channel).
Codes 1-9, 11-15 are reserved for expansions in the future and are interpreted as for 00 or 10.
The code must be entered by the user.
Digit No. 7, 6: Logical drive number / Servo loop module number
The logical drive number is entered here for digital drives.
Input range (00..15):
(up to SW 4)

00: No submodule available
01..15: Logical drive number corresponds to
TEA30-MD 10000 ff.

Input range (00..30):
(as from SW 5)

00: No submodule available
01..30: Logical drive number

Note:
See Section 5, Machine Data Dialog, for the servo loop assignment.

3840,2-3
Default value

Lower input limit

0

0

3840,4-5

6–62

Active on

Setpoint on digital drive
Upper input limit

Units

Active on

SPC/HMS setpoint output

Default value

Lower input limit

Upper input limit

0

0

12

© Siemens AG

Units

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

3840,6-7
Default value

Lower input limit

Upper input limit

0

0

30

388*

Active on

Drive/servo loop module No.

Units

Active on
All chan. of
mode gr. in
STOP

Weighting factor for path conversion

Default value

Lower input limit

Upper input limit

Units

0

+0

99 999 999

–

Hammering or kneading machines are used for manufacturing axially symmetrical parts using a
forming process. The design of these machines sometimes necessitates traversing of an X'
path although an X path was programmed.
The weighting factor is entered in NC MD 388* and can be anything within the range
+0,00001 and+99,999999.
NC MD 388* is evaluated as follows:

2 integer places

6 decimal places

(leading zeroes may be omitted)

The value zero is interpreted as weighting factor 1, so that the programmed path and the path
to be traversed are identical. The weighting factor of the axis concerned is multiplied by the
programmed path to produce the path to be traversed.
Conditions:
a) All other NC MD (in units [IS]) must be entered in the programmed system (X).
b) All other NC MD (in units [MS]) must be entered in the refined system (X').
c) The actual-value display (except in the Service displays), zero offsets, tool offset, PRESET
offset, etc., relate to the programmed system.
d) The programmed F value relates to the programmed system.
e) If the programmed or specified speed exceeds the permissible axis speed in the refined
system or cannot be converted into the internal computing format, alarm 2031 ("Weighting
factor too high") is set and both machining and NC Start inhibited.
f)

The weighting factor is effective in all modes.

g) The weighting factor is not effective in the case of rotary axes.

© Siemens AG

1992 All Rights Reserved

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6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.4 Axis-specific MD 1 (axial data 1)

392*

09.95

Active
–

Time constant symmetrizing filter

Default value

Lower input limit

Upper input limit

Units

0

+0

1 000

0.1 ms

In order to avoid axis overshooting when working with feedforward control, the set part position
is fed to the position controller with a time delay. This delay is set with this machine data.
Input value:
=0
0

Static feedforward control (e.g. for AC drives with a rise time < position control
sampling interval)
Dynamic feedforward control (for axes with a rise time > position control sampling
interval)

Note:
Normal: 1/2 rise time of drive
As from SW 4, for 8 parameter sets

396*

Active on
Power On

Absolute offset

Default value

Lower input limit

Upper input limit

Units

0

- 99 999 999

99 999 999

units (IS)

Active after POWER ON
The offset is calculated automatically on reference point approach (SIPOS, ENDAT) or can be
entered manually without a reference point approach (SIPOS, ENDAT, distance coding).
NC machine data bits 1808* bits 0 to 4 must be taken into consideration. On reference point
approach with distance coded reference marks, the offset between the machine zero and the
linear scale is entered as the offset. (See Section entitled ”Axis (Analog) and Spindle
Installation” for calculation)

Note:
Observe MD 1808, bit 1 ”Value range extension of absolute offset” as from SW 5.

6–64

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

6.5

Spindle-specific MD (spindle data)

400*

Active on
Power On

Measuring system connection

Default value

Lower input limit

Upper input limit

Units

0

0

05031000
15021015 (up to SW 4)
30021015 (as from SW 5)

–

The spindles available on the machine can be allocated to the measuring circuit modules in a
flexible way. They are allocated separately according to actual value inputs (MD 400*) and
setpoint outputs (MD 460*).
Simulation axes/spindles are defined if no measuring system is parameterized (measuring loop
and encoder not entered in MD 200*, MD 400*).
The simulation axis/spindle generates partial actual values from the partial setpoints and
therefore travels without following error. (For more detailed description see MD 200*).
Note:
See Section 5, Machine Data Dialog, for the servo loop assignment.

401*

Active
at once

Spindle drift compensation

Default value

Lower input limit

0 2)
0 3)

Upper input limit

Units

500
500

VELO 2)
0.01% of max.
motor speed 3)

–500
–500

The input value must be modified in the appropriate direction until the spindle exhibits identical
actual speeds in both directions of rotation. The value must be adjusted at low speeds, and
can be checked by viewing the appropriate information in the Basic display in the service
display for spindles (spindles with encoder), using a rev counter, or screening the Service
data. In M 19 (spindle positioning), the spindle drift goes directly into the positioning error.

403*-410*

Active on
NC Stop

Maximum speed gear stages 1-8

Default value

Lower input limit

Upper input limit

Units

see table

+0

99 999

rev/min 1)

Gear

1

NC MD

403*

Default

500

2
404*
1000

3

4

5

6

7

8

405*

406*

407*

408*

409*

410*

2000
4000 4)

4000

4000

4000

4000

4000

NC MD 403* - 410* specify the maximum spindle speed reached in the individual gears at a
setpoint of 10 V. When no gear is available, the maximum permissible spindle speed is entered
_______
1)
2)
3)
4)

The input resolution is 0.1 rev/min, if MD 520* bit 3=1.
Up to SW 2
As from SW 3
As from SW 4

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

09.95

in NC MD 403* and 0 in NC MD 404* to 410*. In the case of gear units with fewer than eight
gears, 0 should be entered for the non-existing gears (a value other than 0 for a non-existent
gear will cause the spindle to come to standstill).
Gear input signals (see Interface Description Part 2).
Note:
Gear stages not used must be assigned the value zero.

Setpoint speed [V]
10V

Spindle speed for
each gear
[rev/min]
Gear:

403*-410*

1

2

3

Input values

Active
at once

Maximum spindle speed digital (as from SW 3)

Default value

Lower input limit

Upper input limit

Units

500 - 4 000

0

100 000

rev/min or 0.1 rev/min

With these parameters it is then possible to achieve a very fine adjustment of the set speed
ratio (e.g. to the speed ratios of belt drives which are not always precisely known).

411*-418*

Active on
NC Stop

Minimum speed gear stages 1-8

Default value

Lower input limit

Upper input limit

Units

see table

+0

99 999

rev/min 1)

Assignment
Gear

1

2

3

4

5

6

7

8

NC MD

411*

412*

413*

414*

415*

416*

417*

418*

Default

50

500

1000

2000

2000

2000

2000

2000

By entering the minimum gear speeds, the gear-speed range is defined. On the basis of the
programmed spindle speed, the NC can now transfer the required gear and a request signal
for a gear change to the PLC. Should the speed ranges for the various gears overlap, the NC
choses the appropriate gear on the basis of the fewest number of gear changes required to
arrive at the required speed (selection by "Automatic gear selection").

_______
1)

The input resolution is 0.1 rev/min, if MD 520* bit 3 = 1.

6–66

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

Voltage

MD 403*

MD 404*

MD 405*

[volts]
Umax

10

MD 448*

Speed [rev/min]
MD 411*

MD 413*

MD 412*

If 3rd gear has been engaged, the new S value must be lower than the contents of MD 413* in
order for the NC to initiate a gear change.
Umax: maximum setpoint speed voltage (MD 468*)

419*-426*

Active on
NC Stop

Acceleration time constant for eight gears

Default value

Lower input limit

Upper input limit

Units

800

+0

50 000

1 ms

Gear

1

2

3

4

5

6

7

8

NC MD

419*

420*

421*

422*

423*

424*

425*

426*

The control provides the setpoint for acceleration in the form of a ramp that is based on the
contents of these MD. The MD thus act as variable ramp-function generators. They are set by
measuring the interval from zero speed to maximum speed for each gear. NC MD 419*-426*
can be set to zero when the drive actuator is equipped with an integrated ramp-function
generator.
Notes:
•

There are two acceleration time constants for every stage:
– Acceleration time constant without position controller (MD 419* to 426*)
– Acceleration time constant without position controller (MD 478* to 485*)

•

In control mode the time constants are used without position control.
In positioning mode the time constants are used with position control.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

09.95

•

You can set MD 419* to 426* so that the motor is accelerated to the current limit for a
certain time. If a ramp-up generator is built into the actuator, you can set MD 419* to 426*
to 0. In this case, the setpoint changes in steps on acceleration and deceleration.

•

You must set MD 478* to 485* so that the motor can always follow the setpoint without
reaching the current limit. This is especially important in the field weakness area of the
motor.

•

When braking in M19 mode, the spindle is first decelerated with the acceleration constant
in MD 419* to 426* to the creep speed set in MD 427* to 434* and then brought to rest in
postion control mode with the acceleration time constant set in MD 478* to 485*.

427*-434*

Active on
NC Stop

Creep speed for M19 gear stages 1-8

Default value

Lower input limit

Upper input limit

Units

100

+0

1 500
16 000 (as from SW 4)

1 min1)

Specifies the speed to which the spindle is to be reduced on an oriented spindle stop (M19)
and at which travel is to continue until positioning on the basis of the specified position control
characteristic (gain factor and acceleration time constant) has been completed (see also
Section Axis (Analog) and Spindle Installation).
Assignments
Gear

1

2

3

4

5

6

7

8

NC MD

427*

428*

429*

430*

431*

432*

433*

434*

The creep speed is the limit beyond which no acceleration takes place:
•

When positioning from zero speed, acceleration takes place up to or below the creep
speed.

•

When the spindle is running, the position controller becomes active when the creep speed
is reached. The following applies regarding speed control:
–

If the momentary speed is less than creep speed, acceleration takes place up to creep
speed. If you do not want this, program S0 before M19.

–

If the momentary speed is greater than the creep speed, the spindle speed is reduced
to the creep speed and only then is the position controller activated.

435*-442*

Active on
NC Stop

Gain factor for M19 for eight gears

Default value

Lower input limit

Upper input limit

Units

1 666

166

10 000
80 000 (as from SW 5)

0.01 s-1

Assignments
Gear

1

2

3

4

5

6

7

8

NC MD

435*

436*

437*

438*

439*

440*

441*

442*

_______
1)

The input resolution is 0.1 rev/min, if MD 520* bit 3=1.

6–68

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

On an oriented spindle stop (M19), the spindle is included in the position control loop. The
gain factor is defined by the steepness of the approach to the cutoff position.
If "0" is entered, the position controller loop is broken.
Notes:
The ”actual” gain factor of the gear obtained on the machine depends on several factors :
•
•
•
•

Gain factor set for the gear
Maximum rev/min for the gear speed
Multgain factor (MD 468*)
Setting of speed controller and drive

443*

Active on
NC Stop

Positional tolerance for M19

Default value

Lower input limit

Upper input limit

Units

2 000

+0

720 000

units (MS)

On an oriented spindle stop (M19), the "SPINDLE POSITION REACHED" signal is output to
the PLC over the interface (DB31 DLk bit 4) as soon as the positional deviation is within this
tolerance. The positional tolerance is given in terms of position control resolution.
MD 443* has no effect on the positioning accuracy, because the control, in spite of the
"Spindle position reached" signal, attempts to approach the specified position with the highest
possible accuracy, unless the PLC or the NC aborts the positioning operation prematurely.
The position control for the spindle remains active until the "Acknowledge M19" signal (DB31
DRK+2) has been generated or the "Spindle controller enable" signal is revoked. For position
control cancellation, see also NC MD 520* bits 5 and 6. Position control is not cancelled by
setting the "Spindle stop" signal (see also Section entitled ”Axis (Analog) and Spindle
Installation”).
Note:
As from SW 4, for 8 gear stages

444*

Active on
NC Stop

Spindle speed tolerance

Default value

Lower input limit

Upper input limit

Units

10

+0

100

%

In systems with analog spindle speed and spindle encoder, the difference between actual
speed and set speed is determined.
The actual speed is measured by means of the spindle encoders. The PLC is informed over
the interface (DB31) of deviations exceeding the tolerance limit of the programmed spindle
speed by removal of the "Spindle in set range" signal (DB31 DLk bit 5). This monitoring of the
tolerance limit is always in force when a specified setpoint speed causes the spindle to start
rotating, i.e. the tolerance is monitored and reported to the PLC even during the acceleration
and deceleration phases.
The tolerance (rev/min) results from the tolerance (%) entered for the setpoint speed.
(Setpoint speed - tolerance) < actual speed < (setpoint speed + tolerance)
Monitoring is discontinued at 100 %.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

09.95

Example
•
•

S value: 1000 rev/min
Tolerance in MD: 3%
The permissible actual speed range is from 970 rev/min to 1030 rev/min.

445*

Active on
NC Stop

Maximum spindle speed tolerance

Default value

Lower input limit

Upper input limit

Units

10

+0

100
10 000 (as from SW 4)

%

In systems with analog spindle speed and spindle encoder, a deviation which extends beyond
the maximum speed plus tolerance limit results in generation of the "Speed limit exceeded"
signal (DB31 DLk bit 0) and issuance of alarm 2014*. The NC then shuts down spindle and
feed for this mode group. The lowest of the maximum spindle speed limits listed below
becomes active:
•
•
•
•

Maximum gear speed (NC MD 403* - 410*)
Maximum spindle speed (NC MD 451*)
For G96: Value in setting data (G92 S...)
Setting data item for spindle speed limit (G26 S...)

Monitoring is discontinued at 100 %.

446*

Active on
NC Stop

Zero speed tolerance

Default value

Lower input limit

Upper input limit

Units

100

+0

16 000
10 000 (as from SW 4)

0.01 %

Unit: 0.01 % of the maximum gear speed
The actual speed is measured in systems with analog spindle speed and spindle encoder. A
"Spindle stationary" signal (DB31 DLk bit 3) informs the PLC when the actual speed falls
below the zero speed.
Monitoring is discontinued at 100 % (entry in MD 446* ... 10000).

447*

Active on
NC Stop

Servo enable cutoff delay

Default value

Lower input limit

Upper input limit

Units

1 000

+0

16 000

ms

The enable signal for the speed controller (servo enable) on the measuring circuit is removed
when the specified delay time has elapsed. The delay takes effect in the following situations:
•
•
•
•

Removal of the "Servo enable" signal
"EMERGENCY STOP"
"Response from the measuring-circuit monitor"
Removal of the "Mode group ready" signal

6–70

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

448*

Minimum motor setpoint speed

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

3

+0

16 000

rev/min1)

NC MD 448* defines the minimum spindle speed. The motor does not fall below this speed, for
example, even when the cutting speed is constant and the turning diameter increases. In other
words, when the motor reaches the minimum speed defined here, the cutting speed is no
longer constant but increases with the turning diameter. Concentric running of the spindle is
possible up to this minimum speed.

449*

Active on
NC Stop

Basic speed

Default value

Lower input limit

Upper input limit

Units

50

+0

99 999

rev/min 1)

If the PLC activates the "Basic speed" signal (DB31 DRk + 2, bit 5) and switches over to
PLC spindle control, a spindle setpoint corresponding to this spindle speed is output, taking
into account the gear just selected. Spindle override is active.

450*

Set oscillation speed

Default value

Active on
NC Stop

Lower input limit

Upper input limit

Units

+0

1 000 2)
10 000 3)

0.01 %

50

So that you can set the oscillation speed as finely as possible, you enter it in 0.01% of the
maximum motor speed, i.e. 10000 (previously 8192) is oscillation at maximum motor speed.
Note
The selection of an oscillating speed does not in itself result in oscillation. This must be
brought about with "Set direction of rotation clockwise/counter-clockwise" (DB31 DRk + 2,
bit 7).

451*

Maximum spindle speed

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

4 000

+0

99 999

rev/min 1)

The "Speed limit exceeded" signal and alarm 225* are generated when the maximum spindle
speed defined here is exceeded by more than the tolerance limit specified in NC MD 445*.

_______
1)
2)
3)

The input resolution is 0.1 rev/min, if MD 520* bit 3=1.
Up to SW 2
As from SW 3

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–71

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

452*

10.94

Active on
NC Stop

Spindle position for external M19

Default value

Lower input limit

Upper input limit

Units

0

+0

35 999

0.01°

If M19 is started by the PLC via the "Position spindle" and "PLC spindle control" signals, the
NC positions the spindle to the angle specified in NC MD 452*.

453*

Active on
Power On1)

Mode group

Default value

Lower input limit

Upper input limit

Units

1

+1

+1, 2
6 (as from SW 4)

–

NC MD 453* defines the mode group to which the spindle is to belong.
Mode groups without spindles are permitted.
Note:
Spindles generally only react to the mode group RESET assigned to this MD. The spindle
does not stop when a program is aborted with channel reset.

455*
Default value

32

456*
Default value

5 625

Active on
Power On

u: Pulses variable increment weighting 2)
Lower input limit

Upper input limit

Units

0

65 000
9999 9999 (as from SW 2)

–

Active on
Power On

v: Traversing path variable increment weighting 2)
Lower input limit

Upper input limit

Units

0

65 000
9999 9999 (as from SW 2)

–

The internal calculations for the spindle are made in the resolution provided by the measuring
system (measuring system resolution). In order to be able to carry out the internal conversions
to the measuring system resolution, the latter must be entered in MD 456*. As for axes, input
is not made via the encoder graduation and pulse multiplication but via variable increment
weighting. This makes it possible to use spindle encoders with an arbitrary number of pulses
and measuring gear.
Note: as from SW 4
MD 2420* 2421* and 2422* in the MDD are used to automatically calculate MD 455* and 456*.
_______
1)

2)

Spindles can be allocated to another mode group via the warm restart function without having to execute a
hardware reset (for a detailed description of the warm restart function, see Section entitled ”Functional
Descriptions”).
MD 455* and 456* are invalid and are not evaluated, if the same measuring system is used for the spindle
and C axis. MD 364* and 368* are valid instead.

6–72

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

The parameters for defining MD 455* and 456* can be taken from the table below.
Parameter

Symbol

Position control resolution
Pulses per resolution
Pulse multiplication

b

Reference unit for traversing path

p

Number of encoder pulses per
resolution

f

Pulse multiplication for HMS
measuring circuit module; MD 458*

r1/r2

Measuring gear

Meaning

Gear transmission ratio between
spindle and encoder

Parameters for defining MD 455* and 456*

MD 455* = 4 • p • f • r2

MD 456* =

Number of measuring system pulses per encoder revolution
including hardware multiplication; multiplied by r2

360 • r1
b

Number of internally computed increments per encoder revolution;
multiplied by r1

If the values thus calculated are greater than the input limits, common factors must be
reduced.
Recommendation: Always reduce when possible, at least for values 100 000
Notes
•
•

The position control resolution has been set to 0.5 x 10-3 degrees for the spindle.
If the spindle is allocated to a C axis (MD 461*), the C axis resolution is used for the
calculations (MD 1800*, 364*, 368*).

•

The default values apply to the use of an SPC servo loop module and an encoder with
1024 pulses per revolution (see Example).

Examples
•

Encoder mounted directly on the spindle; square pulse encoder and SPC servo loop
module
b = 0.5 • 10-3 degrees
p = 1024
pulses per revolution
f
= 1
no pulse multiplication
r1 = 1
no measuring gear
r2 = 1
If the spindle performs one full revolution, the encoder generates 4 x 1024=4096 pulses.
If these factors are introduced into the formula:
MD 4550 =
MD 4560 =

4 096
720 000

Reduction by the common factor 128 yields:
MD 4550 =
MD 4560 =

© Siemens AG

32
5625

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–73

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

•

09.95

Encoder mounted to the spindle via the measuring gear; SIPOS unconditioned signal
encoder and HMS servo loop module
b = 0.5 • 10-3 degrees
p = 2500
pulses per revolution
f
= 8
HMS pulse multiplication
r1 = 2
2 spindle revolutions correspond to
r2 = 3
3 encoder revolutions
If these factors are introduced into the formula then:
MD 4550 =
240 000
MD 4560 = 1 444 000
Reduction by the common factor 240 000 yields:
MD 4550 = 1
MD 4560 = 6

Example
Motor measuring systems as encoder with SIMODRIVE 611-D
G = 0.5 • 10-3 degrees
p = 2048
pulses per revolution
f
= 128
pulse multiplication
r = 1
MD 4550 =
MD 4560 =
MD 458* =

8192
5625
128

458*

Active on
Power On

f: Pulse multiplication for EXE/611D/HMS

Default values

Lower input limit

Upper input limit

Units

1

0

128
512 (as from SW 3)

–

Measuring system

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The measuring system resolution can be adapted to any application using the HMS servo loop
module. The pulses arriving from the encoder are multiplied in two steps:
Pulse multiplication
hardware • 4

Pulse multiplication
by high-resolution
meas. syst. MD 458*

Measuring system resolution

Pulse multiplication for HMS

The following values are permissible for MD 458* when using a HMS servo loop module or
611D:
HMS:
1, 2, 4, 8, 16, 32, 64, 128
611D/PCU: 1, 2, 4, 8, 16, 32, 64, 128, 256, 512
Hence, the attainable maximum is a pulse multiplication by the factor 512.

6–74

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

Notes
•

Machine data 458* is taken into account only when a HMS servo loop module is used.

This MD also has an effect when the measuring system of the digital drive (611-D) is used.
•

The multiplication factor must be taken into account for variable increment weighting
(MD 455*, 456*).

459*

Zero mark offset

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

-99 999 999
-18 000 2)

99 999 999
18 000 2)

0.01°

Using zero mark offset, the spindle angle zero position (e.g. after M19 S0) can be made to
differ from the encoder zero mark. The spindle zero position can thus be defined arbitrarily.
In other words, the reference system for the spindle control is offset in relation to the encoder
reference system.
Note
•

Changes to MD 459* do not take effect until the spindle is resynchronized with the
encoder.

•

When specifying a positive value in MD 459*, the spindle angle zero position is offset in
the direction which corresponds to clockwise rotation (M03).

•

If a C axis is assigned to the spindle, axis MD 244* takes effect in C axis mode as soon as
the C axis has been referenced.1)

Example
MD 4590 = 9 000

Zero mark offset by 90 degrees

M19 S270 LF

The spindle is positioned to 270° in the control reference system.
As this reference system is offset from the encoder zero mark by
90 degrees, the spindle will thus be on the encoder zero mark.

(see MD 463* for further examples)

460*

Setpoint output (analog)

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

0

See permissible values

–

MD 460* defines the assignment of the analog setpoint speed to a servo loop module and an
output.

_______
1)
2)

See also Section C axis mode
As from SW 4

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–75

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

Digit No.
Example showing the
structure of a value in
MD 460*

09.95

7

6

5

4

3

2

1

0

0

1

0

4

0

0

0

0

Servo loop
module
number

No. of
servo loop
connection

Always 0
for analog
module

Structure of MD 460*

Meaning of the individual terms
Digit No. 7, 6

The servo loop module number is the number of the module on the
servo local bus. The modules are numbered from left to right in ascending
order. The far left module has the number 1.
Permissible values:

Digit No. 5, 4

00 to 5

The number of the servo loop connection determines the number of
the output on the selected HMS or SPC module.
Permissible values:

04 to 06 for SPC servo loop modules
04 to 12 for HMS servo loop modules

Note
•

The value ”00 00 00 00” for MD 460* is permissible only if the spindle does not exist for
the control (MD 521*, bit 7=0).

460*

Active on
Power On

Setpoint output (digital) (as from SW 3)

Default value

Lower input limit

Upper input limit

Units

0

0

15001000 (up to SW 4)
30001000 (as from SW 5)

–

Exact description see MD 384*.
Note
See Section 5, Machine Data Dialog, for the servo loop assignment.

4600,2-3
Default value

Active

Setpoint to digital drive
Lower input limit

Upper input limit

Units

0

4600,4-5
Default value

Lower input limit

Upper input limit

0

0

12

4600,6-7

6–76

Active

SP/HMS setpoint output No.

Units

Active

Drive/servo loop module No.

Default value

Lower input limit

Upper input limit

0

0

30

© Siemens AG

Units

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

461*

Active on
Power On

Allocated C axis

Default value

Lower input limit

Upper input limit

Units

0

0

30

–

MD 461* defines which global axis number is used to operate the spindle when it works as C
axis. This determines, for instance, which axis-specific machine data block is used.
If the value 0 is entered in MD 461, the spindle cannot be used as a C axis.
Notes
•

Any change in MD 461* does not take effect until Power On.

•

If a C axis is assigned to a spindle (MD 461* not equal to 0), the internal calculations are
also performed for this spindle in the measuring system resolution of the C axis. In the
event of an identical measuring system, the variable increment rating of the axis must
therefore be entered (MD 364*, 368*, 1800*).

462*

Spindle encoder cutoff frequency

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

200

0

16 000

kHz

The cutoff frequency of the spindles's actual value encoder is entered in MD 462*. The cutoff
frequency can be taken from the encoder manufacturer's specifications.
Incoming pulses from the encoder may be lost when the cutoff frequency is exceeded. In this
case actual value acquisition will not be correct. The signal ”SPINDLE STOPPED” must be
evaluated by the drive. The SPINDLE SYNCHRONIZED interface signal is cancelled.
In the case of a repeated drop below the critical frequency, the spindle is automatically
resynchronized with the encoder (hysteresis characteristic).
Note
If a separate encoder is not proivided for C axis operation, the limiting frequency of the spindle
encoder is again monitored in this operating mode.

463*

Synchronous position offset

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

-179.99

180.00

0.01°

465*

Active
–

Feedforward control factor

Default value

Lower input limit

Upper input limit

Units

0

0

1 000

0.1 %

Active:

During position controlled operation (M19)

The feedforward control is used to reduce the following error.
In feedforward control the partial setpoint is multiplied by the feedforward control factor and
switched directly to the spindle speed control input. The time constant entered in MD 467* is
switched to the input of the position controller directly, if it is static feedforward control, and
delayed by a PT 1 element, if it is dynamic feedforward control.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–77

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

09.95

To activate feedforward control set option (6FC5 150-0AS02-0AA0). 1)
The feedforward control factor is adapted to the machine stability and the resulting
acceleration/deceleration of the spindle. The degree to which the following error is reduced
depends on the feedforward factor.
A factor of 1000 reduces the following error almost to zero in the stationary state. However,
this setting will cause overshooting. If this is a problem you can enter a lower value and enter
the time constant in MD 467*.
See Section entitled ”Functional Descriptions”.
Note:
As from SW 4, for 8 gear stages

466*

Active on
Power On

Position controller clock pulse spindle

Default value

Lower input limit

Upper input limit

1

1

64

Active:

Units

Multiple of position controller basic clock pulse

During position controlled operation (M19)

The number of axes and spindles can be increased by increasing the position control sampling
interval. Such increase will, however, impair the results produced by the controller. See
”Axes” for advantage.
The spindle-specific position controller sampling interval TLS is
TLS=MD 155 • MD 168 • MD 466*
Notes
•

The position control sampling interval must be in an integer ratio to the selected interpolation clock pulse (MD 155).

•

If a C axis is assigned to the spindle via MD 461*, the position controller clock pulses of
spindle and C axis must coincide. The position controller clock pulse for the C axis is set
in MD 155, MD 160, MD 168, MD 1396*.

Permissible values:
1, 2, 4, 8, 16, 32, 64

467*

Active
–

Time constant feedforward control

Default value

Lower input limit

Upper input limit

Units

0

0

9 999
1 000 (as from SW 4)

0.1 ms

Active:

During position controlled operation (M19)

To avoid overshooting on spindles with feedforward control, insert a delay between the partial
setpoint and the position controller. This delay is set with this machine data.

_______
1)

The feed forward control can be switched off via PLC MD as from SW 2.

6–78

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

Input value:
=0

static feedforward control (e.g. for AC drives with rise timeposition control scan time)
The time constant for setpoint smoothing is only injected into the setpoint branch
when feedforward control (option) is active.

0

Note
Normal: 1/2 rise time of the drive
As from SW 4, for 8 gear stages

468*

Scaling factor max. speed setpoint

Active in
all channels of
the mode
group in STOP

Default value

Lower input limit

Upper input limit

Units

10 000 1)
10 000 2)
9 000 3)

0
0

32 000 1)
20 000 2)
32 000 3)

mV 1)
0.1 % of max.
setpoint 2)

Like the axis-specific scaling factor of the maximum speed setpoint value (MD 260*), the
spindle-specific scaling factor is used for the digital tachogenerator matching.
If Umax is the speed setpoint voltage at maximum motor speed, then:
Speed setpoint=
Umax=

Example:

469*

Umax v [V]
8.345 V
Speed setpoint=

8 345

Factor for gain switchover

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

1

16 000

%

In positioning mode, the spindle must be under position control in its target position. In order to
ensure steady rest of the spindle even in the case of drift, extremely low setpoint speeds with
a very high resolution must be fed to the drive actuator via the analog interface.
With some drive actuators it is therefore possible to choose a different scaling of the setpoint
speeds by applying a configurable terminal signal.
Allowance must be made in the control for this change of scaling in the drive actuator so that
the overall effective gain factor remains unchanged. To achieve this, the amplification factor
(gear independent, MD 435* to 442*) must be matched to the new scaling.
The factor for gain switchover is
1
MD 469* =
––– N being the scaling factor in the drive actuator
N
Notes
•

Switchover of the gain factor is activated by setting the SWITCHOVER GAIN FACTOR
interface signal. This signal must always be set together with the terminal signal.

•

Entering the value 0 in MD 469* is equivalent to inputting the value 100. In neither of the
two cases is the gain factor specified in MD 435* to 442* changed.

_______
1)
2)
2)

Up to SW 2
As from SW 3
As from SW 4

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–79

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

09.95

Acceleration time constant
with position controller gears 1-8

478*-485*
Default value

Lower input limit

Upper input limit

2 000

0

50 000

Active on
Power On

1 ms

Assignments
Gear

1

2

3

4

5

6

7

8

NC MD

478*

479*

480*

481*

482*

483*

484*

485*

The control issues the ramp-form setpoints for acceleration and braking operations (ramp
function generator). The gradient of this ramp is determined by the acceleration time constant.
Notes
•

Two acceleration time constants are provided for each gear ratio:
– Acceleration time constant without position controller
(MD 419* to 426*)
– Acceleration time constant with position controller
(MD 478* to 485*)
The time constants without position controller are used for the open-loop control mode, the
time constants with position controller for the position mode.

•

MD 478* to 485* must be set such that the motor can follow the specified setpoints at any
one time without reaching the current limit. Particular care should be taken be taken that
this is also the case in the field weakening range.

•

The data in 478* to 485* should always be greater than the data in 419* to 426*.

•

You can set MD 419* to 426* so that the motor is accelerated to the current limit for a
certain time. If a ramp-up generator is built into the actuator, you can set MD 419* to 426*
to 0. In this case, the setpoint changes in steps on acceleration and deceleration.

Calculation of the permissible acceleration in position controlled spindle operation.
Speed
Maximum speed for position control mode

Time

T
Development of spindle speed in controlled mode at the acceleration limit (M3/M4)

6–80

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

The set acceleration must not exceed the available acceleration reserves of the drive in
position control mode as this will result in large system deviations which are too high and
which will cause the drive to come to a standstill (with alarms 156*, 116*, 2014*).
In the parameterization of the maximum acceleration MD 478* of asynchronous main spindle
drive, please make sure that the available driving torque is reduced above the field weakening
range.
The run-up time of the drive must be measured against the set spindle maximum speed to
work out the possible setting values.
MD 478* is calculated from the measured run-up time according to the following example:
•

Measure the minimum possible run-up time against the maximum spindle speed:
Select spindle mode, switch over gears if necessary
Set MD 419* for the gear state to 0 or to the minimum permissible value
M3/4 to the set maximum speed Nmax, e.g. 2000 rev/min
Measure the run-up time T according to the diagram

•

The measured time can be entered directly into MD 478* and following. In so doing, a
certain reserve (10-50%) should be added to the measured value according to the
expected load.

486*

Active
at once

Time constant setpoint filter (as from SW 2)

Default value

Lower input limit

Upper input limit

Units

55

0

1 000
16 000 (as from SW 4)

0.1 ms

Active: Immediately
The feed forward control parameter ”Time constant setpoint filter” is necessary in order to
also enable all the functions of dynamic feed forward control for the spindles.
The time constant is used to match the behaviour against time of the defined setpoint to the
dynamics of the drive.
When axes and spindles are linked, e.g., with ELG or synchronous spindle mode, the drives
involved must be set to the same dynamic response. The machine data in this case can be
altered to any values up to 0. The optimum setting for normal spindle modes is the standard
setting in the table above.
Note: As from SW 4, for 8 gear stages

487*

Active on
Reset

P component compensatory controller 1)

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

Note: As from SW 4, for 8 gear stages

488*

Active on
Reset

I component compensatory controller 1)

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

Note: As from SW 4, for 8 gear stages
_______
1)

As from SW 3

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–81

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

489*

04.96

Active on
Reset

D component compensatory controller 1)

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

These machine data are only used for the functionality "Electronic gearbox".
Together with the built-in test function (activated with NC MD 525*, bit 5), these machine data
can be used to set the control response of the PID compensatory controller.
A more detailed description of this function is to be found in the functional description for the
electronic gearbox.
Note: As from SW 4, for 8 gear stages

490*

Active on
Reset

Time constant parallel model 1)

Default value

Lower input limit

Upper input limit

Units

6 000

0

16 000

0.01 ms

This machine data is only used for the functionality "Electronic gearbox".
The parallel model must be set to the time constant of the position control loop of the following
spindle (time constant T = 1/servo gain).
If the value 16000 is entered in the machine data, the system automatically calculates the
actual servo gain factor and the time constant of the following spindle. However, this actual
servo gain factor is only stored internally, it cannot be looked at.
The value 16000 entered for the time constant is also automatically replaced by the value
derived by the control.
Note: As from SW 4, for 8 gear stages

491*

Active on
Reset

Tolerance range synchronism fine 1)

Default value

40

Lower input limit

Upper input limit

Units

0

16 000
99999999 (SW5.4
and higher)

1 unit (MS)

Same description as for MD 492*
Note: As from SW 4, for 8 gear stages

492*

Active on
Reset

Tolerance range synchronism coarse 1)

Default value

Lower input limit

Upper input limit

Units

100

0

16 000
99999999 (SW5.4
and higher)

1 unit (MS)

This machine data is only used for the functionality "Electronic gearbox".
During LINK ACTIVE, the positional difference of the following spindle compared with the
leading axes/spindles is monitored by the tolerance range "Synchronism fine" and
"Synchronism coarse". If the positional difference is greater than the tolerance range, then the
corresponding PLC interface signal SYNCHRONISM FINE OR SYNCHRONISM COARSE is
set to 0 signal. With this interface signal it is therefore possible to determine the positional
synchronism of the following spindle.
More detailed information is given in the functional description for the electronic gearbox.
Note: As from SW 4, for 8 gear stages
_______
1)

As from SW 3

6–82

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

493*

Active on
Reset

Emergency retraction threshold 1)

Default value

Lower input limit

Upper input limit

Units

0

16 000
99999999 (SW5.4
and higher)

1 unit (MS)

400

This machine data is only used for the functionality "Electronic gearbox".
With LINK ACTIVE, the positional difference between the following spindle and the leading
axes/spindles can be monitored with the machine data value "Emergency retraction threshold".
The emergency retraction monitoring must be enabled by setting an interface signal.
If the positional difference exceeds this threshold value, it can be output very quickly via a
digital hardware signal. An NC alarm ("Following axis emergency retraction") and the PLC
interface signal EMERGENCY RETRACTION ACTIVE are also set.
The MIXED I/O module must be in use in the servo area to achieve a very fast signal
"Emergency retraction" (in the positional control cycle).
More detailed information is given in the functional description for the electronic gearbox.
Note:
As from SW 4, for 8 gear stages

494*

Active on
Reset

Warning threshold nmax and amax 1)

Default value

Lower input limit

Upper input limit

Units

90

0

100

%

Every spindle is limited to a maximum acceleration and a maximum speed (NC MD 478* 485*).
In addition, in both cases the following spindle is checked against a warning threshold. The
warning threshold is defined in this machine data and applies to both the speed threshold and
the acceleration threshold. The warning threshold is entered as a percentage of the maximum
value in question.
If the calculated setpoint speed/setpoint acceleration of the following spindle is greater than the
defined values, the corresponding interface signals are set at the PLC interface.
More detailed information is given in the functional descriptions for the electronic gearbox.

495*

Delay controlled follow-up 1)

Active on
Reset

Default value

Lower input limit

Upper input limit

Units

16000

0

16000

1 (ms)

If a fault occurs with the leading axes/spindles, the following spindle goes into follow-up mode,
i.e. traverses with actual values as the control value (see the functional description for the
electronic gearbox, "Maintenance of link during faults"). After the delay shown above, the
following spindle switches from "controlled follow-up" to "normal follow-up" (follow-up mode).
_______
1)

As from SW 3

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–83

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.5 Spindle-specific MD (spindle data)

09.95

Effect of the input values (different cases):
0:

No controlled follow-up;
immediate normal follow-up

1...15000:

Initial controlled follow-up;
switchover to normal follow-up after the delay

15001 and higher:

Always controlled follow-up; no switchover to normal follow-up

496*

Active on
Power On

Default setting link type 1)

Default value

Lower input limit

Upper input limit

Units

0

1

3 1) 4 2)

–

This machine data only applies to leading spindles.
Type of coupling:
0
1
2
3

4

No default
Setpoint position coupling with compensatory controller
Actual position coupling with compensatory controller; actual values of leading axis/leading
spindle are used for the compensatory control and monitoring.
Setpoint position coupling with simulated actual values of the leading axis/leading spindle;
the compensatory controller only reacts to following spindle or other leading axis/leading
spindle faults.
Actual position coupling/setpoint speed coupling 2)

The machine data is used for two applications.
Application:
A gearbox grouping can be configured with the G401 command. If the type of coupling has not
been defined in the G401 command, the default value from MD 496* is taken.
Example:
G401

S1 S2

S1: Leading spindle, S2: Following spindle, no coupling type.

If "No default" (MD 496* = 0) has been entered and no coupling type has been entered in
G401, reset alarm "GI CONFIGURATION illegal" is triggered.

_______
1)
2)

As from SW 3
As from SW 4

6–84

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
a

NC MD

•
•
•
•
3
2

X =
Y =
Z =
A =
B =
C =
U =
V =
W=
Q =
E =
7

1

0000
0001
0010
0011
0100
0101
0110
0111
1000
1001
1010

Active:

SINUMERIK 840C (IA)

© Siemens AG
6

MD

0

Address name

Valid names for axes, angles, chamfer and radius

Code:

Examples:
0100 = B
0110 = U

1992 All Rights Reserved
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aaaaaaaaaaaaaaaaa

04.96
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6 Machine data bits

6.6
Machine data bits

6.6.1
General MD bits (general bits)
Bit No.

5

4

840C (T)
840C (M)

5000
0000 0100
0000 0110

5001
0000 0011
0000 0011

Name of radius and chamfer for:

A
B
C
D
E
F
G
H
I
J
K
L
M

6FC5197- AA50

3

Assignable address
Assignable address
Assignable address
Tool offset
Assignable address
Feed
G function
H function
Interpolation parameter
Interpolation parameter
Interpolation parameter
Subprogram (subroutine)
M function

2

N
O
P
Q
R
S
T
U
V
W
X
Y
Z

1

5000
Name of radius and chamfer

5001
Name of the angle

0

Default value

Name of angle for:

Contour definition
• Contour definition
Circular-path programming
• Polar coordinates
Polar coordinates
Name for approach path with soft approach and exit contour (G147, G247, G347, G48,
G148, G248, G348)
Bit-No.

Subordinate block
Danger of confusion with 0 (zero)
No. of subroutine passes
Assignable address
Arithmetic parameter
Spindle speed, S function
Tool
Assignable address
Assignable address
Assignable address
Assignable address
Assignable address
Assignable address

The names in MD 5000, MD 5001 and 568* must not overlap. An identical axis name with
different extended address is not regarded as overlap.

Note:

If the value 0 (=ˆ address name X) is entered in MD 5000/5001, the programmed dwell time
must not be programmed in G04 X... .
Remedy: Program dwell under G04 F... .

In next block.

6–85

04.96

aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

7

6

5

4

3

2

1

0

Input resolution

5002

Possible combinations
See table for MD 18 000
Default value:

01000000

For combinations with display resolution (NC MD 1800*) and position control resolution
(NC MD 1800*).
Active on:

NCK Power On

The input resolution (IS) defines the incremental weighting for entering and displaying values.
At the same time the initial setting G70 (inches) or G71 (mm) is defined.
MD 5002, Input resolution
metric
Bit

7

6

5

4

inch/
degrees

10 -1

--

--

--

--

10 -1

0

10 -2

--

--

--

--

10 -2

0

0

10 -3

0

1

0

1

10 -3

0

1

0

10-4

1

1

0

1

10-4

1

0

1

0

10-5

1

0

1

1

10-5

--

--

--

--

10-6

0

1

1

1

10-6

7

6

5

4

mm/
degrees

--

--

--

--

1

0

0

0

1

0

Bit

All linear axes and rotary axes of the control can be defined with an axis-specific position
control and display resolution. The input resolution and the resulting geometrical resolution
(used for programming, TO, ZO, interpolation...) is defined once for the whole control (detail
description see Section entitled ”Axis (Analog) and Spindle Installation”).
With these axis-specific resolutions (detailed description see Section entitled ”Axis (Analog)
and Spindle Installation”) the demands of the machine regarding
• maximum velocity
• varying precision
• maximum traversing range
can be optimally met.
Input resolution NC MD 5002 bit 4 to 7
Axis-specific display resolution NC MD 1800* bit 4 to 7
Axis-specific position control resolution NC MD 1800* bit 0 to 3

6–86

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaa

08.96

Bit No.

NC MD

7

6

5003

No deceleration
at limit
switch

Working
area
limitation
in force in
JOG mode

Default value:
Bit 7

5

Interpol.
params
dependent
on
G91/G90

4

3

Polar
Do not clear
coord.
PRESET
angle de- OFFSET on
pendent
POWER
on
ON
G91/G90

2

1

0

Auxiliary
function
output
before
travel

Internal
WAIT mark
synchronization (as
from SW
5.6)

No NC
STOP in
dwell block
G04S.../G1
4/G24 (as
from SW
5.4)

0000 0100

No deceleration on reaching the software limit switch. When this bit is set, braking
does not follow the acceleration/deceleration curve; only the following error is
suppressed. The limit switch is not overrun to any great extent (also see NC MD
1100*).
Active:

NC Stop

Note
In the case of interpolating axes, all axes are stopped when the range limit of an
axis is reached. Stopping without a contour violation, however, is guaranteed only
when bit 7 of MD 5003 is not set (no deceleration at limit switch), i.e. deceleration
takes place over the acceleration ramp.

V

V

Bit 7=1

Bit 7=0

t

t

Speed specified by interpolator
Actual axis speed

Bit 6

The working area limitation is also effective in JOG mode. In addition to the
software limit switches, the working area can therefore be limited in JOG mode,
thereby better safeguarding the machine against unintentional travel. However,
since a working area limitation is a software limitation, proper operation can only be
ensured following reference point approach.
Active:

© Siemens AG

NC Stop

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–87

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit 5

12.93

When bit 5 is set, the interpolation parameters (I, J, K) can be programmed either as
absolutes (G90) or as increments (G91) in the block (also see NC MD 5007,
bit 5). The interpolation parameters for contour definitions (blueprint programming)
must always be specified incrementally (G91), regardless of whether bit 5 is set or not.
Active:

In the next block

Example:
N1
N2
N3
N4
N5

G0 G90 X80 Y55 F500
G02 X50 Y85 I50 J55
G01 X50 Y75 LF
G03
M30

X50
LF

Y35

I50

J55

LF
F500

LF

LF

When the interpolation parameters are specified as absolutes, the centre point of
the circle refers to the centre point of the workpiece and not the starting point of the
circular path of the circle.
Y

a
a
a
aa
a
a
aa
aa
a
a
a
a
a
a
aaa
a

85

N3

75
G03
55
N4

G02

35
N2

50

80

X

If an interpolation parameter was not programmed because it was "0", the G
function, which also precedes the programmed interpolation parameter, also refers
to the interpolation parameter that was not programmed.
Example:

6–88

G02

X50

Y60

G91

I..

G02

X50

Y60

G90

I..

J = 0 need not be programmed. G91 refers to
both I and to the non-programmed J.
J = 0 need not be programmed. In this case, G90
lies in the workpiece centre point. Circle end
position error is displayed (alarm 2048).

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

08.96

Bit 4

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

When bit 4 is set, the polar coordinate angles (G10, G11, G12, G13) can be
programmed as either absolutes (G90) or increments (G91) in the block (also see
NC MD 5007, bit 5).
Active:

In the next block

Example:
N1
N2
N3
N4
N5

G0 G90 X0 Y0 LF
G11 X0 Y0 A30 B30
G91 A30 LF
A30 B40 LF
M30 LF

F500

LF

(approach P1)
(define Pol1 and traverse to P2)
(Pol1 is maintained, exit P2)
(Pol1 is maintained, traverse to P3)
(traverse from P3 to P4)

Y

P4
N4
P3
B40
B30

N3
B30

60°

N2 P2
30°

P1=Pol 1

Bit 3

Bit 3 = 1:

The old "PRESET OFFSET" is automatically retained following Power
On and reference point approach.
Active:

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

X

NC Stop

6FC5197- AA50

6–89

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit 2

01.99

Bit 2 = 0,

Auxiliary function output during axis movement

Bit 2 = 1,

Auxiliary function output prior to travel
Active:

NC Stop

If an auxiliary function (M, S, T, H, D) is also programmed in a traversing block,
bit 2 can bring about the following two states:
Example:
N10
N15
N20

M6

X100

LF

(V)

Bit 2 = 0

Velocity

N20
aa
aa

N15
aa
aa
aa

N10

(t)

M6

Bit 2 = 1
aa
aa

N10

aa
aa

(V)

M6

(t)
PLC cycle

Bit 1=1

If the bit is set, the internal WAIT mark synchronization is active.

Bit 1=0

WAIT mark synchronization via PLC
Active: NC STOP

Note:
Observe the internal WAIT MARK SYNCHRONIZATION DB 10-15 DL 15.8 interface signal as
from SW 6.3
Bit 0=1

No NC STOP in dwell block G04 S.../G14/G24. NC STOP is not active in
these blocks, but only at the end of the block.

Bit 0=0

NC STOP is immediately active; the dwell time and thus the block are aborted
completely. The next block is started with NC START.
Active: NC STOP
Note
A dwell time with G04 x..., G04 F... is always aborted by NC STOP.

6–90

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

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07.97

Bit No.

NC MD

7

6

5

4

3

5004

Var.
increment
for DRF
(as from
SW 6)

Mode
group
spec. single block,
type B

Mode
group
spec. single block,
type A

Own rapid
traverse
override

NC Start
without
ref.point
all axes

Default value:

2

1

0

2nd

1st

handwheel available

All 0

Bit 7 Bit 7=0 (Default) The DRF increment is equal to 1.
Bit 7=1 This activates the function ”Variable increment for DRF offset”. The value in
the ”INC variable” setting data is activated as the DRF increment.
Active:
Bit 6

Immediately

The first channel to process a block sets the remaining channels in the same
mode group to STOP. The axes that were halted are put into motion on the
next Start. The channel that initiated the Stop begins with the next block. Type
B single block.
Active:

Bit 5

In the next block

The next NC Start is effective only when all channels in the same mode group
have processed their blocks and the axes are at a standstill. Type A single
block.
Active:

In the next block

Bit 4 Bit 4=0 Feed override effective for rapid
Bit 4=1 Own rapid override via DB 10-13 DR1 effective for rapid
Override is activated by selecting the appropriate softkey and FB 78 or
DB 10 ... 13 DR 1 bit 5
Bit 3

The PLC signal "NC START" (DB 10-17 DR2 bit 0) initiates a program start,
even if the reference points have not been approached, at least not for all
axes, i.e. the feed axes have not been synchronized with the machine position.
MD 560* bit 4 is irrelevant in this case. In order to ensure correct workpiece
machining, synchronization must be carried out in another form, such as
through use of the scratch method.
Active:

Bit 1,0

NC Stop

The number of available handwheels is specified as follows:
Active:

NC Stop
Bit

1

0

One handwheel
Two handwheels

0
1

1
1

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–91

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

NC MD

Bit 4
Bit 3
Bit 2
Bit 1

NC MD

5006

1)

6–92
7

5005
6

Active:

7

Active:

5

6

5

Axis/ spindle
converter
(as from
SW 2)

09.95

Bit No.

4

Keyswitch group
(configurable)
ZO fine

4

3

3

2

KEYSWITCH effective for:
ELG
PP manual Dry run
programfeedrate
ming via 1) input
input
display

1

2

1

DRF

© Siemens AG 1992 All Rights Reserved

0

KEYSWITCH effective for:
Position 1-3
ZO coarse
R param.
TO wear
TO
angle of rot.
geometry

Default value:
All 0

Bit 7 to 5
Configured data blocks can be inhibited via keyswitch by setting these bits
(see also WS 800A description).

Bit 4 to 1
The keyswitch can be used to prevent the entry or modification over the NC
operator panel of the following data by setting the corresponding bit(s):

Zero offset (G54 - G57) fine
R parameters angle of rotation zero offset (G54 - G57) coarse
TO wear (parameters P5 to P7)
TO geometry

Bits 2 and 1 are effective only when the standard display for tool offsets
(P0 ÷ 9) is not modified in any way. When configuring tool offsets, the
keyswitch group (bits 5 to 7) for the data fields (P0 to Pxy) must also be
configured via the NC workstation (WS 800A). Bits 1 and 2 can only be set
together or not at all.
At once

Bit No.

0

OVERSTORE

Default value:
Active:
All 0
Immediately

Bit 6 to 0
Entry or modification of the following data over the NC operator panel can be
inhibited via the keylock switch by setting the corresponding NC MD bit(s).

At once

Bit 6=0 Input not possible.

Bit 6=1 Input via keyswitch setting 1, 2 and 3 possible.

_______

As from SW 3

SINUMERIK 840C (IA)

6FC5197- AA50

07.97

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit 4

Keyswitch lock for input disable GI
Bit 4=1 Keyswitch setting=0: not possible to program gear interpolation (ELG) via
input display.
Keyswitch setting 0: programming of gear interpolation (ELG) via input
display possible.
Bit 4=0 Keyswitch locking not possible.
Active: immediately
Input of part programs over the operator panel (EDIT, INPUT, CANCEL)

Bit 2

To select dry run feedrate (DRY RUN)

Bit 1

When traversing via handwheel in Automatic mode (DRF function)

Bit 0

Entry of H, S, M, T and D functions in OVERSTORE submode

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Bit 3

Bit No.

NC MD

7

5007

TO in
diameter

Default value:
Active for all bits:

6

5

4

Mixed proDo not
gramming
include tool G90/91
in
wear
block

3

2

1

0

Tool basic
dimension
active

No output
of M17

G53 as
@706

Length
compensation for nonprogrammed axes

0000 0100
In the next block

Bit 7 Bit 7 = 0

The cutter (tool parameter P1 = 20) is defined as length (P2) and radius
(P4). Consider also NC MD 5008, bit 4.

Bit 7 = 1

The cutter is defined as length and diameter. The cutter radius is always
over radius.

Bit 6

This bit can be used to declare all tool wear data invalid. The tool wear
data (P5 to P7) are thus available for user-specific purposes. A value can
be added to or subtracted from the tool geometry data using the "EDIT"
key.

Bit 5

In a part program, the manner in which programmed values are to be
interpreted, i.e. whether they are to be regarded as absolute (G90) or
incremental (G91) values, always relates to a whole block (up to LF).
Setting bit 5 to 1 makes it possible to define how each separate
programmed value of an axis is to be interpreted as absolute (G90) or
increment (G91) (for further details on interpolation parameters and angles
see NC MD 5003, bits 4 and 5).
Whether he programmed zero offsets G58/G59 are calculated absolutely
or additively also depends on the setting of bit 5.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

09.01

Note:
If the MD bit is not set, the last function to be programmed in the block is
active.

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Example:

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G58 X... G91 X50... G90 Y100

added
incrementally to
previous G58 X...
value

new absolute
entry of Y value
(Y = 100)

Example: Mixed programming G90/91 in one block

Y
130
N15
100

N10
N5

60

50 60

Bit 3

Bit 2

6–94

N5

G01

X50

Y60

N10
N15
N20

G91
G90
M30

X50
X60
LF

Y40
G91

F500
LF
Y30

100

X

LF
LF

The tool offset can be extended by 2 additional tool offset parameters
(P8, P9) (see also Programming Guide).
Bit 2 = 0

SUBROUTINE END (M17) is sent to the PLC as an M function.

Bit 2 = 1

SUBROUTINE END is only active NC internal
(subroutine return jump fast).

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

Bit 1

6 NC Machine Data (NC MD), NC Setting Data (NS SD)
6.6.1 General MD bits (general bits)

Bit 1 = 0

All zero point offsets are deselected with G53 (G54-G59 + ext. ZO).

Bit 1 = 1

G53 has same effect as @706, all zero offsets (G54-G59 + ext. ZO),
DRF and PRESET are deselected with G53 or with @706. Tool offset
(TO) is not deselected.

Bit 1 = 0
1st

G54

Bit 1 = 1

2nd
3rd
4th
settable zero offset
G55

G56

G57

1st

G54

2nd
3rd
4th
settable zero offset
G55

G56

G57

Coarse setting
Fine setting

1st programmable ZO (G58)
2nd programmable ZO (G59)
External ZO (from PLC)

Suppress with
G53

DRF offset (with handwheel)
PRESET offset

Bit 0

Suppress with
@706 or G53

Suppress with
@706

Run the length compensation even for non-programmed axes (840C (T)): If a
modification of the tool length compensation (e.g. deselection via D0) produces a
traversing path in an axis that is not programmed in this block, traversing is carried
out nonetheless. If this bit is not set, traversing is carried out only if the axis has
been programmed.
Programming example for the 840C (T):
.
.
.
N5 G18 G0 X0 Z0 LF
N10 G01 F200 D3 X10
N20 Z30 LF
.
.
.

LF

D3 ....Type 3 (turning tool)
Length 1
30
Length 2
20

If the bit is set, the length compensations are run in block N10 already to position
Z20.
If the bit is not set, the Z axis is not moved to position Z50 (Z30 + length
compensation 2) until block N20 is processed.
This function is active only for 2 axes in the mode group.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–95

09.95

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

5008

7

6

Path
dimension REPOS in
from PLC
without NC JOG mode
STOP

Default value:
Bits 7-5 become active:
Bit 7

Bit 6

INC and
REF in
JOG mode

4

TO type 0
identical
with type
20

3

2

1

0

Effect of
CANCEL
key
channelspecific (as
from SW 2)

CC with
mode group
disable (as
from SW 5)

0100 0000
At once

Bit 7 = 0

Displacement path from PLC (via command channel) is started in
AUTOM./MDA mode only when the preselected NC channel has an NC
STOP status. The displacement path is not started if the NC channel is
stopped with only a read-in disable at the end of the block.

Bit 7 = 1

Displacement path from PLC (via command channel) is started in
AUTOM./MDA mode on a NC STOP or with a read-in disable at the end
of the block. The occurrence of a situation in which displacement path
from PLC was selected, the read-in disable was set, and the current
part program block was prematurely aborted due to an NC STOP (tool
breakage, "NC STOP" key, etc.) now becomes feasible, in which case
the displacement path from PLC function would be started at once
rather than at the end of the block. It is therefore recommended that bit
7 not be set.

Bit 6 = 0

In the REPOS function (JOG mode), return to the contour is initiated by
brief pressing of the relevant direction key. Axis movement can
subsequently be halted only via either feed hold or feedrate
override 0%.

Bit 6 = 1

Return to the contour is performed only as long as the relevant direction
key is held down.

Bit 5

Bit 4

5

Same as bit 6 but for functions INC1 ... 10 000 and reference point
approach (JOG mode).
Bit 4 = 0

If no TO type is specified, alarm 2060 is issued when called in the NC
program.

Bit 4 = 1

WZK-Typ wirkt wie Typ 20
If TO type 0 is specified, the tool is interpreted as type 20 and no alarm
is issued. The TO type remains 0 in the tool offset memory. Radius and
length compensation are assigned as for 20.

Bit 3

Bit 3 = 1

Command channel error 200 with detailed error coding 14-18 is
suppressed.

Bit 0

Bit 0 = 1
Bit 0 = 0

Cancel key channel-specific
Cancel key NC-specific (standard)

Active:

6–96

NC STOP/RESET

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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09.95

5010

Bit 7

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Acknowledging the channel-specific cancel alarm via operator panel (BT)
Cancel alarms are acknowledged with the
key. With MD 5008 bit 0 you can
set whether the
key affects all channel-specific alarms or only those of the
selected (actual channel). Other channel alarms are acknowledged NCspecifically.

Acknowledging channel-specific cancel alarms via the PLC

Channel-specific cancel alarms can be acknowledged via the PLC user interface
signal ”CANCEL” (DB 10 - DB 13) in the same way as with the reset key.

Bit No.

NC MD

7

SINUMERIK 840C (IA)
6

Default value:
All 0

Active:
in next block

Bit 0 to 2
5

© Siemens AG 1992 All Rights Reserved
4

6FC5197- AA50

3

5D
Tool length Tool offset
gear
compensa- for
cutting tools
tion

Bit 2
Bit 1
Bit 0

Gimbal head
0
0
1

Twist & nod head
0
1
0

Nutating head
1
0
0

Inclinable head (parallel Y)
1
0
1

Inclinable head (parallel Z)
1
1
0

2

1

0

Type 5D tool length comp.

5 axis tool linear compensation

The 5 axis tool linear compensation corrects the programmed block end points
depending on the type of milling head used in short linear blocks with G01. If a
tool breaks, the milling machine can carry on from the point of the breakage if
a tool with the programmed radius but a different length is chucked. The
difference in length is entered as the tool length compensation in tool offset
type 40.

This is only possible if the programs have been written taking the tool length
and cutter radius into consideration.

The 5 axis tool length compensation is called up with NC MD 5010 and tool
type 40. The tool length (different in length as compared with the old tool) is
stored in tool parameter P2. In the case of milling machines with a nutating
head, the permanent nutating angle must also be entered in MD 20.

See also Programming Guide.

6–97

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

07.97

Bit 6 Bit 6=1 An extended tool parameter basic display with 12 parameters (P0 ...P11) is
displayed.
MD 13, "Number of parameter values per D no.", is monitored for greater
than, equal to 12 on Power On and Format tool offset memory.
Bit 6=0 The existing tool parameter basic display with 10 parameters (P0 ... P9) is
displayed.

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MD 134, "Number of parameter values per D no.", is monitored for greater
than, equal to 10 on Power On and Format tool offset memory.
Bit No.

NC MD

7

6

5

5011

@
read/load

Actual
value
display

4

3

2

1

0

Diameter function for

Default value 840C (T):
Default value 840C (M):

G91programm.

G90 progr.
TO wear

TO
geometry
(type 1-9)

Incr. dim.,
DRF

TO wear
Zero offset (as from
SW 6)

0101 0000
0000 0000

All bits in NC MD 5011 affect the axes defined as transverse axes in NC MD 572*, bit 1. All
bits in NC MD 5011 must be set to zero if no transverse axes were defined (i.e. if bit 1 in NC
MD 572* is 0).
Active:

At once

Bit 7

All axis-specific @ of axes defined as a transverse axis must be entered as
diameter and are written as diameter (CL 800).

Bit 6

Machine-related actual value and workpiece-related actual value are displayed
in diameter (also see NC SD 5001, bit 0). The actual values in the axisspecific Service displays are still shown as radii.

Bit 5

Diameter programming in G91.

Bit 4

Diameter programming in G90. The TO wear for tool types 1 to 9 is entered
and displayed in diameter.

Bit 3

The tool length for tool types 1 to 9 is entered and displayed in diameter.

Bit 2

Pulse weighting is diametral for INC handwheel and DRF handwheel. The DRF
offset is displayed in diameter.

Bit 1

Settable ZO and programmable ZO are entered, programmed and displayed in
diameter.
External ZO, PRESET offset, distance to go and REPOS are displayed in
diameter.

Bit 0

Tool wear for tool type 1-9 in diameter

Note:
This machine data applies to transverse axes only.

6–98

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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01.99
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

7

SINUMERIK 840C (IA)

6

NC MD

7

6

5013
Circle
programming
Polar
coordinate
programming

© Siemens AG 1992 All Rights Reserved

5

5

4

5012

4

6FC5197- AA50

3

2

1

0

Do not
delete workpiece name
with PLC
program
selection (as
from SW 3)
Write MD
disabled
by @
Sign change
handwheel 2
(as from
SW 6.3)
Sign change
handwheel 1
(as from
SW 6.3)

Default value:
Active:
Bit 3

All 0
In the next block
If the bit is set, the workpiece name is not deleted with program selection via
FB 62.
Bit 2
Bit 2 can be used to inhibit entry and modification of NC MD, PLC MD and
cycles MD using @ commands @4.. (CL800 commands).
Bit 1 Bit 1=1 Leads to a sign change of handwheel 2
Bit 0 Bit 0=1 Leads to a sign change of handwheel 1
Bit No.

3

Feed not
contourrelated

2

1

0

M and S
address
extension for
spindle to PLC

Tapping
without
encoder
G63 without
feedrate
reduction

Default value: 1000 0000
Active:
In the next block
Bit 7 Bit 7=1 When bit 7 is set, a circle can be programmed by specifying the radius and/or
angle.
Bit 6 Bit 6=1 Positions related to a set mid-point can be defined by programming polar
coordinates using details of radius and angles.

Example 840C (M):
Bit 4 Bit 4=0 The programmed feedrate refers to the contour.

F 1000

F 1000

F 1000

Bit 4 Bit 4=1 The programmed feedrate of the milling tool refers to the tool center path.

F 1000

F 1000

F 1000

6–99

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

07.97

Bit 2

This bit indicates whether the programmed address extension or the M
and S address extension automatically generated by the control is to be
transferred to the PLC interface (in the control, the address extension is
always in force, except for emergency retraction).
This bit can be set if the control has more than one spindle. (The
extended M function must be decoded with DB80/DB30).

Bit 1

When using the Siemens tapping cycle L84 (G84) on the SINUMERIK
840M, it is necessary to indicate whether or not the spindle has an
encoder.
Bit 1 = 0

The spindle has an encoder (512 or 1024 pulses). G33 (pitch in
mm/rev) is therefore used in tapping cycle L84.

Bit 1 = 1

The spindle has no encoder or its encoder is not to be used for cycle
L84.
G63 (F in mm/min) is therefore used in tapping cycle L84. The
programmer must define feedrate and spindle speed so as to produce
the correct pitch. Slight errors are taken up by the compensating chuck.

Bit 0

At block boundaries in G63 (tapping without encoder), the programmer
can specify whether the new setpoint speed should be output with
consideration given to the acceleration characteristic or abruptly.
Bit 0 = 0
Bit 0 = 1

Acceleration characteristic
Abrupt setpoint speed

Note:
If the bit is set the exact stop limits are not taken into account on a block change. This means
that the existing path velocity is output to the axes of the next block. If a servo enable has not
been set for these axes, alarm 168* ”Servo enable for traversing axis” is output.
To avoid this
Program G09 (exact stop) in the last G63 block
Approach the same drilling axis position with G0 or G01 in the next block
Program a dwell time in the next block.

G63 with deceleration

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Bit 0 = 0

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G63 without deceleration

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Bit 0 = 1

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Path

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Speed

Path

6–100

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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04.96

Bit 0

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

7

6

5

5014
Tool radius
compensation (TRC)

Blueprint
programming
Cycles (ref.
conditioning)

Default value 840
Default value 840
Active:

Bit 7
TRC

Bit 6
Blueprint programming
This function can simplify NC programming. You can enter the words to describe
lines and circles directly from the part drawing. See Programming Guide.

Bit 5
Cycles:

Bit 3
Extended contour definition programming
This function can simplify NC programming. You can enter the words to describe
lines and circles directly from the drawing into the control. See Programming Guide.

Bit 0
The spindle encoder is taken as a basic measurement for pitch.

NC MD

Default value:
T:
M:

7

SINUMERIK 840C (IA)
6

© Siemens AG 1992 All Rights Reserved
5

4

4

5015

6FC5197- AA50

3

3

2

2

1

Extended
contour def.
progr.

1

0

Thread
revolution
feedrate
G33/G95

C-T: 1010 0001
C-M: 1010 0000
In the next block
Activation of tool nose radius compensation
Activation of cutter radius compensation

This bit activates the reference conditioning (software module), which is
essential for processing stock removal cycle L95.

Bit No.

0

External data
3D interinput (as
polation
from SW 4)

0000 0010

3D interpolation
Helical interpolation, helical interpolation 3 axes linear or 2 axes circular and 1 axis
linear.

6–101

09.01

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

7

5016

Slave axis
sorting 1)

6

5

4

3

2

1

0

Bit 7 Bit 7=0 In slave axis cascading, the arithmetic sequence is selected in such a way that
no dead times occur. A slave axis ring triggers alarm 3085 "NC CPU time
monitoring"
Bit 7=1 If bit 7 is set to 1 in MD 5016, the slave axes are entered in an execution list
in the same order as their global KOPEIN. This list is not sorted again so that
dead times can occur with slave axis cascading. The desired sequence can be
set using the global KOPEIN sequence.
A slave axis can be pushed to the end of the execution list by (online) a global
KOPAUS and subsequent global KOPEIN. With SW 3 and higher it is only
possible to resort in this way by exchanging the global axis numbers.

Bit No.

NC MD

5017

7

6

5

4

3

2

1

0

Transform- Transformation
ation
machine
machine
data
data
changes are changes
effective
permissible
without during active
warm
transformrestart (from ation (from
SW 6.2
SW 6.2
5.8)
5.8)

Default value:

Bit 7 and bit 6=0

Bit 7 Bit 7=1 Activation of the function ”Transformation machine data changes effective
without warm restart”. This means that a warm restart is no longer necessary
after making changes to the transformation machine data (MD 730-MD 809).
Bit 7=0 The previous functionality (compatibility), i.e. the necessity of a warm restart
after a machine data change, is active.
Bit 6 Bit 6=1 Changes may also be made to the transformation machine data when that
same data are active in a transformation.
Bit 6 Bit 6=0 Transformation machine data changes may only be made when these machine
data are not in an active transformation. In this case, a tolerance check will not
be made.

_______
1)

SW 4.4 and higher

6–102

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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09.95

5018

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

7

Default value:

NC MD

Default value:

SINUMERIK 840C (IA)

6

Second CP First CP
module
module

7

5019

5

4

Path
dimension
from PLC
Indexing
division
from PLC

6

© Siemens AG 1992 All Rights Reserved
5

4

Soft
approach to
Scale factor
and exit from
contour

6FC5197- AA50

3

Axis
coupling

2

3

2

Highresolution
rotary axis

1

1

1)

With SW 3 and higher, these bits can no longer be altered. The tool offset memory is set to 32 KB on
POWER ON RESET. Only these values are permissible if standard tool management is used.

*

For SW 4 and higher see functional description "Flexible Memory Configuration".

0

File transfer

All 0

Bit 5
Path dimension from PLC, F73
This function provides a way of traversing NC axes in incremental or absolute
dimensions from the PLC. The data is transferred from the PLC to the NC via a
rapid "command channel". Tool offsets and zero offsets are not taken into account.
Application: positioning of auxiliary axes.

Bit 4
Indexing division from PLC
You must set this bit if indexing is to be used from the PLC.

Bit No.
0

Memory expansion
to
409 tools
819 tools
(up to SW2) (up to SW2)

All 0

Bit 6
Soft approach to and exit from contour
A contour tangential is approached or exited to avoid cutting edge marks. See the
Programming Guide.

Bit 5
Scale factor
You can simplify programming by entering a factor with which the coordinate values
of a part program can be weighted. See the Programming Guide.

Bit 2
High-resolution rotary axis
This option increases the position control resolution of rotary axes from the 0.005°
of the basic version to 0.000005°.

Bit 1 1) *
Increase of tool offset memory from 408 to 819 tools
The tool offset memory is expanded from 16 KB to 32 KB. This is enough for 819
tools if each tool has 10 parameters. The bit becomes active when you press the
softkey "Format tool data" and enter the initial clear mode.

Bit 0 1) *

Increase of tool offset memory from 204 to 409 tools
The tool offset memory is expanded from 8 KB to 16 KB. This is enough for 409
tools if each tool has 10 parameters. The bit becomes active when you press the
softkey "Format TO data" in initial clear mode.

_______

6–103

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

NC MD

Bit 2

NC MD

5021

Active:

1)

6–104
7

Default value:

Bit 2 = 1

Bit 2 = 0

7

6

6

5

5

04.96

Bit No.

4

”G420/G421” from PLC:
Axis-specific:
DB29
Spindle-specific:
DB29

4

3

5020

DR K+ 2.5
DR K+ 26.5

3

2

1

2

1

© Siemens AG 1992 All Rights Reserved

0

Emergency
retraction
off (as from
SW4.7
SW 5.2)

0
Emergency retraction off (G420) for all channels
Meaning:
Monitoring of the ER sources, specified via MD, OFF for:
- the channel where the part program is executed
- all axes of the mode group for ALL channels incl. PLC
- all spindles of the mode group for ALL channels incl. PLC

G420 X S1 =
Meaning:
Monitoring of the ER sources, specified via MD, OFF for:
- the X axis for ALL channels incl. PLC
- the spindle S1 for ALL channels incl. PLC

DL K+ 2.5
DL K+ 26.5

Monitoring for axes (FA/FS) can also be switched on/off from PLC. If
monitoring is switched off from PLC, it is switched off for all channels.

Emergency retraction off (G420) in current channel

Bit No.

0

Neutral
Neutral
Neutral
Neutral
Neutral
Neutral
position of position of position of position of position of position of
outputs for outputs for outputs for outputs for outputs for outputs for
mode group mode group mode group mode group mode group mode group
6 1)
5 1)
4 1)
3 1)
2 1)
1 1)

Neutral position of mixed I/O outputs bit 5 to 0

Bit 5-0=1
After Mode Group Reset the output byte of the mixed I/O module is at high
level (24 V).

Bit 5-0=0

After Mode Group Reset the output byte of the mixed I/O module is at low
level (0 V).
On Power On

_______

As from SW 4

SINUMERIK 840C (IA)

6FC5197- AA50

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01.99

1)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

5022

Delay of the
NC ready
Consider
signal by
software
1 IPO cycle
5 V underin case of limit switch
voltage
emergency
PLC failure
(as from
or 5 V
retraction
SW 6.3)
under(as from
voltage
SW 6)
(as from
SW 6.3)

7

NC MD

Default value:
7

Bit 1 Bit 1=1

Bit 1=0

Bit 0 Bit 0 = 1

Bit 0 = 0

_______

SINUMERIK 840C (IA)

6

6

© Siemens AG 1992 All Rights Reserved

5

5

4

4

5024

6FC5197- AA50

3

3

2

Retraction
in case of
PLC failure
(as from
SW 6.3)

2

1

0

Extended
stopping 1)
Stopping
also on
Emergency
OFF 1)

Control bits to define stopping procedure.

Bit 7 Bit 7=1 Delay of NC ready signal by 1 IPO cycle in case of PLC failure or 5 V undervoltage.
Bit 6 Bit 6=1 The function ”Consider software limit switch with controlled emergency
retraction” is activated.
Bit 5 Bit 5=1 Enables release of the configured independent emergency retraction at 5 V
undervoltage.

Bit 4 Bit 4=1 Enables release of the configured independent emergency retraction in case of
PLC failure.
Bit 1 Bit 1=1 Stopping is extended by the phase T1 and T2, i.e. interpolator-controlled
continuation and deceleration.
Bit 1=0 When stopping signal is recognized deceleration starts immediately with speed
setpoint 0. The following axes go into controlled follow-up.
Bit 0 Bit 0=1 Stopping is also performed with Emergency stop. The following axes
subsequently go into controlled follow-up.
Bit 0=0 On Emergency stop deceleration with speed setpoint 0 is performed
immediately. Following axes go into controlled follow-up.
Bit No.

1

0

Automat.
block end
value synchr.
G105/G1191)
Abort on
contour
violation
TRC

0000 0110

In the case of G[..]105 and G[..]119, a G200 is generated by the NC for
this axis. The same restrictions apply here as for programmng of a G200
axis.
Automatic synchronization of end-of-block value with G[..]105 and
G[..]119. In the case of G[..]105 and G[..]119, no G200 is generated by
the NC for this axis.
If a contour violation occurs when tool radius compensation is active,
alarm 2021 ”Contour violation with TRC” is signalled. Processing of the
part program is interrupted, the alarm can be acknowledged with the reset
key.
If a contour violation occurs when tool radius compensation is active,
alarm 3021 ”Contour violation with TRC” is signalled. Processing of the
part program is not interrupted, the alarm is deleted with the acknowledge
key.

As from SW 4

6–105

07.97

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

7

6

5025

Reload
workpiece
on power
on (as from
SW 2)

5

Endlessly Alarm ”Axis
turning
not in C
rotary axis axis mode”

4

3

2

1

0

Travel thru
transform.
center
(as from
SW 5)

Extended
threading
package

Axisspecific
G functions
to PLC

Bit 7 Bit 7=1 The last active workpiece is reloaded channel-specifically in the NCK CPU on
warm restart. This can only be done if a workpiece was already loaded or had
been selected before switching off, i.e. the workpiece pointers are
preassigned. The workpieces are loaded in order into channel 1 to channel n.
The order in which the workpieces were loaded before the control was
switched off no longer applies. Loading of workpiece STANDARD is always
executed before the function ”Reload workpiece ...” and cannot be disabled
via machine data. Please note that the function can also alter data (TOA, ZOA,
etc.) which might have been manipulated on the NCK before switching off the
control if any of them are overwritten by the job concerned.
Note:
Workpiece loading can be disabled channel-specifically. See setting data 540*.
Bit 6 Bit 6 =1 The function ”Endlessly turning rotary axis” is activated (see Functional
Description).
Bit 5 Bit 5 =1 This bit is activated via the toggle field in the display NC machine data/Gen.
data/Basic data under the intermediate heading "General basic data".
Bit 3

Change as from SW 5:
Independent of this bit
•

it is possible to travel through the transformation center in JOG mode.
Previously the alarm "Speed setpoint warning limit" was triggered in this
case.

•

the velocity of the rotary axis is always limited to the maximum possible
value.

•

see also Functional Description: Coordinate transformation in Section 12.

Bit 3=1 Activates the function "Travel through the transformation center". It is possible
both to machine contours near the turning center faster than before and to
travel through the transformation center. The permissible feedrate in the
fictitious coordinate system is calculated as a function of the current distance
from the center of turning and the MD "Maximum velocity rotary axis" so that
the path feedrate changes continuously.
Bit 3=0 Activates the previous functionality: With the function Transmit, note that the
rotary axis must rotate faster the nearer the contour is to the turning center.
The maximum velocity of the rotary axis entered in MD 280* must not be
exceeded.
This is achieved by traversing the entire contour of a part program with a lower
speed in the fictitious coordinate system. This velocity is chosen such that at
the point which is closest to the center of turning within the contour, the
velocity of the rotary axis is not exceeded. This method has the disadvantage
that the velocity is also lower in parts of the contour that are farther away from
the turning center.

6–106

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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07.97

Bit 2

NC MD

NC MD

Bit 0-2=1
Bit 0-2=0

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

The extended threading package contains the following functions:
a) Following error compensation
b) Multiple-turn thread
c) Thread recutting logic

a) Following error compensation
This function corrects the start angle of the spindle by the following error.
This means that the same thread is cut at high speed as at low speed.
b) Multiple-turn thread
With this function, you can cut multiple-turn threads. The channel-specific
start angle for each turn is programmed directly with G92 A.. The angle is
displayed in the setting data display "spindle data" under the letter for the
angle. You can also enter the angle in this display.
c) Thread recutting/set-up
With this function you can reclamp and recut a precut thread with a
constant pitch. You cannot recut a thread with a variable pitch. You can
select the appropriate display in the machine area display of the "JOG"
mode by pressing softkey "Recut/set up thread".
d) Smoothing exponent G92 T
In addition to the above functions the function package level-up thread
contains the function smoothing exponent which you can program with
G92 T.. You can program the smoothing exponent for dynamic smoothing
using the G92 function with the letter T. You must have set the value for T
value in a setting data. The T value can also be changed in the setting
data display.

Bit 1 Bit 1=1 Axis-specific G commands to PLC
Bit 1=0 No axis-specific G commands to PLC.
Active: On POWER ON

Bit No.

7

7

SINUMERIK 840C (IA)
6

6

© Siemens AG 1992 All Rights Reserved
5

5
4

4

5027
(as
from
SW 6)

6FC5197- AA50
3

5026
(as
from
SW 6)

3
2

2nd MCS
mirroring Z

2

3rd MCS
mirroring Z
1

1

0

2nd MCS
2nd MCS
mirroring Y mirroring X

Mirroring of the axis in question of the 2nd machine coordinate system at the coordinate origin
opposite the collision monitoring coordinate system.
Bit 0-2=1
Mirroring of the axis in question
Bit 0-2=0
No mirroring
Active:
Power On

Bit No.

0

3rd MCS
3rd MCS
mirroring Y mirroring X

Mirroring of the axis in question of the 3rd machine coordinate system at the coordinate origin
opposite the collision monitoring coordinate system.

Mirroring of the axis in question
No mirroring
Active:
Power On

6–107

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

NC MD

5030

as from
SW 3

Active:

6–108
7

Bit 0-2=1
Bit 0-2=0

NC MD

7

Bit 0

NC MD

7

Bit 0-7=1

Bit 0-7=0

NC MD

7

Default value:
6

6

6

6

5

5

5

5

01.99

Bit No.

4

4

3

5028
(as
from
SW 6)

4

3

4

3

3

2

4th MCS
mirroring Z

1

2

1

5029

2

1

2

1

5038

5039

© Siemens AG 1992 All Rights Reserved

0

4th MCS
4th MCS
mirroring Y mirroring X

Mirroring of the axis in question of the 4th machine coordinate system at the coordinate origin
opposite the collision monitoring coordinate system.
Mirroring of the axis in question
No mirroring
Active:
Power On
Bit No.

0

Dynamic
software
limit switch
for following
axes (as
from SW 5)

The dynamic limit switch for ELG following axes can be operated without
dead-time compensation in certain cases. Not the actual value but the
precalculated ”actual value” is used for calculation. The function is activated
via MD 5029.0 and axis-specifically via MD 584*.1.
Bit No.

0

CSB
CSB
CSB
CSB
CSB
CSB
CSB
CSB
input 7
input 6
input 5
input 4
input 3
input 2
input 1
input 0
signal from signal from signal from signal from signal from signal from signal from signal from
UPS: power UPS: power UPS: power UPS: power UPS: power UPS: power UPS: power UPS: power
failure
failure
failure
failure
failure
failure
failure
failure

Definition of the CSB input used for the uninterruptible power supply (UPS)
signal ”Power failure”
UPS signal not active in NCK
Active: immediately

Note:
See also Section 12.35 in the Functional Description.

Bit No.

0

Declaration
of PLC
PLC config.
display

0000 0001

Because a SINUMERIK 840C is always equipped with a PLC (135 WB), bit 0 of MD 5038 must
always be set to 1 and bits 1 to 7 to 0. With 1 in bit 0 of MD 5039, the control indicates that
the PLC has been recognized.

On POWER ON

SINUMERIK 840C (IA)

6FC5197- AA50

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01.99

1)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

5052

7

Default value:

Bit 0

NC MD

7

Active:

Bit 6

Default value:

SINUMERIK 840C (IA)

6

5

6

5

© Siemens AG 1992 All Rights Reserved

4

6FC5197- AA50

3

4

3

F62 proProg. Pregramming decod.
with
(as from G171/G172
SW 6.3)

2

2

1

5051

0

Cycle
setting data

All 0

By setting the relevant NC MD bit, entries and modifications through the NC operator panel
can be prevented with the keyswitch.
Cycles setting data
Active:
At once
Bit No.

No
Cylindrical
interpolation automat.
with 4 axes gener. of
(as from G68 for rot.
axes 1)
SW 6)

1

0

Bit 7 Bit 7=0 F62 programming not active.

Bit 7=1 F62 programming active.

Default setting: 0

MD immediately active

With this, the function "Progr. predecod. with G171/G172 is enabled (see
Section Functional Description).

Bit 1 Bit 1=0 Cylindrical interpolation with 2 axes

Bit 1=1 Cylindrical interpolation with 4 axes activated

Cylindrical interpolation can be activated for up to four axes, cylindrical interpolation remains
active. One limitation of this function is that the cylindrical interpolation axis must be
programmed as the 1st or 2nd axis in a block. The axes cannot therefore be programmed in
any order, nor can a circle be programmed without including the cylindrical interpolation axis. If
more than five axes are programmed in a block or if an axis other than the 1st or 2nd axis is
programmed as the cylindrical interpolation axis, alarm 2059 is output.

0 for T and M controls

Bit 0 Bit 0=0 Automatic generation of G68 for initial programming of rotary axes.

Bit 0=1 No automatic generation of G68 for initial programming of rotary axes.

With this MD the user can define how the control is to behave on initial programming of the
axis by programming G68, G90 or G91. On a block search, the automatic generation of G68 is
retained because the user cannot influence by programming.

_______

As from SW 5

6–109

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

NC MD

5053

1)

6–110
7

6

5

07.97

Bit No.

4

3

2

Axis display Channelfor all mode spec. axis
groups (as and spindle
from SW 6) display 1)

1

© Siemens AG 1992 All Rights Reserved

0

Default value: 0
Bit 0
Channel-specific axis and spindle display (as from SW 5)
Bit 0=1 Display of the axes according to the setting in MD 9000 ... 9099,
display of the spindles according to setting of the MD 9100 ... 9139
Bit 0=0 Display of the axes and spindles as before (mode-group-specific)
Bit 1 Bit 1=1 If this bit is active, all axes are displayed in the machine basic display,
whatever mode group they are assigned to. Whether individual axes are
displayed or not can be set in channel-specific bits 900*.

Note:
The machine data bit is independent of the option multichannel display. This means that the
user can set precisely those axes and spindles he wishes to display even in single-channel
display (no multichannel display option). No change to displays already created is required. It is
only important to make sure that MD 9000 ... 9139 are set for channel-specific display of the
axes and spindles because the standard setting is 0. This means no display.

_______

As from SW 5

SINUMERIK 840C (IA)

6FC5197- AA50

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MDA

X1
X3
X5
X7

SINUMERIK 840C (IA)
Menu MDA initial menu channel 1

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0.00
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0.00
0.00

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© Siemens AG 1992 All Rights Reserved
M.grp. 1
Chan. 1

0.00
0.00
0.00
0.00

Menu MDA initial menu channel 1

6FC5197- AA50
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M.grp. 1
Chann.1

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X1
X2
X3
X4
X5

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MDA

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Active:

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09.95
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Note on WS800A:

With the multichannel display option, the user can, of course, continue to configure channelspecific axis and spindle displays with the data groups and data types for multichannel display
whatever the setting in the new machine data bit.

Example:

The following example (see figures below) shows examples of the effect of the machine data
bit MD 5053 bit 0. The following MD presetting is assumed.

MD
Meaning
Value

1000
1001
360*
564*
568*
9000
9001
9100
Channel 1 in mode group 1
Channel 2 in mode group 1
Axis 1 to 8 in mode group 1
Axis exists
Axis name X1 to X8
Display axis 1 3 5 7 in channel 1
Display axis 2 4 6 8 in channel 2
Display 1st spindle in channel 1
1
1
Bit 7
xxxx0000
01010101
10101010
00000001

immediately

MDA

Channel
changeover key:
switches to the
next channel

Channel
changeover key:
switches to the
next channel
X1
X2
X3
X4
X5

X2
X4
X6
X8
0.00
0.00
0.00
0.00
0.00

Menu MDA initial menu channel 2

Mode-group-specific axis display (MD 5023 Bit 0=0)

MDA

0.00
0.00
0.00
0.00

Menu MDA initial menu channel 2

Channel-specific axis display (MD 5053 Bit 0=1)

6–111

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

NC MD

NC MD

6–112
7

Default values
"

MD 5062-5069

7

6

6

5

MD 5060, 5061:
MD 5062 to 5069:

5

12.93

Bit No.

4

4

3

3

2

1

5060
Transformation channel number (1st block)

5061
G function for transformation selection (1st block)

5062
to
5069
Axis name (1st block)

2

1

5070
Transformation channel number (2nd block)

5071
G function for transformation selection (2nd block)

5072
to
5079
Axis name (2nd block)

© Siemens AG 1992 All Rights Reserved

0

All bits default to 0
All bits default to 1

MD for 1st TRANSFORMATION BLOCK.
MD 5060
Channel numbers 1 to 4
Example for channel 3
MD 5061
G function for Transmit

0000 0011
G131 0001 0001
G231 0010 0001
G331 0011 0001
Axis name according to code table, see MD 568*

The default values must be retained if Transformation (option 6FC5 150-0AD04-0AA0) is not
used. Illegal MD results in alarm 3087.

Active:
All Transmit MDs become active on Power On or on a warm restart
For a detailed description, see Section 13.4.

Bit No.

0

See MD 5060
MD for 2nd TRANSFORMATION BLOCK.

SINUMERIK 840C (IA)

6FC5197- AA50

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12.93

5090
to
5139

Active:

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

7

NC MD

6

7

6

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

5

5

4

3

4

6FC5197- AA50
3

Default values
NC MD
All bits 0 for
5070, 5071, 5080, 5081, 5090, 5091,
5100, 5101, 5110, 5111, 5120, 5121, 5130, 5131

Default values
NC MD
All bits 1 for
5072-5079, 5082-5089, 5092-5099,
5102-5109, 5112-5119, 5122-5129, 5132-5139

2

5080
Transformation channel number (3rd block)

5081
G function for transformation selection (3rd block)

5082
to
5089
Axis name (3rd block)

2

1

1

0

See MD 5060
MD for 3rd TRANSFORMATION BLOCK.

Bit No.
0

These NC MDs are intended for future expansion only and cannot be used at the
present time.

These NC MDs must not be changed during the transformation option. They are verified on
Power On and alarm 3087 issued in the event of a verification error.

On POWER ON or on a warm restart

6–113

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

NC MD

Active:

6–114
7

6

5

(Binary)

12.93

Bit No.

4

5141
to
5146
3

Byte
Decimal

2

NC MD

1

© Siemens AG 1992 All Rights Reserved

0

Ethernet address

The Ethernet address is the address of the bus interface module within the network.
On POWER ON

Ethernet address
Default value

5141
0000
1000
Byte 1
08
0000
1000

5142
0000
0000
Byte 2
00
0000
0000

5143
0000
0110
Byte 3
06
0000
0110

5144
0000
0001
Byte 4
01
0000
0001

5145
User assignable
Byte 5
User assignable

0000
0000

5146
User assignable
Byte 6
User assignable

0000
0000

The last four bits in the Ethernet address are for the bus interface module.
(See Computer Link).

SINUMERIK 840C (IA)

6FC5197- AA50

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

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09.95

Bit No.

NC MD

7

6

5

4

2

1

0

Protect
File transfer
EPROM
Do not
AcknowlPos.
cycles from delete
read
edge
acknow. of
overwrit.
only
message at
end
(as from
programs
once
messages
SW 4)

5147

Default value:
Active:
Bit 3

3

All bits 0
On POWER ON

Bit 3=1

Bit 3=0

The program to be read in is not read in, the cycle is still available for
processing. The cancel alarm 3240 ”Subroutine not read in” is output.
The program number concerned is output in the block number of the
alarm. Reading in via RS 232 C/file transfer is continued.
The program to be read in is read in and is available for processing.
Cancel alarm 3239 ”Cycle overwritten by subroutine” is output. The
program number concerned is output in the block number of the alarm.
Caution:
The alarm is not returned via the file transfer message sequence.

Bit 2

Do not delete read only programs. Is used in computer links.
Bit 2=0
Bit 2=1

A program is not deleted until it is released (end-of-program and Reset).
File transfer is suspended in the interim.
A read only program is not deleted.

Bit 1

Acknowledge message at once.
Is used in computer links. When this bit is set, the NC forwards a
request to the host computer before entering data in NC memory.

Bit 0

Positive acknowledgement of end message.
Is used in computer links.
When this bit is set, the NC responds to an incorrect message from the
host computer by sending a positive acknowledgement. When the NC
transmits an end message, it also expects a positive acknowledgement
from the host.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–115

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

6–116

12.93

Execution from external
Bit No.

NC MD

7

6

5

4

3

2

1

0

5148
0
1
0
0
0
1
1
0

Bit No.

NC MD

7

6

5

4

3

2

1

0

5149
0
1
0
0
1
1
0
0

Bit No.

NC MD

7

6

5

4

3

2

1

0

5150
0
1
0
1
0
0
1
0

Bit No.

NC MD

7

6

5

4

3

2

1

0

5151
0
1
0
1
1
1
1
1

These machine data are valid only for ”Execution from external”via the computer link interface.

In the 4 bytes, the ”Logical partner receiver” is entered to which the request message is
forwarded when starting the ”Execution from external” function.

These values are entered as ASCII values

The default setting is as described above and is referred to in ASCII as ”FLR_”.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

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09.95

NC MD

5153

1)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

7

6

5

4

3

2

1

0

5152
0
0
0
1
0
0
0
1

This machine data is valid only for ”Execution from external” via the computer link interface.

In this byte, the ”Location receiver” is entered.

The specification ”Location receiver” defines the interface module via which the ”Logical
partner receiver”can be reached.

The following applies:

7

SINUMERIK 840C (IA)

11H (00010001) equivalent to the 1st interface module
12H (00010010) equivalent to the 2nd interface module

The default setting is the one entered above (11H).

Additional MDs (MD 30, MD 130*, MD 5148-5151) and the ”Execution from external” option.

Bit No.

6

© Siemens AG 1992 All Rights Reserved
5

4

ZO and D
No. indep
of prog.
move.
travel 1)

6FC5197- AA50
3

2

1

0

Init. setting
after NC
start active

Active: NC Start

After NC Start, the initial setting becomes active for the 6th G group for each channel as set in
MD 112*. A permanently defined value D0 is selected for the TO as standard. If NC MD
5153.1 = 1 is set, the last zero offsets, tool offsets and plane to be selected can also remain
active.

Bit 7
Bit 7=0
Bit 7=1
No function
The actual zero offsets (ZO) and the active D number (TO) are
calculated independently of the programmed traversing movement.
Workpiece related axis actual values can be read channel-specifically
with FB 61 (read data).

Bit 1
Bit 1=0
Bit 1=1
Initial setting (MD 112* and TO = D0) active after NC Start
No initial setting (selected ZO, TO and plane also remain active after
NC Start)

Note:
Please refer to the Programming Guide in the Section entitled
”Workpiece name and actual value system”.

_______

SW 3 and higher

6–117

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

NC MD

Default value:

Active:

6–118
7

6

5156
to
5182
5

12.93

Bit No.

4

3

2

1

© Siemens AG 1992 All Rights Reserved

0

Coupled motion combination

All bits 0

The definition of this coupled axis combination defines which coupled axis pairings form a
coupled axis combination and how the coupled motion is performed (coupled motion in the
same direction or opposite directions).

The 9 possible coupled axis combinations are programmed with G151 to G159. Each coupled
axis combination is defined with 3 NC MDs corresponding to the 9 coupled axis pairings (12
times 2 bits).
RESET

See also NC MD 876 - 899 and the Programming Guide.

Programming
NC MD

1st coupled axis combination
G151
5156 to 5158

2nd coupled axis combination
G152
5159 to 5161

3rd coupled axis combination
G153
5162 to 5164

4th coupled axis combination
G154
5165 to 5167

5th coupled axis combination
G155
5168 to 5170

6th coupled axis combination
G156
5171 to 5173

7th coupled axis combination
G157
5174 to 5176

8th coupled axis combination
G158
5177 to 5179

9th coupled axis combination
G159
5180 to 5182

SINUMERIK 840C (IA)

6FC5197- AA50

12.93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Two bits are assigned to every coupled axis pairing in every coupled axis combination.
Leading axis

898

896

894

892

890

888

886

884

882

880

878

876

NC MD

Coupl. mot. axis
Definition of the
coupled axis
pairing

899

897

895

893

891

889

887

885

883

881

879

877

NC MD

Bit

Bit
7 a. 6

5 a. 4

3 a. 2

1 a. 0

7 a. 6

5 a. 4

Bit
3 a. 2

1 a. 0

7 a. 6

5 a. 4

3 a. 2

1 a. 0

Programming function
G

151

5158

5157

5156

G

152

5161

5160

5159

G

153

5164

5163

5162

G

154

5167

5166

5165

G

155

5170

5169

5168

G

156

5173

5172

5171

G

157

5176

5175

5174

G

158

5179

5178

5177

G

159

5182

5181

5180

NC MD

With these 2 bits you determine how coupled motion is to be performed.
00 ... no coupled motion
10 ... coupled motion in opposite directions
11 ... coupled motion in the same direction
01 ... not defined (Alarm 85)
The definition of the coupled motion combination can be changed on a warm restart
without POWER ON (for warm restart see also Section entitled ”Functional Descriptions”).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–119

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

NC MD

6–120
7

5185

Default value:
Active:
Bit 0

Bit 0 = 1

G64

G64

6

G00

G00

5

S

09.01

Bit No.

4

3

V

NC generates
"coarse" exact stop

2

G64

1

G64

© Siemens AG 1992 All Rights Reserved

0

Angle offset for
thread cutting
negative
positive
(as from SW 5.7)
Exact stop
on change
from G64 to
G00

0
NC Stop

If a path is traversed in an NC block with G64 and traversing continued in the
next block with G00, the NC generates feedrate reduction with coarse exact
stop at the end of the block.
V

S
S

G00

NC generates
"coarse" exact stop

Bit 0 = 0

V
V

S

G00

Bit 6 and 7 (should only be used for very slow spindle speeds)
The G92 angle is always calculated in one direction, irrespective of the direction of rotation.
This direction can be set via machine data:
Bit 6=1
Angle G92 A.. always calculated in the positive spindle direction
Bit 7=1
Angle G92 A.. always calculated in the negative spindle direction

Note:
Only one direction can be selected.
Default value: Both bits=0
Angle is calculated in the actual direction of rotation.

SINUMERIK 840C (IA)

6FC5197- AA50

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09.01
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

7

NC MD

7

Bit 0

Default value:

SINUMERIK 840C (IA)

6

5

5186

6

5

Active:

NC MD

7

6

5

5189

MD 161
enabled
(from SW
6.4)

Extended
program
view
(from SW
6.3)

Suppression of
alarm 3265
(from SW
6.03.57)

© Siemens AG 1992 All Rights Reserved

4

3

2

1

0

Fast block
change (up
to SW 2)
G176
active (up
to SW 3)

Axis conv.
spindle
conv. active
(as from
SW 2)
Several
block skip
levels (as
from SW 2)
Program
coordination (as
from SW 2)

Default value:
0

Active:
In the block prior to decoding

Bit 4
Bit 4=1
FIFO active (see Section entitled ”Functional Descriptions”)

Bit 3
Bit 3=0
Bit 3=1
Programming function G176 cannot be used.
Programming function G176 is used to 'freeze' the zero offsets for the
angles of rotation and the tool length compensations, i.e. these values
are not updated in every block. This reduces the amount of time
required for block changes. G176 can be revoked with G175 (initial
setting).

Bit 2
Bit 2=1
The ”Axis converter/Spindle converter” function is active (see Section
entitled ”Functional Descriptions”).

Bit 1
Bit 1=1
Function BLOCK SKIP LEVELS is active (refer also to
SINUMERIK 840C Programming Guide).
Active: immediately

Bit 0
Bit 0=1
Program coordination permits the user to program coordination
commands in plaintext in the part program. The coordination commands
are transferred to the NC PLC interface. The PLC performs the
coordination itself (see also SINUMERIK 840C Programming Guide).
Active:
On POWER ON

Bit No.

4

4

Bit 5

Bit 5=1

Alarm 3265 is suppressed

Bit 5

Bit 5=0

Alarm 3265 is active

6FC5197- AA50
3

3
2

2
1

5188

1

0

Double
channel
displ. (as
from SW 2)

MCD (Multi-channel display)
Several channels can be displayed at any one time on the screen for
operator support when multiple machine tools are used. The operator
can then check the allocation of programs that run simultaneously and
test the synchronization marks in test mode.

POWER ON

Bit No.

0

Name of
default
workpiece
(from
SW 5)

0

6–121

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

09.01

The function ”Automatic saving of part programs on hard disk” can be activated with no/yes in
the machine area ”Automatic” via program modification and toggle field ”Automatic save”.
Activation of the function ”Automatic saving of part programs on hard disk” is indicated by
displaying of the text ”SAV” in the editor status line of the NCK editor.
When the ”Automatic saving of part programs on hard disk” function is activated, ”SAV” is
added to the editor displays in the editor status line.
The entry ”SAV” is displayed as variable text in the editor status line. The display cannot be
configured.
The part program is saved either in the original workpiece or the workpiece ”STANDARD” of
”NCKTMP” according to the machine data 5189 bit 3.
Bit 2 Bit 2=1

Jerk-controlled interpolator active

Bit 2=0

Standard interpolator active (default setting)

Bit 6 Bit 6=0

Extended program view: Display of the active part program in the current
program level

Bit 6=1

Default program view: Display of the active part program in program level 0.

Bit 7 Bit 7=1

MD 161 (number of IKA configurations via PLC/DB48) is active.

Bit 7=0

MD 161 is disabled. Thus, all (32) IKA configurations via PLC/DB48 are
active.

Default value:

Bit 6=0

Bit 3 Bit 3=0

The part program is saved in the workpiece STANDARD.
The part program is saved in the workpiece NCKTMP.

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Bit 3=1

Bit No.

NC MD

7

6

5

4

3

5197

Bit 0

Bit 0=0

840C (T) active

Bit 0=1

840C (M) active

2

1

0

Modif. of
the interf.
signal
FB24.5
(from SW
6.4)

Display
T/M active

Activation in OVERALL RESET mode
The function of the interface signal (flag byte) FB24.5 (NC alarm with machining standstill) can
be changed via the machine data bit 5197.1:
Definition of MD bit 5197.1:
MD 5197.1=0:
For reasons of compatibility, the functionality is the same as of the preceeding software
versions, i.e the number of alarms influencing the interface signal MB 24.5 is decreased by the
following alarms:
148*,152*, 2065, 2068, 1316*
The machine data 5197 bit 1 can be modified in the user data lists. For this, proceed as
follows:
Softkey: "Diagnostics/Start-up/Machine data/User data/NC data".
Enter MD 5197.1 in the Editing list and save the data. Then press the softkey "Recall". The
machine data can now be modified.

6–122

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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09.01
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.1 General MD bits (general bits)

Bit No.

NC MD

7

5198

Compensation beyond
working area
(from SW
5.03.57)

NC MD

Default value:
Active:

SINUMERIK 840C (IA)

6

7

6

5199

© Siemens AG 1992 All Rights Reserved

5

4

3

2

Block
definition
from PLC
(as from
SW 4)
Extended
overstore
(as from
SW 4)
Jerk IPO

Default value:
0

Bit 7 Bit 7=1
Bit 7=0
Enables compensation beyond working area
Compensation beyond working area disabled

Bit 4 Bit 4=1
Enables block definition from PLC.

Bit 4=0
Block definition from PLC disabled.

5

4

3

Display
PLC
message
texts (up to
SW 2)
R
parameter
extension
(up to
SW 2)

R parameters

Basic version

6FC5197- AA50

1

2

0

Ref. point
synch. via
G74

Bit 3 Bit 3=1
Extended overstore enabled. Only checked if extended overstore is
selected.

Bit 2 Bit 2=1
Bit 2=0
Jerk-controlled interpolator active
Standard interpolator active (default setting)

Bit 0 Bit 0=1
Reference point synchronization

By selecting the function G74 you can approach the reference point in a
programmed axis in a program. The function works in a similar way to the
reference point approach in the reference point mode. You can only select
this function in AUTOMATIC and MDA modes for one axis at a time.
Bit No.

1

0

0
On POWER ON

Bit 4 Bit 4=1 Storing PLC alarm texts (PCF) in the NC part program memory

The alarm texts are stored in the NC part program memory in the same way
as in an ASCII file. The block numbers in this alarm text program correspond
to the alarm number to which the text is allocated. This file can be read in and
out via the MMC/computer link and can be edited, deleted, renamed and
copied within the possibilities offered by part program processing with certain
restrictions regarding start-up and password.

If available, the alarm texts are taken from the program, otherwise the display
submodules search for the alarm text in the UMS.

Bit 3 Bit 3=1 R parameter extension
This function gives you more R parameters.

Expansion

Channel-specific

R00

-

R599

R600

-

R699

Central

R700

-

R899

R1000

-

R1299

This bit is activated when the softkey "Format R parameters" is pressed in
initial clear mode.

6–123

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

01.99

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6.6.2 Spindle-specific MD bits (spindle bits)
Bit No.

NC MD

7

6

520*

Spindle
override
active for
thread cutting

No M19
abort on
RESET

5

4

M19 with
M19
axis
oriented
movement spindle stop

3

2

1

0

Speed in
0.1 rev/
min units

Encoder
available

Actual
value sign
change

Default value
MD

840C (T)

840C (M)

5200

0000 0100

0000 0000

5201 - 5205

0000 0000

0000 0000

Active:

On NC STOP

Bit 7 Bit 7=1 When this bit is set, a change in the following error (due to a change in the
spindle speed) results in a thread fault!
Note:
Only the leading spindle of the channel may be programmed before first programming and
during activated G33, G96 and G97.
Bit 6 Bit 6=1 M19 is active until the "Acknowledge M19" interface signal is generated,
without regard to RESET (or to M02/M30 etc.).
(Refer also to the Section entitled ”Axis (Analog) and Spindle Installation”.)
Bit 5 Bit 5=1 No waiting for positioning of the main spindle; instead, the next program block
(which might include axis movement) is executed when M19 is output to the
PLC. Positioning (M19) is also terminated with an M3 or M4 in the part
program.
Bit 5=0 No acknowledgement with M3 or M4 (block search)
Bit 4 Bit 4=1 Oriented spindle stop
When this bit is set, the NC can stop the spindle at specific positions. S
analog and encoder are required. See Section 6.
Bit 3 Bit 3=1 The programmed S word is given the dimension 0.1 rev/min, i.e. the speed
range lies between 0.1 rev/min and 1600 rev/min. This bit is required for actual
speed monitoring only; the spindle setpoint (speed) is specified in NC MD
403* to 410*. The actual value is always displayed in whole revolutions. For the
actual spindle speed monitor, the minimum speed is always approximately 2
rev/min for the 0.1 rev/min and 1 rev/min settings.
Note:
When using this bit it should be noted that a value is entered in MD 403* that is 10 times
greater.

6–124

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

Bit 2 Bit 2=1 Must be set when a function calling for a spindle encoder is required, e.g.
•
•
•
•
•

G33/34/35
G 95
G 96
G 97
M 19

(Thread cutting)
(Feedrate per revolution)
(Constant cutting speed)
(Freeze spindle speed)
(Oriented spindle stop)

The encoder is allocated in MD 400*, which also activates the hardware
monitor for the measuring circuits. If the M19 option is invoked, bit 2 must be
set to 1 (also see Section entitled ”Axis (Analog) and Spindle Installation”).
Bit 1 Bit 1=1 The sign of the spindle encoder pulses is inverted every time this bit changes
its status.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–125

07.97

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

Bit No.

NC MD

521*

7

6

Spindle
available

No spindle
zero speed
with M03
and Reset

5

4

Switch off
New S
C axis
value after
mode on
gear
RESET (as
acknow. from
SW 2)

3

2

No
measuring
circuit
monitoring

Ramp-up
as C axis
(as from
SW 4)

1

0

Automatic
drift
Setpoint
compensign change sation on
M19 (as
from SW 2)

Default value
MD

840C (T)

840C (M)

5210

1000 0000

0000 0000

5211 - 5215

0000 0000

0000 0000

Bit 7

A SINUMERIK 840C system can include up to 6 spindles.
Active: POWER ON

Bit 6

Instead of being decelerated to zero speed on a key-initiated reset, mode
change or M2 / M30, the spindle continues to rotate at the spindle speed last
programmed (spindle override active). In this case, the spindle can be
decelerated with the interface signal "Spindle RESET" (DB 31 DRk + 1, bit 5).
EMERGENCY STOP (alarm 2000) and all alarms that result in removal of the
"Mode group ready" interface signal decelerate the spindle to zero speed in all
cases (mode group-specific).
The "Spindle RESET" signal is effective only when the channel to which the
spindle is currently allocated (DB 31 DLK + 1, bits 0 to 4) is in the RESET
state.
This bit has no effect on the M19 function (spindle positioning); only NC MD
520*, bit 6, is relevant.
Active: In next block

Bit 5

Up to SW 4
A newly programmed spindle speed, which requires a gear change (automatic
gear selection in the NC), is not accepted until the gear change has been
acknowledged over the interface (DB31, DRk, bit 7), thus preventing an
unintentional speed increase in the old gear prior to a gear change.
Active: NC STOP

Bit 5

As from SW 5
Bit 5=0 The new speed setpoint is output immediately on a gear stage change.
Bit 5=1 Spindle speed not accepted until acknowledged by PLC.
The new speed setpoint is not output until interface signal ”Switch over gear”
has been acknowledged by the PLC user program.

Bit 4

Whether C axis mode is maintained on RESET depends on how bit 4 is set.
Bit 4=0 C axis mode is maintained
Bit 4=1 C axis mode is switched off on RESET

6–126

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

Bit 3

If the bit is set, no measuring circuit monitoring is performed.
Examples for measuring circuit monitoring:
•

Check for encoder line breakage

•

Check for contamination, if the encoder has a signal for contamination or if
the amplitude can be monitored (with unconditioned signal encoders).

Active: Immediately
Bit 2 Bit 2=1 The spindle is switched to C axis mode on Power On.
Bit 2=0 The spindle is (remains) in spindle mode after Power On.
Bit 1

Is used to match the programmed direction of rotation (M03 and M04) to the
main spindle's direction of rotation. When bit 1 = 0, a positive setpoint speed
is output for M03. The spindle's direction of rotation can be reversed over the
PLC with interface signal "Invert M3/M4" (DB31 DRK + 1).
Active: NC STOP

Bit 0

Automatic drift compensation with M19
The function ”Automatic drift compensation wth M19” has the same effect on
spindles as ”Semi-automatic drift compensation” for axes. The function is
activated with every M19 command (even if M19 is sent from the command
channel), if the function is selected via MD 521*, bit 0, and the end position is
approached in M19 operation.
With this function a drift compensation is performed for the spindle when the
setpoint position is reached in M19 mode (speed 0 crossing of actual speed)
so that the following error of the position control is reduced.
The compensation value is derived from the sum of the NC spindle drift (MD
401*) and the speed setpoint at zero speed. The result is smooth with a filter
and stored internally.
The speed setpoint which is sent to the DAC, is derived from the sum of the
smoothed internal drift value, the NC spindle drift machine data and the speed
setpoint.
The function is deactived by
•

Deleting the maching data bit (the internal compensation value is deleted,
only NC MD 401* has an effect).

or
•

Deleting the alarm ”Speed setpoint warning limit” (control direction
monitoring with M19) (the compensation value calculated internally is
deleted, only NC MD 401* remains active).

The compensation value is deleted on POWER ON.
Effects on other functions
•

Tacho compensation
Tacho compensation is only active during constant movement.
The new function is only executed after M19 with an actual speed of = 0
no reciprocal effect.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–127

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

•

04.96

Control mode
The last drift compensation value to be derived is also maintained in
control mode (M3/M4/M5).

•

C axis mode
The NC axis drift machine data MD 272* applies here; the compensation
calculated by the function ”Automatic drift compensation with M19” has no
effect here.

Note:
•

If the M19 area is deselected the derived compensation value remains
active.
If the NC spindle drift machine data (NC MD 401*) is altered, the internal
compensation value is not deleted, i.e. M19 has to be executed again to
adjust the compensation value to the new machine data.
The internal compensation value is maintained on warm restart.

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a

•

Bit No.

NC MD

522*

7

6

5

4

3

2

Switch over
parameter
groups
separately

Switching
off with
braking
ramp

Multiple
assignment
setpoints

1

0

Number of
Measuring
encoder
system with
pulses
ext. zero
(611D)
mark
multiple of

Bit 4 Bit 4=0 Active for digital and analog drives
The parameter set of digital spindles is switched over by presetting the actual
gear stage in DB 31, DR K + 1, Bit 0...2. The control signals in DB 31, DR K
+ 74, bit 0...2 ("Parameter set number") have no effect.
Bit 4=1 The parameter set number of the digital spindle is switched over via PLC
control signals DB 31, DR K + 74, bit 0...2 irrespective of the actual NC gear
stage.
Bit 3 Bit 3=0 No braking ramp when switching off the rpm servo control.
The speed setpoint immediately drops to 0 when the rpm servo control is
switched off. PLC control signal DB 31, DL K + 74, bit 9 ”Ramp-function
generator rapid stop”, has no effect on the setpoint assignment. (No setpoint
is output with bit 9 of DB 31 DW 74).
Bit 3=1 Deceleration with braking ramp for mode group stop
If PLC control bit DB 31, DL K + 74, bit 9 = 0, the setpoint is ramped down
to zero. Otherwise it is brought abruptly to zero as described above.
This bit is also effective in C axis mode. Braking is then executed with the
acceleration from MD 276*. Only SW 4, uses the acceleration from MD 1768*
(set of parameters); however, a value greater by the ratio of Ipo to position
control cycle must then be entered.
Bit 2 Bit 2=0 No multiple assignment of setpoint.
The control recognizes if several spindles have been assigned to the same
digital setpoint output on runup, which triggers the alarm "Parameterization
error NC MD" with service number 329.

6–128

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

Bit 2=1 The control ignores multiple assignment of different spindles to the same
digital setpoint output on runup. The control checks cyclically that the spindles
do not access the setpoint output at the same time. If they do, reset alarm
2016, "Multiple assignment of connection" is triggered. This alarm cannot be
acknowledged until the rpm servo control has been removed of at least one of
the involved spindles by cancellation of the servo enable.
Note:
Multiple assignment of setpoints is only possible with digital setpoint values, the encoders must
not be SPC encoders.
Bit 1

(digital drives only)
Bit 1=0 Number of encoder periods between two reference marks is a multiple of 16.
Bit 1=1 Number of encoder periods between two reference marks is a multiple of 10.

Bit 0 Bit 0=0 The spindle actual value system is updated to the encoder zero marker signal.
Bit 0=1 (digital drives only)
The spindle actual value system is updated when the external zero marker
signal is received.
The external zero marker system (BERO proximity switch) must be connected
to the drive module.
Note:
The bits have an extended function in SW 4 and higher.
Bit 4 Bit 4=0 All parameter groups are switched over with the gear stage (active
immediately).
Bit 4=1 All parameter groups are switched over separately
Drive (DB 31, DR K+74, bit 0-2)
Position control (DB 31, DR K+xx, bit 0-2)
Transmission (DB 31, DR K+yy, bit 3-5)
Bit 0

With digital and analog drive:
Bit 0=0 Spindle measuring system without external zero marker (BERO) (active
immediately).
Bit 0=1 Spindle measuring system with external zero marker (BERO) (active
immediately).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–129

a
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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

NC MD
7

6

5

523*
Sign
inversion
setpoint
master/
slave
(as from
SW 4.4)
Controller
output
controls
master
(as from
SW 4.4)
Controller
output
controls
slave
(as from
SW 4.4)

Bit 3

NC MD

6–130
7

6

5

09.95

Bit No.

4

3

4

524*

Active:
On POWER ON

Bits 0 to 3

Position control resolution for spindle

© Siemens AG
3

2

1

2

1992 All Rights Reserved

0

PositionMasterslave oper- controlled
ation after follow-up if
Power On error occurs
(as from
(as from
SW 5)
SW 4.4)
Extended
para. set
switchover
(as from
SW 4)

Active:
On Power On

Bit 7
With bit 7 it is possible to take account of different ways in which the master
and slave drives might be connected to the common output without having to
change the polarity of the control and the direction of travel of the individual
drives (MD 5210 bit 1 and MD 5200 bit 1). This bit only has to be set if, given
a positive setpoint, the axes/spindles would rotate in opposite directions at the
mechanical coupling.

Bits 5 and 6
The output of the torque compensation controller is connected with bits 5 and
6. It can either affect the speed setpoint of the slave (bit 5 = 1 only), the
master (bit 6 = 1 only) or the master and slave (bits 5 and 6 = 1)

Bit 4 Bit 4=1 If bit 4 = 1, this axis is switched to slave operation immediately after Power
On (see Function description Master/Slave). This bit is therefore only active
after Power On. It is not longer possible to disable this function with a PLC
signal.
If bit 3 is set, a master or slave spindle which is also a following spindle is
switched over to position-controlled follow-up mode if errors occur in the
master/slave grouping (multidrive, gearbox interpolation). If no "Extended
stopping and retract" is active, switchover is also performed if errors occur in
the same mode group.

Note:

This function must not be used if the master spindle is simultaneously the
leading spindle for the slave (synchronous spindle), as then an unstable
control loop results.

Bit 0 Bit 0=1 Extended parameter switchover

Bit 0=0 Gear stage/parameter set change as for Software Versions 1 - 3.

This parameter switchover is only possible with the option bit.

Bit No.

1

0

Position control resolution

The measuring system resolution chosen is matched to the rotary encoder
using the NC machine data MD 455* and 456*.

The coding of the possible measuring system resolutions can be taken from
the table giving the position control resolution of the rotary axes (see MD
1800* bit 0 to 3).

SINUMERIK 840C (IA)

6FC5197- AA50

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09.95
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

Following spindle-specific machine data bits
Bit No.

NC MD

Bit 5

Bit 3

Bit 2

Bit 1

Bit 0

© Siemens AG
7

525*

SINUMERIK 840C (IA)
6

5

1992 All Rights Reserved

4

Test bit
compensatory
controller

6FC5197- AA50

3

2

1

0

Coupling
Position
factor
Reconfig. Spindle can
overwrite switchover
be FS
permissible permissible permissible

The following bits only apply to following spindles and are active after Power on.
Test bit compensatory controller

Bit 5=1 Compensatory controller test mode switched on

Bit 5=0 Compensatory controller test mode not switched on.
Position overwrite permissible

Bit 3=1 Overwriting positions enabled

Bit 3=0 The synchronous positions (or switching positions) entered for the leading
axes/spindles must not be overwritten. I.e., synchronization must always start
with the same positions.
Coupling factor switchover permissible

Bit 2=1 Switching over the coupling factor is permitted (with G402, G403 commands
or via input display)

Bit 2=0 Switchover not permitted.

Reconfiguration permissible

Bit 1=1 Reconfiguration is permissible (with G401 command or via input display)

Bit 1=0 Reconfiguration not permissible

Spindle can be following spindle

Bit 0=1 Spindle can be following spindle

Bit 0=0 Spindle must not be a following spindle

6–131

07.97

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

Bit No.

NC MD

7

6

526*

Synchronization of
tooth pitch
(as from
SW 6)

5

Block
change
when synchronization
achieved

4

3

2

Block
Suppreschange with
sion of
synchroaccel. limit. nism
fine

1

0

Reserved

Reserved

Bit 7=1

The synchronization path of following spindles is limited to 1
revolution/denominator of the GI link ratio to the leading spindle. The
synchronous position is then determined by the setting in MD 531*, bit 4 or
reached by deceleration.

Bit 7=0

The synchronous position of following spindles is limited to 1 revolution.
Above half the maximum speed, the synchronous position is reached by
deceleration, below half the maximum speed along the shortest path.

Note:
If bit 4 has been set, synchronization must never be performed while the tool and wheel are in
use.
Bit 5

Block change after synchronization (with on-the-fly synchronization)
Bit 5=1

On-the-fly synchronization with G403: Block change after the synchronous
position has been reached (see also PLC signal, "Synchronous position
reached").

Bit 5=0

Block change immediately, i.e., as soon as synchronization is triggered.
Synchronization does not start if PLC signal "Disable LINK ON" is active.

Bit 3

"Suppression of acceleration limitation"
Bit 3=1

"Acceleration limitation not active"
With LINK ACTIVE, the acceleration of the following spindle is not limited by
the control but is output directly, as determined by leading spindle. If MD
value 2522*-2529* is exceeded, no alarm is triggered.

Bit 3=0

"Acceleration limitation active"
With LINK ACTIVE, the acceleration of the following spindle is limited to the
acceleration value set in the machine data (MD 2522*-2529*).
Note:
The limitation remains active until the synchronous speed or zero speed is
reached:
•
•
•

Bit 2

6–132

On runup after switching on the link
When switching from speed ratio
When stopping the spindle by switching off the link

”Block change with synchronism fine”
Bit 2=1

After an overlaid movement, block change is triggered in the NC. As soon
as the following spindle has reached "Synchronism fine" and all the partial
setpoints of the block have been output.

Bit 2=0

Block change is triggered when the synchronism speed has been reached
and all the partial setpoints of the block have been output.

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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aaaaaaaaaaaa

NC MD

NC MD

528*

© Siemens AG
7

Bit 0

7

SINUMERIK 840C (IA)
6

527*
5

6

1992 All Rights Reserved

5

4

6FC5197- AA50

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Partial actual value
Tdelay

Tdelay delay (derived from the time
constant of the parallel model)

4

3

3

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aaaa

V FA

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a

07.97
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

Partial setpoint

Synchronism fine window

t

Block change on 1 signal

Block change on 0 signal

Bit No.

2

Include tool
Include
Include
length
programInclude
ZO
compenmed ZO external ZO settable
G54...G57
sation
G58...G59

2

1

0

Include
DRF and
preset
Ref. system
GI positions

Active:
Immediately
The bits below are defined for the following spindles. They do not affect the following spindles,
only the active leading axes which belong the to GI grouping defined by the following spindle.
The above values are included when calculating the synchronous position (G403).

Bit 5
Bit 5=1 Include tool length compensations for GI position calculation
Bit 5=0 Do not include tool length compensations
Circle radius compensations are never included in calculations.

Bit 4
Bit 4=1 Include programmable ZO offset (G58...G59) for GI position calculations
Bit 4=0 Do not include programmable ZO offset

Bit 3
Bit 3=1 Include external ZO for GI position calculations
Bit 3=0 Do not include external ZO

Bit 2
Bit 2=1 Include ZO (G54...G57) for GI position calculations
Bit 2=0 Do not include ZO (G54...G57)

Bit 1
Bit 1=1 Include DRF and preset for GI position calculations
Bit 1=0 Do not include DRF and preset

Reference system GI positions

Bit 0=1 The positions have been entered in the workpiece system; include offsets
as for bits 2..5 in calculation
Bit 0=0 Positions have been entered in machine system; do not include any offsets
in calculation

Following axis/following spindle-specific machine data bits

Bit No.

1

0

Switch over Switch over Switch over Switch over Switch over Switch over Switch over Switch over
output bit 7 output bit 6 output bit 5 output bit 4 output bit 3 output bit 2 output bit 1 output bit 0
on
on
on
on
on
on
on
on
emergency emergency emergency emergency emergency emergency emergency emergency
retraction
retraction
retraction
retraction
retraction
retraction
retraction
retraction

6–133

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

09.95

These bits only affect following spindles and are active immediately
Bit 0-7

Switchover bit for emergency retraction
Bit 0-7=1
The corresponding bit in the output byte of the mixed I/O module is
switched from the normal state to the inverted state when an
emergency retraction has been triggered by this axis/spindle.
Bit 0-7=0
The corresponding bit in the output byte of the mixed I/O module
remains unchanged with an emergency retraction.
Comments:
The normal state is 1 (i.e. the condition after Power on, Reset) for all the bits of the mixed I/O
module.
If an axis/spindle triggers an emergency retraction, the bits defined in MD 528* change from 1
to 0.
Even if several axes/spindles trigger an emergency retraction simultaneously or in quick
succession and the same bit is marked for all of them, it only changes from the normal state to
error once. This is then maintained until the next Reset.

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a

Example:
12 is set in MD 312
This means that the 2nd byte of the 1st mixed I/O module for the first mode group is used for
the emergency stop. After Reset all outputs of this byte are set to 1.
S1 (1st spindle) and S2 (2nd spindle) are defined as following spindles.
0001 0001 is set in MD 5280 and 001 0010 is set in MD 5281.
If spindle S1 detects that the emergency retraction threshold has been exceeded in follow-up
mode and emergency retraction has been enabled via PLC interface signal, bit 0 and bit 4 in
the mixed I/O module change from 1 to 0.
If spindle S2 then detects an emergency retraction, bit 1 additionally changes to 0. Bit 4 is
already at 0 and remains so.
With these switchover bits it is possible to output common signals for several spindles of one
mode group as well as spindle-specific signals.
Bit No.

NC MD

7

6

5

4

3

2

1

0

DriveTrigger
autonomous Controlled
alarm +
ext.
stop
ext. stop
mode group
and retract. and retract.
stop on
1)
1)
error 1)

529*

Determining spindle-specific responses (spindle was the source of the response). Internal
spindle-specific responses
Bit 2 Bit 2=1 Drive-autonomous extended stopping and retraction enabled.
Bit 2=0 Drive-autonomous extended stopping and retraction disabled.
Bit 1 Bit 1=1 NC-controlled extended stopping and retraction enabled.
Bit 1=0 NC-controlled extended stopping and retraction disabled.
Bit 0 Bit 0=1 When a fault is detected an alarm and Mode Group Stop is triggered and, with
it, stopping as well as retraction is requested.
Bit 0=0 No alarm or Mode Group Stop is triggered if a fault is detected.
Active:

At once

Note:
See functional description of ESR
_______
1)

As from SW 4

6–134

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

a
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09.95

•

•

1)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.2 Spindle-specific MD bits (spindle bits)

Bit No.

NC MD

© Siemens AG

7

Active:

NC MD

7

SINUMERIK 840C (IA)

6

6

531*

1992 All Rights Reserved

5

5

4

6FC5197- AA50

3

530*

4

3

2

1

0

EMERG.
retraction
when
generator
speed
threshold
no met 1)

EMERG.
retraction
when DC
link voltage
warning
threshold
not met 1)
EMERG.
retraction
threshold
FA/FS 1)

Spindle-specific sources for retraction.

Bit 2 Bit 2=1 A retraction movement is triggered if the generator speed of an axis/spindle
falls below the minimum.
Bit 2=0 A retraction movement is not triggered if the generator speed of an
axis/spindle falls below the minimum.

Bit 1 Bit 1=1 A retraction movement is triggered if the DC link undervoltage of an
axis/spindle falls below the minimum.
Bit 1=0 A retraction movement is not triggered if the DC link undervoltage of an
axis/spindle falls below the minimum.

Bit 0 Bit 0=1 A retraction movement is triggered if the retraction threshold of an FA is
exceeded.
Bit 0=0 A retraction movement is not triggered if the retraction threshold of an FA is
exceeded.
At once

Bit No.

2

1

0

Timeoptimized
synchronization (as
from SW 6)

Time-optimized tooth pitch synchronization can be set via bit 4. This means that the
synchronized position is approached by deceleration when the following spindle speed is
above half the maximum speed. Below this speed the synchronous position is approached
along the shortest path.

Note:

This bit is only active when MD 526*, bit 7,”Synchronization of tooth pitch” is also
active.
Gear wheels must not be in motion when this function is active.

Bit 4 Bit 4=1 The synchronization path of following axes is limited to 1 revolution/denominator of the GI link ratio to the leading spindle. Above half the maximum speed,
the synchronous position is reached by deceleration, below half the maximum
speed along the shortest path.

Bit 4=0 The synchronization path of following axes is limited to 1 revolution/denominator of the GI link ratio of the leading spindle. The synchronization position is
then always approached along the shortest path.
_______

As from SW 4

6–135

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.3 Channel-specific MD bits 1 (channel bits)

Channel-specific MD bits 1 (channel bits)

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6.6.3

07.97

Bit No.

NC MD

7

6

540*

No transformation deselect
on RESET

F value in
m/min

5

4

3

2

Spindle
setpoint
output
(S analog)

1

0

Aux.
G functions functions
to
to PLC
PLC

Default value
MD

840C (T)

840C (M)

5400

0000 0101

0000 0001

5401

0000 0001

0000 0001

5402

0000 0001

0000 0001

5403

0000 0001

0000 0001

5404

0000 0001

0000 0001

5405

0000 0001

0000 0001

Bit 7

A key-initiated Reset, mode change or M2/M30 does not deselect
transformation (TRANSMIT).
Active:
RESET
Note:
For as from SW 6, transformation is always deselected on warm restart
irrespective of the setting of MD bit ”No transformation deselection on
RESET”.
Transformation is always deselected in 'Reference point approach'
mode.

Bit 6

Causes the F value to be programmed in m/min.
This MD affects all metric input systems. The maximum axial speeds
specified in the machine data are not affected (input unit is still 'units').
Programming of F10 Speed 10 m/min
The feedrate display depends on the status of this bit. The feedrate for
F external and dry run is not converted into m/min. This MD has no
effect on "inch" systems, i.e. the feedrate is always defined in
inches/min.
Active:
In the next block

Bit 2

Bit 1

6–136

S analog
If this bit is set, it is possible to output analog spindle setpoints.
Bit 1 = 0

Inhibits G function output to the PLC

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

Bit 0

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.3 Channel-specific MD bits 1 (channel bits)

Bit 0 = 0

Inhibits auxiliary function output to the PLC
Auxiliary functions are: M, S, T, H, D. Use is recommended for
computational channels.
For output of the programmed F value to the PLC, see NC MD 544*,
bit 0.

Note:
In machining channels bit 0 must always be "1".
In the next block

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aaaaaaaaaaaa

Active:

Bit No.

NC MD

7

6

5

4

3

2

1

0

Fast auxiliary function output to the PLC

542*

T

S

F

D

All auxiliary functions M, S, T, D, H and F are always output to the PLC under acknowledgement control.
For slow auxiliary function output (bits 0 to 3 = 0), the auxiliary function is not acknowledged
by the PLC until the cyclic user program (UB1) has been run once.
For fast auxiliary function output (bits 0 to 3 = 1), the auxiliary function is acknowledged by
the PLC already after the basic program has been run once. The auxiliary function can be
safely recognized in the PLC user program, but read-in disable, feed hold, etc. cannot take
effect in the same NC block.
Bit 0 to 3=1
Bit 0 to 3=0

Fast auxiliary function output to the PLC
Slow auxiliary function output to the PLC (default setting).
Active: Immediately

Notes:
•

The auxiliary functions M and H can be declared as fast auxiliary functions by
programming ”–” (e.g. M-03) (see Programming Guide).

•

If several auxiliary functions are programmed in one block, all auxiliary functions must be
parameterized as fast auxiliary functions so that output to the PLC is "fast". This also
applies to the F word even if it is not transferred to the PLC (see MD 544*, bit 0).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–137

aaa
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a

aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.3 Channel-specific MD bits 1 (channel bits)

Output of auxiliary functions in BCD

NC MD
7

6

544*
F
H

Default value:
Active:

Bit 7-2

Bit 0

NC MD

546*

Default value:
Active:

Bit 0

6–138
7

6

F
H

5

D

5

D

09.95

Bit No.

4

T

4

T

© Siemens AG

3

2

S
M

3

S

1

2

1

Aux. functions that are output immediately
instead of being collected during block search with calculation

M

1992 All Rights Reserved

0

No F value
output to
PLC

All 0
In the next block

Bit 7-2=1
The auxiliary function is output to the PLC in BCD. Bit 2 may not be set
to 1 because of the basic PLC program.

Bit 7-2=0
If the basic program M functions are to be decoded.
The auxiliary function is output to the PLC in hexadecimal (binary).
F value output to the PLC is deselected via machine data. This makes it
possible to improve the time required for block changes involving travel
blocks with F values, as it is not necessary to wait for an acknowledgement from the PLC (e.g. 5D machining).

Bit No.

0

No aux.
function on
block
search

All 0
At once

Bit 7, 6, 5, 4, 3, 2
The auxiliary function types defined by these bits are not collected during a
block search with calculation, but are output immediately (may result in PLC
based triggering of several switching functions in succession).

When this bit is set, all auxiliary functions (M, S, T, D, H and F) encountered
during a block search with calculation are skipped and ignored (no output to
PLC and no internal reaction).

SINUMERIK 840C (IA)

6FC5197- AA50

12.93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.3 Channel-specific MD bits 1 (channel bits)

Bit patterns for bits...
Description
7

6

5

Example a

4

3

2

0

Irrelevant

No output of auxiliary functions

Example b

0

0

0

0

0

0

0

All auxiliary functions are collected and the
last is output following NC START

Example c

1

1

1

1

1

1

0

All auxiliary functions are output during block
search with calculation

0

M functions are output during block search
with calculation; F, H, D, T and S functions
are collected and the last function output
following NC START.

Example d

0

0

0

0

0

1

All auxiliary functions that were collected during block search are activated with NC START at
the end of the block search and output to the PLC. The 'collection' procedure ensures that
only the last F, H, D, T, S and M function becomes active.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–139

aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.3 Channel-specific MD bits 1 (channel bits)

NC MD

A
B
C
D
E
F
G
H
I
J
K
L
M

6–140
7

7

6

6
5

Extended address
(Address number)
Address name

Code:
blank
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Code:
X = 0000
Y = 0001
Z = 0010
A = 0011
B = 0100
C = 0101
U = 0110
V = 0111
W = 1000
Q = 1001
E = 1010

=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=

Assignable address
Assignable address
Assignable address
Tool offset number
Assignable address
Feed
G function
H function
Interpolation parameter
Interpolation parameter
Interpolation parameter
Subroutine
M function

5

4
3

0000
0001
0010
0011
0100
0101
0110
0111
1000
1001
1010
1011
1100
1101
1110
1111

N
O
P
Q
R
S
T
U
V
W
X
Y
Z

12.93

Bit No.

4

2

3

1
0

© Siemens AG

2

548*
Name of the abscissa (horizontal axis)
(same code as for axis definition)

550*
Name of the ordinate (perpendicular axis)
(same code as for axis definition)

552*
Name of the applicate (vertical axis)
(same code as for axis definition)

1

1992 All Rights Reserved

0

Bit No.

Permissible names for axes, angle, chamfer and radius

Subordinate block
Danger of confusion with 0 (zero)
Number of subroutine passes
Assignable address
Arithmetic parameter
Spindle speed, S function
Tool
Assignable address
Assignable address
Assignable address
Assignable address
Assignable address
Assignable address

SINUMERIK 840C (IA)

6FC5197- AA50

12.93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.3 Channel-specific MD bits 1 (channel bits)

With SINUMERIK 840C, the initial plane is defined in NC MD 110*. In NC MDs 548*, 550* and
552* you define to which axes the radius compensation and/or length compensation is to apply
when the NC is switched on. In NC MD 548* and 550* you define the axes to which the radius
compensation is to apply in the default setting, i.e. when the NC is switched on. In NC MD
552* you define the axis to which the length compensation 1 (tool parameter P2) is to apply
(for cutters only). The axis to which the second length compensation (tool parameter P3) is to
apply depends on the order of the programmed axes and the tool type.
Example:
NC MD 548*
NC MD 550*
NC MD 552*
•

=
=
=

0000 0000
0000 0001
0000 0010

X axis
Y axis
Z axis

Program

N10 G0 G41 D1 X0 Y0 Z0 (D1 = tool type 20 cutter)
Radius is calculated in X-Y
L1 is calculated in Z
L2 is not calculated
•

Program

N10 G16 X Y Y Z (plane selection)
N20 G0 G41 D1 X ... Y ... Z ... (D1 = tool type 30 angle-headed cutter)
Radius is calculated in X-Y
L1 is calculated in Y
L2 is calculated in Z
•

Program

N10 G16 Z X Z (plane selection)
N20 G0 D1 Z ..... (D1 = tool type 10 drill)
No radius is calculated
L1 is calculated in Z
Z-X (G18) is to be selected as the initial plane on a lathe with an X and Z axis. The NC MD
must be set as follows:
NC MD 548* = 0000 0000
NC MD 550* = 0000 0010
NC MD 552* = 0000 0010
Plane Z-X is defined with NC MD 548* and 552*. The axis to which the L1 geometry is to apply
is set in NC MD 550* if a drill or a cutter is used.
Applies up to tool type 9:

Length 1 (tool parameter P2) always refers to the second
axis name behind G16<
Length 2 (tool parameter P3) always refers to first axis
name behind G16
Length 1 (tool parameter P2) always refers to the
transverse axis.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–141

a
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.3 Channel-specific MD bits 1 (channel bits)

PLANE

Axis No.

NC MD

Default value:
Active:

1st axis
2nd axis
3rd axis
4th axis
.
.
.
8th axis

6–142
7

6

...
...
...
...

0000 0000
0000 0001
0000 0010
0000 0011

...

0000 1000
5

12.93

MD 550*
2nd axis
G18

G19

G17

4

© Siemens AG

MD 548*

1st axis

3rd axis

MD 552*

G17
G18
G19

1
3
2

2
1
3

3
2
1

Bit No.

3

2

1

1992 All Rights Reserved
0

554*
Axis with constant cutting speed G96

All 0
When the function is reprogrammed

The number of the axis with which the constant cutting speed (G96) is to be attained must be
specified (normally the transverse axis).
The axis number must be specified as follows:

SINUMERIK 840C (IA)

6FC5197- AA50

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.3 Channel-specific MD bits 1 (channel bits)

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09.01

Bit No.

NC MD

7

6

5

4

Autom.
refresh
when
changing
the param.
block of a
mode group
axis (from
SW 6.1)

558*

Default value:
Bit 0

3

2

1

0

Supplement
axis after
block
search

0

Bit 0 = 1

The "3D interpolation" option must be programmed. Following the block
search with calculation, not only the axes programmed in the destination
block are traversed, but also as many as 5 additional axes, as long as
these axes were previously programmed.
If more than 5 axes were programmed, the first 5 must be traversed in
REPOS mode. Tool offset, current D no. or zero offset must not be
modified prior to NC START.

Bit 0 = 0

Following the block search with calculation, only the axes programmed
in the destination block are traversed. It is thus possible to modify the
TO and the ZO prior to NC START.
Active:

In the next block

Bit 3 Bit 3=1

If the parameter set "Position control" is switched over for an axis of
the mode group, a "Refresh" is carried out with the next block change
with exact stop (i.e. not with G62/G64 enabled). The parameter setdependent data for velocity, acceleration and jerk are therefore effective
in the pre-calculated blocks. This function should only be used if there
are axes in a channel that use the parameter block change for velocity,
acceleration or jerk.

Bit 3=0

If the parameter set "Position control" is switched over, the new
machine data values for velocity, acceleration and jerk are only effective
with time delay (after the pre-calculated blocks have been processed).
In order to avoid this, a @714 must be programmed in the part program
or a NC Stop/NC Start must be preset for the current channel.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–143

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.4 Axis-specific MD bits 1 (axial bits 1)

08.96

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6.6.4 Axis-specific MD bits 1 (axial bits 1)
Bit No.

NC MD

7

6

560*

Act.-value
display
modulo 360
deg.

Automatic
direction
recog. on
referencing

Default value:

5

Software
limit
switches
active

MD 5600-5629

Bit 7

4

NC start
although
ref. pt. not
reached

3

Rounding
for rotary
axes

2

1

0

Dyn. SW
Rounding to limit switch
whole/half for
degrees
following
axes

Servo loop
monitor not
active

0010 0000

For rotary axes (NC MD 564*, bits 5-1)! Acts on linear axes as well.
The actual-value display jumps from 359.999 to 0 degrees after one
revolution of the rotary axis.
Rotary axes, see also Section Functional Descriptions.
Active On:
Bit 6 =1

The NC can detect precisely the direction in which the reference point
lies from the "Deceleration" interface signal, as the reference point
extends up to the traversing limit (also see Section Axis (Analog) and
Spindle Installation).
Active On:

NC STOP
aaaaaaaaaaaaaaaaaaaaaaaaaaa
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Bit 6

RESET

Reference point cam

Ref. point
Traversing limit
Operating point

Bit 5

6–144

Bit 6 = 0

If the axis is between the reference point cam and EMERGENCY STOP
when the control is powered up, the axis moves to EMERGENCY STOP
during reference point approach, as the control cannot detect from the
"Deceleration" interface signal whether the axis is ahead of or behind
the reference point cam (also see Section Axis (Analog) and Spindle
Installation).

Bit 5 = 0

The software limit switches defined in NC MD 224* to 236* are overrun
without a reaction of any kind. The working field limitation (setting data)
is not in force.
Active On:
RESET

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

08.96

Bit 4

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.4 Axis-specific MD bits 1 (axial bits 1)

The program can be started with NC START without approach to the
reference point of this axis.
Bit 3 of NC MD 5004 can be used to indicate whether reference point
approach is required prior to program start; this bit applies to all axes and
channels.
Active On:

Bit 3, 2

May be set for rotary axes only! In JOG mode, bit 2 is used to choose
between rounding (positioning) to whole or to half degrees. Bit 2 = 1 means
rounding to whole degrees.
In AUTOMATIC or MDA mode, alarm 2064 is displayed for programmed
positions which do not represent a movement of 0.5 or 1 degree (rounding
for rotary axis incorrectly programmed). The occurrence of axis-specific,
spindle-specific or channel-specific alarms which result in opening of the
closed position control loop (removal of MODE GROUP READY), on RESET
and on EMERGENCY STOP, the control is no longer able to position the
rotary axis to a half or a whole degree. In this case, the rotary axis must not
be lowered into the serration.
Active On:

Bit 1 Bit 1 = 1

NC STOP

This bit activates the function ”Dyn. SW limit switch for following axes”.
Active On:

Bit 0

NC STOP

Power On

Alarm 132* is disabled. The cables to the encoder are no longer monitored
for cable breaks. An encoder failure or cable break is therefore not
immediately flagged, but rather with a greater delay in form of alarm 104*,
112* or 116*. Nor does the measuring circuit monitoring switch off the zero
and pulse code monitoring.
Active On:

NC STOP

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–145

08.96

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.4 Axis-specific MD bits 1 (axial bits 1)

Bit No.

NC MD

7

6

5

4

3

564*

Axis exists

Axis type

Rotary axis

Division
axis

Actual
values
divisionrelated

2

1

0

Actual
Setpoint
value sign sign
change
change

Ref. point
appr. in
neg.
direction

Default value
MD

T

M

5640

1000 0010

1000 0010

5641

1000 0010

1000 0010

5642

0

1000 0010

5643

0

0

5644
.
.
.
5669

0
.
.
.
0

0
.
.
.
0

840T:
840M:

Bit 7 in MD 5640 and 5641 must be "1".
Bit 7 in MD 5640, 5641 and 5642 must be "1".

Bit 7

When this bit is set, the axis is displayed on the monitor screen and the
position controller and measuring circuit monitor are activated. PLC MD 6016
and 6017 must be observed as regards the interface.
If this bit is set the axis can be used as an auxiliary axis. Interpolation is then
not permissible.
Active On:
POWER ON

Bit 6

Fictitious axes are required for coordinate transformation (see NC MD 5060
to 5069). Fictitious axes have no position controller (NC MD 200* irrelevant)
and require no measuring circuit. Fictitious axes must be linear axes.
Active On:
POWER ON

Note:
SW4: With a fictitious axis, only 14 real axes are possible. With reference to MD 2000.
Bit 5

The axis is declared as rotary axis. Position control thus begins in degrees,
and G70/G71 is disabled for rotary axis programming. For further details on
rotary axes, also see Section entitled ”Functional Descriptions”.
Active On:
NC STOP

Bit 4

Bit 4 ("Division axis") declares a linear or rotary axis to be a division axis,
and thus activates NC MD 1104*, 1108*, 1112* and 564* bit 3. See Section
entitled ”Functional Descriptions”.
Active:
At once

6–146

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.4 Axis-specific MD bits 1 (axial bits 1)

Bit 3

The actual value (actual position display) is converted into division positions. A
division position < 1 is not possible (applies to both rotary and linear axes). The
actual value display in the Service data is not converted into division positions.
If bit 3 is not set for a division axis, the position is assigned (over command
channel) in division positions but the actual value is displayed in mm or inches. Also
see Section entitled ”Functional Descriptions”.
Active:

Bit 2

At once

The signs of the measuring-system pulses can be inverted by changing the state of
this bit (this is necessary when the axis traverses uncontrollably due to an incorrect
position control direction). This bit has no effect, if the spindle and the C axis have
the same actual value. In this case the spindle bit is active instead.
Active On:

NC STOP

Bit 1

A change in the state of the bit changes the polarity of the speed controller's
setpoint voltage (necessary when the axis moves in a direction which is
'mechanically' incorrect).
Active On:
RESET

Bit 0

Bit 0 = 1

Start reference point approach with " - " key

Bit 0 = 0

Start reference point approach with " + " key
RESET

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Active On:

Bit No.

NC MD

7

6

5

4

3

2

1

0

AXIS NAME

568*

Default value
MD

T

M

5680

0000 0000

0000 0000

5681

0000 0010

0000 0001

5682

0

0000 0010

5683
.
.
.
5709

0
.
.
.
0

0
.
.
.
0

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–147

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.4 Axis-specific MD bits 1 (axial bits 1)

12.93

The axis name must be defined according to the table.

7

6

5

4

3

2

1

Extended address
(address number)

Address name

Code:
blank
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

Code:
X = 0000
Y = 0001
Z = 0010
A = 0011
B = 0100
C = 0101
U = 0110
V = 0111
W = 1000
Q = 1001
E = 1010

=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=

0000
0001
0010
0011
0100
0101
0110
0111
1000
1001
1010
1011
1100
1101
1110
1111

Example: 0000
0001

0

Bit No.

0010=Z
1001=Q1

The names in MD 5000, MD 5001 and 568* must not overlap. Identical address names with
different address extensions are not regarded as overlaps.
For a list of permissible names, see NC MD 5000
Active:
In the next block

Permissible names for axes, angle, chamfer and radius
A
B
C
D
E
F
G
H
I
J
K
L
M

Assignable address
Assignable address
Assignable address
Tool offset number
Assignable address
Feed
G function
H function
Interpolation parameter
Interpolation parameter
Interpolation parameter
Subroutine
M function

6–148

N
O
P
Q
R
S
T
U
V
W
X
Y
Z

Subordinate block
Danger of confusion with 0 (zero)
Number of subroutine passes
Assignable address
Arithmetic parameter
Spindle speed, S function
Tool
Assignable address
Assignable address
Assignable address
Assignable address
Assignable address
Assignable address

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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09.95

Active:

Bit 4

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.4 Axis-specific MD bits 1 (axial bits 1)

Bit No.

NC MD

7

Default value:

SINUMERIK 840C (IA)

6

5

0

N3
0

1350

180

© Siemens AG 1992 All Rights Reserved

4

572*

6FC5197- AA50

3

2

Traverse
TO
Modulo
rotary axis mirroring for 360° prog.
modulo 360 transverse
of rotary
deg.
axis
axis

1

0

Axes
Transverse without
TO
axis
on PRESET

MD 572 = 0000 1010 only on the 840C; otherwise, all bits are 0.
For 840C (M), all are 0.
In the next block

Bit 4 = 0 When G90 and/or G68 are programmed with rotary axes, traversing paths
of > 360 degrees or > 180 degrees can result, and the established
direction of movement can change if zero offsets, tool offsets etc. are set
up for the first time or if ZO, TO etc. are altered in the program.
Example:

N1 G90 C0 LF
(C ... rotary axis)
N2 C90 LF
N3 G58 C-180 LF
N4 G90 C+135 LF

(Bit 4=0) traversing path resulting from N3+N4.

0

N2

3150
900

N4

(Bit 4=1) traversing path resulting from N3+N4.

6–149

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.4 Axis-specific MD bits 1 (axial bits 1)

Bit 4

12.93

Bit 4=1 To set a traversing path and direction with G90 programming which
corresponds to the program. The control behaves according to the G
function programmed:
G91: No modulo 360° calculation. The current ZO and TO are added to the
programmed position (more than 360° also possible) which results in a
new position and a new direction of movement.
G90: The current ZO and TO are added to the programmed position (±
359.999 degrees), a modulo 360° calculation is carried out and the
determined traversing path is traversed with the programmed direction
of travel (+ ... clockwise movement, – ... counter-clockwise direction)
(see example above).
G68: The current ZO and TO are added to the programmed position (0 to
359.999 degrees), a modulo 360° calculation is performed and the
midpoint is determined ( ± 180 degrees). The control can then
determine the shortest direction of movement.

Bit 3

Bit 2

The tool length compensations and the position of the tool nose are
mirrored for tool types 1 to 9 (lathe tools) depending on the axis-specific bit.
Bit 2=1 The rotary axis can be programmed to an absolute (G90) value of max. ±
359.999 degrees. The sign programmed determines the direction of
movement.
(See Programming Guide for programming rotary axes).
A rotary axis can also be programmed with G68 where positioning is along
the shortest path (max. ± 180 degrees).
If a rotary axis is programmed for the first time is a part program, the
control always selects G68, irrespective of the G function program (G68,
G90, G91). Automatic selection of G68 can only be deselected with G91 C0
(C ... rotary axis). Automatic selection of G68 is also performed after a
block search and can in this case only be deselected by traversing the axis
in REPOS. If a ”Modulo” rotary axis is switched to follow-up mode, G68
automatically becomes active with NC start for the next traversing block of
this rotary axis.
If mixed programming of G90/G91 has been selected in the block (NC MD
5007 bit 5), it is always the last programmed G90/G91 function which
affects the programmed rotary axis position.
See Section Functional Descriptions for rotary axes.
Bit 2=0 The path programming and rotary axis traversing is the same as for linear
axes.

Bit 1

In the 840C, the X axis is a transverse axis with diameter programming as
standard. This bit activates the bits set in NC MD 5011.

Bit 0

No TO are calculated in this axis on PRESET.

6–150

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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09.01

1)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.4 Axis-specific MD bits 1 (axial bits 1)

Bit No.

NC-MD

NC-MD

Bit 1

7

7

SINUMERIK 840C (IA)

6

576*

Active:

5

6 1)

6

© Siemens AG 1992 All Rights Reserved
5

4

5 1)

4

6FC5197- AA50

3

4

3

2

2

584*

1

1

0

Axis disabled for channel
3
2
1

Default:
All 0

Bit 3, 2, 1, 0
The channel for which a bit is set cannot traverse the axis. Alarm 3014 (”Axis
disabled in channel”) is displayed in the event of an error. The disable is
effective in AUTOMATIC and MDI AUTOMATIC mode only (not with command
channel and absolute/incremental dimension from PLC function).
Block before decoding

Bit No.

0

Dynamic
Initial
software
setting of
limit switch
simultafor following neous
axis
axis (as
1)
from SW 6)

Bit 0 Bit 0=1 The initial setting for simultaneous axis mode is G98.

Bit 0=0 The initial setting for simultaneous axis mode is G94.

The dynamic limit switch for ELG following axes can be operated without
dead-time compensation in certain circumstances. Not the actual value, but a
precalculated ”actual value” is used in the calculation. The function is
activated via MD 5029.0 and axis-specifically via MD 584*.1.

_______

As from SW 4

6–151

09.95

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.4 Axis-specific MD bits 1 (axial bits 1)

Bit No.

NC MD

588*

7

6

5

4

3

2

1

0

Switch over Switch over Switch over Switch over Switch over Switch over Switch over Switch over
output bit 7 output bit 6 output bit 5 output bit 4 output bit 3 output bit 2 output bit 1 output bit 0
on
on
on
on
on
on
on
on
emergency emergency emergency emergency emergency emergency emergency emergency
retraction
retraction
retraction
retraction
retraction
retraction
retraction
retraction

These bits only affect following axes and are active immediately
Bit 0-7

Switchover bit for emergency retraction

Bit 0-7 = 1

The corresponding bit in the output byte of the mixed I/O module only switches
from rest to the inverse condition when an emergency retraction has been
triggered by this axis.

Bit 0-7 = 0

The corresponding bit in the output byte of the mixed I/O module remains
unchanged with an emergency retraction.

Active:

At once

Comments:
The state of rest (i.e. the condition after Power on, Reset) is 1 for all the bits of mixed I/O
module.
If an axis/spindle triggers an emergency retraction, the bits defined in MD 588*, 528* change
from 1 to 0.
Even if several axes trigger an emergency retraction simultaneously or in quick succession and
the same bit is marked for all of them, it only changes from rest to error condition once. This is
then maintained until the next Reset.
Example:
12 is set in MD 312
This means that for the first mode group the 2nd byte of the 1st mixed I/O module is used for
the emergency stop. After Reset all outputs of this byte are set to 1.
X (1st axis) and Y (2nd axis) are defined as following axes.
0001 0001 is set in MD 5880 and 001 0010 is set in MD 5881.
If the X axis detects that the emergency retraction threshold has been exceeded in follow-up
mode and emergency retraction has been enabled via PLC interface signal, bit 0 and bit 4 in
the mixed I/O module change from 1 to 0.
If the Y axis then detects an emergency retraction, bit 1 additionally toggles to 0. Bit 4 is
already at 0 and remains so.
With these switchover bits it is possible to output common signals for several axes of one
mode group as well as axis-specific signals.

6–152

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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09.95

1)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.4 Axis-specific MD bits 1 (axial bits 1)

Bit No.

NC MD

NC MD

Bit 2

Bit 1

7

7

SINUMERIK 840C (IA)

6

6

© Siemens AG 1992 All Rights Reserved

5

5

4

4

596*

6FC5197- AA50

3

592*

3

2

1

1)

ESR
ESR drive- controlled
autonomous by
the NC
1)

0

Trigger
alarm +
mode group
stop on
error 1)

Determining axis-specific responses (axis was the source of the response). Internal axisspecific responses

Bit 2 Bit 2=1 Drive-autonomous extended stop and retract enabled.
Bit 2=0 Drive-autonomous extended stop and retract disabled.

Bit 1 Bit 1=1 NC-controlled extended stop and retract enabled.
Bit 1=0 NC-controlled extended stop and retract disabled.

Bit 0 Bit 0=1 When a fault is detected an alarm and Mode Group Stop is triggered and, with
it, stop as well as retract is requested.
Bit 0=0 No alarm or Mode Group Stop is triggered if a fault is detected.
Active: At once

Note:
See functional description of ESR

Bit No.

2

1

0

Generator
speed
below
threshold 1)
Retract if
DC link
warn.
threshold
not met 1)
Retraction
threshold
FA/FS 1)

Axis-specific sources for retraction.

Relevant for 611D only.

Bit 2=1 A retraction movement is triggered if the generator speed of an axis/spindle
falls below the threshold value.

Bit 2=0 A retraction movement is not triggered if the generator speed of an
axis/spindle falls below the threshold value.

Relevant for 611D only.

Bit 1=1 A retraction movement is triggered if the DC link voltage of an axis/spindle falls
below the threshold value.

Bit 1=0 A retraction movement is not triggered if the DC link voltage of an axis/spindle
falls below the threshold value.

Bit 0 Bit 0=1 A retraction movement is triggered if the retraction threshold of an FA is
exceeded.

Bit 0=0 A retraction movement is not triggered if the retraction threshold of an FA is
exceeded.

_______

Active: at once

As from SW 4

6–153

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.5 Leadscrew error compensation bits (compensation flags)

MD
No.

Leadscrew error compensation bits (compensation flags)

aaaaaaaaaaaa
aaaaaaaaaaaa
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6.6.5

12.93

6000

Bit No.

7

6
C point 4

yes/no

6001
6002

yes/no

+/–

yes/no

3

+/–

yes/no

+/–

yes/no

+/–

+/–

yes/no

1

+/–

yes/no

0

+/–

yes/no

C point 1

C point 6

C point 11
yes/no

2
C point 2

C point 7

C point 12
yes/no

4
C point 3

+/–

C point 8
yes/no

5

+/–

C point 5

C point 10
+/–

+/–

C point 9
yes/no

+/–

-//-//-//-//-//-//-//-//-//-//-//6248

C point 996
yes/no

6249

C point 1000
yes/no

+
no
yes

+/–

Bit = 0
Bit = 1
Bit = 0
Bit = 1

+/–

C point 995
yes/no

+/–

C point 994
yes/no

C point 999
yes/no

+/–

+/–

C point 993
yes/no

C point 998
yes/no

+/–

+/–

C point 997
yes/no

+/–

Negative compensation
Positive compensation
No compensation
No compensation

All MD for leadscrew error compensation become effective on Power On and following
completion of reference point approach. See Section entitled ”Functional Descriptions”.
Default value:
All 0

6–154

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaa

09.95

9020
to
9025

9040
to
9045

© Siemens AG

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.6 Channel-specific MD bits 2

6.6.6 Channel-specific MD bits 2
Bit No.

NC MD
7

9000
to
9005

Default value:

NC MD

Default value:

SINUMERIK 840C (IA)
6

Axis 8

Axis 16

Axis 24

7

9100
to
9105
5

Axis 7
Axis 6

Axis 15

9060
to
9065
Axis 14

Axis 23
Axis 22

Axis 30

6

5

Spindle 6

1992 All Rights Reserved

4

6FC5197- AA50

3

Axis 5

Axis 13

Axis 21

Axis 29

4

Spindle 5

Axis 4

Axis 12

Axis 20

Axis 28

3

Spindle 4

2

Channel-specific axis allocation for multi-channel display
(channels 1 to 6)
Axis 3

Channel-specific axis allocation for multi-channel display
(channels 1 to 6)
Axis 11

Channel-specific axis allocation for multi-channel display
(channels 1 to 6)
Axis 19

Channel-specific axis allocation for multi-channel display
(channels 1 to 6)
Axis 27

Spindle 3

1

0

Axis 2
Axis 1

Axis 10
Axis 9

Axis 18
Axis 17

Axis 26
Axis 25

0

Channel 5 and 6 as from SW 4

Note:

Valid if option "Multi-channel display" is set.
As from SW 5 also valid with single-channel display if NC MD 5053, bit 0=1

Note:

See also description of NC MD 5053, bit 0, channel-specific axis and spindle display.

Channel-specific spindle assignment with multiple-channel display (up to SW 4)
Channel-specific spindle assignment with single and multiple channel display (as from
SW 5)
Bit No.

2

Channel-specific spindle allocation for multi-channel display
(channels 1 to 6)
1

0

Spindle 2
Spindle 1

0

Channel 5 and 6 as from SW 4

Note:

Valid if option "Multi-channel display" is set.
As from SW 5 also valid with single-channel display if NC MD 5053, bit 0=1

Note:

See also description of NC MD 5053, bit 0, channel-specific axis and spindle display.

6–155

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.6 Channel-specific MD bits 2

NC MD

Bit 0

Bit 0-7

1)

6–156
7

Default value:

NC MD

7

6

6

5

5

10.94

Bit No.

4

3

4

© Siemens AG
3

2

918*
1

2

1

1992 All Rights Reserved

0

914*
Channel
with FIFO
(up to SW2)

all bits default to 0

Bit 0=0 Channel without FIFO

Bit 0=1 Channel with FIFO

Active: On warm restart/Power On

If FIFO is selected for the four MDs only once, the entire storage space (30 Kbytes) is
allocated to the respective channel.

If two FIFO channels are selected, these two channels share the available storage space
(15 Kbytes per channel).

If more than two channels are defined, an error message (”Too many FIFO channels defined”
alarm) is issued.
Bit No.

NC MD

7

6

5

4

3

2

1

0

916*
Toggle
output bit 7
on emergency
retraction 1)
Toggle
output bit 6
on emergency
retraction 1)
Toggle
output bit 5
on emergency
retraction 1)
Toggle
output bit 4
on emergency
retraction 1)
Toggle
output bit 3
on emergency
retraction 1)
Toggle
output bit 2
on emergency
retraction 1)
Toggle
output bit 1
on emergency
retraction 1)
Toggle
output bit 0
on emergency
retraction 1)

Toggle of outputs for retraction enabled: Bits 7 to 0

Bit 0-7=1
The corresponding bit in the output byte of the mixed I/O module is
inverted when a retraction is triggered by this channel.

Bit 0-7=0
The corresponding bit in the output byte of the mixed I/O module
remains unaltered on retraction.

Active: at once

Bit No.

NCTrigger
controlled
alarm +
ext. stop. mode group
and retract.
stop on
1)
error 1)
0

Bit 1 Bit 1=1 NC-controlled extended stopping and retraction enabled.

Bit 1=0 NC-controlled extended stopping and retraction disabled.

Bit 0 Bit 0=1 When a fault is detected an alarm and Mode Group Stop is triggered and, with
it, stopping as well as retraction is requested.

Bit 0=0 No alarm or Mode Group Stop is triggered if a fault is detected.
_______

As from SW 4

SINUMERIK 840C (IA)

6FC5197- AA50

a
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09.95

1)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.6.6 Channel-specific MD bits 2

Bit No.

NC MD

Bit 7-0

7

© Siemens AG

SINUMERIK 840C (IA)

6

Active:

5

1992 All Rights Reserved

4

6FC5197- AA50

3

2

920*

1

0

Emergency
Mode
Stop
Group Stop
triggers
triggers
retraction 1) retraction 1)

Bit 1 Bit 1=1 Emergency Stop triggers a retraction.
Bit 1=0 Emergency Stop does not trigger a retraction.

Bit 0 Bit 0=1 Mode Group Stop triggers a retraction.
Bit 0=0 Mode Group Stop does not trigger a retraction.
at once

Bit No.

NC MD

7

6

5

4

3

2

1

0

922*
Input bit 7
triggers
retraction
Input bit 6
triggers
retraction
Input bit 5
triggers
retraction
Input bit 4
triggers
retraction
Input bit 3
triggers
retraction
Input bit 2
triggers
retraction
Input bit 1
triggers
retraction
Input bit 0
triggers
retraction

1)
1)
1)
1)
1)
1)
1)
1)

Effect of mixed I/O or CSB inputs bit 7 to 0

Bit 7-0=1 If a 0 V signal is applied at the corresponding input of the mixed I/O
module or CSB, a retraction is triggered.

Bit 7-0=0 The level of the input does not trigger a retraction in any position.
Active: at once

Note:

The 6 CSB inputs correspond to bits 2 - 7, bit 0 corresponds measurement input 1, bit 1
corresponds to measurement input 2.

_______

As from SW 4

6–157

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

6.7

09.95

Axis-specific MD 2 (axial data 2)

1100*

Active
at once

SW prelimit switch

Default value

Lower input limit

Upper input limit

Units

20 000

- 99 999 999

99 999 999

units (MS)

Defines the distance at which the braking operation is to be prematurely begun if the current
speed exceeds the speed in NC MD 1, thus ensuring that the position of the software limit
switch will be overrun only to a negligible degree during circular interpolation.
Overshooting of the pre-limit switch triggers alarm 3091 except in the case of rapid traverse.
Recommendation
The value entered should be slightly higher than the value which would correspond to the
braking distance from rapid traverse to NC MD 1.
In program mode, travel movements which would result in overshooting of the software limit
switch position are simply not started (alarm 2065 is triggered).
Exception!
Circular interpolation, helical interpolation
Start of deceleration to zero speed
Software limit
switch
Software prelimit switch

A

E

Reduction to NC MD 1

Machine data for the ”Setup mode division-related” function.

1104*

Active
at once

Number of divisions

Default value

Lower input limit

Upper input limit

Units

0

0

999

–

Input limits: The value 0 is allowed only if the axis involved is not an indexing axis
(NC MD 564* bit 4 = 0).
The number of divisions gives the divisions per division reference dimension (NC MD 1108*).

6–158

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1108*

Division reference dimension

Active
at once

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

units (MS)

Note:
The rotary axis has a defaulted internal reference dimension of 360 degrees in accordance
with the input resolution. No input is necessary.
When using the function in conjuction with chain-type magazines it may be necessary for the
rotary axis to perform several revolutions to arrive at one magazine revolution.
The division reference in this case will still be 360°. Adjustment of either the rotary axis or the
chain-type magazine can be carried out by variable increment weighting.

1112*

Activ
see below

Division dimension offset

Default value

Lower input limit

Upper input limit

Units

0

- 999 9999

99 999 99

units (IS)

Remarks regarding the action of machine data:
If the use of the function is dependent on the workpiece, the machine data are changed while
the workpiece is being machined and in setup mode. This can be done by:
•
•
•

MD modification from the PLC
MD modification via configuration
MD modification via CL 800

The machine data can be configured in such a way that they can be changed without start up
mode. They take effect immediately after change without, for instance, Warm restart or Reset
having to be performed.
If, for instance, the division machine data are changed while a division processing operation is
in progress, they will take effect after about only 100 ms.
Traversing an indexing axis to the reference point
If the function is used on a machine-specific basis, the indexing axis can be traversed to a
division-specific reference point. The MD ”Reference point offset” can be used to specify the
distance of the zero mark to an indexing position. The indexing axis need not be traversed to
an indexing position using the reference point. The next traverse of the axis after reference
point approach is automatically a movement to an indexing position.
Example:
=
=

µm

200,000 µm

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

5

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4

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3

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2

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1

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a

140,000 µm

illegal
area

© Siemens AG

5
200,000 µm

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Number of divisions
Division reference dimension
Reference point
= 140,000 µm;
Reference point offset
= 0;
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Linear axis:

6

6–159

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1116*

09.95

f: Pulse multiplication EXE/611D/HMS 1st measuring system

Default value

1

Lower input limit

Upper input limit

128
512

1

Active on
Power On
Warm restart
Units

1)
2)

–

MD 1116* is used to set the multiplication factor for the actual position pulses when using the
6FX 1145-6B... HMS measuring-circuit module. On Power On, the NC software checks to see
whether an HMS measuring-circuit module has been inserted; only when this is the case does
MD 1116* take effect.
The following multiplication factors can be specified:
HMS:

1, 2, 4, 8, 16, 32, 64, 128

611D/PCU: 1, 2, 4, 8, 16, 32, 64, 128, 256, 512
Measuring system resolution = measuring system x 4 x MD 1116*
Note
This MD also has an effect when the measuring system of the digital drive (611-D) is used.

1124*

Active on
NC Stop

D component feedforward control

Default value

Lower input limit

Upper input limit

Units

0

0

1 000

0.1 %

Active:

When activating feedforward control

MD 1124* is used to modify the setpoint speed in proportion to acceleration. Where position
control cycles are < 1 ms, the rise process can be accelerated even more by the D
component. It should not be used with larger sampling intervals.
Note:
As from SW 4, for 8 parameter blocks

1140 *

Active on
NC Stop

Feedforward control factor 3rd parameter set 3)

Default value

Lower input limit

Upper input limit

Units

0

+0

1 000

0.1%

This MD has the same meaning as MD 312*, see also functional description of parameter set
switchover.

_______
1)
2)
3)

As from SW 2
As from SW 3
As from SW 4

6–160

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1144*

Active on
NC Stop

Switch over current setpoint 1)

Default value

Lower input limit

60

60
1 2)

Upper input limit

Units

999

0.1 % of max.
current setpoint

Move against fixed stop
Current setpoint which is to take effect as soon as speed control mode switches to current
control mode. The percentage that has to be entered refers to the max. motor current (drive
machine data MD 1104) and the possible reduction of the max. motor current (drive machine
data MD 1105). The holding torque can be matched still further in setting data SD 320*. See
functional description for ”Travel to fixed stop”

1148*

Active on
at once

IKA/TK speed 1)

Default value

Lower input limit

Upper input limit

500

0

4 900 000

Units

1000 units (IS)
––––––––––––––
min

If the max. speed as IKA partial setpoint is exceeded, interface signal "IKA/TKH SPEED" is set
in DB 32.

Speed tolerance endlessly turning rotary axis
(as from SW 4)

1152*

Active on
see below

Default value

Lower input limit

Upper input limit

Units

10

+0

+100

%

If the actual speed of the "endlessly turning rotary axis" remains within the setpoint speed
tolerance defined in this machine data, interface bit "Axis in setpoint range" is set.
The tolerance monitoring is activated by switching on "Endlessly turning rotary axis" with
G[..]103 and G[..]104 and defining a new speed.
If movement is aborted in the mode group (Mode Group Ready = 0), an ERA does not have
to be explicitly reset with axis reset. ERA is reset with a mode group reset.

1156*1180*

D component feedforward control 2nd - 8th parameter set 2)

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

+0

1 000

0.1%

This MD has the same meaning as MD 1124*, see also functional description of parameter set
switchover.

_______
1)
2)

As from SW 3
As from SW 4

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–161

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1184*1196*

04.96

Active on
NC Stop

Feedforward control factor 4th - 7th parameter set 3)

Default value

Lower input limit

Upper input limit

Units

0

+0

1 000

0.1%

This MD has the same meaning as MD 312*, see also functional description of parameter set
switchover.

1200*

Active in all
channels of
mode group
in STOP

Delay for contour monitoring

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

ms

With this MD, it is possible to set a time where the contour deviation may exceed that of MD
332* without an alarm message ”Contour monitoring” being output.

f: Pulse multiplication EXE/611D/HMS 2nd measuring
system 1)

1204*

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

1

1

128 1)
512 2)

–

Active:

After POWER ON

The matching of the internal computing precision and the precision of the second measuring
system is carried out in the same way as the settings for the first measuring system
(MD 364*/368*/1116*).

_______
1)
2)
3)

As from SW 2
As from SW 3
As from SW 4

6–162

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.01

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

u: Impulses variable incremental weighting 2nd measuring
system 1)

1208*

Default value

Lower input limit

Upper input limit

Units

0

65000 1)
9999 9999 2)

–

1
Active:

Active on
Power On

After Power On

Applies to feed axes only.
See MD 364*, 368*.
v: Traversing path variable incremental weighting 2nd
measuring system 1)

1212*

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

1

0

65 000 1)
9999 9999 2)

units (MS)

Active:

After POWER ON

Applies to feed axes only.
See MD 364*, 368*.

1216*

Switchover tolerance 1st/2nd measuring system

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0
1000 3)

0

16 000

units (MS)

Active:

After Power On

Applies only to feed axes (not to C axes for spindles).
This machine data defines the maximum tolerance between the actual value of the first
measuring system and the actual value of the second measuring system which must not be
exceeded at the time of switching from one measuring system to another. Otherwise a setpoint
value jump occurs because the position controller tries to compensate for the change in the
actual value. To prevent this it is not possible to switch from one measuring system to another
when the tolerance is not maintained and the alarm 1016* ”Measuring system switchover not
possible” is output.

1220*

Servo gain (Kv) factor 3rd parameter set

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

1 666

0

10 000
80 000 (as from SW 5)

0.01s-1

This MD has the same meaning as MD 252*, see also functional description of parameter set
switchover.
_______
1)
2)
3)

As from SW 2
As from SW 3
As from SW 4

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–163

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1224*

09.95

Active on
NC Stop

Servo enable switch-off delay

Default value

Lower input limit

Upper input limit

Units

200

0

1 000

ms

The speed enable (servo enable) on the servo loop is revoked after the set delay time has
elapsed. The servo enable is available on the servo loop once per axis/spindle and is allocated
by the control on a mode group specific basis.
Action of the time delay entered:
1. After the interpolater has reached the programmed position, the clamping tolerance
(MD 212*) is activated after the set time delay has elapsed. At this instant, the following
error must therefore be less than the clamping tolerance. The time must be set to be long
enough for the maximum following error (rapid traverse) to be removed. Failure to do this
causes the servo enable on the servo loop to be revoked and alarm 112* (zero speed
control) is issued.
This applies only if NC MD 372* (zero speed control delay) is set to 0.
2. Time delay for removing the servo enable on the servo loop after ”EMERGENCY STOP”
and other errors leading to immediate stoppage of the axes (e.g. contour monitoring).
3. Time delay for removal of servo enable on the servo loop when the servo enable of an
axis has be revoked by the PLC.
Modification of MD 1224* does not take effect until ”POWER ON” and replaces the axisindependent MD 156.

1228*

Active on
NC Stop

Backlash compensation 2nd measuring system 1)

Default value

Lower input limit

Upper input limit

Units

0

- 16 000

16 000

units (MS)

Active:

At once

MD 1228* has the same significance/unit as MD 220* (backlash compensation first measuring
system).
A different backlash occurs in this system if the second measuring system is connected in a
different way. When the measuring system is switched over, the associated compensation
value is always activated:
Measuring system 1 active:
Measuring system 2 active:

1232*

MD 220* active
MD 1228* active
Active on
NC Stop

Compensation value 1)

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

0.01 %2)
0.1 (mV)

_______
1)
2)

As from SW 2
As from SW 3

6–164

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

Compensation time constant quadrant error compensation
(SW 2 and SW 3)

1236*

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

0.1 ms

1236*

Active on
NC Stop

1st compensation time constant 3)

Default value

Lower input limit

Upper input limit

Units

150

0

16 000
99 999 999 (as from SW 4.4)

0.1 ms

MD 1236* defines the recovery time for the compensation setpoint pulse when operation is
without its adaptation. MD 1236* applies to neural and conventional quadrant error
compensation. If the adaptation of the recovery time constant (neural QEC only) is selected
(MD 1812*, bit 2 = 1), MD 1236* defines the filter time constant in the middle of the working
range, MD 1364* defines the value for acceleration 0.

1240*

Active on
NC Stop

Minimum compensation (as from SW 1)

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

0.01 %2)
0.1 (mV)

See Section Functional Descriptions for installation of the friction feedforward control function.

1244*

Active on
NC Stop

Range limit 1

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

100 (units MS/s2)

1248*

Active on
NC Stop

Range limit 2

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

100 (units MS/s2)

1252*

Active on
NC Stop

Range limit 3

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

10000 (units MS/s2)

1256*

Smoothing time constant (SW 2 and higher)

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0
60 3)

0

16 000
99 999 999 3)

MS

See Section entitled ”Functional Descriptions” for installation of the quadrant error
compensation function.
_______
1)
2)
3)

As from SW 2
As from SW 3
As from SW 4

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–165

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

04.96

Filter time constant acceleration determination for quadrant
error compensation (as from SW 4)

1256*

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

60

0

16 000

1 ms

This value is usually not altered by the user. The value should only be increased if the
compensation in the smallest speed range is insufficient.

1260*

Active on
NC Stop

Feedfwd control factor for rigid tapping (as from SW 2)

Default value

Lower input limit

Upper input limit

Units

0

0

1 000

0.1 %

A P feedforward control factor can be entered for the axes involved in the function ”Rigid
tapping”. This machine data has the same meaning as that of NC MD 312*. NC MD 1260* is
only used if NC MD 1320* is not 0.

1264*

Active on
Power On

Grid spacing / ENDAT measuring step (as from SW 5.4)

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

-

The SINUMERIK 840C supports ENDAT absolute encoders where the ratio of grating
pitch/ENDAT measuring step as an integer can be divided by 4. If you enter an incorrect value,
this leads to measuring errors. The input values 0 to 7 are internally processed as the value 4
(default value for rot. EQN 1325). The grid spacing and the ENDAT measuring step must be
taken from the data sheet of the ENDAT absolute encoder.

1272*

Active on
NC Stop

Setpoint filter time constant

Default value

Lower input limit

Upper input limit

Units

0

0

1 000

0.1 ms

The setpoint filter prevents overshooting of positions in the case of a dynamic speed
feedforward control of 100 %.
Note:

a
aaaa
a
a
aa
aaa
aa
a

As from SW 4, for 8 parameter blocks

a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaa
a

Feedforward factor

a
a
aaa
a
a
a
aa
aa
aa
a
a
aa
aa
aa
aa
a

+
Setpoint
speed

Symmetrizing
filter

KV

a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaa
a

Setpoint
filter

a
a
a
a
a
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
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a
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a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
aa
aa
aa
aa
a
a
a

a
a
a
a
a
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a
a
a
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a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaaaa
a

Setpoint

a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
a
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a
a
a
a
a
aaaaaaaa
a

a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
a
a
a
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a
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a
a
a
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a
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a
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a
a
a
a
a
aa
aa
aa
aa
a
a
a
a
a
a
a
a
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a
a
a
a
a
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a
a
a
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a
a
a
a
a
a
a
a
a
a
a
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a
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a
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a
a
aaaaa
a

d
dt

Actual position value

6–166

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

Following error threshold for detecting the fixed stop (as
from SW 3)

1280*

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

1 000

0

16 000

units (MS)

1 000

0

99 999 999 (as from
SW 4.4)

units (MS)

Following error increase threshold for detecting the fixed stop.
This machine data is only active when MD 1804* bit 4 = 0. The signal ”Fixed stop reached” is
set when the following error has been exceeded by the value defined in MD 1280*.
Example:
MD 1280* = 500 = 0.5 mm
Traversing velocity 1000 mm/min
Servo gain factor = 1
following error 1 mm
The triggering threshold for the fixed stop reached in this example is:
1 mm + 0.5 mm = 1.5 mm

1284*

Clamping tolerance

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

100

0

16 000

units (MS)

100

0

99 999 999 (as from
SW 4.4)

units (MS)

Zero speed control window in fixed stop.
This data only takes effect when MD 1804*, bit 3 = 1.
If the position at which the fixed stop was triggered is exceeded by more than the tolerance
defined in MD 1284*, travel to fixed stop is aborted with an error message.

1288*

Torque compensation controller integral action time

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

0

1 000 000
99 999 999 (as from
SW 4.4)

ms

The integral action of the torque compensation controller is parameterized in the integral action
time. The integral action is deactivated if set to the default value 0 because the proportional
action (MD 1384*) already ensures an adequate static distribution of torque.
The additional integral action can produce a better distribution in multi-slave operation.
Practical values are in the region of seconds. See also MD 1812*.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–167

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1292*

09.95

Active on
NC Stop

Motor current on equilibration (as from SW 3)

Default value

Lower input limit

-70
-700 (as from SW 4)

0

Upper input limit

Units

70
700 (as from SW 4)

0.1 % of the
power section
current

MD 1292* is used to define the value of an additional torque of a motor used to compensate
for stationary loads (e.g. pull of gravity on hanging axes) (this MD is only active for digital feed
spindle drives).
Note: As from SW 4, for 8 parameter sets

1296*

Active on
NC Stop

Period of the learning signal (as from SW 4.4)

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

ms

The learning signal period of neural quadrant error compensation can be changed with this
data. This also alters the required traversing range and the learning time.
Note:
With default value 0 and values under 500 ms are used a permanently set period length of 2 s
is used. Up to SW 4.3 this time cannot be parameterized and is permanently set to 1 s.

1300*

Active on
Power On

Basic distance for distance coding

Default value

Lower input limit

Upper input limit

Units

1 000

0

16 000

–

Active:

After POWER ON

The basic distance between the reference marks for distance coded linear scales entered in
multiples of the grating pitch (division period).

1304*

Active on
Power On

External pulse multiplication

Default value

Lower input limit

Upper input limit

Units

1

1

100

–

Active:

After Power On

External pulse multiplication factor (e.g. external EXE error) for linear measuring systems with
distance coded reference points.
The number of signal periods (grid lines) that are generated from one division period of the of
the linear scale (grating pitch) by external interpolation digital electronics.

1308*

Active on
NC Stop

Servo gain factor 4th parameter set (as from SW 4)

Default value

Lower input limit

Upper input limit

Units

1 666

0

10 000
80 000 (as from SW 5)

0.01s-1

These MD have the same meaning as MD 252*, see also ”Functional Descriptions: Parameter
set switchover”.

6–168

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

01.99

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1312*

Active on
NC Stop

Servo gain factor 5th parameter set (as from SW 4)

Default value

Lower input limit

Upper input limit

Units

0

10 000
80 000 (as from SW 5)

0.01s-1

1 666

These MD have the same meaning as MD 252*, see also ”Functional Descriptions: Parameter
set switchover”.

1316*

Active on
NC Stop

Servo gain factor 6th parameter set (as from SW 4)

Default value

Lower input limit

Upper input limit

Units

0

10 000
80 000 (as from SW 5 )

0.01s-1

1 666

These MD have the same meaning as MD 252*, see also ”Functional Descriptions: Parameter
set switchover”.
Servo gain factor 2nd parameter set for thread cutting
(G33, G36, G63)

1320*

Active in
BAG in Stop

Default value

Lower input limit

Upper input limit

Units

0

166
0 (as from SW 4.4)

10 000
80 000 (as from SW 5)

0.01 s-1

Active:

All channels of the mode group in STOP

This NC MD is similar to NC MD 252*. However, it only applies to axes involved in the function
”Thread” (G33 to G36, G63) (see Section entitled ”Functional Descriptions”).
As the rotary axis and the infeed axes interpolate for tapping, both of these axes must be set
with the active servo gain factor.
The time constants for the dynamic feedforward control (see NC MD 1324*) and the feedforward control factor ( NC MD 1260*) can also be used to reduce the following error.
Input value ”0” means that instead of 1320* the value from 252*, instead of 1324* the value
from 392* and instead of 1260* the value from 312* are used.
Note:
SW 4 and higher: see the section entitled ”Functional Descriptions: Parameter set switchover”.

1324*

Active on
NC Stop

Time constant symmetrizing filter rigid tapping

Default value

Lower input limit

Upper input limit

Units

0

0

1 000

0.1 ms

Active:

In the next block

A time constant of the dynamic feedforward control can be entered for the axes involved in the
function ”Thread” (G33 to G36, G63).
This machine data has the same effect as NC MD 392*.
NC MD 1324* is only used when NC MD 1320* is not equal to 0.
Note:
As from SW 4, for 8 parameter sets see the section entitled ”Functional Descriptions:
Parameter set switchover”.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–169

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1328*

09.95

Active on
NC Stop

Servo gain factor 7th parameter set (as from SW 4)

Default value

Lower input limit

Upper input limit

Units

0

10 000
80 000 (as from SW 5)

0.01s-1

1 666

These MD have the same meaning as MD 252*, see also ”Functional Descriptions: Parameter
set switchover”.

1332*

Active on
NC Stop

Servo gain factor 8th parameter set (as from SW 4)

Default value

Lower input limit

Upper input limit

Units

1 666

0

10 000
80 000 (as from SW 5)

0.01s-1

These MD have the same meaning as MD 252*, see also ”Functional Descriptions: Parameter
set switchover”.

Master for speed setpoint coupling
(as from SW 4.4)

1336*

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

0

50

-

Machine data 1336* assigns the master to a slave for speed setpoint coupling. The speed
setpoint is taken from the axis entered here and output as the speed setpoint while ignoring its
own position control. The assignment is made with the axis/spindle number.
Value

0

1 - 30

41 - 46

Meaning

No axis/spindle

Axis 1 - 30

Spindle 1 - 6

Master for torque compensation control
(as from SW 4.4)

1340*

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

0

50

-

Machine data 1340* assigns the master axis to a slave. The torque setpoint is taken from the
axis entered here and compared with the torque setpoint of its own drive. The difference is the
input variable for the torque compensation controller.
The assignment is made via the axis/spindle number.
If the default value 0 is entered, the master of the speed setpoint coupling (MD 1336*) is also
used for the torque compensation control.
Value

0

1 - 30

41 - 46

Meaning

No axis/spindle

Axis 1 - 30

Spindle 1 - 6

6–170

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

Torque distribution torque compensation controller
(SW 4.4 and higher)

1344*
Default value

Lower input limit

Upper input limit

500

0

984

Active on
NC Stop
Units

‰

With MD 1344*, the input variables of the torque compensation controller are weighted to
permit a parameterizable torque distribution over both drives according to the respective
moments of inertia.
The standard parameterization of 500 _ produces a distribution according to the values in
drive machine data 1725 (normalization torque setpoint interface) for both axes. If a different
distribution is to be used, MD 1344* must be calculated according to the following formula:
Mdesiredslave
––––––––––––––––––––––––––––––––––––––––––
· 1000 ‰.
MD 1725slave
Mdesiredslave + Mdesiredmaster *
–––––––––––––
MD 1725master

MD 1344* =

Mdesired is the desired torque distribution between master and slave.

1364*

2nd compensation time constant (as from SW 4)

150

0

9999 9999

Active on
NC Stop

0.1 ms

MD 1236* defines the recovery time for the compensation setpoint pulse when operation is
without its adaptation. MD 1236* applies to neural and conventional quadrant error
compensation. If the adaptation of the recovery time constant (neural QEC only) is selected
(MD 1812*, bit 2 = 1), MD 1236* defines the filter time constant in the middle of the working
range, MD 1364* defines the value for acceleration 0.

1368*

Active on
NC Stop

Learning rate (as from SW 4)

Default value

Lower input limit

Upper input limit

Units

100

1

500

%

The learning rate for neural quadrant error compensation defines how quickly the neural
network learns the optimum characteristic during the neural quadrant error compensation (MD
1812*, bit 0 and 1 set) active learning phase. A high learning rate means a short learning
phase, which in the worst situation can cause instability. A low learning rate is recommended
for learning processes during normal operation as otherwise the characteristic will be changed
if even the smallest disturbance occurs when the speed goes through zero. Reproducibility is
then no longer possible.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–171

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1372*

09.95

Active on
NC Stop

Measuring time 1 (neural QEC only) (as from SW 4)

Default value

Lower input limit

Upper input limit

Units

600

1

9999 9999

% of MD 1236*

1376*

Active on
NC Stop

Measuring time 2 (neural QEC only) (as from SW 4)

Default value

Lower input limit

Upper input limit

Units

300

1

9999 9999

% of MD 1236*

1380*

Active on
NC Stop

Measuring time 3 (neural QEC only) (as from SW 4)

Default value

Lower input limit

Upper input limit

Units

300

1

9999 9999

% of MD 1236*

Measuring times MD 1372* - 1380* are used to set the adaptation of the measuring duration to
determine the fault criteria during the neural quadrant error compensation learning phase (MD
1812*, bit 0 and 1).
If this measuring duration is to remain constant, all 3 machine data must be parameterized to
the same value. Reparameterization of the standard value is usually not necessary because a
percentage is entered in MD 1236*.
The middle measuring duration (MD 1376*) is also used for conventional quadrant error
compensation if the service QEC display is used to make the settings.
Special features:
If the value 0 is entered in MD 1236*, 100% = 10 ms, as otherwise it is not possible to
parameterize error measuring times > 0.

1384*

Torque compensation controller P component
(as from SW 4.4)

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

100

0

1 000 000

0.0001%

The P gain of the torque compensation controller is parameterized in % of the ratio drive
maximum speed to nominal torque of the slave drive. The input variable of the torque
compensation controller is the difference in torque between master and slave, the output
variable is a speed setpoint. See also MD 1812* and 523*.
Formula:
Output variable = P gain * control difference
Example:
A torque difference of 10 % of the slave nominal torque and standard parameterization 100
(= 0.01%) produces an output variable of the controller of 0.001 % of the maximum speed of
the slave drive (0.01 % * 10 % = 0.001 %).

6–172

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

Measuring circuit assignment 2nd measuring system
(as from SW 2)

1388*
Default value

Lower input limit

Upper input limit

Units

0

5030000 analog (as from SW 2)
15021000 (as from SW 3)
30021000 (as from SW 5)

–

0

Active:

Active on
Power On

After POWER ON.

Only applies to feed axes.
The second measuring system is defined in the same way as the first measuring system with
MD 200*.

1392*
Default value

Feedforward control factor 8th parameter set
(as from SW 4)
)
Lower input limit
Upper input limit

0

+0

1 000

Active on
NC Stop
Units

0.1 %

This MD has the same meaning as MD 312*, see also functional description of parameter set
switchover.

1396*

Position control cycle

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

1

1

64

–

NC MD 1396* modifies NC MD 155 ”Position controller sampling time”, i. e. the controller can
be slowed down by a factor of 2 to 64.
Permissible values:
1, 2, 4, 8, 16, 32, 64
The following applies:
Position control cycle time = Position control basic cycle x MD 1396*
Interpolation cycle
Conditions:
–––––––––––––––––––– >1 (integer)
Axial pos. control cycle
See also MD 466*

1420*
Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

Note:

As from SW 4, for 8 parameter sets

1424*

Note:

Active on
NC Stop

P component compensatory controller

Active on
NC Stop

I component compensatory controller

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

As from SW 4, for 8 parameter sets

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–173

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1428*

04.96

Active on
NC Stop

D component compensatory controller

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

These machine data are only used for the functionality "Electronic gearbox".
Together with the installed test function (activated with NC MD 1844* bit 5), these machine
data are used to set the control behaviour of the PID compensatory controller.
For additional information see the functional description of the electronic gearbox.
Note:
As from SW 4, for 8 parameter sets

1432*

Active on
NC Stop

Time constant parallel model

Default value

Lower input limit

Upper input limit

Units

6 000

0

16 000

0.01 ms

This machine data is only used for the functionality "Electronic gearbox".
The parallel model must be set to the time constant of the position control loop of the following
axis (time constant T=1/servo gain).
If the value 16000 is entered in the machine data, the system automatically calculates the
actual servo gain factor and the time constant of the following axis. However, this actual servo
gain factor is only stored internally, it cannot be looked at.
The value 16000 entered for the time constant is also automatically replaced by the value
derived by the control.
Note:
As from SW 4, for 8 parameter sets

1436*

Active on
NC Stop

Tolerance range synchronism fine

Default value

Lower input limit

Upper input limit

Units

40

0

16 000
99999999 (SW5.4
and higher)

1 unit (MS)

Note:
As from SW 4, for 8 parameter sets

6–174

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1440*

Active on
NC Stop

Tolerance range synchronism coarse

Default value

Lower input limit

Upper input limit

Units

0

16 000
99999999 (SW 5.4
and higher)

1 unit (MS)

100

This machine data is only used for the functionality "Electronic gearbox".
During LINK ACTIVE, the positional difference of the following axis compared with the leading
axes/spindles is monitored by the tolerance range "Synchronism fine" and "Synchronism
coarse". If the positional difference is greater than the tolerance range, then the corresponding
PLC interface signal SYNCHRONISM FINE OR SYNCHRONISM COARSE is set to 0 signal.
With these interface signals it is therefore possible to determine the positional synchronism of
the following axis.
More detailed information is given in the functional description of the electronic gearbox.
Note:
As from SW 4, for 8 parameter sets

1444*

Active on
NC Stop

Emergency retraction threshold

Default value

Lower input limit

Upper input limit

Units

0

16 000
99999999 (SW 5.4
and higher)

1 unit (MS)

400

This machine data is only used for the functionality "Electronic gearbox".
With LINK ACTIVE, the positional difference between the following axis and the leading axes
can be monitored with the machine data value ”Emergency retraction threshold”. The
emergency retraction monitoring must be enabled by setting an interface signal.
If the positional difference exceeds this threshold value, it can be output very quickly via a
digital hardware signal. An NC alarm ("Following axis emergency retraction") and the PLC
interface signal EMERGENCY RETRACTION ACTIVE are also set.
The MIXED I/O module must be in use in the servo area to achieve a very fast signal
"Emergency retraction" (in the positional control cycle).
More detailed information is given in the functional description of the electronic gearbox.
Note:
As from SW 4, for 8 parameter sets

1448*

Active on
NC Stop

Warning threshold nmax and amax

Default value

Lower input limit

Upper input limit

Units

90

0

100

%

Every axis is limited to a maximum acceleration and a maximum speed (NC MD 276*, 280*).
In addition, the following axis is in both cases checked against a warning threshold. The
warning threshold is defined in this machine data and applies to both the speed threshold and
the acceleration threshold. The warning threshold is entered as a percentage of the maximum
value in question.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–175

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD 2 (axial data 2)

09.95

If the calculated setpoint speed/setpoint acceleration of the following axis is greater than the
defined values, the corresponding interface signals are set at the PLC interface.
If, for example, 50 is entered in MD 276* as the acceleration value, interface signal
”ACCELERATION WARNING THRESHOLD REACHED” is set if 45 is exceeded in the
standard setting.
More detailed information is given in the functional description of the electronic gearbox.

1452*

Active on
NC Stop

Delay controlled follow-up

Default value

Lower input limit

Upper input limit

Units

16 000

0

16 000

1 (ms)

If a fault occurs with the leading axes, the following axis goes into follow-up mode, i.e.
traverses with actual values as the control value (see the functional description of the
electronic gearbox, "Maintenance of link during faults"). After the delay shown above, the
following spindle switches from "controlled follow-up" to "normal follow-up" (follow-up mode).
Effect of the input values (different cases):
0:

No controlled follow-up;
immediate normal follow-up

1...15000:

Initial controlled follow-up;
switchover to normal follow-up after the delay

15001 and higher:

Always controlled follow-up; no switchover to normal follow-up

1456*

Active on
Power On

Default setting link type

Default value

0

Lower input limit

Upper input limit

–

34

Units

1)

–

This machine data only applies to leading axes.
Type of link:
0
1
2
3
4

No default
Setpoint position link
Actual position link
Setpoint position link (with simulated actual values of the leading drives; the compensatory
controller only reacts to following axis faults.
Actual position link/setpoint speed link 1)

The compensatory controller can be activated/deactivated via the PLC signals "Compensatory
controller ON/OFF".
The machine data is used for two applications.

_______
1)

As from SW 4

6–176

© Siemens AG 1992 All Rights Reserved

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SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

Application:
A gearbox grouping can be configured with the G401 command. If the type of link has not
been defined in the G401 command, the default value from MD 1456* is taken.
Example:
G401

X

Y

X, Y: leading axes, Z: following axis, no link type.

Z

If "No default" (MD 1456* = 0) has been entered and no link type has been entered in G401,
reset alarm "GI CONFIGURATION illegal" is triggered.

1460*1480*

Time constant symmetrizing filter 3rd - 8th parameter set
(as from SW 4)

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

+0

1 000

0.1 ms

These MD have the same meaning as MD 392*, see also ”Functional Descriptions: Parameter
set switchover”.

1484*1508*

Time constant setpoint filter 2nd - 8th parameter set
(as from SW 4)

Active on
at once

Default value

Lower input limit

Upper input limit

Units

0

0

1 000

0.1 ms

These MD have the same meaning as MD 1272*, see also ”Functional Descriptions:
Parameter set switchover”.

1512*1536*
Default value

Scaling factor max. velocity 2nd - 8th parameter set
(as from SW 4)
Lower input limit

10 000

1

Active in
channel of
mode group
in STOP

Upper input limit

Units

99 999 999

mm inch degr.
–––– –––– ––––
min min min

These MD have the same meaning as MD 256*, see also ”Functional Descriptions: Parameter
set switchover”.

1540*1564*

Exact stop limit coarse 2nd - 8th parameter set
(as from SW 4)
Upper input limit

Active on
NC Stop

Default value

Lower input limit

Units

40

+0

16 000

units (MS)

40

+0

99 999 999 (SW 4.4
and higher)

units (MS)

These MD have the same meaning as MD 204*, see also ”Functional Descriptions: Parameter
set switchover”.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–177

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD 2 (axial data 2)

1568*1592*

09.95

Active on
NC Stop

Exact stop limit fine 2nd - 8th parameter set

Default value

Lower input limit

Upper input limit

Units

10

+0

16 000

units (MS)

10

+0

99 999 999 (as from
SW 4.4)

units (MS)

These MD have the same meaning as MD 208*, see also ”Functional Descriptions: Parameter
set switchover”.

1596*1620*

Active on
NC Stop

Zero speed monitoring 2nd - 8th parameter set

Default value

Lower input limit

Upper input limit

Units

100

0

16 000

units (MS)

100

0

99 999 999 (as from
SW 4.4)

units (MS)

These MD have the same meaning as MD 212*, see also ”Functional Descriptions: Parameter
set switchover”.

1624*1648*

P component compensatory controller 2nd - 8th parameter
set (as from SW 4)

Active on
RESET

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

These MD have the same meaning as MD 1420*, see also ”Functional Descriptions:
Parameter set switchover”.

1652*1676*

I component compensatory controller 2nd - 8th parameter
set (as from SW 4)

Active on
RESET

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

These MD have the same meaning as MD 1424*, see also ”Functional Descriptions:
Parameter set switchover”.

1680*1704*

D component compensatory controller 2nd - 8th parameter
set (as from SW 4)

Active on
RESET

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

These MD have the same meaning as MD 1428*, see also ”Functional Descriptions:
Parameter set switchover”.

6–178

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

01.99

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7 Axis-specific MD 2 (axial data 2)

1708*1732*

Time constant parallel model 2nd - 8th parameter set
(as from SW 4)

Active on
RESET

Default value

Lower input limit

Upper input limit

Units

6 000

0

16 000

0.01 ms

These MD have the same meaning as MD 1432*, see also ”Functional Descriptions:
Parameter set switchover”.These machine data are only active with gearbox interpolation.

1736*1764*

Alarm limit velocity 1st - 8th parameter set
(as from SW 4)

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

11 000

1

99 999 999

10 000 units/s2

Meaning: Limitation of max. velocity for following axis. These machine data are only active with
gearbox interpolation.
Note:
For parameter grouping see under ”Functional Descriptions: Parameter set switchover”.

1768*1796*

Alarm limit acceleration 1st - 8th parameter set
(as from SW 4)

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

55

0

16 000

10 000 units/s2

Meaning: Limitation of max. acceleration for following axis. These machine data are only active
with gearbox interpolation.
Note:
For parameter grouping see under ”Functional descriptions: Parameter set switchover”.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

Axis-specific MD bits 2 (axial bits 2)

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6.7.1

12.93

Bit No.

NC MD

7

6

5

4

3

Display resolution

1800*

2

1

0

Position control resolution

Code table for resolution
Bit 7

Bit 6

Bit 5

Bit 4

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0

0

0

0

1

0

0

0

0

1

0

0

1

1

0

0

NC MD 5002

Input resolution

NC MD 1800*

Display resolution
Position control
resolution

–––––––

NC MD 1800*

10-1

[mm]
[degrees]

0.5 x 10-1 [degr.]

10-2

[mm]
[degrees]

10-2

[mm]
[degrees]

0.5 x 10-2 [degr.]

10-3

[mm]
[degrees]

10-3 [mm]
[degrees]

0.5 x 10-3 [degr.]

–––––––
10-4
10-5

–––––––

2 x 10-4 [degr.]

Metric

[mm]
[degrees]

10-4

[mm]
[degrees]

0.5 x 10-4 [degr.]

[mm]
[degrees]

10-5

[mm]
[degrees]

0.5 x 10-5 [degr.]

0

0

1

0

1

0

1

0

0

1

1

0

–––––––

1

1

1

0

–––––––

–––––––

–––––––

–––––––

–––––––

0

0

0

1

–––––––

10-1

[degrees]

0.5 x 10-1 [degr.]

1

0

0

1

–––––––

10-2

[degrees]

0.5 x 10-2 [degr.]

0

1

0

1

1

1

0

1

0

0

1

1

1

0

1

1

0

1

1

1

1

1

1

1

0

1

0

0

10-3

[inches]
[degrees]

10-3

[inches]
[degrees]

0.5 x 10-3 [inches]
[degr.]

10-4

[inches]
[degrees]

10-4

[inches]
[degrees]

0.5 x 10-4 [inches]
[degr.]

–––––––

–––––––
10-5

[inches]
[degrees]

10-6

[zoll]
[grad]

–––––––

–––––––

–––––––

–––––––

–––––––

[inches]
[degrees]

Inches

2 x 10-5 [inches]

10-5

(Degrees)

(Degrees)

0.5 x 10-5 [inches]
[degr.]

= Standard machine data

The display resolution determines the path of travel in "incremental feed" mode.
Input resolution see NC MD 5002.
For possible combinations, see Section entitled ”Axis (Analog) and Spindle Installation”.
Active: POWER ON

6–180

© Siemens AG 1992 All Rights Reserved

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

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01.99

Bit No.

NC MD

1804*

7

Adaptation
(as from
SW 2)

6

Quadrant
error compensation (as
from SW 2)

5

Axis can
travel
against fixed
stop (as from
SW 3)

4

Sensor
signal PLC
fixed stop
(as from
SW 3)

3

2

Monitoring
clamping
tolerance
act. (as from
SW 3)

1

0

Automatic
tacho compensation (as
from SW 2)

Symmetrical
traversing
range
ENDAT
absolute
encoder (as
from SW 6)

Standard value: 0000 0000
Bit 7

See Section entitled ”Functional Descriptions”

Bit 6

See Section entitled ”Functional Descriptions”

Bit 5 Bit 5=0 Axis cannot move against fixed stop.
Bit 5=1 Axis can move against fixed stop.
This bit must be set for any axis which is allowed to move against the fixed
stop.
Caution:
MD 1804*, bit 5, must only be set for real axes. It must not be set for fictitious
main and coupled-motion axes.
Bit 4 Bit 4=1 "Fixed stop reached" is sent to the NC via an external sensor.
Bit 4 Bit 4=0 "Fixed stop reached" is calculated internally by the servo from the following
error increase factor.
Bit 3 Bit 3=0 Zero speed monitoring for moving against fixed stop off
Bit 3=1 Zero speed monitoring for moving against fixed stop on
Bit 1

The function ”Tacho compensation” is used to compensate for drive and
tacho characteristic errors which can occur with an analog coupling (e.g.
temperature problems). The function can also be used to correct incorrect
tacho settings. Deviations of up to 12.5 % of the multgain (setpoint
adaptation/maximum load speed) can be compensated (multgain adjustment).
The tacho compensation calculates a new compensation value if:
•

a constant velocity is used for traversing and

•

the velocity of the axis is greater than 6.25 % of the maximum velocity.

If one of these conditions is not fulfilled, the compensation value remains
constant at the last calculated value. If the compensation value exceeds 12.5
% of the set multgain, this limiting value is used for the compensation.
A separate compensation value is derived for each traversing direction in order
to be able to compensate for asymmetrical drive and tacho characteristics.
The function compensates for deviations of the real as compared to the
calculated ideal following error. To ensure following error-free movement, the
speed feed-forward control must be used with 100 % feedforward control
factor.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–181

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

09.01

The derived following error difference is always evaluated against the actual set
speed in order to derive a compensation value across the total velocity range of an
axis. Otherwise a compensation proportional to the velocity would not be possible
if constant velocity operation is revoked.
The compensation values are deleted when compensation is deselected (MD
1804*, bit 1 deleted). New compensation values have to be calculated if the
function is reactivated.
After POWER ON the compensation values are recalculated and the previous
values are deleted.
If the tacho compensation is also to be used for spindles, a C axis must be
assigned to each spindle in order to set the axis-specific MD bit. Tacho
compensation and feed forward control is only active for spindles in position
control mode (M19 absolute, M19 through several resolutions).
In order to obtain a symmetrical traversing range around the zero position for
finitely turning rotary axes, bit 0 must be set to 1 under MD 1804*. This will require
no modulo correction within the range between -180 degrees and +180 degrees
(if MD 1808*, bit 6=1) or between -8 revolutions and +8 revolutions (if MD 1808*
bit 6=0) (see Section 12.11.2.4)

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Bit 0

Bit No.

NC MD

1808*

Bit 7=1

7

Range
extension
ENDAT
absolute
encoder

6

5

4

3

2

1

0

SIPOS
single-turn
absolute
encoder
available (as
from SW 2)

2nd
measuring
system
distance
coded

1st
measuring
system
distance
coded

Absolute
offset MD
396* valid

Absolute
encoder
counting
direction
opposite
sense

Value range
extension
of absolute
offset

Axis with
absolute
encoder
system

ENDAT absolute encoder overflows are stored in the SRAM of the NC-CPU and
then included in the calculation of the actual position.
This function is required in the following cases:
•

Rotary axes with an encoder on the motor (indirect measuring system) and a
gear not equal to 1/2”.

•

Linear axes with an encoder on the motor (indirect measuring system) and a
traversing range that is greater than the traversing range of the absolute
encoder.

For a more detailed description see the description of the function ”Range
extension with ENDAT absolute encoder”.
Bit 7=0

ENDAT absolute encoder overflows are not stored and evaluated.

Bit 6=1

Single-turn absolute encoder present

General:
The function in ”Single-turn absolute encoder available” is required for rotary axes
with a SIPOS or Endat absolute encoder which is connected directly and an
unlimited traversing range. This function is used to evaluate the absolute value
within one revolution only in order to avoid incorrect positioning should there be a
counter overflow (danger to machine).

6–182

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

Description of function:
The absolute position is made up of
• 16 bits absolute revolution information (number of revolutions),
• 14 bits resolution within one revolution,
• 7 bits fine resolution,
i.e. that 216 = 65536 encoder resolutions can be displayed with a resolution of
max. 14+7 bits. The encoder has 2500 encoder lines, i.e. the 14 bit ”Resolution
within one revolution” is not exhausted (14 bits =16384 > 2500 · hardware
multiplication 4).
Information for the ”Position within one revolution” can therefore be derived with a
modulo (2500 · 4) calculation from the absolute value.
Because an overflow beyond the stated number of max. 65536 encoder
revolutions is expected when a absolute encoder for (endlessly turning) rotary axes
is used, an overflow compensation should be used here.
Here the function ”Single-turn absolute encoder available” provides the position
required in normal circumstances within one revolution from the absolute value
(run-up phase).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–183

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

Bit 6 = 1

Active:

6–184

09.95

If the absolute position is negative, one revolution is added to the rest of the
modulo calculation.
This means that after control run-up, a position between 0 and 360° is
always displayed in the basic actual value display and the service display.
The function is activated when the bit for the rotary axis (MD 564*, bit 5), the
bit for the absolute encoder (MD 1808*, bit 0) and the bit for the function
”Single-turn absolute encoder available” (MD 1808*, bit 6) are set.

General limitations when using SIPOS/Endat encoder:

A simple overflow compensation is performed in the SIPOS hardware (65536
encoder revolutions are reduced to 0 encoder revolutions) which must be
compatible with the ”Workpiece revolutions” in the NC control.

Where the SIPOS/Endat absolute encoder is connected directly to the
workpiece table (load side), the overflow compensation in the hardware is
always correct (for every position control resolution).

The above does not apply when

• using a measuring gear or

• when the encoder is connected indirectly at the motor and a
motor/load gear is used.

In such cases the gear ratio is divided into the pulse/path weighting, use of
the overflow correction is limited:

If a gear is used between the encoders and workpiece side, the
absolute encoder can only be used with rotary axes/C axes if the
following calculation

65536 · 2500 · 4 · (MD368*/MD364*) · position control resolution / 360

produces an integer value,

i.e. the maximum number of 65536 absolute encoder revolutions also
corresponds to an integer number of workpiece revolutions.

The above formular can also be set to

65536 x x/y (where x/y = gear ratio encoder/workpiece)

must result in an integer!

because when the impulse weighting is correctly parameterized MD 364*
always contains the N encoder line number (2500 . 4) and MD 368* always
contains the position control resolution and the value 360 (degrees) for rotary
axes.

Single-turn absolute encoder function active.

Bit 5 Bit 5=0 The 2nd measuring system is not distance coded.

Bit 5=1 The 2nd measuring system is distance coded (see Functional Description for
additional machine data which have to be set for this function).

After POWER ON

Applies only to feed axes.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

09.95

Bit 4

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

Bit 4=1

Measuring system with distance-coded reference marks.

Standard value: Bit 0-4 = 0
Changes in bits 2-3 are actuated on the next reference point approach in bit 4 after POWER
ON.
When the SIPOS/Endat absolute encoder is used, the following NC machine data must be
taken into account:
Axial machine data:
MD 240*
MD 396*
MD 1300*
MD 1304*

Reference point ordinate (with absolute encoder only)
Absolute offset
Basic distance of the reference marks
External pulse multiplication (not with absolute encoder)

Procedure on reference point approach
When bit 0 of MD 1808* ”Axis with absolute encoder” is set, a distinction must be made
between two cases for reference point approach.
Case 1:

MD 1808* bit 3 = 0
When the bit ”Absolute offset valid” is not set, reference point approach is carried
out as for an axis without absolute encoder. On ”Reference point reached”, the
calculated absolute offset is transferred to the axial MD 396* and MD 1808* bit 3
”Absolute offset valid” is set for the relevant axis.
The absolute offset is calculated on the basis of the equation
Machine system = SIPOS/Endat system + absolute offset
or
Absolute offset = machine system - SIPOS/Endat system
The following applies
Machine system = desired absolute position = reference point ordinate
and
SIPOS/Endat system = displayed absolute position (actual value)

Note:
If a value other than 0 has been entered in MD 396*, this value must be taken into account, as
it is contained in the SIPOS/Endat system (= displayed actual value).
Case 2:

MD 1808* bit 3 = 1
When the bit ”Absolute offset valid” is set, reference point approach is
suppressed, until the bit is reset by the user.

Note:
When the function G74 ”Reference point approach from part program” is used, referencing is
not carried out for the second case and processing is continued with the next block.
Procedure on warm restart (POWER ON)
When bit 0 of MD 1808* ”Axis with absolute encoder” is set, MD 1808* bit 3 ”Absolute offset
valid” is checked for the relevant axis. If this bit is also set, the axial interface signal
”Reference point approach” is set already on warm restart.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–185

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

04.96

Special case ”parking axis”
The axial interface signal ”Parking axis” also causes the interface signal ”Reference point
reached” to be deleted for an axis with SIPOS/Endat absolute encoder. When bit 3 of MD
1808* is set, a new referencing is suppressed. The absolute value is not transferred until
POWER ON.
Note:
Reference point approach can be carried out again when MD 1808* bit 3 is deleted.
Bit 3 Bit 3=1 The value NC MD 396* for the absolute value is valid.

Bit 2

Meaning for SIPOS:

After power-on the signal "reference point
reached" is set for this axis.

Distance coding:

The referencing procedure is performed with this
value and acknowledged with "reference point
reached".

To be able to calculate the machine absolute value after NC reset, it is
necessary to know whether the value of the absolute encoder (or distance
coded linear scale) gets larger or smaller as the machine absolute value
increases.
Bit 2=1 Machine system and SIPOS/Endat absolute system (or distance-coded linear
scale) are of opposite sense
Bit 2=0 Machine system and SIPOS/Endat absolute system (or distance-coded linear
scale) are of same sense

Bit 1 Bit 1=0 Absolute offset results from MD 396*
Bit 1=1 Absolute offset results from MD 396* +/- 99 999 999
(+/- depends on sign of MD 396*)
Default value:0
Bit 0 Bit 0=1 The NC axis is equipped with an absolute encoder.
The absolute value is transferred on POWER ON for both measuring systems.
Caution:

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a

When the control is being installed for the first time, you must perform
POWER-ON after declaring the encoder otherwise positioning errors will
occur!
Bit No.

NC MD

7

1812*

Sign
inversion
setpoint
master/
slave 2)

Bit 7

6

5

Torque compensation
controller

controls
master/
slave 2)

controls
master/
slave 2)

4

3

2

1

0

Master/
Pos.-contrl. Adaptation
Learning
slave
follow-up on comp. time
phase
const.
operation
error (as neural QEC neural QEC
after Power from
1)
SW 5)
1)
On 2)

Neural
QEC 1)

Sign inversion setpoint master/slave
Bit 7=1 With bit 7 it is possible to take account of different ways in which the master
and slave drives might be connected to the common output without having to
change the polarity and the direction of travel of the individual drives (MD 5640
bit 1 and 2). This bit only has to be set if, given a positive setpoint, the
axes/spindles would rotate in opposite directions at the mechanical coupling.

_______
1)
2)

As from SW 4
As from SW 4.4

6–186

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

Bit 6

Torque compensation controller output affects master
Bit 6=1 The output of the torque compensation controller is connected with bits 5 and
6. It can either affect the speed setpoint of the slave (bit 5 = 1 only), the
master (bit 6 = 1 only) or the master and slave (bits 5 and 6 = 1)

Bit 5

Torque compensation controller output affects slave
Bit 5=1 The output of the torque compensation controller is connected with bits 5 and
6. It can either affect the speed setpoint of the slave (bit 5 = 1 only), the
master (bit 6 = 1 only) or the master and slave (bits 5 and 6 = 1)

Bit 4

Master/slave operation (master-slave torque compensation control) after Power
On.
Bit 4=1 If bit 4 = 1, this axis is switched to slave operation immediately after Power
On (see ”Function Descriptions: Master/slave”). This bit is therefore only
active after Power On. It is not longer possible to disable this function with a
PLC signal.

Bit 3

If bit 3 is set, a master or slave axis which is also a following axis is switched
over to position-controlled follow-up mode if errors occur in the master/slave
grouping. If no "extended stopping and retract" is active, switchover is also
performed if errors occur in the same mode group.
Note:
This function must not be used if the master is simultaneously the leading axis
for the slave, as then an unstable control loop results.

Bit 2

The adaptation of the compensation time constant via the acceleration is
activated. In this case a filter time constant for the speed setpoint pulse is
used which is derived from the straight line through the filter time constants of
MD 1236* and MD 1364* (see description of MD 1364*).

Bit 1

The learning phase of the neural network is activated. In this state the neural
network the characteristic it has learned until now. Relearning with any
contours is thus possible. This bit is ignored in automatic learning (behaviour
as if this bit were set).

Bit 0

Neural quadrant error compensation is activated. Only if this bit is set is an
additional speed setpoint according to the stored characteristic of the neural
network injected. For this reason, a check is made to see if this bit has been
set when automatic learning is activated.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–187

09.95

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

Bit No.

NC MD

7

6

5

4

3

2

1

0

1820*

Contour
monitoring
not active

Pulse
encoder
monitoring
on

No. of
encoder
pulses (611D)
2nd meas.
system (as
from SW 3)

Second meas.
system with
external zero
mark (as from
SW 3)

No. of
encoder
pulses (611D)
1st meas.
system (as
from SW 3)

First meas.
system with
external zero
mark (as from
SW 3)

Zero
monitoring
on

Setpoint
smoothing
on

Default value:

0000 0000

Bit 7 Bit 7=1 The dynamic contour monitoring function is switched off.
Bit 6

Pulse encoder monitoring on
Bit 6=1 Monitoring is carried out to determine how many directional changes have
occurred between two measuring clock pulses. If too many directional changes
are detected, alarm 140* is triggered (also see description of alarm 140*).
Bit 6=0 Monitoring switched off.

Bit 5

Digital drives only:
Bit 5=0 Number of encoder intervals between two reference marks of the second
measuring system is a multiple of 16
Bit 5=1 Number of encoder intervals between two reference marks of the second
measuring system is a multiple of 10

Bit 4

Digital drives only:
Bit 4=0 Second measuring system without external zero mark (BERO)
Bit 4=1 Second measuring system without external zero mark (BERO) 1)

Bit 3

Digital drives only:
Bit 3=0 Number of encoder intervals between two reference marks of the first
measuring system is a multiple of 16
Bit 3=1 Number of encoder intervals between two reference marks of the first
measuring system is a multiple of 10

Bit 2

Digital drives only:
Bit 2=0 First measuring system without external zero mark (BERO)
Bit 2=1 First measuring system with external zero mark (BERO) 1)

Bit 1

Zero monitoring on
Bit 1=1 Monitoring is performed to detect whether pulses have been lost between two
zero mark passes (do not use for distance-coded reference marks).
If so, alarm 144* is triggered (also see description of alarm 144*).
Bit 1=0 Monitoring switched off

Bit 0

Setpoint smoothing on
Bit 0=1 The setpoint smoothing filter parameterized in MD 1272* is switched on.

_______
1)

Speed-related errors in referencing occur with reference point approach with external zero mark (BERO).
This is caused by the delay time of the optocoupler at the input.
To avoid such errors in referencing, the maximum velocity must be limited.

6–188

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

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07.97

Bit No.

NC MD

1824*

7

6

Effect of LEC on measuring systems 00=first
01=second
10=both
11=both

Bit 7

5

4

3

2

1

Set abso2nd
Sign
Multiple
Setting of
lute system
measuring
change
assign.
setreference actual
to
reference
system
value
dimension 2 (as from dimension points (as
(as from from SW 3) exists (as
allowed
from SW 2)
SW 2)
SW 3)

0

QEC
undelayed
(as from
SW 5)

Assignment of LEC to measuring system 1/2
Bit 7=0 LEC acts on one measuring system (select measuring system via bit 6)
Bit 7=1 LEC acts on both measuring systems

Bit 6

Assignment of LEC to measuring system 1/2 (no effect if Bit 7 = 1)
Bit 6=0 LEC acts on first measuring system
Bit 6=1 LEC acts on second measuring system

Bit 5 Bit 5=1 The function "Set reference dimension" is active.
Bit 4 Bit 4=0 Processing of the determined actual values is continued without changing the
sign.
Bit 4 Bit 4=1 The sign of the determined actual values is altered before calculation.

Active:

Identifies that the sign of the actual values determined for the second
measuring system must be reversed. When setting, please make sure that the
control direction in the position control loop is correct.
Immediately
Applies to feed axes only.

Bit 3

Bit 2

With bit 3 the user can decide whether with "Set reference dimension" only
the signal "Reference point reached" is set or whether the absolute system is
also set to the value defined by MD 240*. Bit 3 is only active with the function
"Set reference point" and does not affect normal reference point approach.
Digital drives only:
Bit 2=0 No multiple assignment of setpoints permitted (Power On monitoring)
Bit 2=1 Multiple assignment of setpoints is permitted (on-line monitoring when access
priority problems)

Bit 1 Bit 1=0 No second measuring system available. The MDs assigned to the second
measuring system are not active. The MD bit only applies to feed axes. If a
spindle/C axis is in use, MD 200* and 400* are compared to determine whether
a second measuring system has been defined.
Bit 1 Bit 1=1 A second measuring system is available. The MDs assigned to the second
measuring system are active. It is possible to switch between the two
measuring systems using the interface signal ”Measuring system 1/2”.
Active: After POWER ON
If a C axis has two measuring systems, the second measuring system is always that of the
spindle, MD 400*. MD 1388* and MD ”2nd MS exists” have no effect with spindle C axis
combinations. Measuring circuit switchover is set such that after a C axis switchover the
spindle encoder is effective until the axis-specific interface signal ”Measuring circuit 2 active”
has been evaluated. For C axes with one measuring system, the 1st measuring system must
be the same as that of the spindle.
Bit 0
This bit must be set to 1 if quadrant error compensation is also to be active for
very small axis accelerations on the first recognized zero crossover. In this
case the compensation also affects a position change in very short positioning
operations.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–189

01.99

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

Bit No.

NC MD

7

6

5

4

3

2

1828*

1

0

Linear scale
(as from
SW 6.3)

Extended
parameter
set switchover (as from
SW 4)

NC MD 1828* bit 1:
This bit is only used for linear axes with ENDAT absolute encoders.
Bit 1 Bit 1=1 Linear scale not available. Maximum traversing range of this axis is then + / half of the maximum traversing range of the absolute encoder, symmetrical
around the zero position.
Bit 1=0 Linear scale available. The traversing range of this axis does not have to be
set symmetrically around the zero position. The maximum traversing range is
calculated to: + / - the traversing range of the absolute encoder/8* MD 1264*.
Bit 0 Bit 0=1 Extended parameter set switchover
Bit 0=0 Gear stages/parameter set switchover as in SW 1 - 3
Parameter set switchover is only possible with the option bit.
Active: After Power On
NC MD

Bit No.
7

1832*

6

5

4
Actual value
reading axis
2nd measuring system

(from
SW 6.3)

3

2

1

0

Actual value Multiple
Multiple
reading axis assignment assignment PT2 contour
monitoring
1st measur- 2nd measur- 1st measuractive
ing system ing system ing system

Bit 4 Bit 4=1 This axis is an actual value reading axis at the 2nd measuring system
connection (NC MD 1388*). The restrictions for reading axes therefore apply.
Bit 4=0 This axis has unrestricted use of the 2nd measuring system connection (NC
MD 1388*)
Bit 3 Bit 3=1 This axis is an actual value reading axis at the 1st measuring system
connection (NC MD 200*). The restrictions for reading axes therefore apply.
Bit 3=0 This axis has unrestricted use of the 1st measuring system connection (NC
MD 200*).
Bit 2 Bit 2=1 Multiple assignment of the 2nd measuring system connection of this axis (NC
MD 1388*) is permitted with digital drives. When using this measuring system
connection only one of these axes must not have a Bit 4 setting under MD
1832*. Bit 4 must be set on all others.
Bit 2=0 Multiple assignment of the 2nd measuring system connection of this axis (NC
MD 1388*) is not permitted.
Bit 1 Bit 1=1 Multiple assignment of the 1st measuring system connection of this axis (NC
MD 200*) is permitted with digital drives. When using this measuring system
connection only one of these axes must not have a Bit 3 setting under MD
1832*. Bit 3 must be set on all others.
Bit 1=0 Multiple assignment of the 1st measuring system connection of this axis (NC
MD 200*) is not permitted.
Bit 0 Bit 0=1 The new PT2 contour monitoring is activated even if 0 is set under NC MD
3420*. By entering a compensation value between 1 and 600 under NC MD
3420*, the PT2 following error model will be calculated according to this
compensation value.
Bit 0=0 The existing contour monitoring is activated as long as 0 is set under NC MD
3420*. By entering a compensation value between 1 and 600 under NC MD
3420*, this will activate the improved PT1 contour monitoring.
Active:

6–190

After Power On

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

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07.97

Bit No.

NC MD

7

1844*

Vel.
limitation
ELG
following
axes (as
from SW 6)

6

5

4

Test bit
compensatory
controller

LINK ON
after
POWER
ON

3

2

1

0

Position
Link factor
overwrite switchover Reconfig. Axis can be
FA
permissible permissible permissible

The following bits only apply to following spindles and are active after Power On.
Bit 7 Bit 7=1 The function ”Velocity limitation of ELG following axes” is activated.
Bit 7=0 The function is not activated
Bit 5

Test bit compensatory controller
Bit 5=1 Compensatory controller test mode switched on
Bit 5=0 Compensatory controller test mode not switched on.

Bit 4

LINK ON after POWER ON
Bit 4=1 On POWER ON the gear is switched to the same condition as it was before
switching off. This means, if a leading axis is traversed when link factor # 0,
then the following axis is also traversed.
Bit 4=0 The gear is set to LINK OFF for all leading axes on POWER ON. LINK ON
must be set explicitly via PLC or with G402, G403 or via input display.

Bit 3

Position overwrite permissible

Bit 3=1 Overwriting positions enabled
Bit 3=0 The synchronous positions entered for the leading axes must not be
overwritten. I.e., synchronization must always start at the same positions.
Bit 2
Link factor switchover permissible
Bit 2=1 Switching over the link factor is permitted (with G402, G403 commands or via
input display)
Bit 2=0 Switchover not permitted.
Bit 1
Reconfiguration permissible
Bit 1=1 Reconfiguration is permissible (with G401 command or via input display)
Bit 0

Bit 1=0 Reconfiguration not permissible
Axis can be following axis
Bit 0=1 Axis can be following axis

Bit 0=0 Axis must not be a following axis
Active:
after POWER ON

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–191

07.97

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

Bit No.

NC MD

1848*

7

6

5

4

Synchroni- Block change
Block
zation in
change
Divisionafter position
tooth pitch reached (as
when
related FA
(as from
synchroniz.
overlay
from SW 5)
SW 6)
achieved

3

2

Block
Suppreschange with
sion of
synchroaccel. limit. nism
fine

1

0

Reserved

Reserved

The bits below apply to following axes only and are active immediately.
Bit 7

Bit 7=1 The synchronization path of following rotary axes is limited to 1
revolution/denominator of the 1st GI link ratio. The synchronous position is
approached along the shortest path or by deceleration, depending on the
setting in MD 1856*, bit 4.
Bit 7=0 The synchronous position of following rotary axes is limited to 1 revolution .
Above half the maximum speed the synchronous position is reached by
deceleration, below half the maximum speed, along the shortest path.

Note:
If bit 4 is set in MD 1856*/531*, synchronization must never be performed when the tool or
wheel are in use.
Bit 6

Bit 6=1 Block change of a block with position-related switch on/off (G402/G400) is
delayed until the switch on/off position is reached.
Bit 6=0 Block change of a block with position-related switch on/off (G402/G400) is
performed immediately.

Bit 5

Block change after synchronization (with on-the-fly synchronization)
Bit 5=1 On-the-fly synchronization with G403: Block change only after the
synchronous position has been reached (see also PLC signal,
"Synchronous position reached").
Bit 5=0 Block change immediately, i.e., as soon as synchronization is triggered.
Synchronization does not start if PLC signal "Disable LINK ON" is active.

Bit 4

Division-related following axis overlay
Bit 4=1 Overlaid movements of the following axis are within the indexing grid.
However, any movements of the following axis caused by the leading axis
are not used to determine the set indexing position. Link and
synchronization function as before.
The following axis must be defined as an indexing axis for this function to
work. The indexing grid is defined in MD 1104* and MD 1108*.
Bit 4=0 Indexing grid ignored for overlay movements of the following axis.

6–192

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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Bit 2

Partial actual value

NC MD

© Siemens AG
7

1852*

SINUMERIK 840C (IA)
6

5

1992 All Rights Reserved
4

6FC5197- AA50
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•
•
•

Tdelay

Tdelay delay (derived from the time
constant of the parallel model)

3
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V FA

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Bit 3

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07.97
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

"Suppression of acceleration limitation"

Bit 3=1 "Acceleration limitation not active"
With LINK ACTIVE, the acceleration of the following axis is not limited by
the control but is output directly, as determined by leading spindle. If MD
value 1768* is exceeded, no alarm is triggered.

Bit 3=0 "Acceleration limitation active"
With LINK ACTIVE, the acceleration of the following axis is limited to the
acceleration value set in the machine data (MD 1768*).
Note:

The limitation remains active until the synchronous speed or zero speed is
reached:
On runup after switching on the link
When switching from link factor
When stopping the spindle by switching off the link

"Block change with synchronism fine"

Bit 2=1 After an overlaid movement, block change is triggered in the NC, as soon
as the following axis has reached "Synchronism fine" and all the partial
setpoints of the block have been output.

Bit 2=0 Block change is triggered when the synchronism speed has been reached
and all partial setpoints of the block have been output.

Partial setpoint

Synchronism fine window

t

Block change on 1 signal

Block change on 0 signal

Block change with synchronism fine. Motor operating without disturbance. Behaviour corresponds to parallel
model.

Following axis/spindle-specific machine data bits

Bit No.

2

Include
Include tool
Include
programInclude
length
settable ZO
med
ZO
external
ZO
comp.
G54...G57
G58...G59
1

0

Include
DRF and
preset

Ref. system
GI positions

6–193

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.7.1 Axis-specific MD bits 2 (axial bits 2)

07.97

The following bits are defined for the following axes. They are then active for the following axis
and the leading axes activated in the GI grouping. The above values are included when
calculating the synchronous position (G403).
Bit 5 Bit 5=1 Include tool length compensations for GI position calculations
Bit 5=0 Do not include tool length compensations
Radius compensations are never included in calculations.
Active:

Immediately

Bit 4 Bit 4=1 Include programmable ZO offset (G58...G59) for GI position calculations
Bit 4=0 Do not include programmable ZO offset (G58 ... G59)
Bit 3 Bit 3=1 Include external ZO for GI position calculations
Bit 3=0 Do not include external ZO
Bit 2 Bit 2=1 Include ZO (G54...G57) for GI position calculations
Bit 2=0 Do not include ZO (G54...G57)
Bit 1 Bit 1=1 Include DRF and preset for GI position calculations
Bit 1=0 Do not include DRF and preset
Bit 0

Reference system GI positions
Bit 0=1 The positions have been entered in the workpiece system; include offsets in
bits 2...5 in calculation

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Bit 0=0 Positions have been entered in machine system; do not include any offsets in
calculation
Bit No.

NC MD

1856*

7

6

5

4

3

2

1

0

Timeoptimized
synchroniza
tion (as
from SW 6)

Acceleration limit. of
ELG follow.
axes (as
from SW 6)

Time-optimized tooth pitch synchronization can be set with bit 4. This means that the
synchronous position is approached by deceleration when the following axis velocity is above
half of the maximum velocity. Below this velocity, the synchronous position is approached by
the shortest path.
Note:
This bit only takes effect if MD 1848*, bit 7, ”Synchronization in tooth pitch” is also active.
Bit 4 Bit 4=1 The synchronized path of following rotary axes is limited to 1
revolution/denominator of the 1st GI link ratio . Above half the maximum speed
the synchronous position is reached by deceleration, below half the maximum
speed, along the shortest path.
Bit 4=0 The synchronization path of following rotary axes is limited to 1
revolution/denominator of the 1st GI link ratio. The synchronous position is
then always approached along the shortest path.
Bit 0 Bit 0=1 The function acceleration limitation of ELG following axes is activated.
Bit 0=0 The function is not activated.

6–194

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6.8

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.8 MDs for multi-channel display

MDs for multi-channel display

MDs for screen

2044020419

Multiple-channel display

Default value

Lower input limit

Upper input limit

0

0

4 (as from SW 4: 6)

Active on
Warm restart

–

Reserved for customer UMS.

2042020439

Multiple-channel display

Default value

Lower input limit

Upper input limit

0

0

4 (as from SW 4: 6)

Active on
Warm restart

–

Reserved for system UMS.

20440

Multiple-channel display left or top

Default value

Lower input limit

Upper input limit

1

0

4 (as from SW 4: 6)

Active on
Warm restart

–

If MD 20440 is defined as 2, the basic display for channel 2 appears on the left or, in the large
actual-value display, in the upper part of the display.

20441

Multi-channel display right or below

Default value

Lower input limit

Upper input limit

2

0

4 (as from SW 4: 6)

Active on
Warm restart

–

If MD 20441 is defined as 2, the basic display for channel 2 appears on the right or, in the
large actual-value display, in the lower part of the display.

2044220449

Multi-channel display reserved for the system

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

0

4 (as from SW 4: 6)

–

Reserved for the system.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–195

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9 MDs for parameter set switchover

6.9

09.95

MDs for parameter set switchover

2400*2407*

Number of teeth motor as from SW 4
1st to 8th parameter set

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

1

1

999 999

–

2408*2415*

Number of teeth spindle as from SW 4
1st to 8th parameter set

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

1

1

999 999

–

This machine data is used to define the speed ratio of a gear box for all parameter sets, see
functional description of "”Ratio” parameter group".

2416*2419*

Zero mark correction + as from SW 4
1st to 4th parameter set

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

- 999 999

999 999

units (MS)

2420*

Active

r1: Load no. of revolutions

Default value

Lower input limit

Upper input limit

Units

1
This MD is used for internal calculation only.

2421*

Active

r2: Motor no. of revolutions

Default value

Lower input limit

Upper input limit

Units

1
This MD is used for internal calculation only.

2422*
Default value

Active

p: Pulses per revolution
Lower input limit

Upper input limit

Units

1024
This MD is used for internal calculation only.

6–196

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9 MDs for parameter set switchover

2430*2433*

Zero mark correction + as from SW 4
5th to 8th parameter set

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

- 999 999

999 999
16 000 (as from SW 4.4)

units (MS)

2434*2441*

Zero mark correction - as from SW 4
1st to 8 th parameter set

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

- 999 999
16 000 (as from SW 4.4)

999 999
16 000 (as from SW 4.4)

units (MS)

These MDs are used to correct gear-stage-related offsets between the zero mark and
reference position, see functional description of "”Ratio” parameter group".

2442*2448*

Feedforward control factor 2nd - 8th parameter set
as from SW 4

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

0

1 000

0.1 %

These MD have the same meaning as MD 465*, see also functional description of parameter
set switchover.

2449*2456*

Feedforward control factor D component as from SW 4
1st to 8 th parameter set

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

0

1 000

0.1 %

2457*2463*

Time constant symm. filter 2nd - 8th par. set as from SW 4

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

0

9 999
1 000 (as from SW 4.4)

0.1 ms

These MD have the same meaning as MD 467*, see also functional description of parameter
set switchover.

2464*2470*

Time constant setpoint filter 2nd - 8th par. set
as from SW 4

Active
at once

Default value

Lower input limit

Upper input limit

Units

55

0

1 000
16 000 (as from SW 4.4)

0.1 ms

These MD have the same meaning as MD 486*, see also functional description of parameter
set switchover.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–197

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9 MDs for parameter set switchover

09.95

MDs for acceleration characteristic for spindles

2471*2478*

Speed lim. acc. adapt. as from SW 4
1st to 8th parameter set

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

99 999

+0

99 999

rpm/or 0.1 rpm

2479*2486*

Acceleration adaptation factor as from SW 4
1st to 8th parameter set

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

1 000

+10

10 000

0.1 %

The acceleration is reduced in all spindle modes above the speed defined in MD 2471* 2478*. The degree of weakening can be set with the matching factor MD 2479* - 2486*.
The machine data has no effect is zero or a value above the maximum speed is entered.
The unit is defined as 0.1 or 1 rpm in MD 5200, bit 3.

2487*2493*

Position limit for M19 2nd to 8th parameter set
as from SW 4

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

2 000

+0

720 000

units/MS

2 000

+0

99 999 999
(as from SW 4.4)

units/MS

2 000

0

72 000 000

These MD have the same meaning as MD 443*, see also ”Functional Descriptions: Parameter
set switchover”.

2494*2500*

Active on
RESET

P component comp. contr. 2nd to 8th par. set as from SW 4

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

These MD have the same meaning as MD 487*, see also ”Functional Descriptions: Parameter
set switchover”.

2501*2507*

Active on
RESET

I component comp. contr. 2nd to 8th par. set as from SW 4

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

These MD have the same meaning as MD 488*, see also ”Functional Descriptions: Parameter
set switchover”.

6–198

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04.96

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9 MDs for parameter set switchover

2508*2514*

Active on
RESET

D component comp. contr. 2nd - 8th par. set as from SW 4

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

1

These MD have the same meaning as MD 489*, see also ”Functional Descriptions: Parameter
set switchover”.

2515*2521*

Time constant parallel model 2nd - 8th par. set
as from SW 4

Active on
RESET

Default value

Lower input limit

Upper input limit

Units

6 000

0

16 000

0.01 ms

These MD have the same meaning as MD 490*, see also ”Functional Descriptions: Parameter
set switchover”.

2522*2529*

Active on
NC Stop

Alarm limit speed as from SW 4 1st to 8th par. set

Default value

Lower input limit

Upper input limit

Units

0

99 999

rpm/or 0.1 rpm

MD 403* ff.+10%

These machine data are active only with gear interpolation.

2530*2537*

Active on
NC Stop

Alarm limit acc. constant as from SW 4 1st to 8th par. set

Default value

Lower input limit

Upper input limit

Units

0

50 000

ms

MD 478* ff.+10%

These machine data are active only with gear interpolation.

2546*2552*

Active on
RESET

Tol. band synchr. "fine" 2nd - 8th par. set as from SW 4

Default value

Lower input limit

Upper input limit

Units

40

0

16 000
99 999 999 (SW5.4
and higher)

1 unit (MS)

These MD have the same meaning as MD 491*, see also ”Functional Descriptions: Parameter
set switchover”.

2553*2559*

Tol. band synchr. "coarse" 2nd - 8th par. set as from SW 4

Active on
RESET

Default value

Lower input limit

Upper input limit

Units

100

0

16 000
99 999 999 (SW5.4
and higher)

1 unit (MS)

These MD have the same meaning as MD 492*, see also ”Functional Descriptions: Parameter
set switchover”.

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9 MDs for parameter set switchover

2560*2566*
Default value

04.96

Emergency retraction threshold 2nd - 8th parameter as
from SW 4

Active on
RESET

Lower input limit

Upper input limit

Units

0

16 000
99 999 999 (SW5.4
and higher)

1 unit (MS)

400

These MD have the same meaning as MD 493*, see also ”Functional Descriptions: Parameter
set switchover”.

2567*2574*

Time const. speed link path 1st to 8th par. set
as from SW 4

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

0.1 ms

These machine data are active only with gear interpolation.

2700*

Active on
Power On

Master for speed setpoint coupling 1)

Default value

Lower input limit

Upper input limit

Units

0

0

50

-

Machine data 2700* assigns the master spindle to a slave for speed setpoint coupling. The
speed setpoint is taken from the spindle entered here and output as the speed setpoint while
ignoring its own position control. The assignment is made with the axis/spindle number.
Value

0

1 - 30

41 - 46

Meaning

No axis/spindle

Axis 1 - 30

Spindle 1 - 6

2701*

Active on
Power On

Master for torque compensation control 1)

Default value

Lower input limit

Upper input limit

Units

0

0

50

-

Machine data 2701* assigns the master spindle to a slave. The torque setpoint is taken from
the spindle entered here and compared with the torque setpoint of its own drive. The
difference is the input variable for the torque compensation controller.
The assignment is made via the axis/spindle number.
If the default value 0 is entered, the master of the speed setpoint coupling (MD 270*) is also
used for the torque compensation control.
Value

0

1 - 30

41 - 46

Meaning

No axis/spindle

Axis 1 - 30

Spindle 1 - 6

_______
1)

As from SW 4.4

6–200

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9 MDs for parameter set switchover

2702*

Torque distr. torque comp. controller 1)

Default value

Lower input limit

Upper input limit

500

0

984

Active on
Power On
Units

‰

With MD 2702*, the input variables of the torque compensation controller are weighted to
permit a parameterizable torque distribution over both drives according to the respective
moments of inertia.
The standard parameterization of 500 ‰ produces a distribution according to the values in
drive machine data 1725 (normalization torque setpoint interface) for both axes. If a different
distribution is to be used, MD 2702* must be calculated according to the following formula:
MD 2702* =

Mdesiredslave
––––––––––––––––––––––––––––––––––––––––––
· 1000 ‰
MD 1725slave
Mdesiredslave + Mdesiredmaster +
––––––––––––––
MD 1725master

Mdesired is the ideal torque distribution between master and slave.

2703*

Torque compensation controller P component 1)

Active
at once

Default value

Lower input limit

Upper input limit

Units

100

0

1 000 000

0.0001%

The P gain of the torque compensation controller is parameterized in % of the ratio drive
maximum speed to nominal torque of the slave drive. The input variable of the torque
compensation controller is the difference in torque between master and slave, the output
variable is a speed setpoint. See also MD 1812* and 523*.
Formula:
Output variable = P gain * control difference
Example:
A torque difference of 10 % of the slave nominal torque and standard parameterization 100
(= 0.01%) produces an output variable of the controller of 0.001 % of the maximum speed of
the slave drive (0.01 % * 10 % = 0.001 %).

2704*

Torque comp. controller integral action time 1)

Active
at once

Default value

Lower input limit

Upper input limit

Units

0

0

1 000 000
99 999 999 (as from
SW 4.4)

ms

The integral action of the torque compensation controller is parameterized in the integral action
time. The integral action is deactivated if set to the default value 0 because the proportional
action (MD 2703*) already ensures an adequate static distribution of torque.
The additional integral action can produce a better distribution in multi-slave operation. Useful
values are in whole seconds. See also MD 523*.
_______
1)

As from SW 4.4

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9 MDs for parameter set switchover

3032*3060*

09.95

Active on
Power On

Number of teeth motor 2) 1st par. set to 8th par. set

Default value

Lower input limit

Upper input limit

Units

1

1

999 999
99 999 999 (as from SW 4.4)

–

3064*3092*

Active on
Power On

Number of teeth spindle 2) 1st par. set to 8th par. set

Default value

Lower input limit

Upper input limit

Units

1

1

999 999
99 999 999 (as from SW 4.4)

–

This machine data is used to define the speed ratio of a gear box for all parameter sets, see
functional description of "”Ratio” parameter group".

3096*3124*

Active on
NC Stop

Zero mark correction + 2) 1st par. set to 8th par. set

Default value

Lower input limit

Upper input limit

Units

0

- 999 999
16 000 (as from SW 4.4)

999 999
16 000 (as from SW 4.4)

units (MS)

3128*3156*

Active on
NC Stop

Zero mark correction - 2) 1st par. set to 8th par. set

Default value

Lower input limit

Upper input limit

Units

0

- 999 999
16 000 (as from SW 4.4)

999 999
16 000 (as from SW 4.4)

units (MS)

These MDs are used to correct gear-stage-related offsets between the zero mark and
reference position, see functional description of "”Ratio” parameter group".

3160*3184*

Backlash comp. 1st measuring system 2) 2nd par. set to
8th par. set

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

- 16 000

16 000

units (MS)

For axes only:
To compensate for the backlash in different gear stages.

3188*3212*

Motor control equilibration 2nd - 8th par. set
as from SW 4

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

-70
-700 (as from SW 4.4)

70
-700 (as from SW 4.4)

0.1 % of the power
section current

These MD have the same meaning as MD 1292*, see also ”Functional Descriptions:
Parameter set switchover”.
_______
1)
2)

As from SW 4.4
As from SW 4

6–202

© Siemens AG 1992 All Rights Reserved

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SINUMERIK 840C (IA)

09.01

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9 MDs for parameter set switchover

3216*3240*
Default value

Tol. band for synchr. "fine" 2nd - 8th parameter set
as from SW 4

Active on
RESET

Lower input limit

Upper input limit

Units

0

16 000
99 999 999 (SW 5.4
and higher)

1 unit (MS)

40

These MD have the same meaning as MD 1436*, see also ”Functional Descriptions:
Parameter set switchover”.

3244*3268*
Default value

Tol. band for synchr. "coarse" 2nd - 8th parameter set
as from SW 4

Active on
RESET

Lower input limit

Upper input limit

Units

0

16 000
99 999 999 (SW5.4
and higher)

1 unit (MS)

100

These MD have the same meaning as MD 1440*, see also ”Functional Descriptions:
Parameter set switchover”.

3272*3296*
Default value

Emergency retraction threshold 2nd - 8th parameter
as from SW 4

Active on
RESET

Lower input limit

Upper input limit

Units

0

16 000
99 999 999 (SW5.4
and higher)

1 unit (MS)

400

These MD have the same meaning as MD 1444*, see also ”Functional Descriptions:
Parameter set switchover”.

3300*3328*

Time const., set speed link path 1st to 8th par. set
as from SW 4

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

0

16 000

0.1 ms

See also ”Functional Descriptions: Parameter set switchover”. These machine data are active
only with gear interpolation.

3332*3360*

Maximum jerk (as from SW 6)
1st-8th PaSe

Active on
NC Stop

Default value

Lower input limit

Upper input limit

Units

0

0

99 000 000

0,1 ms/s3

See description of function Parameter set switchover and jerk limitation Section 10.4.1.5.

3364*3388*
Default value

Acceleration (as from SW 6)
2nd-8th PaSe
Lower input limit

Upper input limit

Active on
NC Stop
Units

0
See description of function Parameter set switchover.

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9 MDs for parameter set switchover

3392*3416*

01.99

Active on
NC Stop

Maximum velocity (as from SW 6)

Default value

Lower input limit

Upper input limit

0

0

10 000

Units

See also Functional Descriptions: Collision monitoring.

3420*

Active
at once

Compensation time constant for contour monitoring

(from SW 6.3)
Default value

Lower input limit

Upper input limit

Units

0

0

600

0.1 ms

When using a PT1 speed setpoint smoothing filter (drive MD 1502* or 1503*), the value
entered there must be entered under NC MD 3420*.
By gradually adjusting the input value NC MD 3420* (up or down), a setting can be found
resulting in still further reduced contour deviation during acceleration or deceleration
processes.

6–204

© Siemens AG 1992 All Rights Reserved

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SINUMERIK 840C (IA)

07.97

6.9.1

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9.1 MDs for collision monitoring

MDs for collision monitoring

3800*

Motion axis X coordinate (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

30

Axis no.

The motion axes are assigned to the protection zone in the protection-zone-specific machine
data.

3804*

Motion axis Y coordinate (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

30

Axis no.

The motion axes are assigned to the protection zone in the protection-zone-specific machine
data.

3808*

Motion axis Z coordinate (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

30

Axis no.

The motion axes are assigned to the protection zone in the protection-zone-specific machine
data:
*=Protection zone number
1st protection zone=0
2nd protection zone=1
to
32nd protection zone=31
The value entered is the global axis number. ZERO means no axis.
The axes must exist and belong to the same mode group. If an error occurs, alarm 111 ”Error
in collision monitoring data” is output.
The coordinates of protection zone reference point P1 are specified relative to slide reference
point F (protection zone reference point vector FP1) in the protection-zone-specific machine
data:
Protection zone reference point vector FP1
X coordinate (as from SW 6)

3812*

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

MS

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–205

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9.1 MDs for collision monitoring

07.97

Protection zone reference point vector FP1
Y coordinate (as from SW 6)

3816*

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

MS

Protection zone reference point vector FP1
Z coordinate (as from SW 6)

3820*

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

MS

*=Protection zone number
1st protection zone=0
2nd protection zone=1 to
32nd protection zone=31
The dimensions of protection zone Sn are entered in the following protection-zone-specific
machine data:

3824*

Dimension X coordinate (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

MS

3828*

Dimension Y coordinate (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

MS

3832*

Dimension Z coordinate (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

99 999 999

MS

*=Protection zone number
1st protection zone=0
2nd protection zone=1 to
32nd protection zone=31
Protection zone dimensions in 2 coordinates not equal to 0:
Two-dimensional monitoring only in the plane described by the coordinates in question (see:
Definition of protection zone planes). In the third coordinate the protection zone is understood
as infinite.

6–206

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

01.99

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9.1 MDs for collision monitoring

Protection dimensions in 3 coordinates not equal to 0:
Three-dimensional monitoring
Definition:
Two-dimensional protection zone to be mutually monitored for collision must be in the same
plane.

3840*

Active on
POWER ON

Assigned MCS (as from SW 6)

Default value

Lower input limit

Upper input limit

Units

0

0

3

–

with *= protection zone index:
1st protection zone=0
2nd protection zone=1 to
32nd protection zone=31
A machine coordinate system (MCS) must be assigned to each protection zone. These
assignments are made in the protection-zone-specific machine data:
Value range:
0/1
2
3
4

=
=
=
=

1st machine coordinate system
2nd machine coordinate system
3rd machine coordinate system
4th machine coordinate system

Note:
For more detailed information please see Functional Description.
Bit No.

MD No.

7

3876*

Res.

6
Res.

5
Res.

4
Res.

3
Res.

2
Res.

1

0

Additive
protection
zone
Protection
adjustment zone exists
(as from
SW 6.3)

with *=protection zone index:
1st protection zone=0
2nd protection zone=1 to
32nd protection zone=31
Monitoring of a defined protection zone can be activated with this MD.
Bit 0

Bit 0=0

Protection zone does not exist

Bit 0=1

Protection zone exists

Active: POWER ON
Bit 1

Bit 1=0

Additive protection zone adjustment via setting data inactive

Bit 1=1

Additive protection zone adjustment via setting data active

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–207

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9.1 MDs for collision monitoring

MD No.

3880*
(as from
SW 6)

MD No.

3884*
(as from
SW 6)

MD No.

3888*
(as from
SW 6)

MD No.

3892*
(as from
SW 6)

07.97

Bit No.
7

6

5

4

3

2

1

0

No
monitoring
of PZ 8

No
monitoring
of PZ 7

No
monitoring
of PZ 6

No
monitoring
of PZ 5

No
monitoring
of PZ 4

No
monitoring
of PZ 3

No
monitoring
of PZ 2

No
monitoring
of PZ 1

7

6

5

4

3

2

1

0

No
monitoring
of PZ 16

No
monitoring
of PZ 15

No
monitoring
of PZ 14

No
monitoring
of PZ 13

No
monitoring
of PZ 12

No
monitoring
of PZ 11

No
monitoring
of PZ 10

No
monitoring
of PZ 9

7

6

5

4

3

2

1

0

No
monitoring
of PZ 24

No
monitoring
of PZ 23

No
monitoring
of PZ 22

No
monitoring
of PZ 21

No
monitoring
of PZ 20

No
monitoring
of PZ 19

No
monitoring
of PZ 18

No
monitoring
of PZ 17

7

6

5

4

3

2

1

0

No
monitoring
of PZ 32

No
monitoring
of PZ 31

No
monitoring
of PZ 30

No
monitoring
of PZ 29

No
monitoring
of PZ 28

No
monitoring
of PZ 27

No
monitoring
of PZ 26

No
monitoring
of PZ 25

Bit No.

Bit No.

Bit No.

with *=protection zone index:
1st protection zone=0
2nd protection zone=1 to
32nd protection zone=31
Mutual monitoring of stationary protection zones can be deselected in the protection-zonespecific machine data in order to reduce the CPU load.
Abbreviation: PZ=Protection zone.
MD 3880* Bit 0-7
MD 3884* Bit 0-7
MD 3888* Bit 0-7
MD 3892* Bit 0-7

=1:
=0:
=1:
=0:
=1:
=0:
=1:
=0:

No monitoring of protection zone 1-8
Monitoring of protection zone 1-8 active
No monitoring of protection zone 9-16
Monitoring of protection zone 9-16 active
No monitoring of protection zone 17-24
Monitoring of protection zone 17-24 active
No monitoring of protection zone 25-32
Monitoring of protection zone 25-32 active

Active: POWER ON
For safety reasons, monitoring must be deselected mutually, i.e., deselection of monitoring of
protection zone 2 must be entered in the machine data of protection zone 1 and deselection of
monitoring of protection zone 1 must be entered in the machine data of protection zone 2.
Otherwise, alarm ”Error in collision monitoring data” is output.

6–208

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9.1 MDs for collision monitoring

3900*

r1: Load no. of revolutions 1)

Default value

Lower input limit

Upper input limit

Active
Units

1

3904*

r2: Motor no. of revolutions 1)

Default value

Lower input limit

Upper input limit

Active
Units

1

3908*

I: Spindle pitch or g: Grating constant 1)

Default value

Lower input limit

Upper input limit

Active
Units

100 000

3912*

I: Spindle pitch or g: Grating constant 1)

Default value

Lower input limit

Upper input limit

Active
Units

100 000

3916*

r1: Load no. of revolutions 1)

Default value

Lower input limit

Upper input limit

Active
Units

1

3920*

r2: Motor no. of revolutions 1)

Default value

Lower input limit

Upper input limit

Active
Units

1

3924*

p: Pulses per revolution 1)

Default value

Lower input limit

Upper input limit

Active
Units

2 500

3928*

I: Spindle pitch or g: Grating constant 1)

Default value

Lower input limit

Upper input limit

Active
Units

50 000

3932*

Deadtime compensation value

Default value

Lower input limit

Upper input limit

200

0

16 000

Active on
Power On
Units

in % of the IPO cycle

_______
1)

This MD is used for internal calculation only.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–209

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9.1 MDs for collision monitoring

07.97

The setpoint position of the following axis is checked in every IPO cycle to establish whether it
is in the reduction range. The system is designed such that several IPO cycles elapse before
changes to the setpoints of a leading axis are output to the setpoint controller of the following
axis. To compensate this deadtime, the setpoint position is corrected by the predicted path.
The deadtime and thus also the compensation value are dependent on the gear interpolation
link type. The deadtime is 2 IPO cycles (200 %) for the setpoint link. A deadtime of 5.5 IPO
cycles (550 %) is recommended for the actual value link.

3936*

Active on
Power On

Minimum reduction factor 1)

Default value

Lower input limit

Upper input limit

Units

200

0

1 000

in 0.01% of the
max. speed

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The distance between the deadtime-compensated setpoint position and the active limitations is
calculated in this MD. The active limitations are the innermost limit values as defined by the
working field boundary and the selected SW limit switch. If the distance d is smaller than the
reduction range, the braking operation must be initiated. For this purpose, a permissible
velocity value Vperm is calculated from the distance d to the SW limit switch and the max.
acceleration value Amax.
Vperm =

2 * d * Amax

A reduction factor is calculated from Vperm and Vmax and transmitted to the mode group
channels. In a similar way to an override, the reduction factor is included in the path velocity
calculation in all mode group channels.
Reduction factor = Vperm/Vmax*100

3940*

Active on
Power On

Denominator gear encoder/load

Default value

Lower input limit

Upper input limit

Units

0

0

5 000 000

–

This MD must be parameterized for rotary axes if MD 1808*, bit 7, is set. The value of gear
encoder/load must be entered.
Common divisors of numerators and denominators of the gear can be reduced.
Example: Gear 35/56 Common divisor 7 exists.
56 can thus be parameterized as the denominator, however value 8 is also permissible
(reduced by the common divisor) and is recommended.

3944*

Active on
NC Stop

Rough encoder position

Default value

Lower input limit

Upper input limit

Units

0

-99 999 999

99 999 999

–

This MD is only used to secure the data of the absolute position against unforeseen data loss
in the SRAM of the NC-CPU.
This MD is only updated during power up and when all NC MDs are backed up. Further details
are given in the description of the function ”Range extension with ENDAT absolute encoder”.

3948*

Coordinate assignment (as from SW 6)

Default value

Lower input limit

Upper input limit

Units

–
1 =Abscissa =X coordinate
2 =Ordinate =Y coordinate
3 =Applicate =Z coordinate
_______
1)

as from SW 5.6

6–210

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

6.10

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.10 MDs for flexible memory configuration

MDs for flexible memory configuration

60000

Size of UMS memory

Default value

Active
after SK
"Reconfigure
memory"

1)

Lower input limit

Upper input limit

Units

0

960 or 2 760 KB
2 760 KB (as from
SW 4.4)

4 KB/8 KB

256 KB

With the introduction of this MD it is no longer necessary to define the UMS size in the
configuration file in the MMC master control.
The upper input limit depends on the NCK memory capacity (4 or 8 MB memory).
Zero means no UMS (see functional description of "Flexible memory configuration").

60001

Active
after SK
"Reconfigure
memory"

Size of part program memory 1)

Default value

Lower input limit

Upper input limit

Units

8

960 or 2 760 KB
4 920 KB (as from
SW 4.4)

4 KB

704 KB

The upper input limit depends on the NCK memory capacity (4 or 8 MB memory).

60002

Number of IKA points 1)

Active
after SK
"Reconfigure
memory"

Default value

Lower input limit

Upper input limit

Units

4 000

0
0

65 535

1 IKA point

Zero means no IKA points.

60003

Memory for drive software MSD 1)

Active
after SK
"Reconfigure
memory"

Default value

Lower input limit

Upper input limit

Units

0

0

1

–

If an area of the memory is reserved for MSD drive software, 194 KB memory is occupied.
Zero means no memory.
The memory is only required for digital drives. The software only loads the MSD software if the
memory has been reserved for it.
Note:
The meaning of this machine data changes as from SW 6.
_______
1)

As from SW 4

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–211

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.10 MDs for flexible memory configuration

60003

01.99

Load MS drive software (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

1

–

If MD 60003 and/or 60004 are set to 1 the memory for the drive software is automatically set
to 192/384 Kbytes (compatible memory requirement). The memory size can also be altered by
changing MD 60014 (toggling).
The following toggling options are available:
–
–
–

MD 60003 and MD 60004=0
MD 60003 or MD 60004=1
MD 60003 and MD 60004=1

Note:

MD 60014
MD 60014
MD 60014

0 Kbytes
288 192 Kbytes
576 384 192 Kbytes

See also function ”Flexible memory configuration”.

60004

Active
after SK
"Reconfigure
memory"

Memory for drive software for FDD as from SW 4

Default value

Lower input limit

Upper input limit

Units

0

0

1

–

If an area of the memory is reserved for FDD drive software, 194 KB memory is occupied.
Zero means no memory. The memory is only required for digital drives. The software only
loads the FDD software if the memory has been reserved for it.
Note:

The meaning of this machine data changes as from SW 6.

60004

Load FD drive software (as from SW 6)

POWER ON

Default value

Lower input limit

Upper input limit

Units

0

0

1

–

See machine data 60003.

60005

Active
after SK
"Reconfigure
memory"

Number of tools as from SW 4

Default value

Lower input limit

Upper input limit

Units

819

1

1 637

1 TO

The upper input limit depends on the number of parameters per tool (see MD 60006) and the
number of R parameters (see MD 60007/60008).
Note:

6–212

The standard tool management (FB package 1) still uses the values in MD 5019,
bit 0 and 1.

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.10 MDs for flexible memory configuration

60006

Number of parameters per tool as from SW 4

Active
after SK
"Reconfigure
memory"

Default value

Lower input limit

Upper input limit

Units

10

0

10
32

1 TO

819 tools with 10 parameters each corresponds to 32760 bytes = approx. 32 KB memory.
The upper input limit depends on the NCK memory capacity (4 or 8 MB memory).
Note:

The standard tool management (FB package 1) still uses the values in MD 5019,
bit 0 and 1.

60007

Number of channel-spec. R parameters as from SW 4

Active
after SK
"Reconfigure
memory"

Default value

Lower input limit

Upper input limit

Units

700

0

700

1 R parameter

See functional description of "Flexible memory configuration".

60008

Number of central R parameters as from SW 4

Active
after SK
"Reconfigure
memory"

Default value

Lower input limit

Upper input limit

Units

600

0

9 300

1 R parameter

The upper input limit depends on the number of tools (see MD 60005/60006) and the number
of channel-specific R parameters (see MD 60007).
See functional description of "Flexible memory configuration".

60009

Free remaining memory D-RAM as from SW 4

Default value

Lower input limit

Upper input limit

0

Active
after SK
"Reconfigure
memory"
Units

Byte

Machine data reserved by the system.

60010

Free remaining memory S-RAM as from SW 4

Default value

Lower input limit

0

Upper input limit

Active
after SK
"Reconfigure
memory"
Units

Byte

Machine data reserved by the system.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–213

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.10 MDs for flexible memory configuration

60011

07.97

Active
after SK
"Reconfigure
memory"

Memory configuration of NC module as from SW 4

Default value

Lower input limit

Upper input limit

Units

0

Byte

Machine data reserved by the system.

60012

Active
At once

Load cap. of NC CPU (as from SW 5)

Default value

Lower input limit

Upper input limit

Units

0

-

100

%

This machine data is used simply to indicate the CPU loading. For a description, refer to the
section entited ”Installation of axis and spindle”.

60013

Active
Power On

Memory for real axes (as from SW 5)

Default value

Lower input limit

Upper input limit

Units

15

15

30

approx. 16 KB/axis

This MD is used to define the memory for real axes (> 15). If the user has defined more real
axes than memory is available, alarm 71 is displayed.
Number of memory blocks for drive software
(as from SW 6)

60014

Active
Power On

Default value

Lower input limit

Upper input limit

Units

0

0

6

96 Kbytes

Memory for drive software MSD/FDD 0/2/3/4/6 blocks of 96 Kbytes each, see also machine
data 60003 and 60004.

6100*

Active
after SK
"Reconfigure
memory"

Channel 1 to channel 6 as from SW 4

Default value

Lower input limit

Upper input limit

Units

23

0

3 450

1 block buffer

This MD is used to define channel-specifically the maximum number of part program blocks
that can be predecoded during execution.
See "Flexible memory configuration" functional description.

6–214

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

08.96

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.10 MDs for flexible memory configuration

61020

Active
Power On

Memory for extended overstore (channel 1) (as from SW 5)

Default value

Lower input limit

Upper input limit

Units

1

0

1

approx. 50 KB

61021

Active
Power On

Memory for extended overstore (channel 2) (as from SW 5)

Default value

Lower input limit

Upper input limit

Units

1

0

1

approx. 50 KB

61022

Active
Power On

Memory for extended overstore (channel 3) (as from SW 5)

Default value

Lower input limit

Upper input limit

Units

0

0

1

approx. 50 KB

61023

Active
Power On

Memory for extended overstore (channel 4) (as from SW 5)

Default value

Lower input limit

Upper input limit

Units

0

0

1

approx. 50 KB

61024

Active
Power On

Memory for extended overstore (channel 5) (as from SW 5)

Default value

Lower input limit

Upper input limit

Units

0

0

1

approx. 50 KB

61025

Active
Power On

Memory for extended overstore (channel 6) (as from SW 5)

Default value

Lower input limit

Upper input limit

Units

0

0

1

approx. 50 KB

As from SW5, the function "Extended overstore" is enabled in the "Flexible memory
configuration" (fiel ncmemcfg.). The file can be edited via the MDD menu tree
Startup/Machine data/NC machine data/ETC/Flex.memory conf..
The function can be switched on or off in the channel-specific toggle field "Data for extended
overstore". If the function is switched on for a channel, for which no block buffers have been
defined, no memory is reserved. Switching on of the function requires a memory space of
approx. 50 KB per channel. As a default, the function is switched on for channels 1 and 2.

6200062029

Axis 1 to axis 30

Active
after SK
"Reconfigure
memory"

Default value

Lower input limit

Upper input limit

Units

0

0

700 000

1 measured value

This MD is used to define axis-specifically how many measured values can be enabled for the
function "Extended measuring".

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–215

a
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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.11 Safety Integrated (SI) data

6.11

6–216

© Siemens AG

04.96

Safety Integrated (SI) data

The SINUMERIK Safety Integrated function is an option.
The Safety Integrated machine and service data
are described in the documentation SINUMERIK
Safety Integrated (Description of Functions).

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

07.97

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

6.12

Setting data

6.12.1

NC setting data (NC SD)

All setting data (SD) take effect immediately (without POWER ON). If program processing is in
progress, they become active in the next block if they have been changed with G functions in
the part program.
Breakdown of NC setting data
SD No.
SD No.
SD No.
SD No.
SD No.
SD No.
SD No.
SD No.
SD No.

0
2000
3000
4000
5000
5400
5600
6000
7000

–
–
–
–
–
–
–
–
–

999:
2999:
3999:
4999:
5399:
5599:
5799:
6999:
7007:

General values*
Channel-specific values*
Axis-specific values*
Spindle-specific values*
General bits
Channel-specific bits
Axis-specific bits
Axis/Spindle converter
Software cam 1)

The setting data are selected with the area switchover key and the
parameter and setting data softkeys.

_______
1) As from SW 3

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–217

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

12.93

Zero offsets (ZO)
G54
G55
G56
G57

1st settable zero offset (coarse + fine)
2nd settable zero offset (coarse + fine)
3rd settable zero offset (coarse + fine)
4th settable zero offset (coarse + fine)
1st

G54

2nd
3rd
settable zero offset

G55

G56

4th

G57

Coarse setting
Fine setting

1st programmable zero offset (G58)

2nd programmable zero offset (G59)

External zero offset (from PLC)

Suppression with G53
(see also NC MD 5007 bit 1)

DRF offset (with handwheel)

PRESET offset

Suppression with @ 706

Initial setting for programming is G54!
G58
G59
external ZO

6–218

1st programmable ZO
2nd programmable ZO
external ZO from PLC
The values are transmitted from the PLC via the external data input. The
values can only be deleted from the PLC or with the softkey ”UMS format”.

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

08.96

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

R parameters
700 parameters per channel are available for the whole system and
600 central parameters: parameters R0 to R699 are channel-specific,
parameters R700 to R1299 apply to all channels.

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R50

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R50 to R99

a
aa
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aa
a

..
.

a
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aa
a

Typical application per channel:
For calculations within cycles and subroutines.
The same local parameters may be used for nested
subroutines. When cycles or subroutines are called with
@040 to 043, an R parameter stack saves the data used
so far and stores them after return to the calling program.

R199

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Transfer
parameters

Channel 1 to channel 4
R00
R00
..
..
.
.
R49
R49

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Structure and application of R parameters:

..
.

..
.

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R50

Local
parameters

..
.

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R200 to R219

R220
:
R239

R220 to R239

R240
:
R299

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R240 to R299

R300

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R300

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R220
:
R239

R100

R200
:
R219

R240
:
R299
R300

Channel-specific
ASCII
R parameters

R600
:
R699

R600
:
R699

R700
..
.
R999

R1000 (from
SW 4)
:
10 000
R1299
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Additional
central
R parameters

R301
:
R599

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Central
R parameters

Typical application per channel:
Memory for data which must be accessible for the main
programs and subroutines. R100 to R109 are assigned if
Siemens tool management is used. R110 to R199 are
assigned for Siemens measuring cycles.

R200
:
R219

R100

R301
:
R599

Additional
global
R parameters

R100 to R199

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Reserved
for internal
functions

R199

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channel-specific
R parameters

R99

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Global
parameters

Typical application per channel:
Input of cycles and subroutines.

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R99

R0 to R49

R10000
..
.
R10019

Assigned internally (cycle converter)

WS800 compiler

Internal assignment plant.

Stack pointer for @040, @041, @042, @043

R301 to R599
Stack area for @040, @041, @042, @043

R600 to R699
Reserved for user

R700 to R999
Typical application:
Higher level memory for all NC channels, e.g. for
buffering target positions used by another channel.

R1000 to R1299
Reserved for user

R10000 to R10019
Reserved for user for the function ”Select part program
for editing”.

Note:
As from SW 4, the structure of the R parameters can be modified by the ”Flexible memory
configuration” function.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

6–219

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

09.95

R parameter assignment
R0

–

R49:

Typical application per channel:
Input of cycles and subroutines.

R50

–

R99:

Typical application per channel:
For calculations within cycles and subroutines. The same local parameters
may be used for nested subroutines. When cycles or subroutines are
called with @ 040 to 043, an R parameter stack saves the data used so
far and stores them after return to the calling program.

R100 –

R199:

Typical application per channel:
Memory for data which must be accessible for the main programs and
subroutines. R100 to R109 are assigned if Siemens tool management is
used. R110 to R199 are free for the user.

R200 –

R219:

Siemens assignment (cycle converter)

R220 –

R239:

CL800 compiler on WS800 compiler (Siemens assignment)

R240 –

R299:

Intended for internal assignment by Siemens as required

R300:

Stack pointer for @040, @041, @042, @043 (set to 301 with each M2,
M30 RESET)

R301 –

R499:

Stack area for @040, @041, @042, @043

R500 –

R599:

100 new global R parameters per channel
Use: as for R100 to R199

R700 –

R999:

Typical application:
Higher-level memory for all NC channels, e.g. for buffering target positions
used by another channel.

Note:
R parameter areas R100 to R199, R500 to R599 and R700 to R999 are provided for the user
as standard.
The user can also use the other R parameters if he is not using the associated functions
(CL 800 language, SIEMENS cycles or similar).

6–220

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

General setting data

0

Active on
–

Dry run feedrate

Default value

Lower input limit

Upper input limit

Units

0

0

1072 0000
9999 9999 (as from
SW 5)

1 000 units/min

If ”Dry run feedrate” is selected on the control, the tool path feedrate selected is the dry run
feedrate (mm/min (G94)) and not the programmed feedrate.

1

Active on
–

Dyn. smoothing time thread cutting

Default value

Lower input limit

0

0

Upper input limit

5

Units

2n-1

×IPO cycle

Programming smoothing exponent via G92 T..
This function is used to protect the drive when cutting threads and to obtain a better speed
stability.
The feed ramp-up time until synchronization with the working spindle already running is
reached can be programmed using the command G92 T.. . The feed ramp-up time should be
matched to the running path available:
•
•

short run-in path, short ramp-up time, low T value
long run-in path, long ramp-up time, high T value

The programmed ramp-up time also acts as the smoothing time, i.e. the actual spindle speed
is averaged via this value an even feedrate is thus obtained.
The smoothing and feed ramp-up time depends on
•
•

the programmed value T..
the interpolation cycle which is set in NC MD 155; this machine data should only be
changed by a properly trained specialist.

The value T.. must be an integer. Possible values are 0...5. The following table shows which T
value must be programmed for a set interpolation cycle in order to obtain the required feed
ramp-up time:

Thread cutting with constant lead (G33)
Thread cutting with linear increasing lead (G34)
Thread cutting with linear decreasing lead (G35)
Program syntax:
N.. G33  
N.. G34   
N.. G35   
The action of G functions G33, G34, G35 are modal.
The programmed feedrate F has no meaning but remains modal, i.e. the feedrate is derived
internally from the actual speed value of the leading spindle.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–221

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

12.93

M version:
If the control is initialized for milling, the actual value coupling between the spindle speed
actual value and feed setpoint is direction dependent. If the traversing direction of the feed
axis is to be altered, then the spindle direction of rotation (M3-->M4) must also be altered.
Additionally, the overflow when the spindle is reversed (e.g. (M3-->M4) must be taken into
account when programming the thread depth.
Note:
If in thread tapping blocks on milling machines, after the first thread block the direction of
movement but not the spindle direction of rotation is programmed in the opposite direction,
traversing is still carried out in the previous direction. The software limits switches are active.
When the software limit switches are triggered, the following error must be eliminated. The
software limit switch is therefore exceeded by the following error.
T version:
If the control is initialized for turning, the actual value coupling between the spindle speed
actual value and the feed setpoint is not direction dependent. This means that the spindle
can continue turning in one direction while the feed axis is reprogrammed to change direction.
With G34/G35 the thread lead is altered per turn by the value programmed under address F
until the maximum or minimum possible value is obtained.
The value F must be used without a sign and is derived from the known initial and final lead
and thread length:
F=

5

Initial lead

2

– final lead

2

2 · thread length
Active on
–

PLC alarm text file 1)

Default value

Lower input limit

Upper input limit

Units

1

1

9 999

–

When NC machine data bit 5199.4 is set, the display of the PCF files is enabled.
NC MD 5199.4 = 0
NC MD 5144.1 = 1

No display of PCF files
Display of PCF files active

The setting of NC setting data 5 (PLC alarm text files) in the setting data area "General data",
defines which PCF file is to be used to display PLC alarm texts. The value range is 0 - 9999.

_______
1) Up to SW 2
2) As from SW 3

6–222

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

9

Active on
–

INC Variable

Default value

Lower input limit

Upper input limit

Units

0

9 999.9999 1)
16 000 2)

–

50

Incremental dimension INC Variable
The axis in question is traversed by this amount when the direction key (+ or -) is pressed.

200*

Active on
–

Scale factor

Default value

Lower input limit

Upper input limit

Units

1

0.00001

99.99999

–

If the scale factor is selected with G51, all the following programmed axis values are altered
using the scale factor (see Programming Guide for detailed description).
The scale factor is programmed together with G51 in a block.

202*

Active on
–

Start angle for thread

Default value

Lower input limit

Upper input limit

Units

0

0

359.999

Degrees

If a starting angle for thread cutting is entered, it is easy to produce a multiple thread. This
setting data can be altered via the user interface or by programming ”G92 A ...” in the part
program. The option ”Extended thread package” must be active for this function.
The last angle to be entered is saved after Power off.

204*

Active
At once

Maximum number of predecoded blocks (as from SW 5)

Default value

Lower input limit

Upper input limit

Units

0

0

ca. 3 500

Blocks

The number of predecoded blocks can be limited by a channel-specific setting data.
0:

Limitation is disabled, as many blocks are decoded as possible.

1 - approx. 3 500:

The number of predecoded blocks is limited to a defined value. The
maximum value depends on the available memory and from the setting
in the flexible memory configuration. If the existing number of block
buffers is exceeded, as many blocks as possible are predecoded.
The minimum value is 2 here. If the value 1 is entered it is
automatically switched over to 2.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–223

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

08.96

The setting data can be written from a part program under "Program control" using the
command @410 or from the PLC. A larger value can be written as the available block memory.
The NC however still predecodes no more than the stated number of blocks. If the setting data
is reduced when already more than the defined number of blocks has been predecoded, no
more blocks are predecoded until this number is reached.
Limitation is especially useful when a program is being run in (single block processing).

206*
Default value

Active on
–

Actual number of predecoded blocks (as from SW 5)
Lower input limit

Upper input limit

Units

Blocks
The number of blocks actually predecoded by the NC can be read in setting data 206*. The
inserted blocks in the block preparation chain are also counted.
The value is displayed under "Program control" but can also be read in the part program
(@310) by the PLC. The user can use this command to control predecoding from the PLC
(see also function ”Control of predecoding G171/G172”).
The value must not be overwritten. It is constantly updated by the NC when the part program
is active.
Note:
The actual number of predecoded blocks never reaches the value set in the memory
configuration because up to 20 buffers are used for internal memory management.

300*
Default value

Lower input limit

– 99 999.999

– 99 999.999

304*

Active on
–

Minimum working area limitation
Upper input limit

+ 99 999.999

Units

mm or inches

Active on
–

Maximum working area limitation

Default value

Lower input limit

+ 99999.999

– 99 999.999

Upper input limit

+ 99 999.999

Units

mm or inches

With working are limitation, the range of travel can be limited in automatic, and/or JOG mode
(in addition to software limit switches). The axes are displayed for each mode group. The
working area limitation can be altered in the program with G25/26.
Working are limitation has no effect in the ”Reference point approach mode”.

6–224

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

312*

Active on
–

Scale centre NC

Default value

Lower input limit

0

– 99 999.999

Upper input limit

+ 99 999.999

Units

mm or inches

The scale centre defines where the reference point for the alteration of the programmed axis
positions using the scale factor lies (see Programming Guide for detailed description).
The scale centre is programmed together with G51 in the block.

320*

Clamping torque for move against fixed stop

Active on
–

Default value

Lower input limit

Upper input limit

Units

0

1

999

0.1 %

This SD is used to define the desired clamping torque as a % of the max. torque of the
component. Input in units of 0.1 %

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

6–225

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

07.97

Spindle-specific setting data

401*

Active on
–

Programmable spindle speed limitation for G96

Default value

Lower input limit

Upper input limit

Units

0

0

99 999

0.1 rev/min

The spindle speed is limited at constant cutting speed (G96) by the programmed spindle
speed limitation. The setting data can be modified in the program using the command G92.
Units
The unit of the input values is defined by MD 520*, bit 3:
Bit 3 = 0:
Bit 3 = 1:

Unit
Unit

rev/min
0.1 rev/min

Note
The maximum spindle speed value is determined by the minimum of the following values:
•
•
•

MD 403* to 410*
MD 451*
SD 401*

•

SD 403*

402*

” Maximum speed” per gear ratio
” Maximum chuck speed”
” Programmable spindle speed limitation with G96”;
programmed with G92
”Programmable spindle speed limitation”;
programmed with G26

Active on
–

Spindle position with M19

Default value

Lower input limit

Upper input limit

Units

0

0

35 999

0.01°

This setting data specifies the angle to which the spindle is positioned when M19 is
programmed in the part program (or MDA, Overstore) without specifying an S value.
If an S value is programmed with M19, it is transferred to the setting data.
Examples
•

The spindle is positioned to 270 degrees with M19 S270 LF. The angle is entered in the
setting data.

•

M19 LF

is used to position the spindle to the value and entered in the setting data.

403*

Programmable spindle speed limitation

Active on
–

Default value

Lower input limit

Upper input limit

Units

100

0

99 999

0.1 rev/min

The maximum spindle speed is limited to this value. The setting data can be modified in the
program using the command G26.

6–226

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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09.01

SD MD

5000

Bit 7

SD MD

Bit 1=1:

Bit 1=0:

1)

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

Units
The unit of the entered values is defined in bit 3 of MD 520*:
Bit 3 = 0:
Unit
rev/min
Bit 3 = 1:
Unit
0.1 rev/min
Note
The maximum spindle speed value is determined by the minimum of the following values:
• MD 403* to 410*
”Maximum speed” per gear ratio
• MD 451*
”Maximum chuck speed”
• SD 401*
”Programmable spindle speed limitation with G96”;
programmed with G92
• SD 403*
”Programmable spindle speed limitation”;
programmed with G26
Setting data bits
General bits
Bit No.

7

Bit 7=1
Bit 7=0

7

SINUMERIK 840C (IA)
6

Calc. of
L900 without
overtravel
safety
distance of
compensation
drilling axis
5

6

© Siemens AG 1992 All Rights Reserved
5

4

4

540*

6FC5197- AA50

3

Cycles L97
L99 active
with G620

5001

3

2

Turning
cycles

1

Drilling and
milling
patterns

Auto.
storage. of
PP on hard
disk (as from
SW 5)

2

0

Function ext. from UMS03 used
Drilling
cycles

Display
workpiecerelated actual value
system

SD 5000
Bit 2-0 Bit 2-0=0 Standard cycles up to UMS021) active
Bit 2-0=1 Standard cycles up to UMS031) active

Overtravel compensation functions
No calculation of overtravel compensation

SD 5001

Bit 2 Bit 2=1 The part program is either stored in the source workpiece or in workpiece
"STANDARD" or NCKTMP, depending on the setting in MD 5189 bit 3.
Bit 0 Bit 0=1 The actual-value display for axes (actual position) refers to the workpiece zero
and not to the machine zero (reference point)
Note on bit 0:
The display is deselected with mode group reset, it remains active after program end
(M02/M30).
Channel-specific bits

Bit No.

1

0

Workp. not
loaded on
POWER ON
(from SW 6)
Axis
converter
On/Off

Bit 0=1:

The workpiece selected in the channel is not loaded in NCK on POWER ON.
Only active in combination with MD 5025.7.
The workpiece selected in the channel is loaded in NCK on POWER ON. Only
active in combination with MD 5025.7.
Axis converter On

Bit 0=0:

_______

Axis converter Off

Texts generated on the WS 800A NC workstation and stored in the User Memory Submodule.

6–227

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6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

SD MD

Bit 2
Bit 1
Bit 0

SD

SD

600*
to
625*

6–228
7

7

Bit 0=1
Bit 1=1
Bit 2=1
Bit 3=1
Bit 4=1

7

6

6

564*

6

07.97

Axial bits
Bit No.

5

4

5

5

3

560*

4

3

10000

4

3

SD 600*
1st progr. spindle channel-specific

SD 604*
2nd progr. spindle channel-specific
SD 606*
2nd real spindle channel-specific

SD 608*
3rd progr. spindle channel-specific
SD 610*
3rd real spindle channel-specific

SD 602*

2

1

2

2

1

© Siemens AG 1992 All Rights Reserved

0

Scale factor
Rapid
Feedrate
active on override not override not
machine
active
active

The scale factor (G51) is active during machining.
Override switch for rapid traverse no longer active in the axis in question.
Override switch for feedrate no longer active in the axis in question.
Bit No.

1

0

Increments per handwheel pulse
1000
100
10
1

Evaluation of handwheel pulses (applies to both handwheels) per axis

1 increment per handwheel pulse (display resolution)
10 increments per handwheel pulse (display resolution)
100
"..."
1000
"..."
10000
"..."

Spindle converter setting data

Bit No.

0

Spindle converter

The setting data are stored as follows in binary format.

1st real spindle channel-specific

SD 612* spindle conversion list on/off (1=on, 0=off)

These setting data can be altered via @311, @312, @411, @412 / PLC / RS 232 C (V24).

The spindle converter only operates in the automatic, teach-in and MDA modes but not with
overstore.

The automatic basic display does not show that the spindle converter is active.

Note:

See Functional Description for detailed description.

SINUMERIK 840C (IA)

6FC5197- AA50

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01.99

SD

SD

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

Axis converter setting data
Bit No.

7

7

SINUMERIK 840C (IA)
6

6

© Siemens AG 1992 All Rights Reserved
5

626*
to
699*

5

7000
to
7007
4

3

4

3

6FC5197- AA50

2

2

1

SD 626*
1st programmed axis channelspecific
SD 628*
1st machine axis channelspecific

SD 630*
.
.
.
2nd programmed axis channelspecific
SD 632*
.
.
.
2nd machine axis channelspecific

1

SD 7000* Minus cam of cam pair 1
SD 7002*
Minus cam of cam pair 2

SD 7001* Plus cam of cam pair 1
SD 7003*
Plus cam of cam pair 2

SD 7004* Minus cam of cam pair 3
SD 7006*
Minus cam of cam pair 4

SD 7005* Plus cam of cam pair 3
SD 7007*
Plus cam of cam pair 4

0

Axis converter

The setting data are stored in binary format as follows.

Setting data software cam

Bit No.

0

Software cams

The cam positions refer to machine zero and are used in the active machine dimension
system (metric or inch). No check is made that the set cam position is within the maximum
positional values (maximum traversing range).

The setting data for the cam positions can be read or written using the @ functions.

The setting data are stored in binary format as follows:

6–229

6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.12.1 NC setting data (NC SD)

01.99

Setting data for the additive protection zone adaptation (as from SW 6)
The values for the coordination of the dynamic protection zone adaptation are to be entered in
the following setting data bits:
SD
No.

Description

Default
value

Maximum
input value

Reference
system

Input unit

800*

Protection zone enlargement in X+ direction

0

9999 9999

IS

–

804*

Protection zone enlargement in Y+ direction

0

9999 9999

IS

–

808*

Protection zone enlargement in Z+ direction

0

9999 9999

IS

–

812*

Protection zone enlargement in X- direction

0

9999 9999

IS

–

816*

Protection zone enlargement in Y- direction

0

9999 9999

IS

–

820*

Protection zone enlargement in Z- direction

0

9999 9999

IS

–

These setting data are activated by MD 3876* bit 1.

6.13

Cycles machine data

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The cycles machine data are active only when you use the measuring cycles from Version 20.
For a detailed description of the cycles machine data please refer to the

Start-up Guide
Measuring Cycles, Versions 20 and 30

END OF SECTION

6–230

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1 611A main spindle drive machine data (MSD MD) (SW 3)

7

Drive Machine Data
(SIMODRIVE Drive MD)

7.1

611A main spindle drive machine data (MSD MD) (SW 3)

7.1.1

MSD MD input (SW 3)

The main spindle drive machine data are provided for the purpose of matching the main
spindle drives and the machine tool. If no setting values are specified by the machine
manufacturer or the user, then they must be carefully determined and optimized by the startup engineer. The setting values are input by means of menu selection (see section headed
"Machine Data Dialog").

7.1.2

MSD MD (data description - SW 3)

1

Active
at once

Speed setpoint

Default value

Lower output limit

Upper output limit

Units

0

–

–

rev/min

Display machine data for the present setpoint of the motor speed in rev/min.

2

Active
at once

Speed actual value

Default value

Lower output limit

Upper output limit

Units

0

–

–

rev/min

Display machine data for the present actual value of the motor speed in rev/min.

3

Active
at once

Motor voltage

Default value

Lower output limit

Upper output limit

Units

–

–

–

V

Display machine data for the present RMS value of the line-to-line motor voltage.

4

Active
at once

Capacity utilization

Default value

Lower output limit

Upper output limit

Units

–

–

–

%

Display machine data for utilization of the main spindle drive. The ratio between torque Md and
maximum torque Mdmax is displayed up to rated speed nrated; the ratio between power P and
maximum power Pmax is displayed at speeds above the rated value.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–1

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

6

12.93

Active
at once

DC link voltage

Default value

Lower output limit

Upper output limit

Units

–

–

–

V

Display machine data for the present DC link voltage.

7

Active
at once

Motor current

Default value

Lower output limit

Upper output limit

Units

–

–

–

A

Display machine data for the present motor current RMS value.

8

Active
at once

Motor reactive power

Default value

Lower output limit

Upper output limit

Units

–

–

–

kVA

Display machine data for the present reactive power consumption of the motor.

9

Active
at once

Motor active power

Default value

Lower output limit

Upper output limit

Units

–

–

–

kW

Display machine data for the present active power consumption of the motor.
Note:
The sign indicates whether the motor is operating as a motor (+) or a generator (–).

10

Active
at once

Motor temperature

Default value

Lower output limit

Upper output limit

Units

–

–

–

°C

Display machine data for the present motor temperature. The temperature is sensed through
temperature resistance measuring devices in the motor stator.

7–2

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

11

Status of binary inputs

Active
at once

Default value

Lower output limit

Upper output limit

Units

–

–

–

Hex

Display machine data for the status of the binary inputs.
Value table:
Bit 0

Not assigned

Bit 1

Image terminal 663 (module-specific
pulse suppression IMPFR)

Bit 2

Image terminal 63 of I/RF unit
(central drive pulse suppression
REIMSP)

Bit 3

Sum signal pulse enable:
- Stored hardware sum signal
HWFRGOUT
- Pulse enable by PLC via 611D
control word

Bit 4

"Heat sink of power section XKKT too
hot" message

0: Overtemperature
1: Normal temperature

Bit 5

Image terminal 112 of I/RF unit (set-up
mode XEINR message)

0: Set-up mode
1: Normal mode

Bit 6

Image terminal 64 of I/RF unit (central
drive enable setpoint = 0)

0: Controller enable
1: Regenerative braking

Bit 7

Not assigned

Bit 8

Image terminal 5 of I/RF unit
(motor/power section temperature
prewarning X12T)

Bit 9-15

Not assigned

14

0: Pulse enable
1: Pulse disable

0: Normal range
1: Limit value exceeded

Speed for max. motor operational speed motor 1

Active
at once

Default value

Lower input limit

Upper input limit

Units

Maximum motor
speed

Max. speed

Max. speed

rev/min

Machine data MD 14 defines the maximum operating speed of the main spindle motor. It acts
as the reference value of the speed setpoint interface.
Note:
The velocity of a main spindle is matched in NC-MD 4030 (maximum spindle speed). The
motor operating speed which corresponds to this maximum value must be entered in drive-MD
14. Allowance is made for any existing gear ratios in the relationship between NC-MD 4030
and drive-MD 14.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–3

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

19

10.94

Active
at once

Rounding degree speed setpoint

Default value

Lower input limit

Upper input limit

Units

0

0

30

–

Input of parameter setting for a PT2 filter (low-pass) in the speed setpoint channel. The lowpass filter is inserted on the output side of the ramp-function generator and is effective only if
the speed setpoint smoothing function (MD 53, bit 4) is activated at the same time.

20

Active
at once

Diagnosis speed actual value

Default value

Lower output limit

Upper output limit

Units

0000

0000

–

Hex

Display of the monitoring machine data "Diagnosis speed actual value". If an impermissibly
large speed deviation occurs within the sampling period, then the value of the machine data is
incremented. Sporadic responses by a few increments can be ignored since these do not
influence the speed controller. A high disturbance level will cause the contents of MD 20 to be
increased repeatedly by several increments.
Possible causes of disturbances
•
•
•
•
•
•

Encoder shield not earthed
Encoder defective
Earth connection of electronics ground in MSD module faulty
Motor earth not connected in MSD module
Value entered for motor moment of inertia too high
Evaluation electronics

21

Active
at once

nmin for nact < nmin message motor 1

Default value

Lower input limit

Upper input limit

Units

12

0

Rated speed

rev/min

Input of response value for monitoring of the PLC status message nact < nmin (see also
MD 241).

22
Default value

Rated speed
––––––––––––––
256

Active
at once

Creep speed pulse suppression motor 1
Lower input limit

Upper input limit

Units

0

Rated speed

rev/min

Input of response value for the internal nmin sensor for stopping the drive with no reverse
rotation. When the speed nmin is reached, the drive torque is cut off and the drive coasts to a
stop with any remaining kinetic energy.
Note:
This nmin threshold is not the same as the response value of the nmin monitor, but it may be
set to the same value.

7–4

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

23

Active
at once

nx for nact < nx message motor 1

Default value

Lower input limit

Upper input limit

Units

0

Maximum motor
speed

rev/min

6 000

Input of response value for monitoring of the PLC status message nact < nx (see also MD
241).

27

Active
at once

Tolerance band for nset = nact message motor 1

Default value

Lower input limit

Upper input limit

Units

20

0

Rated speed
––––––––––––––-1
16

rev/min

Input of response value for the tolerance band of the PLC status message nset < nact (see
also MD 241). The tolerance band of the nset = nact response threshold can be defined in
machine data MD 27.

28

Active
at once

Diagnosis

Default value

Lower output limit

Upper output limit

Units

0000

0000

–

Hex

Output of diagnostic messages which do not cause tripping (pulse disable).
0008 H: Temperature sensor circuit interrupted or shorted
2000 H: Division interrupt: Error in calculation routines or incorrect entry of data

29

Active
at once

Speed limitation motor 1

Default value

Lower input limit

Upper input limit

Units

Maximum motor
speed

0

Maximum motor
speed

rev/min

Input of maximum motor speed (nmax) = speed safety limit.

31

Active
at once

P-gain speed controller motor 1

Default value

Lower input limit

Upper input limit

Units

32.0

1.0

120.0

–

Input of P gain (Kp) for the speed controller. The speed controller has a PI function which can
be set separately for eight gear stages.
Note:
A speed controller adaptation can be implemented only for gear stage 1 (see MD 203).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–5

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

32

12.93

Active
at once

Integral-action time speed controller motor 1

Default value

Lower input limit

Upper input limit

Units

20

5

6 000

ms

Input of integral-action time (tN) for the speed controller. The speed controller has a PI function
which can be set separately for eight gear stages.
Note:
A speed controller adaptation can be implemented only for gear stage 1 (see MD 203).

35

Active
at once

Smoothing time torque setpoint motor 1

Default value

Lower input limit

Upper input limit

Units

3

3

1 000

ms

Input of smoothing time for the torque setpoint. MD 45 and MD 46 are the corresponding
machine data.
Note:
The smoothing function can be activated in machine data MD 44.

36

Active
at once

Encoder phase error compensation motor 1

Default value

Lower input limit

Upper input limit

Units

0

-400

+400

–

Phase errors in the encoder signals can be compensated by means of a correction function.
The amplitude of this function is specified via machine data MD 36.
Note:
Default value 0 means no correction.

37

Active
at once

Switchover speed motor encoder evaluation motor 1

Default value

Lower input limit

Upper input limit

Units

32 000

0

32 000

rev/min

Input of the switchover speed for evaluation of the motor encoder. In this case, it is possible to
switch between the square-wave and SINE/COSINE evaluation modes. Square-wave
evaluation is applied at speeds above the maximum value entered.

7–6

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

38

Active
at once

Hysteresis MD 37 motor 1

Default value

Lower input limit

Upper input limit

Units

50

0

500

rev/min

Input of hysteresis for machine data MD 37 (switchover speed for motor encoder evaluation).

39

Active
at once

1st torque limiting value motor 1

Default value

Lower input limit

Upper input limit

Units

100

5

180

%

Input of the maximum permissible torque referred to the rated torque of the motor. The setting
of the limit values is referred to the rated motor torque in the constant torque range. At speeds
above the rated value, i.e. in the constant power range, the torque limitation is referred to the
appropriate working point. With a setting of, for example, 100 %, the rated torque acts as the
torque limit up to rated speed. At speeds above the rated value, the torque limit curve drops in
proportion to 1/n so that the rated output is reached in each case. MD 40-MD 43, MD 47 and
MD 50 are the corresponding machine data.

40

Active
at once

Generative limitation motor 1

Default value

Lower input limit

Upper input limit

Units

100

5

100

%

Input of torque limit for braking operation (generator-mode torque limit). This input value is
referred to the maximum motor-mode torque (see also MD 39).

41

Active
at once

2nd torque limiting value motor 1

Default value

Lower input limit

Upper input limit

Units

50

5

100

%

Input of 2nd torque limit value referred to the 1st torque limit (MD 39). This 2nd torque limit
can be selected via the PLC control word and machine data MD 50.

42

Switchover speed for MD 40 motor 1

Active
at once

Default value

Lower input limit

Upper input limit

Units

500

0

Maximum motor
speed

rev/min

Input of speed above which the generator-mode limit set in machine data MD 40 is applied
(see also MD 39).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–7

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

43

10.94

Active
at once

Hysteresis MD 42 motor 1

Default value

20

Lower input limit

Upper input limit

Units

0

Maximum motor
speed

rev/min

Input of hysteresis for the switchover speed set in machine data MD 42 (see also MD 39).

44

Active
at once

Selection torque setpoint smoothing motors 1 and 2

Default value

Lower input limit

Upper input limit

Units

0001

0000

0001

Hex

Input of setting to activate torque setpoint smoothing. The torque setpoint smoothing function
acts on the speed controller output. MD 35, MD 45 and 46 are the corresponding data.
0: No smoothing active
1: Activation of smoothing function at speeds above value set in machine data MD 45 and
MD 274

45

Active
at once

Cut-in speed torque setpoint smoothing motor 1

Default value

Lower input limit

Upper input limit

Units

4 000

0

Maximum motor
speed

rev/min

Input of speed value above which the torque setpoint smoothing function activated in machine
data MD 44 is applied.

46

Active
at once

Hysteresis MD 45 motor 1

Default value

Lower input limit

Upper input limit

Units

50

0

Rated speed

rev/min

Input of hysteresis for the cut-in speed set in machine data MD 45.

47

Active
at once

Mdx for Md < Mdx message

Default value

Lower input limit

Upper input limit

Units

–

0

100

%

Input of setting value for the PLC status message Md < Mdx (see also MD 241). This input
value is referred to the currently active torque limit value.

7–8

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

50

Switching speed from Md1 to Md2 motor 1

Default value

Active
at once

Lower input limit

Upper input limit

Units

0

Maximum motor
speed

rev/min

4 x rated motor
speed

Input of speed at which switchover from the 1st torque limit (MD 39) to the 2nd torque limit
(MD 41) takes place. This switchover is implemented only if the appropriate bit has been set in
the PLC control word and the switchover speed set in MD 50 has been exceeded.

52

Transfer machine data to FEPROM

Active
at once

Default value

Lower input limit

Upper input limit

Units

0000

0000

0001

Hex

Note:
This machine data is not included in the machine data lists. During start-up in machine data
dialog, the machine data is set or altered as appropriate via the configuration setting.
The machine data can be saved from the RAM to the FEPROM by setting this machine data to
the value 1 H.

53

Active
at once

Control word

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

A range of control functions can be selected and altered by entering bit patterns in the control
word.
Selection of bits:
Not assigned
Ramp-function generator
rapid stop

Bit 0
Bit 1

Not assigned
Speed setpoint smoothing

Bits 2-3
Bit 4

Not assigned
Inverter pulse frequency

Bits 5-8
Bits
9-10

Division interrupt
error message
Ramp-function generator
automatic control

Bit 11

© Siemens AG

Bit 12

1992 All Rights Reserved

SINUMERIK 840C (IA)

0: The motor remains connected to the supply after
shutdown by the ramp generator rapid stop
function
1: The motor is isolated from the supply when the
speed drops below the internal nmin speed value
after shutdown by the ramp generator rapid stop
function
0: Function is active only if the appropriate bit has
been set in the PLC control word
1: Function is always active
Bit 9 = 0 and bit 10 = 0 : Selection of 3.44 kHz
Bit 9 = 0 and bit 10 = 1 : Selection of 4.95 kHz
Bit 9 = 1 and bit 10 = 0 : Selection of 6.60 kHz
Bit 9 = 1 and bit 10 = 1 : Selection of 8.11 kHz
0: Message is displayed
1: Message is concealed
0: Ramp-function generator automatic control active
1: Ramp-function generator automatic control
deactivated

6FC5197- AA50

7–9

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

63

10.94

Active
at once

Maximum motor temperature motor 1

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

170

°C

Input of maximum motor temperature. The value entered can be lower than the maximum
temperature value calculated via the motor code number (MD 96) and motor data set. If the
specified temperature is exceeded, the "Motor overtemperature" prewarning is output after
approximately 30 s (provided it is activated) or the "Motor overtemperature" alarm given after
the delay set in machine data MD 65.

64

Active
at once

Fixed temperature

Default value

Lower input limit

Upper input limit

Units

0

0

170

°C

Input of fixed temperature. If a value higher than 0 is entered, then the motor is operated at the
specified fixed temperature value.
Note:
The motor temperature monitoring function set in machine data MD 63 is made inoperative if a
fixed temperature is specified.

65

Active
at once

Timer motor temperature alarm

Default value

Lower input limit

Upper input limit

Units

240

0

600

s

Input of timer for the motor temperature alarm. A warning is output as soon as the monitor
responds; the drive is then tripped with an alarm message when the delay time set above has
expired.

72

Active
at once

Address DAC2

Default value

Lower input limit

Upper input limit

Units

3048

0000

FFFF

Hex

Note:
This machine data is not included in the machine data lists. The DACs are configured in the
course of the drive servo start-up procedure for diagnostic purposes.
Input of memory address of which the contents must be output.
3048 H: Motor utilization Md/Mdmax or P/Pmax

7–10

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

73

Active
at once

Shift factor DAC2

Default value

Lower input limit

Upper input limit

Units

0

0

15

–

Note:
This machine data is not included in the machine data lists. The DACs are configured in the
course of the drive servo start-up procedure for diagnostic purposes.
Input of shift factor DAC2 for analog output. The top 8 bits from a 16-bit wide memory location
are output. This machine data specifies how often the value must be shifted to the left
beforehand. A shift by one position corresponds to a multiplication by 2, i.e. the shift factor
allows multiplication by the power of two 2shift factor. The maximum gain which can be obtained
in this way is 32768 (only the last bit is evaluated).

74

Active
at once

Offset DAC2

Default value

Lower input limit

Upper input limit

Units

0000

FF80

007F

Hex

Note:
This machine data is not included in the machine data lists. The DACs are configured in the
course of the drive servo start-up procedure for diagnostic purposes.
Input of an offset value for DAC2 which is added to the value prior to analog output.

76

Active
at once

Address DAC1

Default value

Lower input limit

Upper input limit

Units

3044

0000

FFFF

Hex

Note:
This machine data is not included in the machine data lists. The DACs are configured in the
course of the drive servo start-up procedure for diagnostic purposes.
Input of memory address of which the contents must be output.
3044 H: Speed actual value nact

77

Active
at once

Shift factor DAC1

Default value

Lower input limit

Upper input limit

Units

0

0

15

–

Note:
This machine data is not included in the machine data lists. The DACs are configured in the
course of the drive servo start-up procedure for diagnostic purposes.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–11

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

10.94

Input of shift factor DAC1 for analog output. The top 8 bits from a 16-bit wide memory location
are output. This machine data specifies how often the value must be shifted to the left
beforehand. A shift by one position corresponds to a multiplication by 2, i.e. the shift factor
allows multiplication by the power of two 2shift factor. The maximum gain which can be obtained
in this way is 32768 (only the last bit is evaluated).

80

Active
at once

Offset DAC1

Default value

Lower input limit

Upper input limit

Units

0000

FF80

007F

Hex

Note:
This machine data is not included in the machine data lists. The DACs are configured in the
course of the drive servo start-up procedure for diagnostic purposes.
Input of an offset value for DAC1 which is added to the value prior to analog output.

95

Active
Power On

Power section code number

Default value

Lower input limit

Upper input limit

Units

7

6

12

–

Note:
This machine data is not included in the machine data lists. During start-up in machine data
dialog, the machine data is set or altered as appropriate via the configuration setting.
Input of code number for the power section used.
Converter table:
Code number

Power section order no.

Current

6

6SN1135-1DA1 -0CA0

24/32/32A

7

6SN1135-1DA1 -0DA0

30/40/51A

8

6SN1135-1DA1 -0GA0

45/60/76A

9

6SN1135-1DA1 -0EA0

60/80/102A

10

6SN1135-1DA1 -0FA0

85/110/127A

7–12

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

96

Active on
Power On

Motor code number motor 1

Default value

Lower input limit

Upper input limit

Units

101

99

332

–

Note:
This machine data is not included in the machine data lists. During start-up in machine data
dialog, the machine data is set or altered as appropriate via the configuration setting.
Input of code number for the motor used. The relevant motor data are stored in the software
and are transferred to machine data MD 159 to MD 175 when the motor code number is
changed. If individual motor data (MD 159 to MD 175) must be changed, then the value 99
(non-Siemens motor) must be entered as the motor code number.
Table of motors:
Order No.

Rated
speed

Rated
power

Rated
current

No-load
current

Code
numer

nrated in
rev/min

Prated in kW

rated in A
(for T
=100 K)

0 in A
(for T
=100 K)

1PH6101-4NF4- x

1500

3.7

12.5

6.2

101

1PH6101-4NG4- x

2000

4.7

13.7

6.9

102

1PH6103-4NF4- x

1500

5.5

17.9

9.1

103

1PH6103-4NG4- x

2000

7.0

19.4

9.9

104

1PH6105-4NF4- x

1500

7.5

22.5

11.5

105

1PH6105-4NG4- x

2000

9.5

25.3

13.1

106

1PH6107-4NF4- x

1500

9.0

26.9

14.2

107

1PH6107-4NG4- x

2000

11.5

29.8

15.6

108

1PH6131-4NF4- x

1500

9.0

27.2

11.7

109

1PH6131-4NG4- x

2000

12.0

32.1

13.6

110

1PH6133-4NF0- x

1500

11.0

26.7

11.5

111

1PH6133-4NF4- x

1500

11.0

31.3

13.4

112

1PH6133-4NG4- x

2000

14.5

37.5

16.1

113

1PH6135-4NF0- x

1500

15.0

35.0

16.1

114

1PH6135-4NF4- x

1500

15.0

41.3

18.8

115

1PH6135-4NG4- x

2000

20.0

50.6

22.8

116

1PH6137-4NF4- x

1500

18.5

50.2

22.9

117

1PH6137-4NG4- x

2000

24.0

57.8

26.5

118

1PH6138-4NF0- x

1500

22.0

51.5

24.6

119

1PH6138-4NF4- x

1500

22.0

61.0

28.7

120

1PH6138-4NG4- x

2000

28.0

66.1

31.4

121

1PH6161-4NF0- x

1500

22.0

53.5

23.9

122

1PH6161-4NF4- x

1500

22.0

60.8

26.9

123

1PH6161-4NG4- x

2000

28.0

68.1

31.3

124

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–13

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

Order No.

12.93

Rated
speed

Rated
power

Rated
current

No-load
current

nrated in
rev/min

Prated in kW

in A
(for T
=100 K)

0 in A
(for T
=100 K)

1PH6163-4NF0- x

1500

30.0

72.5

33.3

125

1PH6163-4NF4- x

1500

30.0

86.0

40.3

126

1PH6163-4NG4- x

2000

38.0

84.0

37.5

127

1PH6167-4NF0- x

1500

37.0

79.6

36.3

128

1PH6167-4NF4- x

1500

33.0

95.7

43.5

129

1PH6167-4NG4- x

2000

45.0

91.0

41.0

130

1PH6107-4NC4- x

750

5.0

22.7

11.7

131

1PH6133-4NB4- x

525

4.5

26.0

9.8

132

1PH6137-4NB4- x

525

7.9

43.6

18.6

133

1PH6163-4NB4- x

500

11.5

66.2

27.8

134

1PH6167-4NB4- x

500

14.5

78.0

34.4

135

1PH6133-4NG0- x

2000

14.5

31.5

14.5

136

1PH6137-4NG0- x

2000

24.0

50.0

23.2

137

1PH6167-4NG4- x

2000

45.0

83.3

32.2

138

1PH6163-4NZ0- x

950

19.0

56.0

25.2

139

1PH6105-4NZ4- x

3000

12.0

27.0

15.6

140

1PH6167-4NG0- x

2000

45.0

85.0

29.5

141

1PH6186-4NB4- x

500

22.0

66.0

35.5

160

1PH6186-4NB4- x

610

26.8

66.0

35.5

161

1PH6206-4NB4- x

500

32.0

96.0

48.0

162

1PH6186-4NE4- x

1250

42.0

86.0

46.0

163

1PH6186-4NF4- x

1500

50.0

100.0

52.0

164

1PH6206-4NE4- x

1250

63.0

125.0

64.0

165

1PH6206-4NF4- x

1500

76.0

149.0

68.0

166

1PH6186-4NB9- x

700

30.8

67.0

35.0

167

1PH6133-4NB8- Y

525

4.5

15.3

6.4

200

1PH6133-4NB8- D

1250

4.3

13.5

8.0

201

1PH6137-4NB8- Y

525

7.9

25.2

11.7

202

1PH6137-4NB8- D

1250

7.5

22.5

13.5

203

rated

Code
number

1PH6163-4NB8- Y

500

11.5

39.5

14.3

204

1PH6163-4NB8- D

1250

11.5

35.2

20.8

205

1PH6167-4NB8- Y

500

14.5

45.5

17.9

206

1PH6167-4NB8- D

1250

14.5

40.5

23.2

207

1PH6186-4NB8- Y

500

22.0

55.0

31.0

208

1PH6186-4NB8- D

1250

22.0

50.0

35.0

209

1PH6206-4NB8 Y

500

32.0

76.0

38.0

210

7–14

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

Order No.

Rated
speed

Rated
power

Rated
current

No-load
current

nrated in
rev/min

Prated in kW

in A
(for T
=100 K)

0 in A
(for T
=100 K)

1PH6206-4NB8- D

1250

32.0

73.0

49.0

211

DMR160.80.6. RIF

200

12.6

60.0

36.4

212

DMR160.80.6.

rif

1300

12.6

33.3

26.0

213

1PH4103-4NF2- x

1500

7.5

25.2

11.5

300

1PH4103-4NG6- x

2000

8.5

36.4

17.7

301

1PH6105-4NF2- x

1500

11.0

36.6

16.4

302

1PH6105-4NG6- x

2000

12.0

24.4

51.3

303

1PH4107-4NF2- x

1500

14.0

45.0

19.0

304

1PH4107-4NG6- x

2000

16.0

55.5

26.9

305

1PH4133-4NF2- x

1500

15.0

53.1

17.4

306

1PH4133-4NF6- x

1500

14.0

55.9

21.4

307

1PH4135-4NF2- x

1500

22.0

70.7

25.5

308

1PH4135-4NF6- x

1500

20.0

76.6

29.7

309

1PH6137-4NF2- x

1500

27.0

81.9

30.3

310

1PH6137-4NF6- x

1500

25.0

92.8

35.9

311

1PH4138-4NF2- x

1500

30.0

97.3

33.8

312

1PH4138-4NF6- x

1500

28.0

102.2

40.0

313

1PH4163-4NF2- x

1500

37.0

103.0

44.0

314

1PH4163-4ND6- x

1000

25.0

103.8

42.4

315

1PH4167-4NF2- x

1500

46.0

115.0

49.2

316

1PH4167-4ND6- x

1000

31.0

129.4

50.7

317

1PH4168-4NF2- x

1500

52.0

143.0

58.8

318

1PH4168-4ND6- x

1000

35.0

143.9

58.6

319

1PH2093-6WF4

1500

7.5

32.1

10.9

320

1PH2095-6WF4

1500

10.0

28.4

13.6

321

1PH2113-6WF4

1500

15.0

53.3

21.8

322

1PH2115-6WF4

1500

16.5

52.7

21.9

323

1PH2117-6WF4

1500

18.0

58.9

24.7

324

1PH2118-6WF4

1500

23.0

78.9

32.8

325

1PH2092-4WG4

2000

4.7

20.6

10.6

326

1PH2096-4WG4

2000

10.0

41.6

21.5

327

1PH2123-4WF4

1500

11.5

54.5

21.1

328

1PH2127-4WF4

1500

21.0

80.8

33.4

329

1PH2128-4WF4

1500

25.0

97.1

37.4

330

1PH2143-4WF4

1500

30.0

96.5

41.8

331

1PH2147-4WF4

1500

38.0

111.3

43.7

332

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

rated

Code
number

7–15

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

12.93

97

Active
at once

Boot

Default value

Lower input limit

Upper input limit

Units

0000

0000

0002

Hex

Note:
This machine data is not included in the machine data lists. During start-up in machine data
dialog, the machine data is set or altered as appropriate via the configuration setting.
This machine data indicates whether the main spindle drive (MSD) is in the bootstrap mode
(MD 97 = 0) or the normal mode (MD > 0). There are two possible options for implementing
booting in the MSD bootstrap mode:
1. The machine data MD 95, MD 96, MD 98 and MD 238 are input; by setting MD 97 to 1H,
the default settings resulting from MD 95, MD 96 and MD 238 are entered for all other
machine data.
2. All machine data are entered, for example, by loading a machine data file. The bootstrap
mode is terminated by setting MD 97 to 2H.

98

Active on
Power On

No. of encoder marks motor measuring system

Default value

Lower input limit

Upper input limit

Units

2 048

128

4 096

–

Note:
This machine data is not included in the machine data lists. During start-up in machine data
dialog, the machine data is set or altered as appropriate via the configuration setting.
Input of encoder mark number (increments per revolution) of the encoder used.

99

Active
at once

Firmware version

Default value

Lower output limit

Upper output limit

Units

–

0.00

99.99

–

Output of loaded firmware version (e.g. 3.02).

103

Active
at once

Frequency torque setpoint filter motor 1

Default value

Lower input limit

Upper input limit

Units

300

50

450

Hz

Input of filter frequency. The 3dB transition frequency for the low-pass filter or the midfrequency for the bandstop is specified here (see MD 117) for the digital filter in the torque
setpoint channel.

7–16

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

104

Active
at once

Grading torque setpoint filter motor 1

Default value

Lower input limit

Upper input limit

Units

1.00

0.10

10.00

–

Input of filter quality for the bandstop in the torque setpoint channel (see MD 117).
1.00: Basis quality=1

116

Active
at once

Correction P-gain current controller motor 1

Default value

Lower input limit

Upper input limit

Units

0

-255

255

–

The current controller P-gain, which is calculated according to the motor, converter and
converter switching frequency, can be corrected by an offset in this machine data. A positive
value in MD 116 results in a higher gain and a negative value in a lower gain than the gain
value calculated. The total gain obtained by adding the calculated value and the correction in
MD 116 is displayed in MD 316.

117

Selection torque setpoint filter motor 1

Active
at once

Default value

Lower input limit

Upper input limit

Units

0000

0000

0001

Hex

The digital filter is activated and deactivated in this machine data. A digital filter can be
implemented in the torque setpoint channel with machine data MD 103, MD 104 and MD 117.
0: Digital filter deactivated
1: Digital filter activated

118

Type torque setpoint filter motor 1

Active
at once

Default value

Lower input limit

Upper input limit

Units

0000

0000

0001

Hex

The filter type is selected in this machine data (see MD 117).
0: Bandstop characteristic
1: Low-pass characteristic

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–17

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

120

12.93

Switchover speed current controller adaptation motor 1

Active
at once

Default value

Lower input limit

Upper input limit

Units

MD 172

500

10 000

rev/min

a
aaa
aaaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
aa
a
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaa

Input of switchover speed for the current controller adaptation. The phase current controller
gain is adapted as a function of speed. The specified speed is the speed at which the phase
current controllers reach their maximum gain.

a
aaa
a
aaa
aa
a
a
a
aa
aa
aa
aa
a
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaa
a

Phase current
controller gain

a
aaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaa
a

4 x gain set
in MD 116

a
aa
a
a
aa
aa
aa
a

MD 337

150

n

a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
a
a
a
a
a
a
aaaa
a

a
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
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a

MD 116

MD 120

Active
at once

Module identifier

Default value

Lower output limit

Upper output limit

Units

–

–

–

Hex

Display machine data for module identifier.
Value table:
Bit 0-3

Motor
measuring
circuit

0H

Measuring circuit for incremental encoder with
sinusoidal voltage signals

1H

Measuring circuit for incremental encoder with
sinusoidal current signals

FH Not fitted
Bit 4-7

Not assigned

Bit 8-11

Spindle
measuring
circuit

Measuring circuit
0H

Measuring circuit for incremental encoder with
sinusoidal voltage signals

1H

Measuring circuit for incremental encoder with
sinusoidal current signals

FH Not fitted
Bit 12-15

7–18

Not fitted

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

159

Motor moment of inertia motor 1

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0.002

32.000

kgm2

Input of motor moment of inertia as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

160

Motor rated power motor 1

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

150.0

kW

Input of motor rated power as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

161

Motor rated current motor 1

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

200.0

A

Input of motor rated current as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

162

Motor rated voltage motor 1

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

500.0

V

Input of motor rated voltage as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

163

Motor rated speed motor 1

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

4 096

rev/min

Input of motor rated speed as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

164

Motor rated frequency motor 1

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

409.6

Hz

Input of motor rated frequency as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–19

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

165

12.93

Active on
Power On

Motor no-load voltage motor 1

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

500.0

V

Input of motor no-load voltage as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

166

Active on
Power On

Motor no-load current motor 1

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

200.0

A

Input of motor no-load current as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

167

Active on
Power On

Stator resistance cold motor 1

Default value

Lower input limit

Upper input limit

Depends on motor

0

32 767

Units

m

Input of stator resistance (cold) as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

168

Active on
Power On

Rotor resistance cold motor 1

Default value

Lower input limit

Upper input limit

Depends on motor

0

32 767

Units

m

Input of rotor resistance (cold) as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

169

Active on
Power On

Stator leakage reactance motor 1

Default value

Lower input limit

Upper input limit

Depends on motor

0

32 767

Units

m

Input of stator leakage reactance as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

170

Active on
Power On

Rotor leakage reactance motor 1

Default value

Lower input limit

Upper input limit

Depends on motor

0

32 767

Units

m

Input of rotor leakage reactance as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

7–20

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

171

Active on
Power On

Magnetizing reactance motor 1

Default value

Lower input limit

Upper input limit

Depends on motor

0

65 535

Units

m

Input of magnetizing reactance as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

172

Upper speed Xh characteristic motor 1

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

100

24 000

rev/min

Input of upper speed limit for the Xh characteristic (magnetizing reactance Xn) as specified on
the motor data sheet (non-Siemens motor) or automatic parameterization using machine data
"Motor code number" (MD 96).
In the field-weakening range, the magnetizing reactance Xn increases linearly from the
saturated value at the speed at which field weakening begins to the unsaturated value at the
upper limit speed of the Xh characteristic (see diagram MD 175).

173

Speed at start of field weakening motor 1

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

100

6 000

rev/min

Input of speed at which field weakening starts as specified on the motor data sheet (nonSiemens motor) or automatic parameterization using machine data "Motor code number"
(MD 96).
In the field-weakening range, the magnetizing reactance Xn increases linearly from the
saturated value at the speed at which field weakening begins to the unsaturated value at the
upper limit speed of the Xh characteristic (see diagram MD 175).

174

Motor maximum speed motor 1

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

20 000

min

Input of motor maximum speed as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–21

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

175

12.93

Active on
Power On

Gain factor Xh-characteristic motor 1

Default value

Lower input limit

Upper input limit

Units

Depends on motor

100

300

%

Input of gain factor (Xh2/Xh1) of the Xh characteristic (magnetizing reactance) as specified on
the motor data sheet (non-Siemens motor) or automatic parameterization using machine data
"Motor code number" (MD 96).

a
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aa

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a
a
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In the field-weakening range, the magnetizing reactance Xn increases linearly from the
saturated value at the speed at which field weakening begins to the unsaturated value at the
upper limit speed of the Xh characteristic (see diagram MD 175).

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n

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aa

MD 173/MD 233

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Xh

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MD 175/MD 235

MD 172/MD 232

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MD 173/MD 233

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100 %

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aaaa
a

Rated value Xh1

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a

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a

Xh2

n

Note:
If the value is unknown, then 100 % should be entered in order to obtain constant magnetizing
reactance over the entire speed range.

176

Active
at once

Breakdown torque reduction factor motor 1

Default value

Lower input limit

Upper input limit

Units

100

1

150

%

Input of breakdown torque reduction factor as specified on the motor data sheet. The point at
which the breakdown torque limit is applied can be altered in this machine data.
Settings of higher than 100 % increase the point at which the limit is applied and vice versa
with settings of lower than 100 %.

7–22

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

179

Selection min/max memory

Active
at once

Default value

Lower input limit

Upper input limit

Units

0000

0000

0002

Hex

This function allows variables to be monitored in the software. The address of the monitored
variable is entered in machine data "Address of monitored variable" (MD 181).
The minimum value is displayed in machine data "Display minimum value" (MD 182) and the
maximum value in machine data "Display maximum value" (MD 183).
0: Function deactivated
1: Function activated with absolute-value evaluation
2: Function activated with bipolar evaluation

180

Enable motor switchover

Active
at once

Default value

Lower input limit

Upper input limit

Units

0000

0000

0001

Hex

Input for enabling of motor switchover (star-delta switchover). This machine data ensures a
wide range of constant power. At low speeds, the drive is operated with a star connection
(high torque) and at high speeds with a delta connection (high breakdown torque). The stardelta switchover can take place when the motor is running.
The switchover is described in more detail below:
The PLC requests a star-delta switchover via a bit in the control word. As soon as the drive
has evaluated this control bit, the motor pulses are suppressed and an appropriate "pulse
suppression" signal sent to the PLC. Only after arrival of this signal may the PLC separate
motor contactor 1. The PLC must wait until motor contactor 1 is open before it reverses the
winding connection by closing motor contactor 2. At the same time, the motor data are
reloaded in the drive. Once motor contactor 2 is closed, the PLC signals to the drive that
contactor switchover has taken place. As soon as the drive has processed this signal, the
motor pulses are enabled (provided, of course, that all motor data have been reloaded), thus
completing the star-delta switchover operation.
0: Switchover disabled
1: Switchover enabled
Note:
A "Star-delta switchover" function block (FX 82) also exists. However, this may only be used
for digital main spindle drives (see Configuring Instructions, Function Blocks PLC 135
WB2/WD, Package 0: Basic functions).

181

Address for min/max memory

Active
at once

Default value

Lower input limit

Upper input limit

Units

0D02

0000

FFFF

Hex

Input of address for the variable to be monitored. The min/max memory is activated in MD 179.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–23

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

182

10.94

Active
at once

Minimum value min/max memory

Default value

Lower output limit

Upper output limit

Units

–

0000

–

Hex

Output of minimum value of a previously defined variable (see MD 181). The value is displayed
in hexadecimal format.

183

Active
at once

Maximum value min/max memory

Default value

Lower output limit

Upper output limit

Units

–

0000

–

Hex

Output of maximum value of a previously defined variable (see MD 181). The value is
displayed in hexadecimal format.

185

Active
at once

Address for monitoring 1

Default value

Lower input limit

Upper input limit

Units

0C06

0000

FFFF

Hex

Input of address 1 to be monitored for variable relay function 1.

186

Active
at once

Threshold for monitoring 1

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input of threshold value 1 of address 1 to be monitored for variable relay function 1.

187

Active
at once

ON-delay monitoring 1

Default value

Lower input limit

Upper input limit

Units

0

0

10.00

s

Input of ON-delay 1 of address 1 to be monitored for variable relay function 1.

188

Active
at once

Drop delay monitoring 1

Default value

Lower input limit

Upper input limit

Units

0

0

10.00

s

Input of drop delay 1 of address 1 to be monitored for variable relay function 1.

7–24

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

189

Active
at once

Hysteresis monitoring 1

Default value

Lower input limit

Upper input limit

Units

0001

0000

FFFF

Hex

Input of hysteresis of threshold value 1 of address 1 to be monitored for variable relay
function 1.

190

Active
at once

Address for monitoring 2

Default value

Lower input limit

Upper input limit

Units

0C06

0000

FFFF

Hex

Input of address 2 to be monitored for variable relay function 2.

191

Active
at once

Threshold for monitoring 2

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input of threshold value 2 of address 2 to be monitored for variable relay function 2.

192

Active
at once

ON-delay monitoring 2

Default value

Lower input limit

Upper input limit

Units

0

0

10.00

s

Input of ON-delay 2 of address 2 to be monitored for variable relay function 2.

193

Active
at once

Drop delay monitoring 2

Default value

Lower input limit

Upper input limit

Units

0

0

10.00

s

Input of drop delay 2 of address 2 to be monitored for variable relay function 2.

194

Active
at once

Hysteresis monitoring 2

Default value

Lower input limit

Upper input limit

Units

0001

0000

FFFF

Hex

Input of hysteresis of threshold value 2 of address 2 to be monitored for variable relay
function 2.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–25

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

195

12.93

Active
at once

Lower adaptation speed motor 1

Default value

Lower input limit

Upper input limit

Units

1 000

0

(Max. speed) –2

rev/min

Input of lower adaptation speed for the speed controller. The speed controller machine data
can be adapted, i.e. the P gain and reset time altered as a function of speed, in gear stage 1.
The machine data from MD 31 and MD 32 are applied at speeds below the value specified in
this machine data (see diagram MD 203).

196

Active
at once

Upper adaptation speed motor 1

Default value

Lower input limit

Upper input limit

Units

1 200

0

(Max. speed)

rev/min

Input of upper adaptation speed for the speed controller. The speed controller machine data
can be adapted, i.e. the P gain and reset time altered as a function of speed, in gear stage 1.
The machine data from MD 198 and MD 201 are applied at speeds above the value specified
in this machine data (see diagram MD 203).

198

Active
at once

P-gain upper adaptation speed motor 1

Default value

Lower input limit

Upper input limit

Units

24.0

0

120.0

–

Input of P-gain for the upper adaptation speed. This machine data contains the P-gain at
speeds above the value entered in MD 196 (see diagram MD 203).

199

Active
at once

Reduction factor P-gain motor 1

Default value

Lower input limit

Upper input limit

Units

100

1

200

%

Input of P-gain reduction factor for the upper adaptation speed. This machine data contains the
multiplication factor for the P-gain characteristic (see diagram MD 203).

201

Active
at once

Integral-action time upper adaptation speed motor 1

Default value

Lower input limit

Upper input limit

Units

80

5

6 000

ms

Input of integral-action time for the upper adaptation speed. This machine data contains the
integral-action time at speeds above the value set in MD 196 (see diagram MD 203).

7–26

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

202

Active
at once

Reduction factor reset time motor 1

Default value

Lower input limit

Upper input limit

Units

100

1

200

%

Input of reset time reduction factor for the upper adaptation speed. This machine data contains
the multiplication factor for the reset time characteristic (see diagram MD 203).

203

Active
at once

Selection adaption speed controller motor 1

Default value

Lower input limit

Upper input limit

Units

0

0

7

–

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Input of activation point for speed controller adaption. The diagram shows how the individual
machine data influence the speed characteristic.

MD 199/MD 286

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KP, TN

MD 202/MD 289

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MD 201/MD 288

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MD 31/MD 265

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MD 32/MD 266

n1 (MD 195/MD 283) n2 (MD 196/MD 284)
Lower speed
Upper speed

0:
1:
2:
3:

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a

MD 198/MD 285
n

No speed controller adaption
No function assigned at present
Speed controller adaption activated
No function assigned at present

Note:
The speed controller adaption function is available only for operation in gear stage 1.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–27

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

206

12.93

Active
at once

Selection transient recorder

Default value

Lower input limit

Upper input limit

Units

0000

0000

0001

Hex

This machine data is provided to activate the transient recorder function with which two signals
can be recorded in a 1 ms cycle for a limited time period.
Conditions with respect to status (start, stop and trigger conditions) for the transient recorder
function must be set in machine data MD 207 to MD 218.
0: Transient recorder function deactivated
1: Transient recorder function activated

207

Active
at once

Setting transient recorder

Default value

Lower input limit

Upper input limit

Units

0000

0000

0010

Hex

Input of operating mode of transient recorder.
The following functions can be selected:
1H:
2H:

The recording can be started immediately via MD 206 without start or stop conditions.
After MD 206 has been set, the recording does not start until the start condition (MD
208, MD 209) has been fulfilled. Recording takes place without a stop condition.
The recorder memories can be preset with this setting. The contents of MD 217 are
written to the recorder memories.
After MD 206 has been set, the recording starts immediately until the stop condition
(MD 210, MD 211) has been fulfilled.
With this setting, recording takes place with both a start and stop condition.

4H:
5H:
6H:

208

Active
at once

Address for start condition

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input of address for the variable which is significant for starting the recording (see also
MD 206).

209

Active
at once

Threshold for start condition

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input of threshold (value) with which the contents of the variable specified in MD 208 are
compared in order to initiate the recording (see also MD 206).

7–28

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

210

Active
at once

Address for stop condition

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input of address for the variable which is significant for stopping the recording (see also
MD 206).

211

Active
at once

Threshold for stop condition

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input of threshold (value) with which the contents of the variable specified in MD 210 are
compared in order to stop the recording (see also MD 206).

212

Active
at once

Address for signal 1

Default value

Lower input limit

Upper input limit

Units

0C00

0000

FFFF

Hex

Input of address of recording signal 1 (see also MD 206).

213

Active
at once

Address for signal 2

Default value

Lower input limit

Upper input limit

Units

0C04

0000

FFFF

Hex

Input of address of recording signal 2 (see also MD 206).

214

Active
at once

Start output of recording

Default value

Lower input limit

Upper input limit

Units

0000

0000

0001

Hex

Input of start for the output of the transient recorder function (see also MD 206).
The contents of the recorder memory are output via 2 DACs as soon as the above machine
data is set to 1H. The output is repeated cyclically.

215

Active
at once

Shift factor signal 1

Default value

Lower input limit

Upper input limit

Units

0

0

15

–

Input of shift factor for signal 1 (see also MD 206). The top 8 bits from a 16-bit wide memory
location are output. This machine data specifies how often the value must be shifted to the left
beforehand.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–29

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

216

12.93

Active
at once

Shift factor signal 2

Default value

Lower input limit

Upper input limit

Units

0

0

15

–

Input of shift factor for signal 2 (see also MD 206). The top 8 bits from a 16-bit wide memory
location are output. This machine data specifies how often the value must be shifted to the left
beforehand.

217

Active
at once

Trigger signal value 1

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input of low amplitude for the trigger signal value (see also MD 206).
A 1 ms long trigger signal can be output on commencement of the analog output.

218

Active
at once

Trigger signal value 2

Default value

Lower input limit

Upper input limit

Units

7FFF

0000

FFFF

Hex

Input of high amplitude for the trigger signal value (see also MD 206).
A 1 ms long trigger signal can be output on commencement of the analog output.

219

Active on
Power On

Motor moment of inertia motor 2

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0.002

32.000

kgm2

Input of motor moment of inertia as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

220

Active on
Power On

Motor rated power motor 2

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

150.0

kW

Input of motor rated current as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

221

Active on
Power On

Motor rated current motor 2

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

200.0

A

Input of motor rated power as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

7–30

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

222

Active on
Power On

Motor rated voltage motor 2

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

500.0

V

Input of motor rated voltage as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

223

Active on
Power On

Motor rated speed motor 2

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

4 096

1/min

Input of motor rated speed as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

224

Active on
Power On

Motor rated frequency motor 2

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

409.6

Hz

Input of motor rated frequency as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

225

Active on
Power On

Motor no-load voltage motor 2

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

500.0

V

Input of motor no-load voltage as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

226

Active on
Power On

Motor no-load current motor 2

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

200.0

A

Input of motor no-load current as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

227

Active on
Power On

Stator resistance cold motor 2

Default value

Lower input limit

Upper input limit

Depends on motor

0

32 767

Units

m

Input of stator resistance (cold) as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–31

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

228

12.93

Active on
Power On

Rotor resistance cold motor 2

Default value

Lower input limit

Upper input limit

Depends on motor

0

32 767

Units

m

Input of rotor resistance (cold) as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

229

Active on
Power On

Stator leakage reactance motor 2

Default value

Lower input limit

Upper input limit

Depends on motor

0

32 767

Units

m

Input of stator leakage reactance as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

230

Active on
Power On

Rotor leakage reactance motor 2

Default value

Lower input limit

Upper input limit

Depends on motor

0

32 767

Units

m

Input of rotor leakage reactance as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

231

Active on
Power On

Magnetizing reactance motor 2

Default value

Lower input limit

Upper input limit

Depends on motor

0

65 535

Units

m

Input of magnetizing reactance as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

232

Active on
Power On

Upper speed Xh characteristic motor 2

Default value

Lower input limit

Upper input limit

Units

Depends on motor

100

10 000

rev/min

Input of the upper speed limit for the Xh characteristic (magnetizing reactance) as specified on
the motor data sheet (non-Siemens motor) or automatic parameterization using machine data
"Motor code number" (MD 238). In the field-weakening range, the magnetizing reactance Xh
increases linearly from the saturated value at the speed at which field weakening begins to the
unsaturated value at the upper limit speed of the Xh characteristic (see diagram MD 175).

7–32

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

233

Speed at start of field weakening motor 2

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

100

6 000

rev/min

Input of speed at which field weakening starts as specified on the motor data sheet (nonSiemens motor) or automatic parameterization using machine data "Motor code number" (MD
238). In the field-weakening range, the magnetizing reactance Xh increases linearly from the
saturated value at the speed at which field weakening begins to the unsaturated value at the
upper limit speed of the Xh characteristic (see diagram MD 175).

234

Motor maximum speed motor 2

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

20 000

rev/min

Input of motor maximum speed as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 238).

235

Gain factor Xh-characteristic motor 2

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

Depends on motor

100

300

%

Input of gain factor (Xh2/Xh1) of the Xh characteristic (magnetizing reactance) as specified on
the motor data sheet (non-Siemens motor) or automatic parameterization using machine data
"Motor code number" (MD 238). In the field-weakening range, the magnetizing reactance Xh
increases linearly from the saturated value at the speed at which field weakening begins to the
unsaturated value at the upper limit speed of the Xh characteristic (see diagram MD 175).
Note:
If the value is unknown, then 100 % must be entered in order to obtain constant magnetizing
reactance over the entire speed range.

236

Active
at once

Breakdown torque reduction factor motor 2

Default value

Lower input limit

Upper input limit

Units

100

1

150

%

Input of breakdown torque reduction factor as specified on the motor data sheet. The point at
which the breakdown torque limit is applied can be altered in this machine data.
Settings of higher than 100 % increase the point at which the limit is applied and vice versa
with settings of lower than 100 %.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–33

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

238

10.94

Active on
Power On

Motor code number motor 2

Default value

Lower input limit

Upper input limit

Units

101

99

332

–

Note:
This machine data is not included in the machine data lists. During start-up in machine data
dialog, the machine data is set or altered as appropriate via the configuration setting.
Input of code number for the motor used. The relevant motor data are stored in the software
and are transferred to machine data MD 219 to MD 235 when the motor code number is
changed. If individual motor data (MD 219 to MD 235) must be changed, then the value 99
(non-Siemens motor) must be entered as the motor code number.
See machine data MD 96 for table of motors.

241

Active
at once

Programmable message 1

Default value

Lower input limit

Upper input limit

Units

2

1

20

–

A function can be assigned to programmable message 1 in this machine data. The range of
available functions is listed in the table below.
The default setting corresponds to Ramp-up complete.
Table of functions:
Function

Function number
(setting value of
MD 241 ... MD 246)

Default setting of
MD 241 ... MD 246

| nact | < nmin

1

MD 243

Ramp-up complete

2

MD 241

| Md | < Mdx

3

MD 242

| nact | < nx

4

MD 244

Motor overtemperature
prewarning

5

--

Heat sink overtemperature
prewarning

6

--

Variable relay function 1
(MD 185 - MD 189)

7

MD 246

Variable relay function 2
(MD 190 - MD 194)

8

--

nact = nset

20

MD 245

7–34

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

Description of user-programmable messages:
•

| nact | < nmin (function no. 1)
The PLC status message is set when | nact | < nmin. Settable in MD 21.

•

Ramp-up complete (function no. 2)
The PLC status message is set when the actual speed value corresponds to the setpoint,
allowing for the tolerance band set in MD 27. This status message is not output when the
speed fluctuates as a result of load changes.

•

| Md | < Mdx (function no. 3)
The PLC status message is set when | Md | > Mdx. The percentage setting in MD 47 is
referred to the currently active speed-dependent torque limit. If the PLC status message
nact = nset is set when the speed setpoint is changed, then the PLC status message | Md |
< Mdx cannot be reset for at least 800 ms after the PLC status message nact = nset has
been reset.

•

| nact | < nx (function no. 4)
The PLC status message is set when | nact | < nx. Settable in MD 23.

•

Motor overtemperature prewarning (function no. 5)
The PLC status message is set when the maximum motor temperature is reached (MD 63
for motor 1, MD 291 for motor 2). If the message does not disappear, then the drive
module is shut down with the "Motor overtemperature" alarm after the delay which can be
set in MD 65.

•

Heat sink overtemperature prewarning (function no. 6)
The PLC status message is set when the temperature switch of the main heat sink
responds. If the message does not disappear, then the drive module is shut down after
approximately 2 minutes with the "Heat sink overtemperature" alarm.

•

•

•

Variable relay function 1 (function no. 7)
MD 185

Address for monitoring 1

0000 ... FFFFH

MD 186

Threshold for monitoring 1

0000 ... FFFFH

MD 187

ON-delay monitoring 1

0 ... 10.00 ms

MD 188

Drop delay monitoring 1

0 ... 10.00 ms

MD 189

Hysteresis monitoring 1

0000 ... FFFFH

Variable relay function 2 (function no. 8)
MD 190

Address for monitoring 2

0000 ... FFFFH

MD 191

Threshold for monitoring 2

0000 ... FFFFH

MD 192

ON-delay monitoring 2

0 ... 10.00 ms

MD 193

Drop delay monitoring 2

0 ... 10.00 ms

MD 194

Hysteresis monitoring 2

0000 ... FFFFH

nact = nset (function no. 20)
The PLC status message is set when severe speed fluctuations occur as a result of load
changes.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–35

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

242

10.94

Active
at once

Programmable message 2

Default value

Lower input limit

Upper input limit

Units

3

1

20

–

A function can be assigned to programmable message 2 in this machine data.
The default setting corresponds to Md > Mdx (see MD 241 for other settings).

243

Active
at once

Programmable message 3

Default value

Lower input limit

Upper input limit

Units

1

1

20

–

A function can be assigned to programmable message 3 in this machine data.
The default setting corresponds to nact < nmin (see MD 241 for other settings).

244

Active
at once

Programmable message 4

Default value

Lower input limit

Upper input limit

Units

4

1

20

–

A function can be assigned to programmable message 4 in this machine data.
The default setting corresponds to nact < nx (see MD 241 for other settings).

245

Active
at once

Programmable message 5

Default value

Lower input limit

Upper input limit

Units

20

1

20

–

A function can be assigned to programmable message 5 in this machine data.
The default setting corresponds to variable relay function 1 (MD 185, see MD 241 for other
settings).

246

Active
at once

Programmable message 6

Default value

Lower input limit

Upper input limit

Units

7

1

20

–

A function can be assigned to programmable message 6 in this machine data.
The default setting corresponds to variable relay function 2 (MD 190, see MD 241 for other
settings).

7–36

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

247

Active
at once

Control word message

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

By setting bits 0 to 5, it is possible to invert the function of the appropriate messages (MD 241
to MD 246). In bits 8 and 9, it is possible to choose between sign-specific or absolute-valuebased interrogation of the memory address limit values (MD 185, MD 190).
Value table:
Bit 0

Programmable message 1 inverted

0001H

Bit 1

Programmable message 2 inverted

0002H

Bit 2

Programmable message 3 inverted

0004H

Bit 3

Programmable message 4 inverted

0008H

Bit 4

Programmable message 5 inverted

0010H

Bit 5

Programmable message 6 inverted

0020H

Bits 6-7

Not assigned

Bit 8

Sign evaluation monitoring 1

0040H

Bit 9

Sign evaluation monitoring 2

0080H

Bits 10-15 Not assigned

254

Active
at once

Display of active functions 1

Default value

Lower output limit

Upper output limit

Units

–

–

–

Hex

Display of low word in drive control word.
Value table:
Bit 0

ZK1 reset

Bit 1

Parking axis

Bit 2-6

Not assigned

Bit 7

Ramp-function generator active

Bit 8

Not assigned

Bit 9

Ramp-function generator rapid stop

Bit 10

2nd torque limit

Bit 11

Speed setpoint smoothing

Bit 12-15

Not assigned

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

0: Not active
1: Active

6FC5197- AA50

7–37

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

255

10.94

Active
at once

Display of active functions 2

Default value

Lower output limit

Upper output limit

Units

–

–

–

Hex

Display of high word in drive control word
Value table:
Bit 0-2

New active parameter set/gear stage

Bit 3

Motor switchover (star-delta switchover)

Bit 4

Not assigned

Bit 5

Motor switchover complete

Bit 6

Speed controller I-component = zero

Bit 7

Pulse enable

Bit 8

Current controller enable

Bit 9

Speed controller enable

Bit 10-11

Operating mode

Bit 12

Not assigned

Bit 13

Travel to fixed stop

Bit 14

Not assigned

Bit 15

Sign of life from NC

258

0: Not active
1: Active

Active
at once

Speed for max. motor operational speed motor 2

Default value

Lower input limit

Upper input limit

Units

Maximum motor
speed

–

Maximum motor
speed

rev/min

Machine data MD 258 defines the maximum operating speed of the main spindle motor. It acts
as the reference value of the speed setpoint interface.
Note:
The velocity of a main spindle is matched in NC-MD 4030 (maximum spindle speed). The
motor operating speed which corresponds to this maximum value must be entered in drive-MD
258. Allowance is made for any existing gear ratios in the relationship between NC-MD 4030
and drive-MD 258.

7–38

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

260

Active
at once

nmin for nact < nmin message motor 2

Default value

Lower input limit

Upper input limit

Units

12

0

Rated speed

rev/min

Input of response value for monitoring of the PLC status message nact < nmin (see also
MD 241).

261

Active
at once

Creep speed pulse suppression motor 2

Default value

Lower input limit

Upper input limit

Units

0

Rated speed

rev/min

Rated speed
––––––––––––––
256

Input of response value for the internal nmin sensor for stopping the drive with no reverse
rotation. When the speed nmin is reached, the drive torque is cut off and the drive coasts to a
stop with any remaining kinetic energy.
Note:
This nmin threshold is not the same as the response value of the nmin monitor, but it may be
set to the same value.

262

Active
at once

nx for nact. < nx message motor 2

Default value

Lower input limit

Upper input limit

Units

6 000

0

Maximum motor
speed

rev/min

Input of response value for monitoring of the PLC status message nact < nx (see also
MD 241).

263

Tolerance band for nset = nact message motor 2

Active
at once

Default value

Lower input limit

Upper input limit

Units

20

0

Rated speed
––––––––––––––-1
16

rev/min

Input of response value for the tolerance band of the PLC status message nset > nact (see
also MD 241). The tolerance band of the nset = nact response threshold can be defined in
machine data MD 263.

264

Speed limitation motor 2

Active
at once

Default value

Lower input limit

Upper input limit

Units

Maximum motor
speed

0

Maximum motor
speed

rev/min

Input of maximum motor speed (nmax) = speed safety limit.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–39

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

265

12.93

Active
at once

P-gain speed controller motor 2

Default value

Lower input limit

Upper input limit

Units

32.0

1.0

120.0

–

Input of P gain (Kp) for the speed controller. The speed controller has a PI function which can
be set separately for eight gear stages.
Note:
A speed controller adaptation can be implemented only for gear stage 1 (see MD 293).

266

Active
at once

Integral-action time speed controller motor 2

Default value

Lower input limit

Upper input limit

Units

20

5

6 000

ms

Input of integral-action time (tN) for the speed controller. The speed controller has a PI function
which can be set separately for eight gear stages.
Note:
A speed controller adaptation can be implemented only for gear stage 1 (see MD 293).

267

Active
at once

Switchover speed motor encoder evaluation motor 2

Default value

Lower input limit

Upper input limit

Units

32 000

0

32 000

rev/min

Input of the switchover speed for evaluation of the motor encoder. In this case, it is possible to
switch between the square-wave and SINE/COSINE evaluation modes. Square-wave
evaluation is applied at speeds above the maximum value entered.

268

Active
at once

Hysteresis MD 267 motor 2

Default value

Lower input limit

Upper input limit

Units

50

0

500

rev/min

Input of hysteresis for machine data MD 267 (switchover speed for motor encoder evaluation).

269

Active
at once

1st torque limiting value motor 2

Default value

Lower input limit

Upper input limit

Units

100

5

180

%

Input of the maximum permissible torque referred to the rated torque of the motor. The setting
of the limit values is referred to the rated motor torque in the constant torque range. At speeds
above the rated value, i.e. in the constant power range, the torque limitation is referred to the
appropriate working point.

7–40

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

With a setting of, for example, 100 %, the rated torque acts as the torque limit up to rated
speed. At speeds above the rated value, the torque limit curve drops in proportion to 1/n so
that the rated output is reached in each case. MD 270 - MD 273, MD 47 and MD 290 are the
corresponding machine data.

270

Active
at once

Generative limitation motor 2

Default value

Lower input limit

Upper input limit

Units

100

5

100

%

Input of torque limit for braking operation (generator-mode torque limit). This input value is
referred to the maximum motor-mode torque (see also MD 269).

271

Active
at once

2nd torque limiting value motor 2

Default value

Lower input limit

Upper input limit

Units

50

5

100

%

Input of 2nd torque limit value referred to the 1st torque limit (MD 269). This 2nd torque limit
can be selected via the PLC control word and machine data MD 290.

272

Switchover speed for MD 270 motor 2

Default value

Active
at once

Lower input limit

Upper input limit

Units

0

Maximum motor
speed

rev/min

500

Input of speed above which the generator-mode limit set in machine data MD 270 is applied
(see also MD 269).

273

Hysteresis MD 272 motor 2

Default value

Active
at once

Lower input limit

Upper input limit

Units

0

Maximum motor
speed

rev/min

20

Input of hysteresis for the switchover speed set in machine data MD 272 (see also MD 269).

274

Cut-in speed torque setpoint smoothing motor 2

Active
at once

Default value

Lower input limit

Upper input limit

Units

4 000

0

Maximum motor
speed

rev/min

Input of speed value above which the torque setpoint smoothing function activated in machine
data MD 44 is applied.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–41

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

275

12.93

Active
at once

Hysteresis MD 274 motor 2

Default value

Lower input limit

Upper input limit

Units

50

0

Rated speed

rev/min

Input of hysteresis for the cut-in speed set in machine data MD 274.

276

Active
at once

Frequency torque setpoint filter motor 2

Default value

Lower input limit

Upper input limit

Units

300

50

450

Hz

Input of filter frequency. The 3dB transition frequency for the low-pass filter or the midfrequency for the bandstop is specified here (see MD 280) for the digital filter in the torque
setpoint channel.

277

Active
at once

Grading torque setpoint filter motor 2

Default value

Lower input limit

Upper input limit

Units

1.00

0.10

10.00

–

Input of filter quality for the bandstop in the torque setpoint channel (see MD 280).
1.00: Basis quality=1

278

Active
at once

Correction P-gain current controller motor 2

Default value

Lower input limit

Upper input limit

Units

0

-255

255

–

The current controller P-gain, which is calculated according to the motor, converter and
converter switching frequency, can be corrected by an offset in this machine data. A positive
value in MD 278 results in a higher gain and a negative value in a lower gain than the gain
value calculated. The total gain obtained by adding the calculated value and the correction in
MD 278 is displayed in MD 316.

280

Active
at once

Selection torque setpoint filter motor 2

Default value

Lower input limit

Upper input limit

Units

0000

0000

0001

Hex

The digital filter is activated and deactivated in this machine data. A digital filter can be
implemented in the torque setpoint channel with machine data MD 276, MD 277 and MD 280.
0: Digital filter deactivated
1: Digital filter activated

7–42

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

281

Active
at once

Type torque setpoint filter motor 2

Default value

Lower input limit

Upper input limit

Units

0000

0000

0001

Hex

The filter type is selected in this machine data (see MD 280).
0: Bandstop characteristic
1: Low-pass characteristic

283

Active
at once

Lower adaptation speed motor 2

Default value

Lower input limit

Upper input limit

Units

1 000

0

(max. speed) –2

rev/min

Input of lower adaptation speed for the speed controller. The speed controller machine data
can be adapted, i.e. the P gain and reset time altered as a function of speed, in gear stage 1.
The machine data from MD 265 and MD 266 are applied at speeds below the value specified
in this machine data (see diagram MD 203).

284

Active
at once

Upper adaptation speed motor 2

Default value

Lower input limit

Upper input limit

Units

1 200

0

max. speed

rev/min

Input of upper adaptation speed for the speed controller. The speed controller machine data
can be adapted, i.e. the P gain and reset time altered as a function of speed, in gear stage 1.
The machine data from MD 285 and MD 288 are applied at speeds above the value specified
in this machine data (see diagram MD 203).

285

Active
at once

P-gain upper adaptation speed motor 2

Default value

Lower input limit

Upper input limit

Units

24.0

0

120.0

–

Input of P-gain for the upper adaptation speed. This machine data contains the P-gain at
speeds above the value entered in MD 284 (see diagram MD 203).

286

Active
at once

Reduction factor P-gain motor 2

Default value

Lower input limit

Upper input limit

Units

100

1

200

%

Input of P-gain reduction factor for the upper adaptation speed. This machine data contains the
multiplication factor for the P-gain characteristic (see diagram MD 203).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–43

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

288

10.94

Active
at once

Integral-action time upper adaptation speed motor 2

Default value

Lower input limit

Upper input limit

Units

80

5

6 000

ms

Input of integral-action time for the upper adaptation speed. This machine data contains the
integral-action time at speeds above the value set in MD 284 (see diagram MD 203).

289

Active
at once

Reduction factor reset time motor 2

Default value

Lower input limit

Upper input limit

Units

100

1

200

%

Input of integral-action time reduction factor for the upper adaptation speed. This machine data
contains the multiplication factor for the integral-action time characteristic (see diagram
MD 203).

290

Active
at once

Switching speed from Md1 to Md2 motor 2

Default value

Lower input limit

Upper input limit

Units

4 x motor rated
speed

0

Motor maximum
speed

rev/min

Input of speed at which switchover from the 1st torque limit (MD 269) to the 2nd torque limit
(MD 271) takes place. This switchover is implemented only if the appropriate bit has been set
in the control word and the switchover speed set in MD 290 has been exceeded.

291

Active
at once

Maximum motor temperature motor 2

Default value

Lower input limit

Upper input limit

Units

Depends on motor

0

170

°C

Input of maximum motor temperature. The value entered can be lower the maximum
temperature value calculated via the motor code number (MD 238) and motor data set. If the
specified temperature is exceeded, the "Motor overtemperature" prewarning is output after
approximately 30 s (provided it is activated) or the "Motor overtemperature" alarm given after
the delay set in machine data MD 65.

292

Switchover speed current controller adaptation motor 2

Active
at once

Default value

Lower input limit

Upper input limit

Units

MD 232

500

10 000

rev/min

Input of switchover speed for the current controller adaptation. The phase current controller
gain is adapted as a function of speed. The specified speed is the speed at which the phase
current controllers reach their maximum gain.

7–44

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaa

10.94

aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa

Phase current
controller gain

a
aaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
a

4 x gain set
in MD 278

MD 337

293

a
a
aa
a
a
aa
aa
aa

a
a
a
a
a
a
a
a
a
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a
aaaa
a

a
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a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
a
a
a

MD 278

n

MD 292

Active
at once

Selection adaption speed controller motor 2

Default value

Lower input limit

Upper input limit

Units

0

0

7

–

Input of activation point for speed controller adaption. The diagram shows how the individual
machine data influence the speed characteristic (see MD 203 for diagram).
0:
1:
2:
3:

No speed controller adaption
No function assigned at present
Speed controller adaption activated
No function assigned at present

Note:
The speed controller adaption function is available only for operation in gear stage 1.

311

Active
at once

Current with I/f control

Default value

Lower input limit

Upper input limit

Units

40.0

0.0

100.0

%

The I/f control is used to assist diagnosis in the event of encoder faults. The current amplitude
can be specified in this machine data.

312

Active
at once

Frequency for I/f control

Default value

Lower input limit

Upper input limit

Units

0

-800.0

800.0

Hz

The I/f control is used to assist diagnosis in the event of encoder faults. The frequency can be
specified in this machine data. The sign determines the direction of rotation.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–45

7 Drive Machine Data (SIMODRIVE Drive MD)
7.1.2 MSD MD (data description - SW 3)

313

10.94

Active
at once

Selection I/f control

Default value

Lower input limit

Upper input limit

Units

0

0

1

Hex

The I/f control diagnosis aid is activated by entering bit 0 = 1. This control is used to check
encoder faults. A variable speed (without encoder evaluation) can be specified via MD 311
(current) and MD 312 (frequency).
Bit 0

Activate I/f control

Bit 1-15

Not assigned

316

Active
at once

Display P-gain current controller

Default value

Lower output limit

Upper output limit

Units

–

–

–

–

Display machine data for the current controller P gain. The current controller P gain is
calculated according to the motor, converter and converter switching frequency and can be
corrected by an offset in machine data MD 116 (P-gain current controller motor 1) and MD 278
(P-gain current controller motor 2). The resulting value is displayed in MD 316. When the stardelta switchover function is enabled, the display is referred to the currently active operating
mode.

337

Active
at once

Creep speed angle controller

Default value

Lower input limit

Upper input limit

Units

300

0

600

rev/min

Input of creep speed of angle controller. At speeds above the value entered here, the I-action
component of the phase current controllers is disabled and the angle controller of the FCS
(Frequency-Compensated Spindle drive) control enabled.

338

Active
at once

Hysteresis MD 337

Default value

Lower input limit

Upper input limit

Units

25

0

256

rev/min

Input of hysteresis for creep speed in MD 337. The value corresponding to half the hysteresis
width in rev/min must be entered.

399

Active
at once

Data version

Default value

Lower output limit

Upper output limit

Units

–

0

65 535

–

Display machine data for the data version of the machine data set.

7–46

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2 611D feed drive machine data (FDD MD) (SW 3)

7.2

611D feed drive machine data (SW 3)

7.2.1

FDD MD input (SW 3)

The feed drive machine data are provided for the purpose of matching the feed drives and the
machine tool. If no setting values are specified by the machine manufacturer or the user, then
they must be carefully determined and optimized by the start-up engineer. The setting values
are input by means of menu selection (see section headed ”Machine Data Dialog”).

7.2.2

FDD MD (data description - SW 3)

1000

Current controller cycle

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

125.0

62.5

125.0

µs

The basic clock cycle of the module is derived from the current controller clock cycle of the
axis: Current controller clock cycle = Module basic clock cycle. The module basic clock cycle
is used as a basis for generating the interrupt signals for the processor and the inverter signals
of the pulse-width-modulator. Other clock cycles are derived from the basic cycle by means of
software functions.
Input values are 62.5 µs or 125 µs.
Intermediate values are not permissible (parameterization error).
Notes:
•

Exceeding the computing time on the current controller clock cycle level is not permissible
and will lead to tripping of the drive.

•

In the case of double-axis modules, both drives must be parameterized with the same
current controller clock cycle (otherwise parameterization error).

1001

Speed controller cycle

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

125.0

62.5

125.0

µs

The speed controller clock cycle is derived from the current controller clock cycle of the axis:
Current controller clock cycle speed controller clock cycle. The time-slice management ZSV
(sequence control) is initialized with this machine data. If the number of drives per module is
increased, then a longer speed controller cycle time will be required (e.g. single-axis module
62.5 µs, double-axis module = 125 µs).
Setting values of clock cycle are 62.5 µs or 125 µs.
Intermediate values are not permissible (parameterization error).
Note:
Exceeding the computing time on the speed controller clock cycle level is not permissible and
will lead to tripping of the drive.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–47

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1002

12.93

Active on
Power On

Monitoring cycle

Default value

Lower input limit

Upper input limit

Units

100 000

4 000

100 000

µs

The interrupt clock cycle is used for high-priority monitoring purposes. Note: The input value
for the clock cycle must be a whole multiple of 4 ms (parameterization error).
m x 4000 µs

m=1, 2, 3, ..., 25

Note:
The interrupt level must not be exceeded otherwise the drive will be tripped.

1005

Active on
Power On

No. encoder marks motor measuring system

Default value

Lower input limit

Upper input limit

Units

2 048

128

8 192

Incr/rev

Input of number of encoder increments per motor revolution of the motor measuring system.
Note:
The indirect measuring system must always be configured for FDD/MSD.

1100

Active on
Power On

Frequency pulse-width modulation

Default value

Lower input limit

Upper input limit

Units

3 200

2 000

8 000

Hz

The frequency of the sampling triangle in the PWM inverter is defined in this machine data.
The frequency values are set as an MMC function (see attached table).
Value table:
fPBM in Hz

TPBM in µs

2000
2064.5....
2133.3....
2206.8....

500.0*
484.375
468.75
453.125

2285.7....
2370.3....
2461.5....
2560

437.5*
421.875
406.25
390.625

_______
*

A preselection with synchronous sampling period (TPWM) with respect to the controller cycles can be made
via the toggle button.

7–48

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

fPBM in Hz

TPBM in µs

2666.6....

375.0*

2782.6....
2909.0....

359.375
343.75

3047.6....

328.125

3200
3368.4....

312.5*
296.875

3555.5....

281.25

3764.7....

265.625

4000

250.0*

4266.6....
4571.4....

234.375
218.75

4923.0....

203.125

5333.3....
5818.1....

187.5*
171.875

6400

156.25

7111.1....
8000

140.625
125*

Note:
The pulse frequency can be specified only in the quantization given in the table above. Other
frequency inputs are rounded up or down to the next closest table value, e.g. 3150 Hz to
3200 Hz.

1101

Calc. dead time current closed-loop

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

50

0

124

µs

The calculation dead time is the time which elapses between the start of a current control
clock cycle (input of current setpoint) and the activation of the control voltage setpoints on the
gating unit ASIC. The standard default value is automatically loaded during initial start-up when
machine data M1102 is input. In order to make the setpoints on all power sections "valid"
simultaneously (to achieve uniform dynamic response), the time required to calculate the most
complex axis (double axis) is entered.
Setting values (worstcase), execution times:

40 µs = single-axis module
50 µs = double-axis module

Note:
Limits of calculation dead time (violation leads to error message)
MD 1000 x 31.25 µs (=current controller clock cycle)

a
a
a
a
a
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aaa
a
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a
a
a
a
a
a
a
a
aaaaa
a

MD 1101 <
MD 1101 <

1
––––––––––––=
4 x MD 1100

TPBM
–––––
4

_______
*

A preselection with synchronous sampling period (TPWM) with respect to the controller cycles can be made
via the toggle button.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–49

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1102

12.93

Active on
Power On

Motor code number

Default value

Lower input limit

Upper input limit

Units

0

0

65 535

–

Input of motor order number (machine-readable product designation for Siemens motors). This
number is transferred to the drive in the form of a motor code number. The user does not
need to input a value (see also MD 1106). The following motor data are automatically
transferred from an internal motor table by means of the motor code number:
•
•
•
•
•
•
•
•
•
•
•
•

Motor rated current (MD 1103)
Maximum motor current (MD 1104)
Pole pair number of motor (MD 1112)
Torque constant (MD 1113)
Voltage constant (MD 1114)
Armature resistance (MD 1115)
Armature inductance (MD 1116)
Motor moment of inertia (MD 1117)
Current controller P gain (MD 1120)
Current controller reset time (MD 1121)
Motor rated speed (MD 1400)
Maximum motor speed (MD 1401)

If a valid motor order number cannot be entered in this machine data (e.g. for a motor make
other than Siemens), then all these machine data must be entered manually.
Motor table:
Order No.

Rated
speed

Motor
code no.

Order No.

nrated in
rev/min

Rated
speed

Motor
code no.

nrated in
rev/min

1FT6102-8AB7X-XXXX

1500

1001

1FT6136-6AC7X-XXXX

2000

1113

1FT6105-8AB7X-XXXX
1FT6108-8AB7X-XXXX

1500
1500

1002
1003

1FT6041-4AF7X-XXXX
1FT6044-4AF7X-XXXX

3000
3000

1201
1202

1FT6132-6AB7X-XXXX
1FT6134-6AB7X-XXXX

1500
1500

1004
1005

1FT6108-8AC7X-XXXX
1FT6132-6AC7X-XXXX

2000
2000

1110
1111

1FT6136-6AB7X-XXXX
1FT6061-6AC7X-XXXX
1FT6062-6AC7X-XXXX
1FT6064-6AC7X-XXXX
1FT6081-8AC7X-XXXX
1FT6082-8AC7X-XXXX
1FT6084-8AC7X-XXXX

1500
2000
2000
2000
2000
2000
2000

1006
1101
1102
1103
1104
1105
1106

1FT6134-6AC7X-XXXX
1FT6136-6AC7X-XXXX
1FT6041-4AF7X-XXXX
1FT6044-4AF7X-XXXX
1FT6061-6AF7X-XXXX
1FT6062-6AF7X-XXXX
1FT6064-6AF7X-XXXX

2000
2000
3000
3000
3000
3000
3000

1112
1113
1201
1202
1203
1204
1205

1FT6086-8AC7X-XXXX
1FT6102-8AC7X-XXXX
1FT6105-8AC7X-XXXX
1FT6108-8AC7X-XXXX
1FT6132-6AC7X-XXXX
1FT6134-6AC7X-XXXX

2000
2000
2000
2000
2000
2000

1107
1108
1109
1110
1111
1112

1FT6081-8AF7X-XXXX
1FT6082-8AF7X-XXXX
1FT6084-8AF7X-XXXX
1FT6086-8AF7X-XXXX
1FT6102-8AF7X-XXXX
1FT6105-8AF7X-XXXX

3000
3000
3000
3000
3000
3000

1206
1207
1208
1209
1210
1211

7–50

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

Order No.

Rated
speed

Motor
code no.

Order No.

nrated in
rev/min

Rated
speed

Motor
code no.

nrated in
rev/min

1FT6132-6AF7X-XXXX

3000

1212

1FT6034-6AK7X-XXXX

6000

1402

1FT6061-6AH7X-XXXX

4500

1301

1FT6041-6AK7X-XXXX

6000

1403

1FT6062-6AH7X-XXXX
1FT6064-6AH7X-XXXX

4500
4500

1302
1303

1FT6044-6AK7X-XXXX
1FT6061-6AK7X-XXXX

6000
6000

1404
1405

1FT6081-8AH7X-XXXX

4500

1304

1FT6062-6AK7X-XXXX

6000

1406

1FT6082-8AH7X-XXXX
1FT6084-8AH7X-XXXX

4500
4500

1305
1306

1FT6064-6AK7X-XXXX
1FT6081-8AK7X-XXXX

6000
6000

1407
1408

1FT6086-8AH7X-XXXX

4500

1307

1FT6082-8AK7X-XXXX

6000

1409

1FT6102-8AH7X-XXXX
1FT6031-6AK7X-XXXX

4500
6000

1308
1401

1FT6084-8AK7X-XXXX

6000

1410

1103

Active
at once

Motor rated current

Default value

Lower input limit

Upper input limit

Units

1.0

0.0

500

A

Input of rated current consumption (RMS value) in operation at rated torque and rated speed
as specified on the motor data sheet (non-Siemens motor) or automatic parameterization using
machine data "Motor code number" (MD 1102).

1104

Maximum motor current

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

2.0

0.0

500

A

Input of maximum permissible motor current (RMS value) as specified on the motor data sheet
(non-Siemens motor) or automatic parameterization using machine data "Motor code number"
(MD 1102). To ensure reliable monitoring and limitation, the setting in this machine data should
not be reduced (see also MD 1105).

1105

Active
at once

Reduction of maximum motor current

Default value

Lower input limit

Upper input limit

Units

100

0

100

%

Input of reduction factor for the maximum permissible motor current. The maximum motor
current (MD 1104) is the reference value for the specified percentage.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–51

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2

MD 1191 =

7–52
8x

Ilimit transistor

Pulse frequency

Imotor
3,2

llimit power section (MD 1108) = min

Ired. max. motor (MD 1105) = min

(MD 1107) =
a
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100

8

100%; 55% + 45% x

100%;

(MD 1100) =

Ired. max. motor

(MD 1105) = min

Ired. max. motor

(MD 1105) =

Ired. max. motor

(MD 1105) =
8000 - fPBM (MD 1100)
–––––––––––––––– x
8000 - 3200

motor
limit power section
––––––––––––––––
x 100% –––––––––––––––––––x 100%

I
I max. motor (MD 1104)

© Siemens AG
I

Ilimit power section

(MD 1108) = min

Ilimit power section

(MD 1108) =
min (100%; 92.5%) x 17.678 A

Ilimit power section

(MD 1108) =
92.5% x 17.678 A = 16.35 A

Imax. motor
(MD 1104) =
20 A

=
15 A
100%; 55% + 45% x

15
100%; –––– x 100%;
20 A
a
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aaaaaaaa

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)
12.93

Derating (reduction) characteristics can be incorporated via this machine data, e.g. derating as
a function of the pulse frequency (MD 1100).

%

111,25

MD 1105

,

55

fPBM in kHz

MD 1107
2 x MD1118

limit transistor
––––––––––––––––––

I

(MD 1107)

2

(MD 1108)
I max. motor (MD 1104)

Imotor = Machining-specific input by user

Example:

25 A

4000 Hz

2

25 A
8000 - 4000
––––
––––––––––
x
8000 - 3200

–––––– x 100%;

16.35 A
20 A

min (100%; 75%; 81.75%)

75 %

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1106

Active on
Power On

Power section code

Default value

Lower input limit

Upper input limit

Units

0000

0000

00FF

Hex

When the power section order number (machine-readable product designation for Siemens
power sections) is input during initial start-up, it is converted to a code number as an MMC
function (the user need not enter a code number). The following power section data are
automatically transferred from an internal power section table through the input of the code
number:
•
•

Limit current transistor (MD 1107)
maximum thermal current of the power section (MD 1108)

Format of power section code number:
Amperage

Power section type
0
1
2

MSD
FDD

3
4
5
6
7
8

Not assigned

9
A

0
1

No power section specified
3/6A

2
3

5 / 10 A

4

Not assigned
9 / 18 A

5

Not assigned

6
7
8

18 / 36 A
28 / 56 A
Not assigned

9
A

56 / 112 A
70 / 140 A

B

B
C
D
E

C
D
E

F

F

1107

Limit current transistor

Not assigned

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

200

1

500

A

Input of maximum permissible current of power section. This input makes allowance for the
rating of the transistors minus thermal reserves (approximately 20 %). The maximum current
must be set as a peak value independently of the pulse frequency. This machine data is
automatically parameterized for Siemens power sections by the machine data "Power section
code" (MB 1106).
Caution:
This data serves as the basis for normalizing the current actual value sensor and must not be
changed by the user after automatic presetting of its values.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–53

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1108

12.93

Active on
Power On

Limit current power section

Default value

Lower input limit

Upper input limit

Units

200

1

500

A

Input of maximum thermally permissible current of power section. The input is an RMS value.
This machine data is automatically parameterized for Siemens power sections by the machine
data "Power section code" (MD 1106).

1110

Active on
Power On

Reduction factor max. motor current set-up mode

Default value

Lower input limit

Upper input limit

Units

1

0

100

%

Input of reduction factor for set-up mode. The transistor limit current (MD 1107) acts as the
reference value. Please note that if the current limit calculated for set-up mode exceeds the
maximum unit-specific current value, then it will be reduced to this value. The maximum
permissible unit-specific current is calculated as a minimum value from MD 1104 (maximum
motor current) x 2 x MD 1105 (reduction max. motor current), maximum current of power
section (e.g. 9/18A 100% corresponds to 18 ARMS) and MD 1108 (power section limit
current) x 2.
Example:
Max. motor current
Reduction max. motor current
Transistor limit current
Power section limit current

(MD 1104) =
(MD 1105) =
(MD 1107) =
(MD 1108)

5A
100 %
25 A
18 A

Unit-specific max. permissible current (normal mode) = min. (100 % x 5 A; 25 A; 18 A x 2)
Unit-specific max. permissible current (normal mode) = 5 A
Example 1: Reduction factor max. motor current set-up mode (MD 1110) = 50 %
Unit-specific permissible current (set-up mode) = min. (5 A; 25 A x 0.5)
Unit-specific permissible current (set-up mode) = 5 A
Example 2: Reduction factor max. motor current set-up mode (MD 1110) = 10 %
Unit-specific permissible current (set-up mode) = min. (5 A; 25 A x 0.1)
Unit-specific permissible current (set-up mode) = 2.5 A

1112

Active on
Power On

Number of pole pairs motor

Default value

Lower input limit

Upper input limit

Units

3

0

4

–

Input of number of pole pairs of motor as specified on the motor data sheet (non-Siemens
motor) or through automatic parameterization using machine data "Motor code number"
(MD 1102). The numbers of pole pairs encountered in practice are 2, 3 and 4. The pole pair
number 0 is entered when motor/power section combinations which have not been enabled are
loaded.

7–54

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1113

Active on
Power On

Torque constant

Default value

Lower input limit

Upper input limit

Units

5

0.1

5

Nm/A

Input of torque constant as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102). The torque
constant is the quotient of rated torque : rated current (RMS) for permanent-field synchronous
motors.

1114

Active on
Power On

Voltage constant

Default value

Lower input limit

Upper input limit

Units

0

1

300

V

Input of voltage constant as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102). The voltage
constant is measured as an induced voltage (EMF) under no-load conditions at n = 1000
rev/min as the RMS value of the motor terminals (line-to-line).

1115

Armature resistance

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

0

20

V/A

Input of ohmic resistance of the armature winding (phase value) as specified on the motor data
sheet (non-Siemens motor) or automatic parameterization using machine data "Motor code
number" (MD 1102).

1116

Armature inductance

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

0

100

mH

Input of armature rotating-field inductance as specified on the motor data sheet (non-Siemens
motor) or automatic parameterization using machine data "Motor code number" (MD 1102).

1117

Motor moment of inertia

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0

0

32 (as from SW 5)

kgm2

Input of motor moment of inertia as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102 - in motors
without a holding brake).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–55

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1120

09.95

Active
at once

P-gain current controller

Default value

Lower input limit

Upper input limit

Units

0

0

10 000

V/A

Input of proportional gain of current controller or automatic parameterization using machine
data "Motor code number" (MD 1102). It defines the relationship between control voltage
setpoint and control deviation current.

1121

Active
at once

Integral-action time current controller

Default value

Lower input limit

Upper input limit

Units

0

0

10 000

µs

Input of control quantity "Integral-action time of current controller" or automatic
parameterization using machine data "Motor code number" (MD 1102).
Note:
Integral arm can be disabled by entering the value TN = 0.

1200

Active
at once

Selection current setpoint filter

Default value

Lower input limit

Upper input limit

Units

1

0

4

–

Input of number of current setpoint filters. Band-stop and low-pass filters are available; these
are set via the machine data "Configuration current setpoint filter" (MD 1201).

Selection of number of filters:
0

No current setpoint filter activated

1

Filter 1 activated

2

Filters 1 and 2 activated

3

Filters 1, 2 and 3 activated

4

Filters 1, 2, 3 and 4 activated

Note:
Before a filter is activated, the filter type and the appropriate filter machine data must be input.

7–56

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1201

Active
at once

Type current setpoint filter

Default value

Lower input limit

Upper input limit

Units

Low-pass

Low-pass

Band-stop

–

Input of configuration of 4 current setpoint filters. Band-stop and low-pass filters are available.
The adjustable filter parameters are entered in the appropriate machine data.
1st filter

Bit 0

2nd filter

Bit 1

3rd filter

Bit 2

4th filter

Bit 3

0

Low-pass (see MD 1202/1203)

1

Band-stop (see MD 1210/1211)

0

Low-pass (see MD 1204/1205)

1

Band-stop (see MD 1213/1214)

0

Low-pass (see MD 1206/1207)

1

Band-stop (see MD 1216/1217)

0

Low-pass (see MD 1208/1209)

1

Band-stop (see MD 1219/1220)

Note:
Before the filter type is configured, the appropriate filter machine data must be input.

1202

Active
at once

Natural frequency current setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

2 000

0

8 000

Hz

Input of natural frequency for current setpoint filter 1 (PT2 low-pass). An entry of < 10 Hz as
the natural frequency of the low-pass filter initializes the filter as a proportional element with a
gain of 1 independently of the associated damping. The filter is activated via machine data MD
1200 and MD 1201.
Note:
Current setpoint filter 1 is preset to the current controller sampling time MD 1000 = 125 µs for
damping of the encoder torsional natural frequency.
For a current controller sampling time of MD 1000 = 62.5 µs, we recommend that the natural
frequency be changed to fo = 3000 Hz to achieve an optimum dynamic response of the
controller.

1203

Active
at once

Damping current setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

0.7

0.05

5

–

Input of damping for current setpoint filter 1 (PT2 low-pass). The filter is activated via machine
1 =ˆ 100 %
data MD 1200 and MD 1201. 0.7 =ˆ 70 %

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–57

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

04.96

Note:
•

Current setpoint filter 1 is preset to the current controller sampling time MD 1000 =
125 µs for damping of the encoder torsional natural frequency.

1204

Active
at once

Natural frequency current setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

0

0

8 000

Hz

Input of natural frequency for current setpoint filter 2 (PT2 low-pass). An entry of < 10 Hz as
the natural frequency of the low-pass filter initializes the filter as a proportional element with a
gain of 1 independently of the associated damping. The filter is activated via machine data MD
1200 and MD 1201.

1205

Active
at once

Damping current setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

1.0

0.05

5

–

Input of damping for current setpoint filter 2 (PT2 low-pass). The filter is activated via machine
data MD 1200 (selection current setpoint filter) and MD (type current setpoint filter) 1201.

1206

Active
at once

Natural frequency current setpoint filter 3

Default value

Lower input limit

Upper input limit

Units

0

0

8 000

Hz

Input of natural frequency for current setpoint filter 3 (PT2 low-pass). An entry of < 10 Hz as
the natural frequency of the low-pass filter initializes the filter as a proportional element with a
gain of 1 independently of the associated damping. The filter is activated via machine data MD
1200 and MD 1201.

1207

Active
at once

Damping current setpoint filter 3

Default value

Lower input limit

Upper input limit

Units

1.0

0.05

5

–

Input of damping for current setpoint filter 3 (PT2 low-pass). The filter is activated via machine
data MD 1200 (selection current setpoint filter) and MD (type current setpoint filter) 1201.

7–58

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1208

Active
at once

Natural frequency current setpoint filter 4

Default value

Lower input limit

Upper input limit

Units

0

0

8 000

Hz

Input of natural frequency for current setpoint filter 4 (PT2 low-pass). An entry of < 10 Hz as
the natural frequency of the low-pass filter initializes the filter as a proportional element with a
gain of 1 independently of the associated damping. The filter is activated via machine data MD
1200 and MD 1201.

1209

Active
at once

Damping current setpoint filter 4

Default value

Lower input limit

Upper input limit

Units

1.0

0.05

5

–

Input of damping for current setpoint filter 4 (PT2 low-pass). The filter is activated via machine
data MD 1200 (selection current setpoint filter) and MD (type current setpoint filter) 1201.

1210

Active
at once

Block frequency current setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

3 500.0

1

7 999.0

Hz

Input of block frequency for current setpoint filter 1 (band-stop). When block frequencies of <
10 Hz are input, the filter is deactivated (proportional element with a gain of 1). The filter is
activated via machine data MD 1200 and MD 1201.
Note:
The maximum block frequency input value is limited by the sampling frequency of the control
(MD 1000) (parameterization error).
1
1
MD 1210 < ––––––––
=
–––––––––
2 x MD 1000
2 x Tsampl.
MD 1000 = Tsampl. =

© Siemens AG

62.5 µs
125.0 µs

1992 All Rights Reserved

SINUMERIK 840C (IA)

=> MD 1210 <

6FC5197- AA50

8000 Hz
4000 Hz

7–59

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1211

04.96

Active
at once

Bandwidth current setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

500

0

1 000

Hz

Input of 3dB bandwidth for current setpoint filter 1 (band-stop). The filter is activated in
machine data MD 1200 and MD 1201.
Note:
When 0 is entered for the bandwidth, the filter is parameterized as a proportional element with
a gain of 1.

1213

Active
at once

Block frequency current setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

3 500.0

1

7 999.0

Hz

Input of block frequency for current setpoint filter 2 (band-stop). When block frequencies of <
10 Hz are input, the filter is deactivated (proportional element with a gain of 1). The filter is
activated via machine data MD 1200 and MD 1201.
Note:
The maximum block frequency input value is limited by the sampling frequency of the control
(MD 1000) (parameterization error).
1
1
MD 1213 < ––––––––––––– =
–––––––––
2 x MD 1000
2 x Tsampl.
MD 1000 = Tsampl. =

7–60

62.5 µs
125.0 µs

=> MD 1213 <

© Siemens AG

8000 Hz
4000 Hz

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1214

Active
at once

Bandwidth current setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

500

0

1 000

Hz

Input of 3dB bandwidth for current setpoint filter 2 (band-stop). The filter is activated in
machine data MD 1200 and MD 1201.
Note:
When 0 is entered for the bandwidth, the filter is parameterized as a proportional element with
a gain of 1.

1216

Active
at once

Block frequency current setpoint filter 3

Default value

Lower input limit

Upper input limit

Units

3 999.0

1

7 999.0

Hz

Input of block frequency for current setpoint filter 3 (band-stop). When block frequencies of <
10 Hz are input, the filter is deactivated (proportional element with a gain of 1). The filter is
activated via machine data MD 1200 and MD 1201.
Note:
The maximum block frequency input value is limited by the sampling frequency of the control
(MD 1000) (parameterization error).
1
1
MD 1216 < –––––––––––= –––––––––
2 x MD 1000
2 x Isampl.
MD 1000 = Tsampl.=

1217

62.5 µs
125.0 µs

=> MD 1216 <

8000 Hz
4000 Hz

Active
at once

Bandwidth current setpoint filter 3

Default value

Lower input limit

Upper input limit

Units

100

0

1 000

Hz

Input of 3dB bandwidth for current setpoint filter 3 (band-stop). The filter is activated in
machine data MD 1200 and MD 1201.
Note:
When 0 is entered for the bandwidth, the filter is parameterized as a proportional element with
a gain of 1.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–61

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1219

04.96

Active
at once

Block frequency current setpoint filter 4

Default value

Lower input limit

Upper input limit

Units

3 999.0

1

7 999.0

Hz

Input of block frequency for current setpoint filter 4 (band-stop). When block frequencies of
< 10 Hz are input, the filter is deactivated (proportional element with a gain of 1). The filter is
activated via machine data MD 1200 and MD 1201.
Note:
The maximum block frequency input value is limited by the sampling frequency of the control
(MD 1000) (parameterization error).
1
1
MD 1219 < –––––––––––
= –––––––––
2 x MD 1000 2 x Tsampl.
MD 1000 = Tsampl.=

1220

62.5 µs
125.0 µs

8000 Hz
4000 Hz

=> MD 1219 <

Active
at once

Bandwidth current setpoint filter 4

Default value

Lower input limit

Upper input limit

Units

100

0

1 000

Hz

Input of 3dB bandwidth for current setpoint filter 4 (band-stop). The filter is activated in
machine data MD 1200 and MD 1201.
Note:
When 0 is entered for the bandwidth, the filter is parameterized as a proportional element with
a gain of 1.

1400

Active on
Power On

Motor rated speed

Default value

Lower input limit

Upper input limit

Units

1 500

0

6 000

rev/min

Input of motor rated speed as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).

1401

Active
at once

Maximum motor operational speed

Default value

Lower input limit

Upper input limit

Units

1 500

0

7 200

rev/min

Machine data MD 1401 defines the maximum operational speed of the feed motor. It is used
as a reference value for the speed setpoint interface and for the machine data "Monitoring
speed motor" (MD 1405). Its default value is set by means of motor selection (MD 1102) to
the rated motor speed as specified on the motor data sheet.

7–62

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

Note:
The velocity of a feed axis is matched with NC-MD 2560 (maximum axis velocity). The motor
speed which corresponds to this maximum value must be entered in drive-MD 1401.
Allowance is made for the spindle pitch plus any existing gear ratios, etc. in the relationship
between NC-MD 2560 and drive-MD 1401.

1402

Active
at once

Reduction factor max. motor speed set-up mode

Default value

Lower input limit

Upper input limit

Units

1

0

100

%

Input of reduction factor for set-up mode. The maximum permissible speed (MD 1401) and the
motor speed monitor (MD 1405) are the references for the reduction factor, i.e. the maximum
motor speed in set-up mode is calculated from MD 1402 x MD 1405 x MD 1401.

1403

Creep speed pulse suppression

Active
at once

Default value

Lower input limit

Upper input limit

Units

0

0

7 200

rev/min

Input of creep speed for pulse suppression. If the absolute speed actual value drops below the
specified speed limit, e.g. owing to cancellation of the controller enabling command, in the
course of a creep operation, the pulses are suppressed by a software function and the drive
shut down until it is re-enabled by SERVO. The default value 0 means that the machine data is
deactivated; pulse suppression is then implemented solely via the machine data "Timer pulse
suppression" (MD 1404).
The functionality of this machine data is required:
1. With high inertia as zero speed may not be reached in some cases.
2. To reliably preclude overshoot during positioning.
Note:
Under normal circumstances, shutdown is implemented sequentially on the drive and servo
sides with variously adjustable timers (NC-MD 156, NC-MD 12240) and, in the event of a fault,
only on the drive side with timer MD 1404.

1404

Timer pulse suppression

Active
at once

Default value

Lower input limit

Upper input limit

Units

100

0

1 000

ms

Input of timer for pulse suppression by means of drive. In the event of a fault (in generator
braking mode), the control pulses for the power section transistors are suppressed on the
drive side after expiry of the time set in the adjustable timer. Monitoring takes place
sequentially on the drive and servo sides with variously adjustable timers.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–63

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

12.93

Note:
Under normal circumstances, shutdown is implemented sequentially on the drive and servo
sides, with variously adjustable timers (NC-MD 156, NC-MD 12240) and, in the event of a
fault, only on the drive side with timer MD 1404.

1405

Active
at once

Monitoring speed motor

Default value

Lower input limit

Upper input limit

Units

110

100

110

%

Input of maximum permissible speed setpoint as a limit value for the speed actual value
monitor. The machine data "Maximum motor speed" (MD 1401) is applied as the reference
value.

1407

Active
at once

P-gain speed controller

Default value

Lower input limit

Upper input limit

Units

0.3

0

100 000

Nm/s-1

Input of P-gain of the speed control loop in the lower speed range (n < lower speed threshold
in MD 1411). The P-gain values in the lower speed range (MD 1407) and the upper speed
range (MD 1408) are not subject to any mutual restrictions. See machine data "Adaptation
lower speed threshold" (MD 1411) for diagram.
Note:
Before the P-gain is set to 0, the associated integral-action component (MD 1409) must be
deactivated to maintain controller stability.
MD 1407 is active over the entire speed range when the "Speed controller adaptation" is
deactivated (MD 1413 = 0).

1408

Active
at once

P-gain upper adaptation speed

Default value

Lower input limit

Upper input limit

Units

0.3

0

100 000

Nm/s-1

Input of P-gain of the speed control loop in the upper speed range (n > upper speed threshold
in MD 1412). The P-gain values in the lower speed range (MD 1407) and the upper speed
range (MD 1408) are not subject to any mutual restrictions. See machine data "Adaptation
lower speed threshold" (MD 1411) for diagram.
Note:
Before the P-gain is set to 0, the associated integral-action component (MD 1410) must be
deactivated to maintain controller stability.
MD 1408 is not active when the "Speed controller adaptation" is deactivated (MD 1413 = 0).

7–64

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1409

Integral-action time speed controller

Active
at once

Default value

Lower input limit

Upper input limit

Units

10

0

500

ms

Input of integral-action time of speed control loop in the lower speed range (N < lower speed
threshold MD 1411). The integral-action times in the lower speed range (MD 1409) and the
upper speed range (MD 1410) are not subject to any mutual restrictions. See machine data
"Adaptation lower speed threshold" (MD 1411) for diagram.
Note:
Setting the integral-action time to zero deactivates the appropriate speed range (suppression
of integral gain and integrator contents = > torque step changes cannot be precluded - see
also Note in MD 1410).
MD 1409 is active over the entire speed range when the "Speed controller adaptation" is
deactivated (MD 1413 = 0).
Caution:
When the adaptation function is active, deactivation of the I-action component for only one
speed range (MD 1409 = 0 and MD 1410 0 or vice versa) should be avoided (to prevent
problem of torque step changes through resetting of the integral value on transition from
adaptation to constant range).

1410

Integral-action time upper adaptation speed

Active
at once

Default value

Lower input limit

Upper input limit

Units

10

0

500

ms

Input of integral-action time of speed control loop in upper speed range (N > upper speed
threshold MD 1412). The integral-action times in the lower speed range (MD 1409) and the
upper speed range (MD 1410) are not subject to any mutual restrictions. See machine data
"Adaptation lower speed threshold" (MD 1411) for diagram.
Note:
Setting the integral-action time to zero deactivates the I-action component for the range which
is greater than the machine data "Adaptation upper speed threshold (MD 1412) (see also Note
in MD 1409).
MD 1410 is not active when the "Speed controller adaptation" is deactivated (MD 1413 = 0).
Caution:
When the adaptation function is active, deactivation of the I-action component for only one
speed range (MD 1409 = 0 and MD 1410 0 or vice versa) should be avoided (to prevent
problem of torque step changes through resetting of the integral value on transition from
adaptation to constant range).

1411

Lower adaptation speed

Active
at once

Default value

Lower input limit

Upper input limit

Units

0

0

7 200

rev/min

Input of lower speed threshold for adaptation of the speed controller machine data. When the
adaptation function is active, the control machine data MD 1407 and MD 1409 are applied at
speeds n < MD 1411. In the adaptation range MD 1411 < n < MD 1412, linear interpolation
takes place between the two control machine data sets.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–65

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

04.96

Graphic representation:

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Adaptation of speed controller machine data by means of characteristic

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KP, TN

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MD 1410

Upper speed

MD 1407

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range with

constant P gain/

Lower speed

integral-action

range with

Adaptation
range

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time

MD 1408

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MD 1409

MD 1411

1412

MD 1412

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integral-action

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time

constant P gain/

n

MD 1401

Active
at once

Upper adaptation speed

Default value

Lower input limit

Upper input limit

Units

0

0

7 200

rev/min

Input of upper speed threshold for adaptation of the speed controller machine data. When the
adaptation function is active, the control machine data MD 1408 and MD 1410 are applied at
speeds n > MD 1412. In the medium range MD 1411 < n < MD 1412, linear interpolation
takes place between the two control machine data sets.
See machine data "Adaptation lower speed threshold" (MD 1411) for diagram.

1413

Active
at once

Selection adaption speed controller

Default value

Lower input limit

Upper input limit

Units

0

0

1

–

This machine data allows adaptation of the speed controller machine data to be controlled as a
function of speed.
Input 0:

The adaptation function is not active. The settings in control machine data
MD 1407 and MD 1409 are applicable over the entire speed range. Control
machine data MD 1408 and MD 1410 are not taken into account.

Input 1:

The adaptation function is active. See machine data MD 1411 and MD 1412 for
description.

7–66

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1414

Active
at once

Natural frequency reference model speed control loop

Default value

Lower input limit

Upper input limit

Units

0

0

8 000

Hz

Input of natural frequency for the "Speed control loop" reference model. The filter is
deactivated if a value of < 10 Hz is entered (proportional element with a gain of 1).
Note:
Machine data 1414, 1415 and 1416 must be set in each case to the same value for
interpolating axes.

1415

Active
at once

Damping reference model speed control loop

Default value

Lower input limit

Upper input limit

Units

1

0.5

5

–

Input of damping for the "Speed control loop" reference model. This is a reference model
(PT2) for the speed control loop with a controller of the PIR type. The higher the input value,
the stronger the damping effect.
Note:
Machine data 1414, 1415 and 1416 must be set in each case to the same value for
interpolating axes.

1416

Active
at once

Symmetrization reference model speed loop

Default value

Lower input limit

Upper input limit

Units

0

0

1.0

–

Input of symmetrization for the "Speed control loop" reference model. This machine data
simulates the calculation dead time of the speed control loop. The simulation is in this case
calculated as an approximation of an interrupted dead time. The response of the reference
model can in this way be matched to the controlled system response of the closed, Pcontrolled speed control loop.

1417

Active
at once

nx for nact < nx

Default value

Lower input limit

Upper input limit

Units

6000.0

0

7 200

rev/min

Input of threshold speed for monitoring purposes; if the actual speed value does not reach the
set threshold speed in terms of absolute value, a message is transferred to the SERVO. The
monitoring function is not activated unless the default value is changed.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–67

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1418

12.93

Active
at once

nmin for nact < nmin

Default value

Lower input limit

Upper input limit

Units

0

0

7 200

rev/min

Input of threshold speed for monitoring purposes; if the actual speed value does not reach the
set threshold speed in terms of absolute value, a message is transferred to the SERVO. The
monitoring function is not activated unless the default value is changed.

1421

Active
at once

Time constant integrator feedback

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

1 000.0

ms

The speed controller loop integrator is reduced via a weighted feedback to a low-pass
response of the 1st order with the configured time constant. Machining movements via the
integrator in the case of non-linear controlled system characteristics (friction around the zerospeed point) can thus be restricted or prevented.
Note:
The integrator feedback is activated when MD 1421 is set to 1.0.

1502

Active
at once

Time constant speed setpoint filter

Default value

Lower input limit

Upper input limit

Units

0

0

500

ms

Input of time constant for speed setpoint filter (PT1 low-pass). The filter is deactivated when
the data is set to zero.

1600

Active
at once

Concealable power on 611D alarms

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

This machine data allows power on 611D alarms to be concealed. The monitoring function is
activated if the appropriate bit = 0. All 611D monitoring functions are activated as standard.

7–68

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

Bit 0

Internal error cannot be concealed

Bit 1

Not assigned

Bit 2

Measuring circuit error, phase current R

Bit 3

Measuring circuit error, phase current S

Bit 4

Measuring circuit error, position measuring system motor

Bit 5

Measuring circuit error, position measuring system motor (absolute track optical
encoder)

Bits 6-7

Not assigned

Bit 8

Zero monitoring position (zero mark) measuring system motor

Bits 9-14

Not assigned

Bit 15

Temperature power section shutdown

Note:
Power on 611D alarms can be acknowledged only via a hardware reset.

1601

Active
at once

Concealable reset 611D alarms

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

This machine data allows reset 611D alarms to be concealed or disabled. The alarm is active if
the appropriate bit = 0. All 611D alarms are activated as standard.
Bit 0

Configuration error cannot be concealed

Bits 1-7

Not assigned

Bit 8

Speed controller at fixed stop

Bits 9-13

Not assigned

Bit 14

Shutdown motor overtemperature

Bit 15

Not assigned

Note:
Reset 611D alarms can be acknowledged via a software reset.

1602

Active
at once

Motor temperature warning limit

Default value

Lower input limit

Upper input limit

Units

120

0

200

°C

Input of maximum permissible motor temperature. The temperature is detected by appropriate
sensors and evaluated in the drive. A message is transferred to the SERVO when the warning
limit is reached.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–69

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1603

09.95

Active
at once

Timer motor temperature alarm

Default value

Lower input limit

Upper input limit

Units

240

0

600

s

Input of timer for the motor temperature alarm. When the value set in "Motor temperature
warning" (MD 1602) is exceeded, a message is transferred to the SERVO and a time monitor
activated. If the timer runs out before the temperature drops below the limit, the drive initiates
a generator braking operation and suppresses the transistor drive signals for the appropriate
axis after MD 1404 (pulse suppression) in conjunction with MD 1403 (creep speed).
Note:
Changing the timer setting will not influence a time monitoring function already in progress
(counter started). The change will become applicable when the motor temperature has
dropped below the warning limit (MD 1601).

1604

Active
at once

ZK undervoltage warning threshold

Default value

Lower input limit

Upper input limit

Units

200

0

600

V

Input of DC-link undervoltage warning threshold. When the voltage drops below this value, a
message is sent to the SERVO. This message is output on the 1st page of the FDD service
display: DC link "off".

1605

Active
at once

Timer speed controller at fixed stop

Default value

Lower input limit

Upper input limit

Units

200

20

10 000

ms

Input of "Speed controller at fixed stop" timer. The output of the speed controller (current
setpoint value) is monitored. In the event of a fault, the control pulses for the power section
transistors are suppressed on the drive side when the timer setting has expired.
Note:
Setting values of MD 1065 < MD 1404 (Timer pulse suppression) are rejected as parameterization errors.
The monitoring function is independent of internal operating modes (feedforward control,
function generator, etc.).

1700

Active
at once

Status of binary inputs

Default value

Lower output limit

Upper output limit

Units

0000

0000

7FFF

Hex

This machine data is used to display the status of the binary inputs.

7–70

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

Bit 0

Control unit enable (internal module function), including marking according to
MD 1003, bit 5

Bit 1

Image terminal 663 (module-specific pulse suppression IMPFR)

Bit 2

Image terminal 63/48 of I/RF unit (central drive pulse suppression REIMSP)

Bit 3

Sum signal pulse enable:

Bit 4

"Heat sink of power section XKKT too hot" message: Low active signal

Bit 5

Image terminal 112 of I/RF unit (set-up mode message XEINR):
Low active signal

Bit 6

Image terminal 64/63 of I/RF unit (Central drive enable setpoint = 0)

Bit 7

Not assigned

Bit 8

Image terminal 5 of I/RF unit (motor/power section temperature prewarning X12T):
Low active signal

Bits 9-15

Not assigned

– Stored hardware sum signal
– Axial pulse enable by PLC via 611D control
word

1701

Active
at once

DC link voltage

Default value

Lower output limit

Upper output limit

Units

0

0000

32 767

V

This machine data is used to display the voltage level at the DC link in normal or set-up mode.
The DC-link voltage UDClink is measured continuously.

1702

Active
at once

Motor temperature

Default value

Lower output limit

Upper output limit

Units

0

0000

32 767

°C

This machine data is used to display the motor temperature. The motor temperature is
measured by appropriate sensors and evaluated in the drive.

1706

Speed setpoint

Active
at once

Default value

Lower output limit

Upper output limit

Units

0.0

0

32 767.0

rev/min

This machine data is used to display the speed setpoint which represents the unfiltered
summation setpoint. It comprises the component of the position controller output and the
speed feedforward control arm. Time-synchronous unlatching (scanning) of machine data MD
1706, MD 1707 and MD 1708 is not provided. The appropriate machine data is unlatched by
the read request of the non-cyclical communications protocol.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–71

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

1707

09.95

Active
at once

Speed actual value

Default value

Lower output limit

Upper output limit

Units

0.0

0000

32 767.0

rev/min

This machine data is used to display the actual speed value and represents the unfiltered
actual speed value. Time-synchronous unlatching (scanning) of machine data MD 1706,
MD 1707 and MD 1708 is not provided. The appropriate machine data is unlatched by the
MMC request "Read variables" via the STF ES communications interface.

1708

Active
at once

Smoothed current actual value

Default value

Lower output limit

Upper output limit

Units

0.0

0000

32 767.0

%

This machine data is used to display the smoothed current actual value. The torque-producing
current actual value is smoothed by a PT1 element with constant coefficients. These
coefficients correspond to time constants of 20 ms (with a current controller cycle of 62.5 µs)
and 40 ms (with a current controller cycle of 125 µs). In this case, the smoothed current actual
value is displayed as a percentage. 100 % corresponds to the maximum current of the power
section (e.g. with an 18/36A power section 100 % = 36A RMS).

1710

Active
at once

Significance current representation

Default value

Lower output limit

Upper output limit

Units

0.0

0

32 767.0

µA

This machine data is used to display the significance of the current representation. The
significance of bit 0 (internal current actual value representation) is shown to the user to allow
allocation of the internal current status representation to the physical ampere values. The
maximum power section current is present internally in normalized representation.
Note:
This machine data is calculated only once during ramp-up; its value cannot therefore be
changed during operation.

1711

Active
at once

Significance speed representation

Default value

Lower output limit

Upper output limit

Units

0.0

0

32 767.0

rev/min

This machine data is used to display the significance of the speed representation. The
significance of bit 0 (internal speed actual value representation) is shown to the user to allow
allocation of the internal speed status significance to the physical revolution values. A speed is
present internally in the units of the encoder system and referred to the current speed
controller clock cycle.

7–72

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.2.2 FDD MD (data description - SW 3)

Note:
This machine data is calculated only once during ramp-up; its value cannot therefore be
changed during operation.

1720

Active
at once

CRC diagnosis parameter

Default value

Lower output limit

Upper output limit

Units

0000

0

FFFF

Hex

This machine data is used to display detected CRC errors (cyclical redundancy check). The
counter information is output with every read request and is 5 bits in width (bit 4...bit 0 or
counter reading 0...31).
Note:
It cannot be guaranteed in all cases that the CRC error is assigned to the appropriate drive.
When the address is faulty, the "wrong" module indicates the error.

1797

Active
at once

Data version

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

–

Output of current data version (machine data list).

1798

Active
at once

Firmware date

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

–

Output of coded software version in decimal format. The date is coded as such: DDMMY,
where DD stands for day, MM for month and Y for the last number in the year.
Example: 01.06.1993 =ˆ 01063dec

1799

Active
at once

Firmware version

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

–

Output of current software version (configuration management).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–73

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3 611D drive machine data (FDD/MSD - as from SW 4)

07.97

7.3

611D drive machine data (FDD/MSD - as from SW 4)

7.3.1

Drive MD input (as from SW 4)

The drive machine data are provided for the purpose of matching the drives (FDD/MSD) and
the machine tool. If no setting values are specified by the machine manufacturer or the user,
then they must be carefully determined and optimized by the start-up engineer. The setting
values are input by means of menu selection (see section headed "Machine Data Dialog").
Notes:
•

•

The machine data apply generally for FDD and MSD, but there are a few MDs that apply
specifically to FDD or MSD. Appropriate mention is made in such cases under the relevant
machine data.
A number of motor-dependent machine data exist for the MSD. These machine data can
be identified by an "X" in the first position. The data for the 1st motor start with 1000,
those for the 2nd motor with 2000. (Example: motor rated speed MD X400 is MD 1400 for
motor 1 and MD 2400 for motor 2).

7.3.2

Drive MD (data description)

1000

Active on
Power On

Current controller cycle

Default value

Lower input limit

Upper input limit

Units

125.0

62.5

125.0

µs

The basic clock cycle of the module is derived from the current controller clock cycle of the
axis: Current controller clock cycle = Module basic clock cycle. The module basic clock cycle
is the basis for the generation of the interrupt signals for the processor and for the generation
of the inverter signals of the pulse-width modulator. Other clock cycles are derived from the
basic cycle by means of software functions.
Input values are 62.5 µs or 125 µs.
Notes:
•

Intermediate values are not permissible (parameterization error).

•

Exceeding the computing time on the current controller clock cycle level is not permissible
and will lead to tripping of the drive.

•

In the case of double-axis modules, both drives must be parameterized with the same
current controller clock cycle (otherwise parameterization error).

1001

Active on
Power On

Speed controller cycle

Default value

Lower input limit

Upper input limit

Units

125.0

62.5

125.0
500 (as from SW 6)

µs

The speed controller clock cycle is derived from the current controller clock cycle of the axis:
Current controller clock cycle speed controller clock cycle. The time-slice management ZSV
(sequence control) is initialized with this machine data.

7–74

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

SIN 840C with 611D
controller ...

Current
controller cycle
MD 1000

Speed
controller cycle
MD 1001

Comments

Single-axis performance

125 µs

125 µs

Default value

Single-axis performance

62.5 µs

62,5 µs

Minimum

Single-axis performance

125 µs

250 µs

as from SW 6

Single-axis performance

125 µs

500 µs

as from SW 6

2-axis performance

125 µs

125 µs

Default value/minimum

2-axis performance
1 axis present

62.5 µs

62,5 µs

Minimum

2-axis standard

125 µs

125 µs

Default value/minimum

2-axis standard
1 axis present

125 µs

125 µs

Default value/minimum

Table: Possible current and speed controller cycle combinations

Notes:
•

Intermediate values are not permitted (parameterization error).

•

Exceeding the computing time on the speed controller clock cycle level is not permissible
and will lead to tripping of the drive.

1002

Active on
Power On

Monitoring cycle

Default value

Lower input limit

Upper input limit

Units

100 000

4 000

100 000

µs

The interrupt clock cycle is used for high-priority monitoring purposes. Note: The input value
for the clock cycle must be a whole multiple of 4 ms (parameterization error). For the default
value, the monitoring cycle time is 100 ms.
m x 4000 µs

m = 1, 2, 3 ... 25

Note:
The interrupts level must not be exceeded. If it is, the drive shuts down.

1003

Configuration STS

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0330

0000

FFFF

Hex

Caution:
Do not modify this machine data, the default corresponds to the optimum configuration. (For
Siemens service only)

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–75

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1004

07.97

Active on
Power On

Configuration structure

Default value

Lower input limit

Upper input limit

Units

0000

0000

7FFF

Hex

Input of the configuration for control structures, speed measuring systems and functionality
referred to the SIMODRIVE System 611D.
Value table:
Bit 0

Speed torque feedforward channel
of drive
Not assigned
Higher dynamic response (single
axis module only)

Bit 1
Bit 2

Bit 3
Bit 4

Reserved
Integrator control (as from SW 6)

Bit 5-15

Not assigned

0 = Not active
1 = Active
0 = Current before speed control
calculation
1 = Speed before current control
calculation
0 = Integrator control in speed
controller active. The integrator
is stopped when the current or
voltage setpoint reaches the
limit.
1 = Integrator control in speed
controller not active. Value
limited to 2x the torque limit.
Always active with ”Travel to
fixed stop”.

Caution:
Speed before current control is possible only with one active axis on the module.
The default is: current before speed control (bit 2 = 0).

1005

Active on
Power On

No. encoder marks motor measuring system

Default value

Lower input limit

Upper input limit

Units

2 048

128

8 192

Incr/rev

Input of number of encoder increments per motor revolution of the motor measuring system.
Note:
The indirect measuring system must always be configured for FDD/MSD.
(Not for pure AM/Vf operation)

1007

Active on
Power On

No. encoder marks direct measuring system

Default value

Lower input limit

Upper input limit

Units

0

0

65 535

Incr/rev, incr/mm

Input of the encoder increments per revolution for a linear or rotary direct measuring system.
Note:
Value 0 in the display means that no direct measuring system is available. This MD is currently
of no importance.

7–76

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

08.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1008

Active
at once

Encoder phase error compensation

Default value

Lower input limit

Upper input limit

Units

0.0

- 20.0

20.0

Degrees

With this machine data, a phase error compensation is performed. On unconditioned signal
encoders (e.g. ERN 1387), phase errors can occur between the A and B tracks. These can be
noticed by a rougher speed actual value, i.e. the actual value has twice the encoder marking
frequency imposed on it if a fault occurs. Especially in the case of geared encoders, the phase
errors can assume magnitude that have an effect on the control quality. (Acoustic)
Note:
This machine data is switched active with bit 1 of the machine data Configuration act. val.
acquisition (MD 1011).

1011

Configuration act. val. acquisition, motor measuring system

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input of the configuration for actual value functions related to the SIMODRIVE System 611D.
Value table:
Bit 0

Adaptation of direction of rotation
gear encoder is fitted

0=Positive direction of rotation of
motor (clockwise)
1=Negative direction of rotation of
motor (counterclockwise)

Bit 1

Phase error compensation

0=not active
1=active

Bit 2

Reserved

Bit 3

Incremental encoder
Absolute encoder with Endat
interface

=0
=1

Bit 4

Rotary measuring system
Linear measuring system

=0
=1

Bit 5

Motor measuring system for AM
operation

=0 available
=1 not available

Bit 6

Absolute track via electr. rev.
Absolute track via mec. rev.

=1 (e.g. Hall-type pulse generator)
=0 (e.g. ERN 1387)

Bit 8

Linear scale has several zero marks:
One is selected by the NC

=1

Bit 12

Identify rough position

=1

Bit 13

Identify fine position

=1

Bits 14-15

Transmission rate EnDat encoder

00= 100 kHz
01= 500 kHz
10= 10 kHz
11=
2 kHz

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–77

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1012

07.97

Active
at once

Function switch

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input of the configuration for switch-on functionality referred to the SIMODRIVE System 611D.
Value table:
Bit 0

Ramp-up encoder follow-up

Bit 1
Bit 2

Reserved
Drive ready terminal-dependent

Bit 3
Bit 4

Not assigned
ZK2 parameterization errors

Bits 5-15

Not assigned

1013

0 = not active
1 = active
0 = the drive is ready when no ZK1
alarm is active
1 = the drive is ready when those of
the following conditions apply
simultaneously:
– no ZK1 alarm
– terminal 63=1 (I/R module)
– terminal 64=1 (I/R module)
– terminal 663=1 (drive module)
0 = ZK2 parameterization errors are
not supported (default setting).
An error cause shutdown (servo
disable)
1 = ZK2 parameterization errors are
supported: An error causes a
warning to be displayed on the
screen

Active on
Power On

Enable motor switchover

Default value

Lower input limit

Upper input limit

Units

0

0

100

Hex

Various motor switchover variants can be enabled
The function motor switchover in the control means switchover between motor data set 1 (MD
1xxx) and 2 (2xxx).
Possible switchover variants are:
•

Star/delta switchover, motor data set 1 star connection, motor data set 2 delta connection.
Switchover of the motor windings must be performed externally with contactors that are
controlled by the PLC. Synchronization with the drive is performed by the control and
status word of the cyclic interface.

•

Switchover between two real motors. Motor data set 1 for motor 1, motor data set 2 for
motor 2. Motor switchover is performed externally using contactors, synchronization via
control and status words.

Note:
The machine for the 2nd motor must be parameterized in order to be able to enable the
star/delta switchover. The drive considers the 2nd motor to be parameterized if machine data
MD 2102 does not include the value 0.

7–78

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

Multiturn resolution absolute encoder motor
(as from SW 5)

1021

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

4 096

0

65 535

rev/min

Number of revolutions of the motor that can be represented
Measuring increments of the absolute track motor
(as from SW 5)

1022

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

8 192

512

8 388 607

Incr/rev

Number of measuring increments per mechanical revolution for serial transmission of the
absolute position value.

1023

Servo loop motor absolute track (as from SW 5)

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Bit 0
Bit 1
Bit 2

Lighting failed
Signal amplitude to small
Code connection defective

Replace encoder
Replace encoder
Replace encoder

Bit 3
Bit 4
Bit 5

Overvoltage
Undervoltage
Overcurrent

Switch on/off, replace encoder
Switch on/off, replace encoder
Switch on/off, replace encoder

Bit 6
Bit 7 +
Bit 13

Change battery
Check hardware, cable, encoder; replace, if
necessary

Bit 7 +
Bit 13
Bit 8
Bit 9
Bit 10

Battery change necessary
=0
CRC error on ENDAT interface
=1
=0
Check error
=1
=0
Error on correction of abs. track through
=1
incremental track
Reserved
C/D track in encoder EQN 1325 defective
Protocol cannot be cancelled

Bit 11
Bit 12
Bit 13

SSI level detected on data line hardware
TIMEOUT on reading measured value
See bit 7

Check encoder type, replace
Repeat, replace hardware

Bit 14
Bit 15

Reserved
Encoder defective

Replace encoder

Bit 7 +
Bit 13

Check hardware, cable, encoder; replace, if
necessary
Check hardware, cable, encoder; replace, if
necessary
Switch on/off, replace encoder
Switch on/off, replace encoder

Note:
The system acknowledges an interchange of the encoder systems ERN 1387 (previous
incremental system) and EQN 1325 (absolute encoder system) during parameterization or
connection by aborting the measured value acquisition. The following incorrect combinations
are possible:
ERN 1387 present, EQN 1325 parameterized:
Abortion via recognition of missing EnDat interface on ERN 1387 (MD 1023, bit 11 or bit 12
set)
Only for FDD:
EQN 1325 present, ERN 1387 parameterized:
Abortion via recognition of missing C/D tracks for EQN 1325 (MD 1023, bit 9 set)

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–79

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

07.97

Note regarding bit 9:
Incorrect parameterization, e.g. not on EQN MD 1011 (configuration actual-value acquisition,
indirect measuring system)
or MD 1030 (configuration actual-value acquisition, direct measuring system)
or obsolete hardware (not suitable for EQN)
or no encoder connected
or incorrect encoder cable (for ERN instead of for EQN).

1030

Configuration actual-value acquisition, direct measuring
system

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFF

Hex

Input of the configuration for actual-value functions with reference to the SIMODRIVE system
611D, direct measuring system.
Bit 0 - 2

Not assigned

Bit 3

Encoder type

0=
1=

incremental encoder
absolute encoder with EnDat
interface

Bit 4

Design of the measuring system

0=
1=

rotary measuring system
linear measuring system

Bits 5-13

Not assigned

Bits 14-15

Transmission rate EnDat encoder

1031

00= 100 kHz
01= 500 kHz
10= 10 kHz
11=
2 kHz

Multiturn resolution absolute encoder direct measuring
system

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

4096

0000

65535

rev

Number of revolutions of the absolute encoder, direct measuring system, that can be
represented. The value can only be read.

1032

Measuring increments of the absolute track, direct
measuring system

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

8192

0

8 388 607

Incr/rev

The number of measuring increments per revolution for serial transmission of the absolute
position value, direct measuring system. The value can only be read.

7–80

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1033

Active on
Power On

Direct servo loop absolute track (SW 5 and higher)

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Bit 0

Lighting failed

Replace encoder

Bit 1

Signal amplitude too small

Replace encoder

Bit 2

Code connection defective

Replace encoder

Bit 3

Overvoltage

Switch on/off, replace encoder

Bit 4

Undervoltage

Switch on/off, replace encoder

Bit 5

Overcurrent

Switch on/off, replace encoder

Bit 6

Battery change necessary

Change battery

Bit 7

Reserved

-

Bit 8

Reserved

-

Bit 9

Reserved

-

Bit 10

Protocol cannot be cancelled

Switch on/off, replace encoder

Bit 11

SSI level detected on data line hardware

Check encoder type, replace

Bit 12

TIMEOUT on reading measured value

Repeat, replace hardware

Bit 13

CRC error

Replace hardware

Bit 14

Reserved

-

Bit 15

Encoder defective

Replace encoder

1100

Active on
Power On

Frequency pulse-width modulation

Default value

Lower input limit

Upper input limit

Units

4 000/3 200

2 000

8 000

Hz

The frequency of the sampling triangle in the PWM inverter is defined in this machine data.
The default depends on the motor type (FDD =ˆ 4000, MSD =ˆ 3200) and is configured by the
drive configuration at the time of start-up. The frequency values are set as an MMC function
(see attached table).
Value table:
Default value

fPBM in Hz

TPBM in µs

–
–
–
MSD
FDD
–
–

2000
2285.7....
2666.6....
3200
4000
5333.3....
8000

500.0*
437.5*
375.0*
312.5*
250.0*
187.5*
125*

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–81

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

04.96

Notes:
•

The pulse frequency can be specified only in the quantization given in the table above.
Other frequency inputs are rounded up or down to the next closest table value, e.g. 3150
Hz to 3200 Hz.

1101

Active on
Power On

Calc. dead time current closed-loop

Default value

Lower input limit

Upper input limit

Units

62

0

124

µs

The calculation dead time is the time which elapses between the start of a current control
clock cycle (input of current setpoint) and the activation of the control voltage setpoints on the
gating unit ASIC. The standard default value is automatically loaded during initial start-up when
machine data M1102 is input. As from software version 5 the default value is automatically
loaded during initial start-up and with the function "Calculate controller data" on the basis of
given configuration (1 axis/2 axis FDD/MSD etc.). In order to make the setpoints on all power
sections "valid" simultaneously (to achieve uniform dynamic response), the time required to
calculate the most complex axis (double axis) is entered.
Note:
Limits of calculation dead time

a
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a

MD 1101 < MD 1000 (=current controller clock cycle)
MD 1101 <

1
––––––––––– =
4 x MD 1100

TPBM
–––––
4

for 611 D hardware

Module:
Complete module

Drive module

6SN1130 - 1 DAXX - XXXX

6SN11XX - ODC 1X - XXXX

6SN 1130 - 1 DBXX - XXXX

6SN11XX - ODH 1X - XXXX

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a

Default: 62 µs

1
––––––––––– =
MD 1100

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<

TPBM

for 611 D hardware standard/performance

Controller components
Standard

Performance

6SN1118 - X DM XX - XXXX

6SN1118 - XDG2X - XXXX
6SN1118 - XDH2X - XXXX

Default: 100 µs

Default: 62 µs

_______
*

A preselection with synchronous sampling period (TPWM) with respect to the controller cycles can be made
via the toggle button.

7–82

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1102

Active on
Power On

Motor code number

Default value

Lower input limit

Upper input limit

Units

0

0

65 535

–

Input of motor order number (machine-readable product designation for Siemens motors). This
number is transferred to the drive in the form of a motor code number. The user does not
need to input a value (see also MD 1106). The following motor data are automatically
transferred from an internal motor table by means of the motor code number:
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•

MD 1103: Motor rated current (FDD/MSD)
MD 1104: Maximum motor current (FDD)
MD 1112: Pole pair number of motor (FDD)
MD 1113: Torque constant (FDD)
MD 1114: Voltage constant (FDD)
MD 1115: Armature resistance (FDD)
MD 1116: Armature inductance (FDD)
MD 1117: Motor moment of inertia (FDD/MSD)
MD 1118: Motor zero-speed current (FDD)
MD 1130: Motor rated power (MSD)
MD 1132: Motor rated voltage (MSD)
MD 1134: Motor rated frequency (MSD)
MD 1135: Motor no-load voltage (MSD)
MD 1136: Motor no-load current (MSD)
MD 1137: Stator resistance cold (MSD)
MD 1138: Rotor resistance cold (MSD)
MD 1139: Stator leakage reactance (MSD)
MD 1140: Rotor leakage reactance (MSD)
MD 1141: Main field reactance (MSD)
MD 1142: Starting speed field weakening (MSD)
MD 1143: Upper speed Lh characteristic (MSD)
MD 1144: Gain factor Lh characteristic (MSD)
MD 1146: Motor maximum speed (FDD/MSD)
MD 1400: Motor rated speed (FDD/MSD)
MD 1602: Maximum motor temperature (FDD/MSD)

Note:
If a valid motor order number cannot be entered in this machine data (e.g. for a motor make
other than Siemens), then all these machine data must be entered manually.
Motor table: MSD motors
Order no.

Rated
speed

Motor
code no.

Order no.

nrated in
rev/min

Rated
speed

Motor
code no.

nrated in
rev/min

1PH6101-4NF4- x

1500

101

1PH6107-4NF4- x

1500

107

1PH6101-4NG4- x

2000

102

1PH6107-4NG4- x

2000

108

1PH6103-4NF4- x

1500

103

1PH6131-4NF4- x

1500

109

1PH6103-4NG4- x

2000

104

1PH6131-4NG4- x

2000

110

1PH6105-4NF4- x

1500

105

1PH6133-4NF0- x

1500

111

1PH6105-4NG4- x

2000

106

1PH6133-4NF4- x

1500

112

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–83

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

08.96

Motor table: MSD motors
Order no.

Rated
speed

Motor
code no.

Order no.

nrated in
rev/min

Rated
speed

Motor
code no.

nrated in
rev/min

1PH6133-4NG4- x

2000

113

1PH6186-4NF4- x

1500

164

1PH6135-4NF0- x

1500

114

1PH6206-4NE4- x

1250

165

1PH6135-4NF4- x

1500

115

1PH6206-4NF4- x

1500

166

1PH6135-4NG4- x

2000

116

1PH6186-4NB9- x

700

167

1PH6137-4NF4- x

1500

117

1PH6226-4NF4- x

1500

168

1PH6137-4NG4- x

2000

118

1PH6133-4NB8- Y

525

200

1PH6138-4NF0- x

1500

119

1PH6133-4NB8- D

1250

201

1PH6138-4NF4- x

1500

120

1PH6137-4NB8- Y

525

202

1PH6138-4NG4- x

2000

121

1PH6137-4NB8- D

1250

203

1PH6161-4NF0- x

1500

122

1PH6163-4NB8- Y

500

204

1PH6161-4NF4- x

1500

123

1PH6163-4NB8- D

1250

205

1PH6161-4NG4- x

2000

124

1PH6167-4NB8- Y

500

206

1PH6163-4NF0- x

1500

125

1PH6167-4NB8- D

1250

207

1PH6163-4NF4- x

1500

126

1PH6186-4NB8- Y

500

208

1PH6163-4NG4- x

2000

127

1PH6186-4NB8- D

1250

209

1PH6167-4NF0- x

1500

128

1PH6206-4NB8- Y

500

210

1PH6167-4NF4- x

1500

129

1PH6206-4NB8- D

1250

211

1PH6167-4NG4- x

2000

130

DMR160.80.6. RIF

200

212

1PH6107-4NC4- x

750

131

DMR160.80.6. RIF

1300

213

1PH6133-4NB4- x

525

132

1PH6226-4NB8- Y

500

214

1PH6137-4NB4- x

525

133

1PH6226-4NB8- D

500

215

1PH6163-4NB4- x

500

134

1PH4103-4NF2- x

1500

300

1PH6167-4NB4- x

500

135

1PH6105-4NF2- x

1500

302

1PH6133-4NG0- x

2000

136

1PH4107-4NF2- x

1500

304

1PH6137-4NF2- x

2000

137

1PH4133-4NF2- x

1500

306

1PH6167-4NG4- x

2000

138

1PH4135-4NF2- x

1500

308

1PH6163-4NZ0- x

950

139

1PH6137-4NF2- x

1500

310

1PH6105-4NZ4- x

3000

140

1PH4138-4NF2- x

1500

312

1PH6131-4NZ0- x

1500

141

1PH4163-4NF2- x

1500

314

1PH6168-4NF0- x

1500

142

1PH4167-4NF2- x

1500

316

1PH6137-4NZ0- x

750

143

1PH4168-4NF2- x

1500

318

1PH6186-4NB4- x

500

160

1PH2093-6WF4

1500

320

1PH6186-4NB4- x

610

161

1PH2095-6WF4

1500

321

1PH2113-6WF4

1500

322

1PH6206-4NB4- x

500

162

1PH6186-4NE4- x

1250

163

7–84

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

Motor table: MSD motors
Order no.

Rated
speed
nrated in
rev/min

Motor
code no.

Order no.

Rated
speed
nrated in
rev/min

Motor
code no.

1PH2115-6WF4

1500

323

1PH7131-xNF4

1500

406

1PH2117-6WF4

1500

324

1PH7133-xND4

1000

408

1PH2118-6WF4

1500

325

1PH7133-xNG4

2000

409

1PH2092-4WG4

2000

326

1PH7137-xND4

1000

411

1PH2096-4WG4

2000

327

1PH7137-xNG4

2000

412

1PH2123-4WF4

1500

328

1PH7163-xND4

1000

414

1PH2127-4WF4

1500

329

1PH7163-xNF4

1500

415

1PH2128-4WF4

1500

330

1PH7167-xNF4

1500

417

1PH2143-4WF4

1500

331

1PH7184-2NEx

1250

418

1PH2147-4WF4

1500

332

1PH7184-2NBx

500

419

1PH2182-6WC4

750

333

1PH7186-2NEx

1250

420

1PH2184-6WP4

600

334

1PH7186-2NBx

500

421

1PH2186-6WB4

500

335

1PH7224-2NFx

1500

422

1PH2188-6WB4

500

336

1PH7224-2NCx

700

423

1PH2254-6WB4

500

337

1PH7184-xNTx

500

424

1PH2256-6WB4

500

338

1PH7186-xNTx

500

425

Non-Siemens motor

099

Motor table: FDD motors

Order no.

Rated
speed

Motor
code no.

Order no.

nrated in
rev/min

Rated
speed

Motor
code no.

nrated in
rev/min

1FT6102-8AB7X-XXXX

1500

1001

1FT6105-XAC7X-XXXX

2000

1109

1FT6105-8AB7X-XXXX

1500

1002

1FT6108-8AC7X-XXXX

2000

1110

1FT6108-8AB7X-XXXX

1500

1003

1FT6132-6AC7X-XXXX

2000

1111

1FT6132-6AB7X-XXXX

1500

1004

1FT6134-6AC7X-XXXX

2000

1112

1FT6134-6AB7X-XXXX

1500

1005

1FT6136-6AC7X-XXXX

2000

1113

1FT6136-6AB7X-XXXX

1500

1006

1FT6105-8SC7X-XXXX

2000

1159

1FT6061-6AC7X-XXXX

2000

1101

1FT6108-8SC7X-XXXX

2000

1160

1FT6062-6AC7X-XXXX

2000

1102

1FT6132-8SC7X-XXXX

2000

1161

1FT6064-6AC7X-XXXX

2000

1103

1FT6134-8SC7X-XXXX

2000

1162

1FT6081-8AC7X-XXXX

2000

1104

1FT6041-4AF7X-XXXX

3000

1201

1FT6082-8AC7X-XXXX

2000

1105

1FT6044-XAF7X-XXXX

3000

1202

1FT6082-8AC7X-XXXX

2000

1105

1FT6061-XAF7X-XXXX

3000

1203

1FT6084-8AC7X-XXXX

2000

1106

1FT6062-XAF7X-XXXX

3000

1204

1FT6086-8AC7X-XXXX

2000

1107

1FT6064-XAF7X-XXXX

3000

1205

1FT6102-XAC7X-XXXX

2000

1108

1FT6081-8AF7X-XXXX

3000

1206

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–85

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

08.96

Motor table: FDD motors

Order no.

Rated
speed

Motor
code no.

Order no.

nrated in
rev/min

Rated
speed

Motor
code no.

nrated in
rev/min

1FT6082-XAF7X-XXXX

3000

1207

1FT6132-6AF7X-XXXX

3000

1212

1FT6084-XAF7X-XXXX

3000

1208

1FT6084-8SF7X-XXXX

3000

1258

1FT6086-XAF7X-XXXX

3000

1209

1FT6086-8SF7X-XXXX

3000

1259

1FT6102-8AF7X-XXXX

3000

1210

1FT6105-8SF7X-XXXX

3000

1261

1FT6105-8AF7X-XXXX

3000

1211

1FT6061-6AH7X-XXXX

4500

1301

1FT6062-6AH7X-XXXX

4500

1302

Order no.

Rated
speed

Motor
code no.

Motor table: FDD motors

Order no.

Rated
speed

Motor
code no.

nrated in
rev/min

nrated in
rev/min

1FT6064-6AH7X-XXXX

4500

1303

1FT6064-6AK7X-XXXX

6000

1407

1FT6081-8AH7X-XXXX

4500

1304

1FT6081-8AK7X-XXXX

6000

1408

1FT6082-8AH7X-XXXX

4500

1305

1FT6082-8AK7X-XXXX

6000

1409

1FT6084-8AH7X-XXXX

4500

1306

1FT6084-8AK7X-XXXX

6000

1410

1FT6086-8AH7X-XXXX

4500

1307

1FT6084-8SK7X-XXXX

6000

1460

1FT6102-8AH7X-XXXX

4500

1308

1FT6086-8SK7X-XXXX

6000

1461

1FT6084-8SH7X-XXXX

4500

1356

1FK6042-6AF7x-XXXX

3000

2201

1FT6086-8SH7X-XXXX

4500

1357

1FK6060-6AF7x-XXXX

3000

2202

1FT6031-6AK7X-XXXX

6000

1401

1FK6063-6AF7x-XXXX

3000

2203

1FT6034-1AK7X-XXXX

6000

1402

1FK6080-6AF7x-XXXX

3000

2204

1FT6041-6AK7X-XXXX

6000

1403

1FK6083-6AF7x-XXXX

3000

2205

1FT6044-6AK7X-XXXX

6000

1404

1FK6100-8AF7x-XXXX

3000

2206

1FT6061-6AK7X-XXXX

6000

1405

1FK6101-8AF7x-XXXX

3000

2207

1FT6062-6AK7X-XXXX

6000

1406

1FK6103-8AF7x-XXXX

3000

2208

1FK6040-6AK7x-XXXX

6000

2402

7–86

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1103

Motor rated current

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

500.0

A

Input of rated current consumption (RMS value) in operation at rated torque and rated speed
as specified on the motor data sheet (non-Siemens motor) or by automatic parameterization
using machine data "Motor code number" (MD 1102).

1104

Maximum motor current

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

500.0

A

Input of maximum permissible motor current (RMS value) as specified on the motor data sheet
(non-Siemens motor) or by automatic parameterization using machine data "Motor code
number" (MD 1102). To ensure reliable monitoring and limitation, the setting in this machine
data should not be reduced (see also MD 1105).

1105

Active
at once

Reduction of maximum motor current

Default value

Lower input limit

Upper input limit

Units

100

0

100

%

Input of reduction factor for the maximum permissible motor current. The maximum motor
current (MD 1104) is the reference value for the specified percentage.
Note:
This machine data is relevant for FDD drives only.

1106

Power section code number

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

When the power section order number (machine-readable product designation for Siemens
power sections) is input during initial start-up, it is converted to a code number as an MMC
function (the user need not enter a code number). The following power section data are
automatically transferred from an internal power section table through the input of the code
number:
•
•
•
•

MD 1107: Transistor limit current, power section
MD 1108: Thermal limit current, power section
MD 1109: Limit current power section S6
MD 1111: Rated current power section

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–87

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

07.97

Format of power section code number:
Value table:
Code

Drive type

Current

PS

6

MSD

24/32/32 A

50 A

7

MSD

30/40/51 A

80 A

8

MSD

45/60/76 A

120 A

9

MSD

60/80/102 A

160 A

A

MSD

85/110/127 A

200 A

B

MSD

120/150/193 A

300 A

C

MSD

200/250/257 A

400 A

D

MSD

45/60/76 A

108 A

11

FDD

3/6 A

8A

12

FDD

5/10 A

15 A

14

FDD

9/18 A

25 A

16

FDD

18/36 A

50 A

17

FDD

28/56 A

80 A

19

FDD

56/112 A

160 A

1A

FDD

70/140 A

200 A

28

FDD

140/210 A

400 A

1107

Comments

as from SW 4.1

Active on
Power On

Transistor limit current, power section

Default value

Lower input limit

Upper input limit

Units

200.0

1.0

500.0

A

Input of maximum permissible current of power section. This machine data is automatically
parameterized for Siemens power sections by the machine data "Power section code"
(MD 1106).
Caution:
This data serves as the basis for normalizing the current actual value sensor and must not be
changed by the user after automatic presetting of its values.

7–88

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1108

Active on
Power On

Thermal limit current, power section

Default value

Lower input limit

Upper input limit

Units

200.0

1.0

500.0

A

Input of maximum thermally permissible current of power section. The input is an RMS value.
This machine data is automatically parameterized for Siemens power sections by the machine
data "Power section code number" (MD 1106). The value entered must correspond to the limit
value specified on the power section rating plate.
Caution:
This data acts as the upper thermal loading limit and must not be changed by the user after
automatic presetting of its values.

1109

Active on
Power On

Limit current power section S6

Default value

Lower input limit

Upper input limit

Units

200.0

1.0

500.0

A

This machine data is used to enter the maximum permissible current of the power section
referred to the S6 duty cycle (intermittent operation). The input is an RMS value. This machine
data is automatically parameterized for Siemens power sections by machine data "Power
section code number" (MD 1106). The value entered must correspond to the S6 current
specified on the rating plate of the appropriate MSD power section.
Caution:
This data must not be changed by the user after automatic presetting of its values.
Note:
This data is relevant only for MSD drives.

1111

Active on
Power On

Rated current power section

Default value

Lower input limit

Upper input limit

Units

200.0

1.0

500.0

A

The maximum permissible power section continuous current is entered in this machine data.
The input is an RMS value. This machine data is automatically parameterized for Siemens
power sections by machine data "Power section code number" (MD 1106). The value entered
must correspond to the rated current specified on the rating plate of the appropriate power
section.
Caution:
This data must not be changed by the user after automatic presetting of its values.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–89

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1112

07.97

Active on
Power On

Number of pole pairs motor

Default value

Lower input limit

Upper input limit

Units

0

0

4

–

Input of number of pole pairs of motor as specified on the motor data sheet (also non-Siemens
motor) or through automatic parameterization using machine data "Motor code number"
(MD 1102). The pole pair number 0 is entered when motor/power section combinations which
have not been enabled are loaded.
Note:
This data is relevant only for FDD drives.
Pole pair number limit
MSD

FDD
Rotating motor

Linear motor

Hall sensor etc.

CD track

Encoder marks
< 2049

a
a
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
aa
a
a
aaaaa
a

Encoder marks
> 2048
4

16

6

64

16

If these limits are exceeded, the drive outputs an error message.

1113

Active on
Power On

Torque constant

Default value

Lower input limit

0.0

0.0

Upper input limit

Units

Nm/A

300.0 (as from SW 6)

Input of torque constant as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102). The torque
constant is the quotient of rated torque : rated current (RMS) for permanent-field synchronous
motors.
Note:
This data is relevant only for FDD drives.

1114

Active on
Power On

Voltage constant

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

300.0

V

Input of voltage constant as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).
The voltage constant is measured as an induced voltage (EMF) under no-load conditions at
n = 1000 rev/min as the RMS value of the motor terminals (line-to-line).
Note:
This data is relevant only for FDD drives.

7–90

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1115

Armature resistance

Default value

Lower input limit

Upper input limit

0.0

0.0

20.0

Active on
Power On
Units

Input of ohmic resistance of the armature winding (phase value) as specified on the motor data
sheet (non-Siemens motor) or automatic parameterization using machine data "Motor code
number" (MD 1102).
Note:
This data is relevant only for FDD drives.

1116

Armature inductance

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

100.0

mH

Input of armature rotating-field inductance as specified on the motor data sheet (non-Siemens
motor) or automatic parameterization using machine data "Motor code number" (MD 1102).
Note:
This data is relevant only for FDD drives.

1117

Active
at once*

Motor moment of inertia

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

32.0 (SW 5 and
higher)

kgm2

Input of motor moment of inertia as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102 - in motors
without a holding brake).
* Active on "Power On" until SW < 6

1118

Motor zero-speed current

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

500.0

A

Input of motor zero-speed current as specified on motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102). The above
machine data corresponds to the thermally permissible continuous current at zero motor speed
with an overtemperature of 100 kelvin.
Note:
This data is relevant only for FDD drives.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–91

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1119

09.95

Active on
Power On

Inductance of series reactor

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

65.0

mH

A series reactor is usually required for stable operation of the current controller on high-speed
special asynchronous motors or low-leakage asynchronous motors. In this way the inductance
of the reactor is taken into account in the current model.
Note:
This machine data only applies to main spindle drives.

1120

Active
at once

P-gain current controller

Default value

Lower input limit

Upper input limit

Units

10.0

0.0

10 000.0

V/A

Input of proportional gain of current controller or automatic parameterization (initialization)
through operator action Calulate controller data.

1121

Active
at once

Integral-action time current controller

Default value

Lower input limit

Upper input limit

Units

2000.0

0.0

8 000.0

µs

Input of control quantity "Integral-action time of current controller" or automatic
parameterization (initialization) through operator action Calulate controller data.
Note:
Integral arm can be disabled by entering the value TN = 0.

1124

Active
at once

Symmetr. ref. model current control loop (up to SW 4)

Default value

Lower input limit

Upper input limit

Units

0.5

0.0

1.0

–

Input of the symmetrizing possibility for the reference model current control loop. This machine
data emulates the calculation deadtime of the current control loop. The emulation is calculated
as approximation of a broken deadtime (see graphic representation MD 1416). This allows the
behaviour of the reference model to be adapted to the controlled system behaviour of the closed P-controlled current control loop.
Caution:
This machine data is only relevant for Siemens-internal purposes and must not be modified.

7–92

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1129

Active on
Power On

cos power factor

Default value

Lower input limit

Upper input limit

0.8

0.0

1.0

Units

cos is required for the calculation of the equivalent circuit diagrams from the data on the
rating plate.
Note:
This machine data only applies to main spindle drives.

1130

Motor rated power

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

1 500.0

kW

Input of motor rated power as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 96).
Note:
This data is relevant only for MSD drives.

1132

Motor rated voltage

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

380.0

0.0

5 000.0

V

Input of motor rated voltage as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).

1134

Motor rated frequency

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

50.0

0.0

3 000.0

Hz

Input of motor rated frequency as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).
Note:
This data is relevant only for MSD drives.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–93

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1135

07.97

Active
at once*

Motor no-load voltage

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

500.0

V

Input of motor no-load voltage as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).
Note:
This data is relevant only for MSD drives.
* Active on "Power On" until SW < 6

1136

Active
at once*

Motor no-load current

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

500.0

A

Input of motor no-load current as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).
Note:
This data is relevant only for MSD drives.
* Active on "Power On" until SW < 6

1137

Active
at once*

Stator resistance cold

Default value

Lower input limit

Upper input limit

0.0

0.0

120.0

Units

Input of stator resistance (cold) as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).
Note:
This data is relevant only for MSD drives.
* Active on "Power On" until SW < 6

1138

Active
at once*

Rotor resistance cold

Default value

Lower input limit

Upper input limit

0.0

0.0

120.0

Units

Input of rotor resistance (cold) as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).
Note:
This data is relevant only for MSD drives.
* Active on "Power On" until SW < 6

7–94

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1139

Stator leakage reactance

Default value

Lower input limit

Upper input limit

0.0

0.0

100.0

Active
at once*
Units

Input of stator leakage reactance as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).
Note:
This data is relevant only for MSD drives.
* Active on "Power On" until SW < 6

1140

Rotor leakage reactance

Default value

Lower input limit

Upper input limit

0.0

0.0

100.0

Active
at once*
Units

Input of rotor leakage reactance as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).
Note:
This data is relevant only for MSD drives.
* Active on "Power On" until SW < 6

1141

Magnetizing reactance

Default value

Lower input limit

Upper input limit

0.0

0.0

1 000.0

Active
at once*
Units

Input of magnetizing reactance as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).
Note:
This data is relevant only for MSD drives.
* Active on "Power On" until SW < 6

1142

Speed at start of field weakening

Active
at once*

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

50 000.0

rev/min

Input of speed at which field weakening starts as specified on the motor data sheet (nonSiemens motor) or automatic parameterization using machine data "Motor code number"
(MD 1102). In the field-weakening range, the magnetizing inductivity Lh increases linearly from
the saturated value at the speed at which field weakening begins to the unsaturated value at
the upper limit speed of the Lh characteristic (see diagram MD 1144).
Note:
This data is relevant only for MSD drives.
* Active on "Power On" until SW < 6

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1143

08.96

Active on
Power On

Upper speed Lh characteristic motor 1

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

50 000.0

rev/min

Input of upper speed limit for the Lh characteristic (magnetizing inductivity Lh) as specified on
the motor data sheet (non-Siemens motor) or automatic parameterization using machine data
"Motor code number" (MD 1102). In the field-weakening range, the magnetizing reactance Xn
increases linearly from the saturated value at the speed at which field weakening begins to the
unsaturated value at the upper limit speed of the Lh characteristic (see diagram MD 1144).
Notes:
•
•

This machine data only applies to main spindle drives.
As from SW 5, this machine data is no longer used.

1144

Active on
Power On

Gain factor Lh-characteristic

Default value

Lower input limit

Upper input limit

Units

0.0

100.0

500.0

%

Input of gain factor (Lh2/Lh1) of the Lh characteristic (magnetizing reactance) as specified on
the motor data sheet (non-Siemens motor) or automatic parameterization using machine data
"Motor code number" (MD 1102). In the field-weakening range, the magnetizing inductivity Lh
increases linearly from the saturated value at the speed at which field weakening begins to the
unsaturated value at the upper limit speed of the Lh characteristic.

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Lh

MD 1144

n

MD 1142

MD 1143

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100 %

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MD 1142

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Rated value Lh1

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Lh2

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Graphic representation:

n

Notes:
•

If the value is unknown, then 100 % should be entered in order to obtain constant
magnetizing reactance over the entire speed range.

•

This data is relevant only for MSD drives.

•

As from SW 5, this machine data is no longer used.

7–96

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1145

Active
at once

Breakdown torque reduction factor

Default value

Lower input limit

Upper input limit

Units

100.0

5.0

1 000.0

%

Input of breakdown torque reduction factor as specified on the motor data sheet. The point at
which the breakdown torque limit is applied can be altered in this machine data.
Settings of higher than 100 % increase the point at which the limit is applied and vice versa
with settings of lower than 100 % (see graphic representation MD 1230).
Note:
This data is relevant only for MSD drives.

1146

Motor maximum speed

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

1 500.0

0.0

50 000.0

rev/min

Input of motor maximum speed as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).

1147

Speed limitation

Active
at once

Default value

Lower input limit

Upper input limit

Units

7 000.0/8 000.0

0.0

50 000.0

rev/min

Input of the maximum permissible speed of the motor or an automatic parameterization
(initialization) is calculated or taken over and performed for this machine data through the
operator action Calculate controller data on the basis of the machine data Motor rated speed
(MD 1400) x 120% for FDD and Motor maximum speed (MD 1146) for MSD. If the speed
actual value is exceeded by more than 2% of the set limit, the motor torque limit is internally
set to 0, i.e. further acceleration is prevented. If the setting is made accordingly, it is possible
for the ”Speed controller at stop” monitoring function to respond (response threshold MD 1606
< MD 1147 and response time MD 1605 short). The default depends on the motor type
(FDD =ˆ 7000, MSD =ˆ 8000) and is configured by the drive configuration by the time of startup.
Note:
Only the minimum from the input value and the value specified according to the motor is
effective.

1148

Speed at breakdown (as from SW 6)

Active
at once

Default value

Lower input limit

Upper input limit

Units

0.0

-100 000.0

100 000.0

rev/min

Speed display at which torque curve drops after 1/n2 function

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1150

07.97

Active
at once

P gain flux controller

Default value

Lower input limit

Upper input limit

Units

400.0

0.0

100 000.0

A/Vs

Input of the proportional gain of the flux controller or automatic paramterization (initialization)
through the operator action Calculate controller data.
Note:
This data is relevant only for MSD drives.

1151

Active
at once

Integral-action time flux controller

Default value

Lower input limit

Upper input limit

Units

10.0

0.0

500.0

ms

Input of the control variable integral-action time flux controller or automatic paramterization by
the operator action Calculate controller data.

1160

Active
at once

Speed for start of flux detection

Default value

Lower input limit

Upper input limit

Units

1 500.0

200.0

50 000.0

rev/min

Above the set speed flux detection is active, below the set speed a flux model is used. The
parameter default is set for "Calculate controller data" and should not be changed.
Note:
This machine data only applies to main spindle drives.

1161

Active
at once

DC link fixed voltage

Default value

Lower input limit

Upper input limit

Units

600
0 (as from SW 6)

0

700

V

By specifying a DC link fixed voltage > 0V DSP internal DC link measurement is deactived
here, i.e. MD 1701 (between loop voltage display) is inactive (display: " ").

*

The given voltage is included instead of the measurement in:
•
•

DC link adaptation
Flux acquisition (MSD)

The permissibility of an activation of the DC link measurement (MD 1161=0) is monitored in
accordance with hardware configuration 5 (error message 300765).
Caution:
It is not possible to activate emergency retractive functions with deactivated DC link
measurement (MD 1161 > 0) (error message 300764).

7–98

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

08.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1190

Active
at once

Evaluation torque limit value

Default value

Lower input limit

Upper input limit

Units

100

0

10 000

Nm

This drive machine data does not have any effects on hardware and software.

1191

Active
at once

Matching factor servo limiting torque

Default value

Lower input limit

Upper input limit

Units

1.0

0.0

100.0

–

From drive software version 1.00 to 2.00, the interface of the torque setpoints has been set
uniformly to 8-times the rated torque since FDD and MSD are grouped together.

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In order to be compatible to earlier MSD software where this is necessary, a matching factor is
inserted into the interface of the torque limiting value. When upgrading the FDD sofware, this
makes it possible to retain the previous standardization and must then be determined as
follows:
MD 1191 =

8x

MD 1107
2 x MD1118

1200

Active
at once

No. current setpoint filters

Default value

Lower input limit

Upper input limit

Units

1

0

4

–

Input of number of current setpoint filters. Band-stop and low-pass filters are available; these
are set via the machine data "Type current setpoint filter" (MD 1201).
Selection of number of filters:
0

No current setpoint filter activated

1

Filter 1 activated

2

Filters 1 and 2 activated

3

Filters 1, 2 and 3 activated

4

Filters 1, 2, 3 and 4 activated

Note:
Before a filter is activated, the filter type and the appropriate filter machine data must be input.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–99

-180
1 Log

7–100
10

180

Blocking frequency

10
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-60.0
1 Log

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100

0.0
dB
-3.0

100

100
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10

500 1k

1k

1k
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500 1k

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100

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180

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-60.0
1 Log
10

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-180
1 Log

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7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)
04.96

Example: Low-pass

Low-passes and band-stops are used in damping resonances above and at the limit of stability
of the speed control loop (see diagrams below).

Specified: Natural frequency 500 Hz with 0.2, 0.5 or 1.0 input
Natural frequency

Phase

Deg

1.0
0.5
0.2

10 kHz

20.0

dB0.0

0.2
0.5
1.0

10 kHz

Example: Band-stop filter

Specified: Blocking frequency 1 kHz with 1 kHz bandwidth 0 Hz bandwidth numerator
(damping)

20.0

Band width

10 kHz

Phase

Deg

10 kHz

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

-180
1

Log

© Siemens AG

SINUMERIK 840C (IA)

10

1992 All Rights Reserved

100

6FC5197- AA50

1k

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aaaaa

1k

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100

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180

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10

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Log

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-60.0
1

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aaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaa

09.95
7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

Specified: Blocking frequency 1 kHz with 500 Hz bandwidth 0 Hz bandwidth numerator
(damping)
20.0

dB0.0

10 kHz

Blocking frequency

Phase

Deg

10 kHz

7–101

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

09.95

aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaa

Specified: Blocking frequency 1 kHz, 500 Hz bandwidth and 250 Hz bandwidth numerator
(damping)

aa
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20.0

100

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10

1k

10 kHz

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Log

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-60.0
1

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dB0.0
-5.0

Blocking frequency

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180

100

1201

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10

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Log

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-180
1

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Deg

1k

10 kHz

Active
at once

Type current setpoint filter

Default value

Lower input limit

Upper input limit

Units

Low-pass

Low-pass

Band-stop

–

Input of configuration of 4 current setpoint filters. Band-stop and low-pass filters are available.
The adjustable filter parameters are entered in the appropriate machine data.
Value table:

1st filter

2nd filter

7–102

0

Low-pass (see MD 1202/1203)

1

Band-stop (see MD 1210/1211/1212)

0

Low-pass (see MD 1204/1205)

1

Band-stop (see MD 1213/1214/1215)

Bit 0

Bit 1

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

3rd filter

4th filter

0

Low-pass (see MD 1206/1207)

1

Band-stop (see MD 1216/1217/1218)

0

Low-pass (see MD 1208/1209)

1

Band-stop (see MD 1219/1220/1221)

Bit 2

Bit 3

Note:
Before the filter type is configured, the appropriate filter machine data must be input.

1202

Active
at once

Natural frequency current setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

2 000.0

0.0

8 000.0

Hz

Input of natural frequency for current setpoint filter 1 (PT2 low-pass). An entry of < 10 Hz as
the natural frequency of the low-pass filter initializes the filter as a proportional element with a
gain of 1 independently of the associated damping. The filter is activated via machine data
MD 1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).
Notes:
•

Current setpoint filter 1 is preset to the current controller sampling time MD 1000 =
125 µs for damping of the encoder torsional natural frequency.

•

For a current controller sampling time of MD 1000 = 62.5 µs, we recommend that the
natural frequency be changed to fo = 3000 Hz to achieve an optimum dynamic response
of the controller.

1203

Active
at once

Damping current setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

0.7

0.05

5.0

–

Input of damping for current setpoint filter 1 (PT2 low-pass). The filter is activated via machine
data MD 1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).
0.7 =ˆ 70%
1 =ˆ 100%
Note:
•

Current setpoint filter 1 is preset to the current controller sampling time MD 1000 =
125 µs for damping of the encoder torsional natural frequency.

1204

Active
at once

Natural frequency current setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

8 000.0

Hz

Input of natural frequency for current setpoint filter 2 (PT2 low-pass). An entry of < 10 Hz as
the natural frequency of the low-pass filter initializes the filter as a proportional element with a
gain of 1 independently of the associated damping. The filter is activated via machine data
MD 1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–103

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1205

09.95

Active
at once

Damping current setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

1.0

0.05

5.0

–

Input of damping for current setpoint filter 2 (PT2 low-pass). The filter is activated via machine
data MD 1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).

1206

Active
at once

Natural frequency current setpoint filter 3

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

8 000.0

Hz

Input of natural frequency for current setpoint filter 3 (PT2 low-pass). An entry of < 10 Hz as
the natural frequency of the low-pass filter initializes the filter as a proportional element with a
gain of 1 independently of the associated damping. The filter is activated via machine data MD
1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).

1207

Active
at once

Damping current setpoint filter 3

Default value

Lower input limit

Upper input limit

Units

1.0

0.05

5.0

–

Input of damping for current setpoint filter 3 (PT2 low-pass). The filter is activated via machine
data MD 1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).

1208

Active
at once

Natural frequency current setpoint filter 4

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

8 000.0

Hz

Input of natural frequency for current setpoint filter 4 (PT2 low-pass). An entry of < 10 Hz as
the natural frequency of the low-pass filter initializes the filter as a proportional element with a
gain of 1 independently of the associated damping. The filter is activated via machine data MD
1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).

7–104

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1209

Active
at once

Damping current setpoint filter 4

Default value

Lower input limit

Upper input limit

Units

1.0

0.05

5.0

–

Input of damping for current setpoint filter 4 (PT2 low-pass). The filter is activated via machine
data MD 1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).

1210

Active
at once

Block frequency current setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

3 500.0

1.0

7 999.0

Hz

Input of block frequency for current setpoint filter 1 (band-stop). When block frequencies of <
10 Hz are input, the filter is deactivated (proportional element with a gain of 1). The filter is
activated via machine data MD 1200 (No. current setpoint filters) and MD 1201 (Type current
setpoint filter).
Note:

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a

The maximum block frequency input value is limited by the sampling frequency of the servo
control (MD 1000) (parameterization error).
1

MD 1210

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2 x Tsampl. I-controller

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a

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= MD 1000 [ s ]

© Siemens AG

6FC5197- AA50

Tsampl. (MD 1000)

62.5 µs
125.0 µs

1992 All Rights Reserved

SINUMERIK 840C (IA)

MD 1210

8000 Hz
4000 Hz

7–105

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1211

09.95

Active
at once

Bandwidth current setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

500.0

5.0

7 999.0

Hz

Input of -3dB bandwidth for current setpoint filter 1 (band-stop). The filter is activated in
machine data MD 1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).
Note:
When 0 is entered for the bandwidth, the filter is parameterized as a proportional element with
a gain of 1.

1212

Active
at once

Numerator bandwidth current setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

7 999.0

Hz

Input of numerator bandwidth for the damped band-stop. When a value of 0 is entered, the
filter is initialized as an undamped band-stop. The filter is activated via machine data MD 1200
(No. setpoint current filters) and MD 1201 (Type current setpoint filter).
Note:
The value entered in MD 1212 (Numerator bandwidth current setpoint filter 1) must not be
higher than twice the value entered in MD 1211 (Bandwidth current setpoint filter 1).

1213

Active
at once

Block frequency current setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

3 500.0

1.0

7 999.0

Hz

Input of block frequency for current setpoint filter 2 (band-stop). When block frequencies
of < 10 Hz are input, the filter is deactivated (proportional element with a gain of 1). The filter
is activated via machine data MD 1200 (No. current setpoint filters) and MD 1201 (Type
current setpoint filter).
Note:

a
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a aaaa
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a a
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a

The maximum block frequency input value is limited by the sampling frequency of the servo
control (MD 1000) (parameterization error).
MD 1213

1

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a

2 x Tsampl. I-controller

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= MD 1000 [ s ]

Tsampl. (MD 1000)

7–106

62.5 µs
125.0 µs

MD 1213

© Siemens AG

8000 Hz
4000 Hz

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1214

Active
at once

Bandwidth current setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

500.0

5.0

7 999.0

Hz

Input of -3dB bandwidth for current setpoint filter 2 (band-stop). The filter is activated in
machine data MD 1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).
Note:
When 0 is entered for the bandwidth, the filter is parameterized as a proportional element with
a gain of 1.

1215

Active
at once

Numerator bandwidth current setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

7 999.0

Hz

Input of numerator bandwidth for the damped band-stop. When a value of 0 is entered, the
filter is initialized as an undamped band-stop. The filter is activated via machine data MD 1200
(No. setpoint current filters) and MD 1201 (Type current setpoint filter).
Note:
The value entered in MD 1215 (Numerator bandwidth current setpoint filter 2) must not be
higher than twice the value entered in MD 1214 (Bandwidth current setpoint filter 2).

1216

Active
at once

Block frequency current setpoint filter 3

Default value

Lower input limit

Upper input limit

Units

3 500.0

1.0

7 999.0

Hz

Input of block frequency for current setpoint filter 3 (band-stop). When block frequencies of <
10 Hz are input, the filter is deactivated (proportional element with a gain of 1). The filter is
activated via machine data MD 1200 (No. current setpoint filters) and MD 1201 (Type current
setpoint filter).
Note:

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The maximum block frequency input value is limited by the sampling frequency of the servo
control (MD 1000) (parameterization error).
1

MD 1216

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2 x Tsampl. I-controller

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= MD 1000 [ s ]

© Siemens AG

6FC5197- AA50

Tsampl. (MD 1000)

62.5 µs
125.0 µs

1992 All Rights Reserved

SINUMERIK 840C (IA)

MD 1216

8000 Hz
4000 Hz

7–107

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1217

09.95

Active
at once

Bandwidth current setpoint filter 3

Default value

Lower input limit

Upper input limit

Units

500.0

5.0

7 999.0

Hz

Input of -3dB bandwidth for current setpoint filter 3 (band-stop). The filter is activated in
machine data MD 1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).
Note:
When 0 is entered for the bandwidth, the filter is parameterized as a proportional element with
a gain of 1.

1218

Active
at once

Numerator bandwidth current setpoint filter 3

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

7 999.0

Hz

Input of numerator bandwidth for the damped band-stop. When a value of 0 is entered, the
filter is initialized as an undamped band-stop. The filter is activated via machine data MD 1200
(No. setpoint current filters) and MD 1201 (Type current setpoint filter).
Note:
The value entered in MD 1218 (Numerator bandwidth current setpoint filter 3) must not be
higher than twice the value entered in MD 1217 (Bandwidth current setpoint filter 3).

1219

Active
at once

Block frequency current setpoint filter 4

Default value

Lower input limit

Upper input limit

Units

3 500.0

1.0

7 999.0

Hz

Input of block frequency for current setpoint filter 4 (band-stop). When block frequencies of
< 10 Hz are input, the filter is deactivated (proportional element with a gain of 1). The filter is
activated via machine data MD 1200 (No. current setpoint filters) and MD 1201 (Type current
setpoint filter).
Note:

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The maximum block frequency input value is limited by the sampling frequency of the servo
control (MD 1000) (parameterization error).
MD 1219

1

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2 x Tsampl. I-controller

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= MD 1000 [ s ]

Tsampl. (MD 1000)

7–108

62.5 µs
125.0 µs

MD 1219

© Siemens AG

8000 Hz
4000 Hz

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1220

Active
at once

Bandwidth current setpoint filter 4

Default value

Lower input limit

Upper input limit

Units

500.0

5.0

7 999.0

Hz

Input of -3dB bandwidth for current setpoint filter 4 (band-stop). The filter is activated in
machine data MD 1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).
Note:
When 0 is entered for the bandwidth, the filter is parameterized as a proportional element with
a gain of 1.

1221

Active
at once

Numerator bandwidth current setpoint filter 4

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

7 999.0

Hz

Input of numerator bandwidth for the damped band-stop. When a value of 0 is entered, the
filter is initialized as an undamped band-stop. The filter is activated via machine data MD 1200
(No. setpoint current filters) and MD 1201 (Type current setpoint filter).
Note:
The value entered in MD 1221 (numerator bandwidth current setpoint filter 4) must not be
higher than twice the value entered in MD 1220 (Bandwidth current setpoint filter 4).

1230

Active
at once

1st torque limiting value

Default value

Lower input limit

Upper input limit

Units

100.0

5.0

900.0

%

Input of maximum permissible torque referred to the normalized torque of the motor. Since the
power and breakdown torque limitations (MD 1235, MD 1236, MD 1145) are active in the
upper speed range, this machine data is significant only in the lower speed range. The default
value is set such that the acceleration torque is active up to rated speed for feed drives and
the rated torque up to rated speed for main spindle drives; the power and breakdown torque
limitations are then effective from rated speed onwards for both drive types.
The default setting for main spindle drives is 100 %; the default setting for feed drives is
implemented by means of "Calculate controller data" which determines the value by means
of the following formula:
FDD: MD X230 =

MD 1104
–––––––––– x 100%
MD 1118

Since the current limit (MSD - MD 1238, FDD - MD 1104) also limits the maximum torque
which can be specified, an increase in the torque limit may, in some cases, only result in a
higher torque if the current limit can also be raised.
The following applies particularly to feed drives: In order to achieve significantly shorter rampup times to maximum speed, the power and current limits must also be raised.
Caution:
Overloading of the motor for long periods may lead to an inadmissibly high temperature rise
(shutdown on motor overtemperature) and even cause irreparable damage to the motor.
Corresponding machine data are MD 1104, MD 1145 and MD 1231 to MD 1239.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–109

7–110
Constant
torque range

1231

1232
MD 1235

Additional limitation
through MD 1237 in
generator operation

© Siemens AG
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Additional limitation through
MD 1239 in set-up mode

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Reduction factor MD 1231
with selection of
2nd torque limit

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1/n

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Power
limitation

Reduction factor MD 1236
with selection of 2nd power
limit

Constant power range

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aaaaaaaaaa

Resultant
torque limit
value

Speed

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a

aaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaa

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)
07.97

Breakdown
torque limitation

MD 1145

Torque limitation

MD 1230

1/n2

Reduction factor MD 1223 in
generator operation

Power limitation

Breakdown torque
limitation

2nd torque limiting value
Active
at once

Default value
Lower input limit
Upper input limit
Units

100.0
5.0
100.0
%

The 2nd torque limit value entered in MD 1231 acts as a reduction factor referred to the 1st
torque limit value (MD 1230). It becomes active only if the 2nd torque limit value is selected
via the PLC control word and the motor speed exceeds the value set in MD 1232 with
hysteresis (MD 1234).

Switching speed from MD 1230 to MD 1231
Active
at once

Default value

Lower input limit

Upper input limit

Units

6 000.0

0.0

50 000.0

rev/min

Input of speed above which switchover from the 1st torque limit to the 2nd torque limit (MD
1231) can take place. A settable hysteresis (MD 1234) is applied during switchover. The 2nd
torque limit value is activated only if the motor speed exceeds the speed threshold with
hysteresis and if the 2nd torque limit value has been selected via the PLC control word.

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1233

Active
at once

Generative limitation

Default value

Lower input limit

Upper input limit

Units

100.0

5.0

100.0

%

Input of torque limit for braking operation (generator-mode torque limit). This input value is
referred to the maximum motor-mode torque. If the 2nd torque limit is active, then the
reference value is derived from machine data MD 1230 and MD 1231. It is otherwise based on
machine data MD 1230 (1st torque limiting value).

1234

Active
at once

Hysteresis P: 1232

Default value

Lower input limit

Upper input limit

Units

50.0

5.0

1 000.0

rev/min

Input of hysteresis for switchover speed set in machine data 1232 (Switching speed Md1 to
Md2).

1235

Active
at once

1st power limit value

Default value

Lower input limit

Upper input limit

Units

100.0

5.0

900.0

%

Input of maximum permissible output referred to normalizing motor power. In the case of feed
drives, the default values for this machine data are automatically set through a new start-up
process or by executing Calculate controller data. The default values for machine data 1235
are calculated from the following formula:
FDD: MD X235 =

MD 1104
–––––––––– x 100%
MD 1118

100 % is entered as the default setting for MSD. The default settings are such that the output
is limited to the rated value at speeds above rated speed; in the case of feed drives, the
following formula is applied above rated speed:
Motor speed
–––––––––––––– x acceleration torque = constant
Rated speed
The following applies in particular to main spindle drives: If the speed at which field weakening
commences is higher than the rated value, it is possible to shorten the ramp-up times and
increase the power yield simply by raising the power limit (with unaltered current limit). Since
the current limit (MD 1238) can also limit the maximum torque which can be specified, a
further increase in the power limit may, in some cases, only result in a higher torque if the
current limit can also be raised.
Caution:
Overloading of the motor for long periods may lead to an inadmissibly high temperature rise
(shutdown on motor overtemperature) and even cause irreparable damage to the motor.
Corresponding machine data are MD 1104, MD 1145 and MD 1231 to MD 1239.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–111

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1236

07.97

Active
at once

2nd power limit value

Default value

Lower input limit

Upper input limit

Units

100.0

5.0

100.0

%

The 2nd power limit value entered in MD 1236 acts as a reduction factor referred to the 1st
power limit value (MD 1235). It becomes active only if the 2nd torque limit value is selected via
the PLC control word and the motor speed exceeds the value set in MD 1232 (Switching
speed from Md1 to Md2) with hysteresis (MD 1234).

1237

Active
at once

Generative maximum output

Default value

Lower input limit

Upper input limit

Units

100.0

0.3
0.1 (as from SW 6)

500.0

kW

Input of generative maximum output. This machine data allows the regenerative energy fed
back via the infeed/regenerative feedback module to be limited. If an uncontrolled infeed/
regenerative feedback module is used, it is particularly important to set this machine data to an
appropriately low value.

1238

Active
at once

Current limit value

Default value

Lower input limit

Upper input limit

Units

150.0

0.0

400.0

%

Input of maximum permissible motor current referred to the motor rated current. In order to
shorten the ramp-up times, it may be advisable to set the current limit to values higher than
100 % and to increase the power and torque limits (MD 1230, MD 1239) at the same time.
Note:
This machine data is relevant only for main spindle drives.
Caution:
Overloading of the motor for long periods may lead to an inadmissibly high temperature rise
(shutdown on motor overtemperature) and even cause irreparable damage to the motor.

1239

Active
at once

Torque limit setup mode

Default value

Lower input limit

Upper input limit

Units

1.0

0.5

100.0

%

Input of torque limit value in set-up mode referred to the motor rated torque. Machine data
1239 is not active in normal operation. In set-up mode, the torque limit applied is based on the
minimum value calculated from the limits for normal operation and the value set in this
machine data (see diagram for MD 1230). Set-up mode is selected by means of terminal 112
on the infeed/regenerative feedback module.

7–112

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1245

Active
at once

Threshold speed-dependent torque setpoint smoothing

Default value

Lower input value

Upper input value

Units

0.0

0.0

50 000.0

rev/min

Input of speed value above which the torque setpoint smoothing function selected in machine
data "Type current setpoint filter" (MD 1201) with the 2nd filter (low-pass/band-stop) is
activated. The user can apply this speed-dependent torque setpoint smoothing function to
reduce the speed ripple at high speeds (main spindle drives).
If 0 is entered as the threshold value, then the filter remains active as a low-pass filter over the
entire speed range. When other values are entered, two switchover speeds are calculated
from machine data MD 1245 (Threshold speed-dependent torque setpoint smoothing) and MD
1246 (Hysteresis speed-dependent torque setpoint smoothing).
nupper =

nthreshold +

nhysteresis

nlower

nthreshold –

nhysteresis

=

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Low-pass

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(2nd current setpoint filter)

2nd filter
inactive

2nd filter
inactive

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Filter type

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Graphic representation:

2nd filter inactive

Speed n

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nthreshold + nhysteresis
MD X246

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nthreshold

MD X245

nthreshold - nhysteresis

t

Functionality: The switchover from "Feedthrough" to "Low-pass" takes place when the
absolute value of the actual speed exceeds the value nupper (InactI nupper) and vice versa
from "Low-pass" to "Feedthrough" when the absolute value of the actual speed drops below
the value nlower (InactI< nlower). If the value 0 is entered for the hysteresis, then the two
switchover speeds are identical.

1246

Hysteresis speed-dependent torque setpoint smoothing

Active
at once

Default value

Lower input value

Upper input value

Units

50.0

0.0

1 000.0

rev/min

Input of hysteresis for the cut-in speed set in machine data "Threshold speed-dependent
torque setpoint smoothing" (MD 1245).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–113

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1250

07.97

Active
at once

Corner freq. curr. act. val. smooth.

Default value

Lower input value

Upper input value

Units

100.0

0.0

8 000.0

Hz

Input of -3dB corner frequency fo of cross-current actual value smoothing function (PT1 lowpass) for display purposes. Time constant T1 of the PT1 filter is calculated from the formula
T1 = 1/(2 fo). The cross-current actual value is displayed in machine data "Smoothed current
actual value" (MD 1708). The smoothed cross-current actual value is likewise transferred to
the PLC data channel. This machine data has no effect on the control.
Note:
The filter is deactivated if values of < 1 Hz are entered.

1251

Active
at once

Time constant motor load (as from SW 6)

Default value

Lower input value

Upper input value

Units

0.0

0.0

1 000.0

ms

The set time constant is used to smooth the motor load signal (MD 1722) in order to obtain a
steadier display.

1252

Active
at once

Corner freq. torque setp. smoothing

Default value

Lower input value

Upper input value

Units

100.0

0.0

8 000.0

Hz

Input of -3dB corner frequency fo of torque setpoint smoothing function (PT1 low-pass) for
display purposes. Time constant T1 of the PT1 filter is calculated from the formula T1 =
1/(2 fo). The smoothed value is transferred to the PLC data channel. This machine data has
no effect on the control.
Note:
The filter is deactivated if values of < 1 Hz are entered.

1254

Active
at once

Time constant current monitoring

Default value

Lower input value

Upper input value

Units

0.5

0.0

2.0

ms

Smoothing of current space vector for its monitoring (error 300501). Smoothing is used to
prevent unauthorized triggering of the monitoring when the current suddenly changes because
of the application, e.g. low-inductance, high-speed asynchronous motors.

7–114

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1400

Motor rated speed

Default value

Active on
Power On

Lower input value

Upper input value

Units

0.0

25 000.0
50 000.0 (as from
SW 6)

rev/min

1 450.0

Input of motor rated speed as specified on the motor data sheet (non-Siemens motor) or
automatic parameterization using machine data "Motor code number" (MD 1102).

1401

Max. motor operational speed

Active on
Power On

Default value

Lower input value

Upper input value

Units

0.0

0.0

50 000.0

rev/min

Machine data MD 1401 defines the maximum operational speed of the motor. It is used as a
reference value for the speed setpoint interface and for the machine data "Monitoring speed
motor" (MD 1405). The default values are calculated by means of Calculate controller data
for feed drives on the basis of the motor rated speed according to the motor data sheet and on
the basis of the maximum speed for main spindle drives.
Note:
The velocity of a feed axis is matched with NC MD 2560 (maximum axis velocity). The motor
speed which corresponds to this maximum value must be entered in drive-MD 1401.
Allowance is made for the spindle pitch plus any existing gear ratios, etc. in the relationship
between NC MD 2560 and drive MD 1401.

1403

Creep speed pulse suppression

Active
at once

Default value

Lower input value

Upper input value

Units

0.0/2.0

0.0

7 200.0

rev/min

Input of creep speed for pulse suppression. If the absolute speed actual value drops below the
specified speed limit, e.g. owing to cancellation of the controller enabling command, in the
course of a creep operation, the pulses are suppressed by a software function and the drive
shut down until it is re-enabled by SERVO. If the controller enabling command has been
cancelled before the time set in machine data "Timer pulse suppression" (MD 1404) has
elapsed, the pulses are suppressed even if the speed has not dropped below the threshold
value. The default setting is dependent on the motor type (FDD=0,
ˆ MSD=2)
ˆ and is
parameterized by the drive configuration during start-up. The default value 0 means that the
machine data is deactivated; pulse suppression is then implemented solely via the machine
data "Timer pulse suppression" (MD 1404).
The functionality of this machine data is required if overshoot must be prevented when zero
speed is reached after cancellation of the controller enabling command.
Note:
Under normal circumstances, shutdown is implemented sequentially on the drive and servo
sides with variously adjustable timers (NC MD 156, NC MD 12240) and, in the event of a fault,
only on the drive side with timer MD 1404.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–115

09.95

aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaaaaaa
aaaaaaaa

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

n

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Case 1

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Controller enable

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MD 1403 = 0

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t

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I

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n

Motor coasts out

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Case 2

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MD 1403 = X

t

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1404

Active
at once

Timer pulse suppression

Default value

Lower input value

Upper input value

Units

100.0/5 000.0

0.0

100 000.0

ms

Input of timer for pulse suppression by drive. In the event of a fault (in generator braking mode
or with controller disabled), the control pulses for the power section transistors are suppressed
on the drive side after expiry of the time set in the adjustable timer. The pulses are
suppressed beforehand if the speed drops below the threshold set in machine data "Creep
speed pulse suppression" (MD 1403) before the timer expires. Monitoring takes place
sequentially on the drive and servo sides with variously adjustable timers. The default setting is
dependent on the motor type (FDD=100,
ˆ
MSD=5000)
ˆ
and is parameterized by the drive
configuration during start-up.
Note:
Under normal circumstances, shutdown is implemented sequentially on the drive and servo
sides, with variously adjustable timers (NC MD 156, NC MD 12240) and, in the event of a
fault, only on the drive side with timer MD 1404.

7–116

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1405

Active
at once

Monitoring speed motor

Default value

Lower input value

Upper input value

Units

110.0/100.0

100.0

110.0

%

Input as percentage of maximum permissible speed setpoint as limit value for speed setpoint
monitoring. Machine data "Speed for max. motor operational speed" (MD 1401) acts as the
reference value. A message is output when the monitoring speed is exceeded. The default
setting is dependent on the motor type (FDD=110,
ˆ
MSD=100)
ˆ
and is parameterized either by
means of Calculate controller data or by the drive configuration during start-up.
Note:
As from SW 6:
In addition to MD 1405, the speed limit parameterized in MD 1147 is also used for limiting the
speed setpoint value for MSD.
The speed setpoint limit (Nsetmax) can then be defined as follows:
Nmax1=1.02 (minimum of MD 1146, MD 1147)
Nmax2=MD 1401 x MD 1405
Nsetmax=Minimum of Nmax1, Nmax2

1406

Active on
Power On

Speed controller type

Default value

Lower input value

Upper input value

Units

1

1

1

–

Input of speed controller type (PI controller) with speed setpoint smoothing (PI) or with
reference model (PIR). Variant 1 can be parameterized by setting the appropriate filter
machine data via a control structure.
Caution:
This machine data is relevant only for Siemens internal procedures.

1407

P-gain speed controller

Active
at once

Default value

Lower input value

Upper input value

Units

0.3

0.0

100 000.0

Nm/s-1

Input of P-gain of the speed control loop in the lower speed range (n < lower speed threshold
in MD 1411) or automatic parameterization (initialization) via operation ”Calculate controller
data” for MSD. The P-gain values in the lower speed range (MD 1407) and the upper speed
range (MD 1408) are not subject to any mutual restrictions. See machine data "Adaptation
lower speed threshold" (MD 1411) for diagram.
Notes:
•

Before the P-gain is set to 0, the associated integral-action component (MD 1409) must be
deactivated to maintain controller stability.

•

MD 1407 is active over the entire speed range when the "Speed controller adaptation" is
deactivated (MD 1413 = 0).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–117

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1408

07.97

Active
at once

P-gain upper adaptation speed

Default value

Lower input value

Upper input value

Units

0.3

0.0

100 000.0

Nm/s-1

Input of P-gain of the speed control loop in the upper speed range (n > upper speed threshold
in MD 1412) or automatic parameterization (initialization) via operation ”Calculate controller
data” for MSD. The P-gain values in the lower speed range (MD 1407) and the upper speed
range (MD 1408) are not subject to any mutual restrictions. See machine data "Adaptation
lower speed threshold" (MD 1411) for diagram.
Notes:
•

Before the P-gain is set to 0, the associated integral-action component (MD 1410) must be
deactivated to maintain controller stability.

•

MD 1408 is not active when the "Speed controller adaptation" is deactivated
(MD 1413 = 0).

1409

Active
at once

Integral-action time speed controller

Default value

Lower input value

Upper input value

Units

10.0

0.0

500.0

ms

Input of integral-action time of speed control loop in the lower speed range (N < lower speed
threshold MD 1411) or automatic parameterization (initialization) via operation ”Calculate
controller data” for MSD. The integral-action times in the lower speed range (MD 1409) and
the upper speed range (MD 1410) are not subject to any mutual restrictions. See machine
data "Adaptation lower speed threshold" (MD 1411) for diagram.
Notes:
•

Setting the integral-action time to zero deactivates the appropriate speed range
(suppression of integral gain and integrator contents torque step changes cannot be
precluded - see also Note in MD 1410).

•

MD 1409 is active over the entire speed range when the "Speed controller adaptation" is
deactivated (MD 1413 = 0).

Caution:
When the adaptation function is active, deactivation of the I-action component for only one
speed range (MD 1409 = 0 and MD 1410 0 or vice versa) should be avoided (to prevent
problem of torque step changes through resetting of the integral value on transition from
adaptation to constant range).

1410

Active
at once

Integral-action time upper adaptation speed

Default value

Lower input value

Upper input value

Units

10.0

0.0

500.0

ms

Input of reset time of speed control loop in upper speed range (N > upper speed threshold
MD 1412) or automatic parameterization (initialization) via operation ”Calculate controller
data” for MSD. The reset times in the lower speed range (MD 1409) and the upper speed
range (MD 1410) are not subject to any mutual restrictions. See machine data "Adaptation
lower speed threshold" (MD 1411) for diagram.

7–118

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

Notes:
•

Setting the reset time to zero deactivates the I-action component for the range which is
greater than the machine data "Adaptation upper speed threshold (MD 1412) (see also
Note in MD 1409).

•

MD 1410 is not active when the "Speed controller adaptation" is deactivated
(MD 1413 = 0).

Caution:
When the adaptation function is active, deactivation of the I-action component for only one
speed range (MD 1409 = 0 and MD 1410 0 or vice versa) should be avoided (to prevent
problem of torque step changes through resetting of the integral value on transition from
adaptation to constant range).

1411

Active
at once

Lower adaptation speed

Default value

Lower input value

Upper input value

Units

0.0

0.0

50 000.0

rev/min

Input of lower speed threshold for adaptation of the speed controller machine data or automatic
parameterization (initialization) via operation ”Calculate controller data” for MSD. When the
adaptation function is active, the control machine data MD 1407 and MD 1409 are applied at
speeds n < MD 1411. In the adaptation range MD 1411 < n < MD 1412, linear interpolation
takes place between the two control machine data sets.
Graphic representation:

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Adaptation of speed controller machine data by means of characteristic

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KP, TN

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MD 1410

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Lower speed
range with
constant P gain/
integral-action
time

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Adaptation
range

KP

MD 1408

MD 1409

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MD 1407

TN

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Upper speed
range with
constant P gain/
integral-action
time

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n

MD 1411

1412

MD 1412

MD 1401

Upper adaptation speed

Active
at once

Default value

Lower input value

Upper input value

Units

0.0

0.0

50 000.0

rev/min

Input of upper speed threshold for adaptation of the speed controller machine data or
automatic parameterization (initialization) via operation ”Calculate controller data” for MSD.
When the adaptation function is active, the control machine data MD 1408 and MD 1410 are
applied at speeds n > MD 1412. In the medium range MD 1411 < n < MD 1412, linear
interpolation takes place between the two control machine data sets. See machine data
"Adaptation lower speed threshold" (MD 1411) for diagram.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–119

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1413

09.95

Active
at once

Selection adaptation speed controller

Default value

Lower input value

Upper input value

Units

0

0

1

–

This machine data allows adaptation of the speed controller machine data to be controlled as a
function of speed.
Input 0:

The adaptation function is not active. The settings in control machine data
MD 1407 and MD 1409 are applicable over the entire speed range. Control
machine data MD 1408 and MD 1410 are not taken into account.

Input 1:

The adaptation function is active. See machine data MD 1411 and MD 1412 for
description.

Note:
The adaptation function is automatically activated by the Calculate controller data operation
for main spindle drives.

1414

Active
at once

Natural frequency reference model speed

Default value

Lower input value

Upper input value

Units

0.0

0.0

8 000.0

Hz

Input of natural frequency for the "Speed control loop" reference model. The filter is
deactivated if a value of < 10 Hz is entered (proportional element with a gain of 1).
Note:
Machine data MD 1414, MD 1415 and MD 1416 must be set in each case to the same value
for interpolating axes.

7–120

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1415

Active
at once

Damping reference model speed control loop

Default value

Lower input value

Upper input value

Units

1.0

0.5

5.0

–

Input of damping for the "Speed control loop" reference model. This is a reference model
(PT2) for the speed control loop with a controller of the PIR type. The higher the input value,
the stronger the damping effect.
Note:
Machine data MD 1414, MD 1415 and MD 1416 must be set in each case to the same value
for interpolating axes.

1416

Active
at once

Symmetrization reference model speed

Default value

Lower input value

Upper input value

Units

0.0

0.0

1.0

–

Input of symmetrization for the "Speed control loop" reference model. This machine data
simulates the calculation dead time of the speed control loop. The simulation is in this case
calculated as an approximation of an interrupted dead time. The response of the reference
model can in this way be matched to the controlled system response of the closed, Pcontrolled speed control loop.

1417

Message nx for nact < nx

Active
at once

Default value

Lower input limit

Upper input limit

Units

6 000.0

0.0

50 000.0

rev/min

Input of threshold speed for monitoring purposes; if the actual speed value does not reach the
set threshold speed in terms of absolute value, a message is transferred to the SERVO.

1418

Message nmin for nact < nmin

Active
at once

Default value

Lower input limit

Upper input limit

Units

5.0

0.0

25 000.0
50 000.0 (as from
SW 6)

rev/min

Input of threshold speed for monitoring purposes; if the actual speed value does not reach the
set threshold speed in terms of absolute value, a message is transferred to the SERVO.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–121

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1420

04.96

Active
at once

Maximum motor speed set-up mode

Default value

Lower input limit

Upper input limit

Units

30.0

0.0

50 000.0

rev/min

Input of maximum motor speed for set-up mode. During set-up, the absolute speed setpoint
value is limited to the value specified above. If the speed setpoint is limited to the value set in
MD 1420, a message is also output.

1421

Active
at once

Time constant integrator feedback

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

1 000.0

ms

The speed controller loop integrator is reduced via a weighted feedback to a low-pass
response of the 1st order with the configured time constant.
Effect:
The speed controller integrator output is limited to a value which is proportional to the setpointactual value difference (steady-state proportional operating characteristic).
Applications:
•

Machining motions with zero position setpoint and dominant static friction can be
suppressed (at the cost of a permanent position setpoint/actual value difference).

•

Prevention of strain on rigidly coupled axes or spindles (synchronous spindle).

•

Prevention of overshooting during positioning.

Note:
The integrator feedback is activated when MD 1421 is set to 1.0.

1424

Active
at once

Symmetr. speed feedfwd ctrl channel

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

50 000.0

µs

Input of time constant of the 1st-order balancing filter in the speed feedforward control channel
of the speed/torque feedforward control. The setpoint response of the closed current conrol
loop can be adjusted by entering an appropriate time value in MD 1424, resulting in
symmetrization of the higher-level speed control loop. Allowance is automatically made for the
time constants of the active current setpoint filters (low-pass filters only) when the balancing
filter is initialized.
Note:
When the value 0 is entered, the filter is only deactivated (proportional element with gain factor
1) if no low passes are currently active as the current setpoint filter.

7–122

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1425

Active
at once

Symmetr.calc.deadtime I-controller

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

1.0

–

Selection of a filter in the speed feedforward control channel to simulate the calculation dead
time of the current control loop. Effective only when the speed/torque feedforward control
function is active.
MD 1004, bit 0.
Machine data MD 1425 (input: Calculation dead time referred to speed controller cycle) allows
the setpoint response in the speed feedforward control channel of the speed controller to be
adapted to the controlled system performance of the closed speed control loop, thus ensuring
symmetrization of the higher-level speed control loop.

1426

Active
at once

Tolerance band for nset = nact signal

Default value

Lower input limit

Upper input limit

Units

20.0

0.0

10 000.0

rev/min

Input of threshold value for the tolerance band of PLC status signals "nact = nmin" and
"Power-up procedure completed". The signal "nset = nact" is activated if the actual speed
value enters the tolerance band set around the speed setpoint and remains there for a period
corresponding to the delay time set in MD 1427. The signal is deactivated as soon as the
actual speed leaves the tolerance band. The delay time is applied only if the ramp-function
generator executes the edge change active passive.
The "Power-up procedure completed" signal is activated at the same time as the "nset = nact"
signal; however, it is locked in the active state until the next setpoint change, even if the actual
speed value leaves the tolerance band. The "Power-up procedure completed" signal is
deactivated immediately if the setpoint changes.
Functionality in as from SW 6
As long as the control signals that the speed setpoint is being adjusted, the tolerance band is
”frozen” at the last setpoint value. The signal is cleared when the setpoint leaves the tolerance
band. It therefore does not drop out when the setpoint jumps within a tolerance range.
See also ramp-up measurement, MD 1723: ACTUAL_RAMP_TIME

1427

Active
at once

Delay time nset = nact signal

Default value

Lower input limit

Upper input limit

Units

200.0

0.0

500.0

ms

Input of delay time for response of nset = nact signal depending on tolerance band
(MD 1426).

1428

Active
at once

Threshold torque Mdx

Default value

Lower input limit

Upper input limit

Units

90.0

0.0

100.0

%

Input of setting value (specified as percentage) for machine data "Threshold torque". This
machine data defines the torque limit value at which the message "Md < Mdx" is deactivated.
The input value is referred to the presently valid torque limit value. Analogously to this value,
the maximum permissible torque is dependent on the working point above the rated speed
value in the constant power (field weakening) range, thus resulting in a threshold torque curve
which drops in relation to the 1/n function or from the breakdown torque 1/n2.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–123

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

08.96

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M

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Torque threshold characteristic for the message Md < Mdx.
Plimit

Mbreakd.

Presently valid
torque limit value

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1/n

Mlimit

Power limitation

Threshold
torque

1/n2

n

The "Md < Mdx" message is locked in the active state as long as the "Power-up procedure
competed" message is not active. If the latter message is active, then the delay time set in
MD 1429 must also elapse before the "Md < Mdx" message is deactivated.

1429

Active
at once

Delay time Md < Mdx message

Default value

Lower input limit

Upper input limit

Units

800.0

0.0

1 000.0

ms

Input of delay time which must elapse before the "Md < Mdx" message can be deactivated
after the "Power-up procedure completed" message. The "Md < Mdx" message remains
locked in the active position as long as "Power-up procedure completed" is not active or the
delay time has not yet elapsed.

1500

Active
at once

Number of speed setpoint filters

Default value

Lower input limit

Upper input limit

Units

0

0

2

–

Input to specify number of speed setpoint filters. A selection of band-stop and low-pass filters
(PT2/PT1) are available which can be set via machine data MD 1501 "Type of speed setpoint
filter".
Selection of number of filters:
0
1
2

7–124

No speed setpoint filter active
Filter 1 active
Filters 1 and 2 active

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

Relation between control word (MD 11004) and control word (MD 11002).
MD 1500

Status

MD 1500 > 0

MD 1500 > 0

MD 1500=0

Type of 1st filter

-

Low-pass
(MD 1501.0 = 0)

Band-stop
(MD 1501.0 = 1)

Inactive
(MD 1501.0 = 0 or 1)

Control word
MD 11004, bit 11

1

Status word
MD 11002, bit 11 = 1

Status word
MD 11002, bit 11 = 1

Status word
MD 11002, bit 11 = 1

Control word

0

MD 11004, bit 11

Status word

Status word*

MD 11002, bit 11 = 0

MD 11002, bit 11 = 1

Status word
MD 11002, bit 11 = 1

•

The 1st speed setpoint filter can be switched on/off via the control word (MD 11004, bit
11) only, if it is parameterized as low-pass (MD 1501, bit 0=0). It is not possible, if it has
been parameterized as band-stop (MD 1501, bit 0=1).

•

The status word (MD 11002, bit 11) indicates the active/inactive state of the 1st speed
setpoint filter only, if the filter is parameterized and selected as low-pass and is active
(MD 1550>0, MD 1501, bit 0=0).

1501

Type speed setpoint filter

Active
at once

Default value

Lower input limit

Upper input limit

Units

0000

0000

0303

Hex

Input of configuration of 2 speed setpoint filters. A selection of band-stop and low-pass filters
(PT2/PT1) are available. The adjustable filter parameters are entered in the appropriate
machine data.
Applications:
•

•

The set speed filter type "band-stop filter" is used to dampen axis-specific resonant
frequencies in the position control loop.
Depending on the requirement, the function "band-stop filter" can be set in three
configurations:
- Simple band-stop filter, MD 1514/MD 1517 and MD 1515/MD 1518
- Band-stop filter with settable damping of the amplitude response, other relevant
machine data MD 1516/MD 1519
- Band-stop filter with settable damping of the amplitude response and raising or
lowering of the amplitude response after the blocking frequency, other relevant
machine data MD 1520/MD 1521.
Interpolation with speed setpoint stairs - the speed setpoints are output in the position
controller cycle which can be set to a much greater value than the speed controller cycle
(low-pass).
1st filter Bit 0
Low-pass/band-stop
2nd filter Bit 1

PT2/PT1 with lowpass

1st filter Bit 8
2nd filter Bit 9

0

Low-pass (see MD 1502/1506/1507)

1
0
1

Band-stop (see MD 1514/1515/1516/1520)
Low-pass (see MD 1502/1508/1509)
Band-stop (see MD 1517/1518/1519/1521)

0
1
0
1

PT2 low-pass (see MD 1506/1507)
PT1 low-pass (see MD 1502)
PT2 low-pass (see MD 1508/1509)
PT1 low-pass (see MD 1503)

* Band-stop cannot be deactivated via control word

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–125

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

09.95

Note:
Before the filter type is configured, the appropriate filter machine data must be input.

1502

Active
at once

Time constant speed setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

500.0

ms

Input of time constant for speed setpoint filter 1 (PT1 low-pass). The filter is deactivated when
the data is set to zero.

1503

Active
at once

Time constant speed setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

500.0

ms

Input of time constant for speed setpoint filter 2 (PT1 low-pass). The filter is deactivated when
the data is set to zero.

1506

Active
at once

Natural frequency speed setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

2 000.0

10.0

8 000.0

Hz

Input of natural frequency for speed setpoint filter 1 (PT2 low-pass). An entry of < 10 Hz as
the natural frequency of the low-pass filter initializes the filter as a proportional element with a
gain of 1 independently of the associated damping. The filter is activated via machine data MD
1500 (No. speed setpoint filters) and MD 1501 (Type speed setpoint filter).
Note:
With interpolating axes, the speed setpoint filter must always be parameterized immediately.

7–126

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1507

Active
at once

Damping speed setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

0.7

0.2

5.0

–

Input of damping for current setpoint filter 1 (PT2 low-pass). The filter is activated via machine
data MD 1200 (No. current setpoint filters) and MD 1201 (Type current setpoint filter).
Note:
•

With interpolating axes, the speed setpoint filter must always be parameterized
immediately.

1508

Active
at once

Natural frequency speed setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

2 000.0

10.0

8 000.0

Hz

Input of natural frequency for speed setpoint filter 2 (PT2 low-pass). An entry of < 10 Hz as
the natural frequency of the low-pass filter initializes the filter as a proportional element with a
gain of 1 independently of the associated damping. The filter is activated via machine data
MD 1500 (No. speed setpoint filters) and MD 1501 (Type speed setpoint filter).
Note:
With interpolating axes, the speed setpoint filter must always be parameterized immediately.

1509

Active
at once

Damping speed setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

0.7

0.2

5.0

–

Input of damping for speed setpoint filter 2 (PT2 low-pass). The filter is activated via machine
data MD 1500 (No. speed setpoint filters) and MD 1501 (Type speed setpoint filter).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–127

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1514

04.96

Active
at once

Block frequency speed setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

3 500.0

1.0

7 999.0

Hz

Input of block frequency for speed setpoint filter 1 and parameterization as simple band-stop
filter. The filter is activated via machine data MD 1500 (number of setpoint filters) and MD
1501 (type speed setpoint filter). The machine data MD 1516/MD 1519 (bandwidth numerator
speed setpoint filter) and MD 1520/MD 1521 (band-stop filter natural frequency speed setpoint
filter) keep their default values.
Formula:
1+s · (2 · · fbz/(2 · · fz)2)+s2 · 1/(2 · · fz)2
H(s) = ––––––––––––––––––––––––––––––––––––––––––––––––
1+s · (2 · · fbn/(2 · · fn)2)+s2 · 1/(2 · · fn)2
Input:
fz

= MD 1514/1517

Blocking frequency speed setpoint 1/ speed setpoint 2 [Hz], (point
of resonance)
fbn = MD 1515/1518
Bandwidth denominator filter 1/filter 2 [Hz]
fbz = MD 1516/1519
Bandwidth numerator filter 1/filter 2 [Hz]
fn
= MD 1520/1521
Band-stop filter natural frequency filter 1/filter 2 [%] percentage with
reference to MD 1514 or MD 1517
MD 1520 (MD 1521)
fn = –––––––––––––––––––· MD 1514 (MD 1517) [%]
100

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Example:
SYNTHESIS

Polynomial

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20.0

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5
SYNTHESIS
180

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-60.0

fz = 900 Hz MD 1514/1517
fbn = 600 Hz MD 1515/1518
fbz = 0 Hz
MD 1516/1519
(Default value)
fn = 100 % MD 1520/1521
(Default value)

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a

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dB

Log Hz

4k

Polynomial

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Phase

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aaaa
aa

Deg

-180
5

7–128

Log Hz

4k

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

Note:

aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
a
a
a
a
aa
aaaaaaaaaa
a
a
a
a
aaaa
a
a
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aaaaaaaaaaaaaa
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aa
aaaaa

The maximum block frequency input value is limited by the sampling frequency of the servo
control (MD 1001) (parameterization error).
1

MD 1514 <

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2 x Tsampl. speed controller

Tsampl. (MD 1001)

1515

62.5 µs
125.0 µs

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aaaaaaaa
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= MD 1001 [ s ]

MD 1514

8000 Hz
4000 Hz

Active
at once

Bandwidth speed setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

500.0

5.0

7 999.0

Hz

Input of -3dB bandwidth for speed setpoint filter 1 (band-stop). The filter is activated in
machine data MD 1500 (No. speed setpoint filters) and MD 1501 (Type speed setpoint filter).
Note:
When 0 is entered for the bandwidth, the filter is parameterized as a proportional element with
a gain of 1.

1516

Active
at once

Numerator bandwidth speed setpoint filter 1

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

7 999.0

Hz

Input of numerator bandwidth for the damped band-stop.
The ratio of the bandwidth numerator to the bandwidth denominator determines the drop in the
amplitude response at the blocking frequency. If fbz < fbn, the amplitude drops and if fbz >
fbn the amplitude rises. The latter case is unrealistic because it would cause an excessive
frequency response and therefore overshooting in the controller.
If fbz=fbn, the amplitude remains constant over the entire frequency range.
Formula:
1+s · (2 · · fbz/(2 · · fz)2)+s2 · (1/(2 · · fz)2)
1 + s · (2 · Dz/2 · · fz) + s2 · 1/(2 · · fz)2
–––––––––––––––––––––––––––––––––––––––––––––––––
––––––––––––––––––––––––––––––––––––––––––––
2
2
2
1 + s · (2 · Dn/2 · · fz) + s2 · 1/(2 · · fz)2
1+s · (2 · · fbn/(2 · · fz) )+s · (1/(2 · · fz) )

Input:
fz
Dz
fbz = 2 · Dz · fz
Dn
fbz = 2 · Dn · fn
fn=100%

© Siemens AG

: Blocking frequency
: Damping numerator
: Bandwidth numerator
: Damping denominator
: Bandwidth denominator
: Band-stop filter natural
frequency

1992 All Rights Reserved

SINUMERIK 840C (IA)

MD 1514/1517
MD 1515/1518
MD 1516/1519
MD 1520/1521 (default value)

6FC5197- AA50

7–129

180

Phase

Deg

-180
5

7–130
Log Hz

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aaaaa a
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-60.0
5

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a

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dB

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aaaaaaaaaaaaaa

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a

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a

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aaaaa

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aaa
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aaaaa
a

Deg

a
aaa
aaa
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aaaa
aa
a

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aaaaa
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aaaaa
a

Phase
a
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a

a
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aaaaa
a

180

Log Hz

a
aaa
aaa
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aaaaa
a

a
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aaa
aaa
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a
aaaaa

-180
5

a
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a

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a

-60.0
5

a
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a

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a
aaaaa

dB

a
a
aaaa
aaa
a
aaaaaaaaaaaa
a
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a
a
aaaaaaaaaaaa
a
a
a
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a
aaaaaaaaaaaa
a
a
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aaaaaaaaaaaa
a
a
a
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aaaaaaaaaaaa
a
a
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a
aaaaaaaaaaaa
a
a
a
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a
a
a
aaaaaaaaaaaa
a
a
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a
a
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a
a
aaaaaa
a
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aa
aa
aa
aa
aa
aa
aaaaaaaaaaaaaaaaaaa
aa
a
a
a
a
a
a
a
a
aaaaaaaaaaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaaaaaaaa
a
a
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a
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a
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a
a
a
a
a
aaaaaaaaaaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaaaaaaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaaaaaaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaa
a
a
a
a
a
a
a
a
a
aaa
aaa
aaa
aaaaaaaaaaaaa
aa
a
aaa
aaa
aaa
aaaaaaaaaaaaaa

aaaaaaaaaa
aaaaaaaaaa

aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)
09.95

Example:
20.0

fz
fbn
fbz
fn

Log Hz

Log Hz

© Siemens AG
= 900 Hz
= 1800 Hz (Dn = 100%)
= 180 Hz (Dz = 10%)
= 100%

4k

4k

20.0

fz
fbn
fbz
fn

= 900 Hz
= 900 Hz (Dn = 50%)
= 180 Hz (Dz = 10%)
= 100%

4k

4k

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa

09.95

aaaaaaaaaa
aaaaaaaaaa

20.0

a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
aa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
a
aaaaaaaaaaaaaaaaaaaaaaaa
a
a
a
aa
aaaaaaaaaaaaaaaaaaaaaaaaa

dB

Log Hz

a
a
aaaaa
a
a
a
a
a
aa
a
a
a
aaa
aa
aa
a
a
aaa
a
a
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a
a
a
aaaaa
a

5

a
a
aaaaa
a
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a
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a
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a
a
a
aaaaa
a

-60.0

a
aaa
a
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a
aaaaa
a

a
aaa
a
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aaaaaa
a
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a
a
aaaaa

fz
fbn
fbz
fn

= 900 Hz
= 1800 Hz (Dn = 100%)
= 36 Hz (Dz = 2%)
= 100%

4k

a
a
aaaa
a
a
a
a
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a
aaaaa
a

180

a
aaaaa
a
a
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a
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a
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a
a
aaaaa
a

Phase

a
aaaaa
a
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a
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a
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a
a
a
a
a
a
a
a
aaaaa

Deg

-180

5

Log Hz

4k

Note:
The value entered in MD 1516 (Numerator bandwidth speed setpoint filter 1) must not be
greater than twice the value set in MD 1515 (bandwidth speed setpoint filter 1).

1517

Active
at once

Stop frequency speed setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

3 500.0

1.0

7 999.0

Hz

The description of this machine data is the same as that for machine data MD 1514!

1518

Active
at once

Bandwidth speed setpoint filter 2

Default value

Lower input limit

Upper input limit

Units

500.0

5.0

7 999.0

Hz

Input of 3dB bandwidth for speed setpoint filter 2 (band-stop). The filter is activated via
machine data MD 1500 (No. speed setpoint filters) and MD 1501 (Type speed setpoint filter).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–131

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

09.95

Note:
When 0 is entered for the bandwidth, the filter is parameterized as a proportional element with
a gain of 1.

1519

Active
at once

Numerator bandwidth speed setpoint f. 2

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

7 999.0

Hz

The description of this machine data is the same as that for machine data MD 1516!

1520

Active
at once

Band-stop filter natural frequency speed setpoint f. 1

Default value

Lower input limit

Upper input limit

Units

100

1

141

%

Input of the band-stop filter natural frequency for raising or lowering the amplitude response
after the blocking frequency (MD 1514/1517).
The machine data (MD 1520/MD 1521) are used to match different axis dynamic responses to
a standard dynamic response (low-pass filter). The standard dynamic response is based on
that of the axis with the lowest resonant frequency.
Formula:
1+s · (2 · · fbz/(2 · · fz)2)+s2 · (1/(2 · · fz)2)
1 + s · (2 · Dz/2 · · fz) + s2 · 1/(2 · · fz)2
–––––––––––––––––––––––––––––––––––––––––––––––––
––––––––––––––––––––––––––––––––––––––––––––
2
2
2
1 + s · (2 · Dn/2 · · fn) + s2 · 1/(2 · · fn)2
1+s · (2 · · fbn/(2 · · fn) )+s · (1/(2 · · fn) )

Input:
fz

: Blocking frequency

MD 1514/1517

Dz
fbz = 2 · Dz · fz

: Damping numerator
: Bandwidth numerator

MD 1515/1518

Dn
fbn = 2 · Dn · fn

: Damping denominator
: Bandwidth denominator

MD 1516/1519

fn=MD 1520[%]·fz

: Band-stop filter natural
frequency

MD 1520/1521 (default value)

7–132

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

a
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aaaaa

180

Phase

Deg

-180
500 m

© Siemens AG

Log Hz

SINUMERIK 840C (IA)

Log Hz

a
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aaaaa
a

-30.0
500 m

a
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a

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aaaaa

dB

a
aaa
aaa
aaa
aaa
a
aaaaa
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aaaaaaaaaaaaa

a
aaa
aaa
a
a
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aa
a
a
a
aaaa
aa
a

a
aaa
aaa
a
a
a
a
a
a
a
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a
a
a
aaaaa
a

a
a
aaa
a
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aaa
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aaaaa

-180
500 m

a
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aaaaa
a

a
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aaaaa
a

a
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aaaaa
a
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a
a
a
aaaaa
a

Log Hz

a
a
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
a
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aaaaa

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aaa
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a
a
a
aaaaa
a

Deg

a
aaa
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaa
a

Phase
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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aaaaa
a

a
aaa
aaa
a
a
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a
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a
a
a
aaaaa
a

180
Log Hz

a
aaa
aaa
a
a
a
a
a
a
a
a
a
a
a
a
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aaaaa
a

a
aaaaa
a
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a
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a
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a
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a
aaaaa
a

-30.0
500 m

a
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a

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aaaaa
a

dB

a
a
aaaa
aaa
a
aaaaaaaaaaaa
a
a
a
a
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a
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aaaaaaaaaaaa
a
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aaaaaaaaaaaa
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aaaaaaaaaaaa
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aaaaaaaaaaaa
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aaaaaaaaaaaa
a
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aaaaaa
a
a
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a
a
a
a
aaaaaaaaaaaaaaaaaaaa

aaaaaaaaaa
aaaaaaaaaa
aaaaa

aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa

09.95
7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

Example:
10.0

fz
Dz
fn
Dn

fz
Dz
fn
Dn

1992 All Rights Reserved

6FC5197- AA50

= 54 Hz
= 10%
= 40 Hz
= 70%

400

400

10.0

= 35 Hz
= 6%
= 40 Hz
= 70%

400

400

7–133

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1521

08.96

Active
at once

Band-stop filter natural frequency set speed filter 2

Default value

Lower input limit

Upper input limit

Units

100

1

141

%

The description of this machine data is the same as that for machine data MD 1520!

1600

Active
at once

Concealable alarms (Power On)

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

This machine data allows power on 611D alarms to be concealed. The monitoring function is
activated if the appropriate bit = 0. All 611D monitoring functions are activated as standard.
Value table:
Bit 0

Internal error cannot be concealed

Bit 1

Space vector monitoring (as from SW 5 FDD/MSD)

Bit 2
Bit 3
Bit 4

Not assigned
Not assigned
Measuring circuit, motor measuring system

Bit 5
Bit 6

Absolute track monitoring
Not assigned

Bit 7
Bit 8
Bit 9

Not assigned
Zero mark monitoring, motor measuring system
Converter limit frequency too high

Bit 10
Bit 11

Medium frequency measurement, speed too high - not concealable
Medium frequency measured-value memory full - not concealable

Bits 12-14
Bit 15

Not assigned
Power section temperature monitor

7–134

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

Note:
Reset 611D alarms can be acknowledged via a software reset.
Caution:
Concealing the reset alarms may result in irreparable damage to the power section.

1601

Active
at once

Concealable alarms (Reset)

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

This machine data allows reset 611D alarms to be concealed or disabled. The alarm is active if
the appropriate bit = 0. All 611D alarms are activated as standard.
Value table:
Bit 0

Configuration error - not concealable

Bits 1-5

Not assigned

Bits 6
Bits 7
Bit 8

Flux controller at stop
Current controller at stop
Speed controller at fixed stop

Bit 9
Bits 10-11
Bit 12

Encoder limit frequency exceeded
Not assigned
Speed too high for system power-up

Bit 13
Bit 14

Temperature motor shutdown (temperature)
Temperature motor shutdown (timer)

Bit 15

Not assigned

Note:
Reset 611D alarms can be acknowledged via a software reset.
Caution:
Concealing the reset alarms may result in irreparable damage to the power section or the
motor.

1602

Active
at once

Motor temperature warning threshold

Default value

Lower input limit

Upper input limit

Units

120

0

200

°C

Input of thermally constant permissible motor temperature or automatic parameterization using
machine data "Motor code number" (MD 1102). The temperature is detected by appropriate
temperature sensors and evaluated in the drive. A message is transferred to the SERVO when
the warning limit is exceeded (see also MD 1603 and MD 1607). Reset 611D alarms can be
switched to 611D warnings via MD 1012 bit 4 making the conceal function ineffective.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–135

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1603

07.97

Active
at once

Timer motor temperature alarm

Default value

Lower input limit

Upper input limit

Units

240

0

600

s

Input of timer for the motor temperature alarm. When the value set in "Motor temperature
warning" (MD 1602) is exceeded, a message is transferred to the SERVO and a time monitor
activated. If the timer runs out before the temperature drops below the limit, the drive initiates
a generator braking operation and suppresses the transistor drive signals for the appropriate
axis after MD 1404 (pulse suppression) in conjunction with MD 1403 (creep speed).
Note:
Changing the timer setting will not influence a time monitoring function already in progress
(counter started). The change will become applicable when the motor temperature has
dropped below the warning limit (MD 1602).

1604

Active
at once

DC link undervoltage warning threshold

Default value

Lower input limit

Upper input limit

Units

200

0

600
680 (as from SW 6)

V

Input of DC-link undervoltage warning threshold. When the voltage drops below this value, a
message is sent to the SERVO. This message is output on the 1st page of the FDD service
display: DC link "off".

1605

Active
at once

Timer n controller at fixed stop

Default value

Lower input limit

Upper input limit

Units

200.0

20.0

10 000.0

ms

Input of "Speed controller at fixed stop" timer. The status of the current at the current setpoint
limit is monitored. In the event of a fault, the control pulses for the power section transistors
are suppressed on the drive side when the timer setting has expired.
Caution:
When MD 1605 is set to a value lower than the setting in MD 1404 (timer pulse suppression),
the generator-mode braking operation may be aborted with error message "Speed controller at
fixed stop"; the drive then coasts to a standstill.

1606

Active
at once

Threshold n controller at fixed stop

Default value

Lower input limit

Upper input limit

Units

8 000.0/30.0

0.0

50 000.0

rev/min

Input of speed threshold for "Speed controller at fixed stop" alarm (see MD 1605 for details).
The default setting depends on the motor type (FDD=8000,
ˆ
MSD=30)
ˆ
and is parameterized
by the drive configuration during start-up.

7–136

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

08.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1607

Active
at once

Switchoff limit motor temperature

Default value

Lower input limit

Upper input limit

Units

155

0

200

°C

Input of motor temperature at which motor must be switched off. The motor temperature is
detected via temperature sensors and evaluated in the drive. The motor is braked in generator
mode when the shutdown limit is reached. A ZK1 message is transmitted to the SERVO (see
also MD 1602 and MD 1603).
Notes:
•

The temperature monitoring functions (warning + timer and unconditional shutdown) are
not subject to any mutual restrictions, i.e. MD 1607 may be set lower than MD 1602. In
this case, the motor is switched off without prior warning.

•

The motor temperature sensing function is accurate within the 3 - 5 % range.

1608

Active
at once

Fixed temperature

Default value

Lower input limit

Upper input limit

Units

0

0

200

°C

Input of fixed temperature. If a value higher than 0 is entered, temperature measurement no
longer has any effect. The motor is operated at this fixed temperature.
Note:
The motor temperature monitoring function set in machine data MD 63 is made inoperative if a
fixed temperature is specified.

1610

Diagnosis functions

Active on
Power On

Default value

Lower input limit

Upper input limit

Units

0000/0001

0000

0003

Hex

This machine data can be used to activate diagnostic functions. The function is active when
the appropriate bit is set to 1.
The default setting is dependent on the drive type (FDD=000,
ˆ
MSD=001).
ˆ
Value table:
Bit 0

Load test monitoring = dn/dt monitoring

Bit 1

Concentricity monitoring active

Bits 2-15

Not assigned

Notes:
•

The 611D diagnostic functions are not active in the default setting with the exception of the
dn/dt monitoring function which is always active for MSD drives.

•

The monitoring function is not dependent on internal operating modes (feedforward control,
function generator, etc.).

Caution:
This machine data is relevant only for internal Siemens processes and must not be altered.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–137

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1611

07.97

Active
at once

Response threshold dn/dt

Default value

Lower input limit

Upper input limit

Units

800

0

1 600

%

Input of response threshold for dn/dt monitoring function.
Caution:
This machine data is required for the load test. It is relevant only for internal Siemens
processes and must not be altered.

1612

Active
at once

Config. shutdown react. PO alarms

Default value

Lower input limit

Upper input limit

Units

0DBC/FFFF

0000

FFFF

Hex

Input bit field for switching over the appropriate 611D power ON alarm. It is possible to select
one of two shutdown reactions, i.e. pulse disable (bit = 1) or controller disable (bit=0
ˆ =
ˆ = generator-mode braking), i.e. when the pulse disable reaction is selected, the
nset=0
controller disable reaction is deactivated. The default setting is dependent on the motor type
(FDD=0D3C,
ˆ
MSD=FFFF)
ˆ
and is parameterized by the drive configuration during start-up.
Note:
The MSD default setting (FFFF) must be selected when the FDD H option is used.
Caution:
The alarms may be deactivated or concealed through machine data MD 1600 - Concealable
alarms (power ON), i.e. they may be inactive.
Value table:
Bit 0

Pulse disable in response to internal
errors/faults

1 = on
0 = off

Bit 1

Not assigned

Bits 2-5

Reserved

Bit 6

Pulse disable NC sign-of-life (as from SW 6)

1 = on (MSD)
0 = off (FDD)

Bit 8

Pulse disable, zero monitoring

1 = on
0 = off

Bit 9

Pulse disable, converter limit frequency

1 = on
0 = off

Bits 10-11

Reserved

Bits 12-14

Not assigned

Bit 15

Pulse disable, heat sink temperature

Bit 7

*)

1 = on
0 = off

As from SW 5.2 (840C) reserved; prior to SW 5.2 always bit 7=1

7–138

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1613

Config. shutdown react. RESET alarms

Active
at once

Default value

Lower input limit

Upper input limit

Units

0100/FFFF

0000

FFFF

Hex

Input bit field for switching over the appropriate 611D reset alarm. It is possible to select one of
two shutdown reactions, i.e. pulse disable (bit = 1) or controller disable (bit = 0 =ˆ nset = 0
=ˆ generator-mode braking), i.e. when the pulse disable reaction is selected, the controller
disable reaction is deactivated. The default setting is dependent on the motor type (FDD =
0100, MSD = FFFF) and is parameterized by the drive configuration during start-up.
Note:
The MSD default setting (FFFF) must be selected when the FDD H option is used.
611D messages can be switched to reset alarms via MD 1012 bit 4.
Caution:
The alarms may be deactivated or concealed through machine data MD 1601 - Concealable
alarms (reset), i.e. they may be inactive.
Value table:
Bit 0

Pulse disable, configuration error

Bits 1-7

Not assigned

Bit 8

Reserved

Bit 9

Pulse disable, encoder limit frequency

Bits 10-12

Not assigned

Bit 13

Pulse disable abs. motor encoder
temperature

1 = on
0 = off

Bit 14

Pulse disable on motor temperature
warning

1 = on
0 = off

Bit 15

Not assigned

1615

1 = on
0 = off

1 = on
0 = off

Concentricity monitoring tolerance

Active
at once

Default value

Lower input limit

Upper input limit

Units

2.0

0.0

100.0

rpm

Load test: Setting the tolerance range for concentricity monitoring. If the tolerance range is
violated (underrange or overrange) by the actual speed, counter "Diagnostics concentricity
monitoring" MD 1724 is incremented.

1620

Bits variable message function

Active
at once

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input bit field for controlling the variable message function.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–139

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

09.95

Value table:
Bit 0

Variable message function

0 = not active
1 = active

Bit 1

Segment variable message function

0 = address space X
1 = address space Y

Bit 2

Comparison variable message function

0 = comparison without sign
1 = comparison with sign

Note:
Bit 1 is effective only if signal number 0 is selected in MD 1621 (signal number variable
message function).
The variable message function monitors a freely selectable memory location from address
space X or Y in the data RAM for violation of a threshold specified by the user. A tolerance
band can also be set for this threshold value which is taken into account when the threshold is
scanned for violation. This message is output via operational message with bit 5 and can be
linked to a pickup or dropout delay. The message function is executed in a 4 ms cycle.
Graphic representation

Threshold

Tolerance band

Message
t
Pickup delay time

Dropout delay time

Note:
The quantity to be monitored can be selected by specifying either a signal number or a
physical address; the physical address, however, is relevant only for Siemens servicing
purposes.

7–140

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

Machine data which correspond to this machine data are as follows:
•
•
•
•
•
•

Signal number variable message function (MD 1621)
Address variable message function (MD 1622)
Threshold variable message function (MD 1623)
Hysteresis variable message function (MD 1624)
Pickup delay variable message function (MD 1625)
Delayed dropout variable message function (MD 1626)

Note:
Changes to inputs in machine data MD 1621 to MD 1624 while the monitoring function is
already active (MD 1620 - bit 0 = 1) do not automatically result in re-initialization, i.e. reset to
zero, of message bit 5. If a bit reset is required, the monitoring function must be deactivated
and then re-activated by means of MD 1620, bit 0, after the machine data has been altered.

1621

Active
at once

Signal number variable message function

Default value

Lower input limit

Upper input limit

Units

0

0

100

–

Input of signal number of memory location to be monitored via the variable message function.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–141

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

09.95

Value table:
Signal
number

7–142

Signal designation

Scaling
(LSB corresponds
to:)

0

Physical address

–

1

-

–

2

Current IR

MD 1710

3

Current IS

MD 1710

4

Current Id

MD 1710

5

Current Iq

MD 1710

6

Current setpoint Iq (limited after filter)

MD 1710

7

Current setpoint Iq (before filter)

MD 1710

8

Motor speed actual value

MD 1711

9

Speed setpoint

MD 1711

10

Speed setpoint reference model

MD 1711

11

Torque setpoint (speed controller output)

MD 1713

12

Torque setpoint limit

MD 1713

13

Capacity utilization (mset/mset,limit)

14

Active power

0.01 kW

15

Rotor flux setpoint

MD 1712

16

Rotor flux actual value

MD 1712

17

Cross voltage Uq

MD 1709

18

Direct-axis voltage Ud

MD 1709

19

Current setpoint Id

MD 1710

20

Motor temperature

0.1 oC

21

DC link voltage

22

Zero mark signal, motor measuring system

–

23

Bero signal

–

24

Absolute actual speed value

25

Slip frequency setpoint

26

Rotor position (electrical)

MD 1714

27

Torque setpoint speed controller

MD 1713

28

Compensation torque

MD 1713

29

Command voltage Q injection

MD 1709

30

Command voltage D injection

1709

8000H=100%
ˆ

1V

MD 1711
2000 x 2
––––––––––––––
800000H x 1s-1

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1622

Active
at once

Address variable message function

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input of address of memory location to be monitored via the variable message function.
Note:
This machine data is operative only if the signal number is set to 0 (see MD 1621).

1623

Threshold variable message function

Active
at once

Default value

Lower input limit

Upper input limit

Units

000000

000000

FFFFFF

Hex

Input of threshold for the memory location address entered in machine data "Address variable
message function" (MD 1622) to be monitored via the variable message function. In
conjunction with machine data "Hysteresis variable message function" (MD 1624), this
machine data defines the actual value to be checked by the monitoring function (see diagram
under MD 1620).
Note:
Depending on the setting of bit 2 in machine data "Bits variable message function" (MD 1620,
the numerical value entered in MD 1623 is interpreted either as an unsigned value (bit 2 = 0)
or a signed value (bit 2 = 1).

1624

Hysteresis variable message function

Active
at once

Default value

Lower input limit

Upper input limit

Units

000000

000000

FFFFFF

Hex

Input of hysteresis (tolerance band) for the memory location address entered in machine data
"Address variable message function" (MD 1622) which is to be monitored by the variable
message function. In conjunction with machine data "Threshold variable message function"
(MD 1623), this machine data defines the actual value to be checked by the monitoring
function (see diagram under MD 1620).
Note:
Regardless of the setting of bit 2 in machine data "Bits variable message function" (MD 1620),
the numerical value entered in MD 1624 is interpreted either as an unsigned value (bit 2 = 0)
or a signed value (bit 2 = 1).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–143

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1625

07.97

Active
at once

Pickup delay variable message function

Default value

Lower input limit

Upper input limit

Units

0

0

10 000

ms

Input of ON (pickup) delay time for setting of the message if the threshold (with hysteresis) is
exceeded (see diagram under MD 1620).
Note:
Changes to machine data MD 1625 and MD 1626 (Delayed dropout variable message
function) has an effect on a time monitoring function which is already in progress. The
monitoring function is initialized with the newly entered time data.

1626

Active
at once

Delayed dropout variable message function

Default value

Lower input limit

Upper input limit

Units

0

0

10 000

ms

Input of OFF (dropout) delay time for resetting of the message if the monitored quantity drops
below the threshold (with hysteresis) (see diagram under MD 1620).
Note:
Changes to machine data MD 1625 (Pickup delay variable message function) and MD 1626
has an effect on a time monitoring function which is already in progress. The monitoring
function is initialized with the newly entered time data.

1630

Active
at once

Response threshold ZWK monitor only

Default value

Lower input limit

Upper input limit

Units

550

0

600

V

Input of response threshold of DC link voltage; if the voltage drops below this value, only the
DC link voltage is monitored (motor temperature monitoring is discontinued). If the voltage
rises above the threshold value again, then the normal monitoring function is resumed.
Note:
This machine data is described under the additional function "Extended shutdown and
retraction (G420...G426)", see Programming Guide 840C.

1631

Active
at once

Response voltage generator axis

Default value

Lower input limit

Upper input limit

Units

450

280

570
650 (as from SW 6)

V

Input of response threshold of DC link voltage; if the voltage drops below this value, a drive
defined as a generator axis (MD 1636) switches over to generator mode.
Note:
This machine data is described under the additional function "Extended shutdown and
retraction (G420...G426)", see Programming Guide 840C.

7–144

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1632

Active
at once

Voltage step for generator control

Default value

Lower input limit

Upper input limit

Units

30

0

300

V

Input of response threshold of DC link voltage. In conjunction with machine data "Response
voltage generator axis" (MD 1631), this data defines the voltage range for the upper threshold
of the two-step controller for generator operation.
Note:
This machine data is described under the additional function "Extended shutdown and
retraction (G420...G426)", see Programming Guide 840C.

1633

Active
at once

Cutout threshold generative mode

Default value

Lower input limit

Upper input limit

Units

510

0

580
660 (as from SW 6)

V

Input of cutout threshold of DC link voltage. If the voltage exceeds this threshold value, the
motor switches from generator mode back to normal operation.
Note:
This machine data is described under the additional function "Extended shutdown and
retraction (G420...G426)", see Programming Guide 840C.

1634

Active
at once

Response threshold emergency retraction

Default value

Lower input limit

Upper input limit

Units

400

0

580
660 (as from SW 6)

V

Input of response threshold of DC link voltage; if the voltage drops below this value,
emergency retraction responses are initiated according to the operating modes selected in
machine data "Drive modes emergency retraction" (MD 1636).
Note:
This machine data is described under the additional function "Extended shutdown and
retraction (G420...G426)", see Programming Guide 840C.

1635

Minimum speed generator axis

Active
at once

Default value

Lower input limit

Upper input limit

Units

0.0

0.0

50 000.0

1/min

Input of minimum DC link generator speed. Bit 3 in the ZK2 register is set if the speed drops
below the value set here. This message is output to inform the NC that the drive operaing in
generator mode (MD 1636) has reached a speed at which the NC should initiate an
emergency retraction.
Note:
This machine data is described under the additional function "Extended shutdown and
retraction (G420...G426)", see Programming Guide 840C.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–145

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a

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1636

1637

7–146

04.96

Drive operating modes Emergency retraction

Value input

© Siemens AG

Active
at once

Default value
Lower input limit
Upper input limit
Units

0
0
7
-

Input to select various operating modes in the drive operating modes word. It defines 8
operating modes for the following cases of failure:
–
Sign-of-life failure
–
DC-link voltage < MD 1633 or MD 1631
–
Activation of the autonomous drive emergency retraction through the NC
Table Drive operating modes Emergency retraction
Operating mode

0
Normal mode

1
Monitoring mode

2
Delayed regenerative braking

3
Delayed regenerative braking only with sign-of-life failure

4
Emergency retraction

5
Emergency retraction only with sign-of-life failure

6
Generator operation with possible return to normal mode

7
Generator operation without possible return to normal mode

This machine data is relevant only for Siemens-internal purposes and must

not be altered.

Delay time regenerative braking
Active
at once

Default value
Lower input limit
Upper input limit
Units

0
0
10000
ms

Input of the time delay by which regenerative braking is delayed in the case of a failure.

This machine data is relevant only for Siemens-internal purposes and must

not be altered.

Input of the emergency retraction time, for which the emergency retraction speed (MD 1639) is
given as setpoint speed in the case of a failure.

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

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04.96
7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1638
Emergency retraction time

1639

© Siemens AG

SINUMERIK 840C (IA)

1992 All Rights Reserved

6FC5197- AA50

Active
at once

Default value
Lower input limit
Upper input limit
Units

0
0
10000
ms

This machine data is relevant only for Siemens-internal purposes and must
not be altered.

Emergency retraction speed
Active
at once

Default value
Lower input limit
Upper input limit
Units

0.0
-4194304
4194304
rev/min

Input of the emergency retraction speed, which is given as setpoint speed during the
emergency retraction time (MD 1638) in the case of a failure.

This machine data is relevant only for Siemens-internal purposes and must
not be altered.

7–147

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1650

04.96

Active
at once

Diagnosis control

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input to select a variety of diagnostic functions in the diagnostic control word.
Caution:
This machine data is relevant only for Siemens-internal purposes and must not be altered.
Value table:
Bit 0

Min/max memory

0 = not active
1 = active

Bit 1

Segment min/max memory

0 = DSP address name X
1 = DSP address name Y

Bit 2

Comparison with sign

0 = without sign
1 = with sign

Bits 3-7

Not assigned

Bit 8 (up to
SW 4.4)

Voltage-controlled Vq operation

Bit 9

Reserved

Bits 10-15

Not assigned

0 = normal operation
1 = Vq operation active

Notes:
Bit 1 is effective only if signal number 0 is selected in MD 1651 (signal number min/max
memory).
•

Diagnostic function "Min/max memory"
This function can be used to calculate the value range within which a specific memory
location moves over a prolonged period. The function is executed in the current controller
cycle (fastest cycle) in order to ensure reliable detection of all system quantities.
The quantity to be monitored can be selected through specifying either a signal number or
a physical address (see MD 1651).
The comparison of the value with the maximum and minimum values can be implemented
either with or without sign (bit 2).
Corresponding machine data are as follows:
–
–
–
–
–

7–148

Diagnosis control (MD 1650, bits 0, 1, 2)
Signal number min/max memory (MD 1651)
Memory location min/max memory (MD 1652)
Minimum value min/max memory (MD 1653)
Maximum value min/max memory (MD 1654)

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

•

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

Diagnostic function "Voltage-controlled Vq operation" (up to SW 4)
A voltage-controlled operating mode (V/F mode) is applied in order to diagnose speed or
current sensor faults. In this operating mode, voltages Vq and Vd = 0 as well as a
frequency are input as controlled quantities. As a result of the transformation (d/q
R/S/T), a constantly changing rotating field is applied to the motor via the trigger
equipment ASIC, making it possible to attain a speed within the nrated/5 range in V/F
operation. The system oscillates at higher speeds.
Corresponding machine data are as follows:
–
–

Motor frequency V/F mode (MD 1660)
Ratio V/F during V/F mode (MD 1661)

•

If MD 1661 is set to an excessively high value, the resulting Id current at nrated/5 causes a
temperature rise in the drive and an additional increase in oscillation at high speeds.

•

If MD 1661 is set to a very low value, the resulting Iq current value is too low, making it
impossible for the drive to follow the specified frequency.

•

An operating status message is transmitted to the SERVO by means of bit 28 in the status
word.

•

The current and speed controllers are not active in V/F mode

•

Unfavourable parameter settings may cause excessively high currents to occur in V/F
mode; the existing current monitoring function therefore remains active.

1651

Active
at once

Signal number min/max memory

Default value

Lower input limit

Upper input limit

Units

0

0

100

–

Input of signal number of memory location to be monitored by the min/max memory function.
Caution:
This machine data is relevant only for Siemens-internal purposes and must not be altered.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–149

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

04.96

Value table:
Signal
number

7–150

Signal designation

Scaling
(LSB corresponds
to:)

0

Physical address

–

1

-

–

2

Current IR

MD 1710

3

Current IS

MD 1710

4

Current Id

MD 1710

5

Current Iq

MD 1710

6

Current setpoint Iq (limited after filter)

MD 1710

7

Current setpoint Iq (before filter)

MD 1710

8

Motor speed actual value

MD 1711

9

Speed setpoint

MD 1711

10

Speed setpoint reference model

MD 1711

11

Torque setpoint (speed controller output)

MD 1713

12

Torque setpoint limit

MD 1713

13

Capacity utilization (mset/mset,limit) (see MD 1621)

14

Active power

0.01 kW

15

Rotor flux setpoint

MD 1712

16

Rotor flux actual value

MD 1712

17

Cross voltage Uq

MD 1709

18

Direct-axis voltage Ud

MD 1709

19

Current setpoint Id

MD 1710

20

Motor temperature

0.1 oC

21

DC link voltage

22

Zero mark signal, motor measuring system

–

23

Bero signal

–

24

Absolute actual speed value

25

Slip frequency setpoint

26

Rotor position (electrical)

MD 1714

27

Torque setpoint speed controller

MD 1713

28

Compensation torque

MD 1713

29

Command voltage Q injection

MD 1709

30

Command voltage D injection

MD 1709

8000H=100%
ˆ

1V

MD 1711
2000 x 2
––––––––––––––
800000H x 1s-1

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1652

Active
at once

Memory location min/max memory

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

Input of address of memory location to be monitored via the min/max memory function.
Note:
This machine data is operative only if the signal number is set to 0 (see MD 1651).
Caution:
This machine data is relevant only for Siemens-internal purposes and must not be altered.

1653

Minimum value min/max memory

Active
at once

Default value

Lower output limit

Upper output limit

Units

0000 0000

0000 0000

FFFF FFFF

Hex

Output of display value of min/max memory minimum value.

1654

Maximum value min/max memory

Active
at once

Default value

Lower output limit

Upper output limit

Units

0000 0000

0000 0000

FFFF FFFF

Hex

Output of display value of min/max memory maximum value.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–151

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1655

04.96

Active
at once

Segment memory location monitor

Default value

Lower input limit

Upper input limit

Units

0

0

1

–

This machine data addresses the memory location segment for the monitoring function.
Value table:
0

DSP address space X

1

DSP address space Y

MD 1655 defines the DSP address in conjunction with MD 1656 (offset address). The contents
of the DSP address can be displayed via machine data "Value display monitor" (MD 1657).
Caution:
This machine data is relevant only for Siemens-internal purposes and must not be altered.

1656

Active
at once

Address memory location monitor

Default value

Lower input limit

Upper input limit

Units

0000

0000

FFFF

Hex

This machine data addresses the memory location offset address for the monitoring function.
MD 1656 defines the DSP address in conjunction with MD 1655 (memory location segment).
The contents of the DSP address can be displayed via machine data "Value display monitor"
(MD 1657).
Caution:
This machine data is relevant only for Siemens-internal purposes and must not be altered.

7–152

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1657

Active
at once

Value display monitor

Default value

Lower output limit

Upper output limit

Units

0000 0000

0000 0000

FFFF FFFF

Hex

Output of monitoring function display value. This machine data displays the content of the
address resulting from the segment (MD 1655) and the offset (MD 1656).

1658

Active
at once

Value input monitor

Default value

Lower input limit

Upper input limit

Units

0000 0000

0000 0000

FFFF FFFF

Hex

A 24-bit value can be entered in this machine data. The value is written in the monitoring
function to the address specified by the segment (MD 1655) and the offset (MD 1656). The
value is not written until machine data "Value acceptance monitor" (MD 1659) has been set
to 1.
Caution:
This machine data is relevant only for Siemens-internal purposes and must not be altered.

1659

Active
at once

Value acceptance monitor

Default value

Lower input limit

Upper input limit

Units

0

0

1

–

This machine data writes the value (MD 1658) to the addressed memory location (MD 1655,
MD 1656) if the value "1" has been entered to initiate the write operation. On completion of
the write operation, the machine data is automatically reset to "0".
Caution:
This machine data is relevant only for Siemens-internal purposes and must not be altered.

1660

Active
at once

Motor frequency V/f mode (SW 4.4 only)

Default value

Lower input limit

Upper input limit

Units

1.0

-10000.0

10000.0

Hz

Input of a setpoint frequency (electrical) for the drive in voltage-controlled V/f mode. The +
or – sign corresponds to the appropriate direction of rotation of the motor.
Note:
•

This machine data is only used for diagnostics and may only be used or applied by trained
service personnel.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–153

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1661

04.96

Active
at once

Ratio V/f during V/f mode (SW 4.4 only)

Default value

Lower input limit

Upper input limit

Units

2.4

0.0

100.0

V/Hz

Input of a voltage/frequency ratio value for the drive in voltage-controlled V/F operation.
The following applies to the Vq voltage applied to the drive:
Uq = MD 1661 x MD 1660
Note:
•

This machine data has a diagnostic function and may only be used or applied by trained
service personnel.

1662

Active
at once

Change motor frequency V/F range (SW 4.4 only)

Default value

Lower input limit

Upper input limit

Units

5.0

0.0

10 000.0

Hz/s

Input of a change in the motor frequency for V/F operation via frequency increment for the V/F
ramp-up control to the electrical setpoint frequency of the drive.
Note:
•

This machine data has a diagnostic function and may only be used or applied by trained
service personnel.

•

1665

Active
at once

Op. time factor IPO/NREG cyc. f. RFG (SW 4.4 only)

Default value

Lower input limit

Upper input limit

Units

2.0

0.0

20.0

–

Note:
This machine data is relevant only for Siemens-internal purposes and must not be altered.
Input of an operating time factor between interpolation and speed controller cycles for the
ramp-function generator.
During ramp-up, the acceleration rate determined by the ramp specification of the SERVO may
be higher than the rate which is actually permissible in the drive, i.e. the drive would continue
to accelerate during relatively rapid reversing operations while the SERVO is already initiating a
braking operation.
The ramp-function generator automatic control is provided to eliminate this problem. This
automatic control ensures that the speed setpoint supplied by the SERVO is linked to the
actual speed value of the 611D by means of a tolerance "± DELTA" in cases where the
specified accelerate rate is too high. The ramp-function generator is then halted by means of
the ZK3 operational message when DELTA (pos. ramp distance = ZK3 bit 7) or - DELTA
(neg. ramp distance = ZK3 bit 6) is applied.

7–154

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

aaaaaaaa aaaaaaaaaa
aaaa aaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
a
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
a
aaaaaaaaaaaaaa
a
a
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaa aaaa
aaaaaaaa aaaaaaaaaa
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aaaaaaaa aaaaaaaaaa
aaaaaaaa aaaaaaaaaa
aaaaaaaa aaaaaaaaaa
aaaaaaaa aaaaaaaaaa
aaaa aaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaa

1.

(

2.

(

© Siemens AG

> 0 ; nset - nact

)

aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa

nset
t
nset
t

< 0 ; nset - nact

)

aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
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aaaaaaaa

09.95
7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

Examples:

SINUMERIK 840C (IA)

1992 All Rights Reserved

> DELTA (ZK3 Bit 7 halt ramp block)

> – DELTA (ZK3 Bit 6 halt ramp block)

Graphic representation: Ramp-function generator with and without ramp-function generator
automatic control

n

DELTA

Speed setpoint from
SERVO ramp block
with ramp-function
generator automatic
control
Speed setpoint from
SERVO ramp block
without ramp-function
generator automatic
control

611D speed
actual value

6FC5197- AA50

with automatic control
t

7–155

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

07.97

When DELTA is calculated, it must be taken into account that the torque setpoint limitation
mset,limit may change in cyclic operation. This limitation acts on the maximum speed difference
nmax.
mset, limit
IPO cycle
–––––––––––––––––––––––
x –––––––––––––––––––
n-controller P-gain
Speed controller cycle

nmax =

Since the speed setpoint is specified by the NC, there is an operating time between the 611D
speed controller and the NC which is taken into account in the DELTA calculation through
machine data "Op. time factor IPO/NREG cyc. f. RFG" (MD 1665).
DELTA = nmax x MD 1665 (operating time factor)
Caution:
This machine data is relevant only for Siemens-internal purposes and must not be altered.

1700

Active
at once

Status of binary inputs

Default value

Lower output limit

Upper output limit

Units

0000

0000

7FFF

Hex

This machine data is used to display the status of the binary inputs.
Value table:
Bit 0

Control unit enable (internal module function), including marking
according to MD 1003, bit 5
Pulse enable (terminal 663) (module-specific pulse suppression)

Bit 1
Bit 2

0: off
1: on

Pulse enable (terminal 63/48) of I/RF unit (central drive pulse
suppression)
Sum signal HW pulse enable:
– Stored hardware sum signal
– Axial pulse enable by PLC via
611D control word
Temp. monitor heat sink responded
Setup mode (terminal 112) of I/RF unit (set-up mode message)

Bit 3

Bit 4
Bit 5
Bit 6
Bit 7
Bit 8

Drive enable (terminal 64/63) of I/RF unit (Central drive enable setpoint
= 0)
Not assigned
Motor and power section temp. prewarning

Bits 9-15

Not assigned

1701

0: off
1: on

Active
at once

DC link voltage

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

V

This machine data is used to display the voltage level at the DC link in normal or set-up mode.
The DC-link voltage VDClink is measured continuously.

7–156

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1702

Active
at once

Motor temperature

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

°C

This machine data is used to display the motor temperature. The motor temperature is
measured by appropriate sensors and evaluated in the drive.

1703

Active
at once

Lead time conver. motor meas. syst. (up to SW 4)

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

µs

This machine data is used to display or diagnose the lead time for the motor measuring
system converters. A converter lead time is required if the converter times are greater than the
ASIC cycle time. This machine data is valid only for indirect measuring systems.

1704

Active
at once

Lead time conversion dir. meas. sys. (up to SW 4)

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

µs

This machine data is used to display or diagnose the lead time for the motor measuring
system converters. A converter lead time is required if the converter times are greater than the
ASIC cycle time. This machine data is valid only for direct measuring systems.

1705

Voltage setpoint (effective) (as from SW 6)

Active
at once

Default value

Lower output limit

Upper output limit

Units

–

–

–

Veff (line-to-line)

a
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
aa
aa
a
a
a
a
a
a
a
a
aa
aa
aa
a

Voltage setpoint display. The signal can be output via DAC.
U2qset + U2dset

MD 1705 =

1706

Speed setpoint

Active
at once

Default value

Lower output limit

Upper output limit

Units

0.0

-100000.0

100000.0

rev/min

This machine data is used to display the speed setpoint which represents the unfiltered
summation setpoint. It comprises the component of the position controller output and the
speed feedforward control arm. Time-synchronous unlatching (scanning) of machine data MD
1706, MD 1707 and MD 1708 is not provided. The appropriate machine data is unlatched by
the read request of the non-cyclical communications protocol.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–157

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1707

07.97

Active
at once

Speed actual value

Default value

Lower output limit

Upper output limit

Units

0.0

-100000.0

100000.0

rev/min

This machine data is used to display the actual speed value and represents the unfiltered
actual speed value. Time-synchronous unlatching (scanning) of machine data MD 1706,
MD 1707 and MD 1708 is not provided. The appropriate machine data is unlatched by the
MMC request "Read variables" via the STF ES communications interface.

1708

Active
at once

Smoothed current actual value

Default value

Lower output limit

Upper output limit

Units

0.0

-100000.0

100000.0

%

This machine data is used to display the smoothed current actual value. The torque-producing
current actual value is smoothed by a PT1 element with the coefficient (MD 1250). In this
case, the smoothed current actual value is displayed as a percentage. 100 % corresponds to
the maximum current of the power section (e.g. with an 18/36A power section 100 % =
36A RMS).

1709

Active
at once

Significance voltage representation

Default value

Lower output limit

Upper output limit

Units

0.0

-100000.0

100000.0

–

This machine data is used to display the significance of the voltage representation. The user is
informed of the percentage significance of bit 0 so that he can assign the internal voltage
status representation to the control setting of the pulse inverter. The maximum actuating
voltage is available internally in standardized representation as a function of the pulse
frequency.
VDC link
VLSB= MD 1709 = ––––––
2
Note:
This machine data is calculated only once during power-up; it cannot therefore be changed
during operation.

1710

Active
at once

Significance current representation

Default value

Lower output limit

Upper output limit

Units

0.0

-100000.0

100000.0

µA

This machine data is used to display the significance of the current representation. The user is
informed of the significance of bit 0 (internal current actual value representation) so that he
can assign the internal current status representation to the physical ampere values. The
maximum power section current is available internally in standardized representation.
Note:
This machine data is calculated only once during power-up; it cannot therefore be changed
during operation.

7–158

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1711

Active
at once

Significance speed representation

Default value

Lower output limit

Upper output limit

Units

0.0

-100000.0

100000.0

rev/min

This machine data is used to display the significance of the speed representation. The user is
informed of the significance of bit 0 (internal speed actual value representation) so that he can
assign the internal speed status representation to the physical rotation values. A speed is
available internally in the units of the encoder system and referred to the currently valid speed
controller cycle.
Note:
This machine data is calculated only once during power-up; it cannot therefore be changed
during operation.

1712

Active
at once

Significance rotor flux represent.

Default value

Lower output limit

Upper output limit

Units

0.0

-100000.0

100000.0

µVs

This machine data is used to display the significance of the rotor flux representation. The user
is informed of the significance of bit 0 so that he can assign the internal rotor flux status
representation to the physical values in Vs. The rotor flux scaling is available as an internal
data.
Note:
This machine data is calculated only once during power-up and from the power ON data after
every motor switchover.

1713

Active
at once

Significance torque representation

Default value

Lower output limit

Upper output limit

Units

0.0

-100000.0

100000.0

µNm

This machine data is used to display the significance of the torque representation. The user is
informed of the percentage significance of bit 0 so that he can assign the internal torque status
representation.
Note:
This machine data is calculated only once during power-up from power ON data.

1714

Significance rotor position representation

Active
at once

Default value

Lower output limit

Upper output limit

Units

-

-100000.0

100000.0

Degrees

This machine data is the display data of the significance of the rotor position representation.
The user is given the significance of bit 0 so that he can assign the internal representation of
the rotor position to the physical values in electrical degrees.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–159

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1719

07.97

Active
at once

Current actual value (effective) (as from SW 6)

Default value

Lower output limit

Upper output limit

Units

–

–

–

Aeff

aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aa
a
aa
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaa
a
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaa
a

Current actual value display. The signal can be output via DAC.
i2qact + i2dact

MD 1719 =

1720

Active
at once

CRC diagnosis parameter

Default value

Lower output limit

Upper output limit

Units

0000

0000

FFFF

Hex

This machine data displays the CRC (cyclic redundancy check) errors which have been
detected. The counter information is output on every read request and is 5 bits in width
(bit 4...bit 0 or counter content 0...31).
Note:
It cannot always be assured that the CRC errors are assigned to the appropriate drives. With
an incorrect address, the "wrong" module indicates the error (if present).

1721

Active
at once

Diagnosis speed actual value

Default value

Lower output limit

Upper output limit

Units

0000

0000

FFFF

Hex

Display of the monitoring machine data "Diagnosis speed actual value". If an impermissibly
large speed deviation occurs within the sampling period, then the value of the machine data is
incremented. Sporadic responses by a few increments can be ignored since these do not
influence the speed controller. A high disturbance level will cause the contents of MD 1721 to
be increased repeatedly by several increments.
Possible causes of disturbances:
•
•
•
•
•
•

Encoder shield not earthed
Encoder defective
Earth connection of electronics ground in MSD module faulty
Motor earth not connected in MSD module
Value entered for motor moment of inertia too high
Evaluation electronics

Note:
The function is activated with MD 1610, bit 0, and the threshold entered in MD 1611.

1722

Active
at once

Capacity utilization

Default value

Lower output limit

Upper output limit

Units

0

-100000.0

100000.0

%

Display machine data for utilization of drive capacity. The display shows the ratio "torque
setpoint Md to present torque limit Mdmax." Values lower than 100% indicate system reserves.
Smoothing to obtain a steadier display of the signal can be set in MD 1251, time constant
motor load.

7–160

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1723

Active
at once

Ramp-up time

Default value

Lower output limit

Upper output limit

Units

0

0

32767

ms

Load test: The ramp-up time of the drive is indicated in this machine data. The ramp-up time is
the time between one 0-1 edge of the control word signal "Ramp-function generator active"
and the moment the actual speed enters the tolerance range around the setpoint speed
defined by MD 1426.
Functionality in as from SW 6
If the speed actual value does not exceed the tolerance band by the speed setpoint, the rampup time is not evaluated, i.e. MD 1723=0. The ramp-up time is evaluated sensibly when the
drive is operated at the torque limit, i.e. a greater setpoint-actual value difference remains. The
setting for acceleration, MD 35200: GEAR_STEP_SPEEDCTRL_ACCEL, must be large
enough.
Note:
If, for example, the acceleration suffices to follow the setpoint ramp in the lower speed range
but not in the upper range, only the time during which the tolerance band was exceeded and
not the ramp-up time is displayed.

1724

Active
at once

Diagnostics concentricity monitoring

Default value

Lower output limit

Upper output limit

Units

0

0

32767

–

Load test: When concentricity monitoring is activated, this machine data counts how often the
actual speed leaves the tolerance range around the setpoint speed defined by MD 1615. This
machine data can only be read.

1725

Scaling torque setpoint interface

Active
at once

Default value

Lower output limit

Upper output limit

Units

0.0

0.0

100000.0

Nm

This machine data contains the reference value for the torque setpoints and limit values to be
transferred from the NC to the drive.
Note:
This machine data is calculated only once during power-up from Power On data.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–161

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1730

07.97

Active
at once

Operating mode (display)

Default value

Lower output limit

Upper output limit

Units

0000

0000

FFF

Hex

This data indicates the current operating mode.
Bit 0

FDD

Bits 1-3

Not assigned

Bit 4

MSD

Bits 5-11

Not assigned

Bit 12

V/f

1731

0: off
1: on
0: off
1: on
0: off
1: on
Active
at once

Image ZK1-PO register

Default value

Lower output limit

Upper output limit

Units

0000

0000

FFFF

Hex

This machine data displays the internal ZK1 Power On register. The machine data
"Concealable alarms" (Power On MD 1600) is not taken into account for MD 1731.
Note:
This display value is reset only after Power On (hardware reset).
See drive MD 1600 for bit assignment.

1732

Active
at once

Image ZK1-RES register

Default value

Lower output limit

Upper output limit

Units

0000

0000

FFFF

Hex

This machine data displays the internal ZK1 reset register. The machine data "Concealable
alarms" (reset MD 1601) is not taken into account for MD 1732.
Note:
This display value can only be reset through an NC reset process (software reset).
See drive MD 1601 for bit assignment.

1733

Active
at once

NPFK diagnosis counter

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

–

This diagnostic machine data indicates how many times the motor temperature or DC link
measurement executed by the low-priority frequency channel was erroneous, i.e. this data acts
as an indirect hardware indicator (HW diagnostic statement) for the low-priority frequency
channel.
Note:
This machine data is always reset when the drive is switched on.

7–162

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

1735

Active
at once

CPU load (as from SW 6)

Default value

Lower output limit

Upper output limit

Units

0

0

100

%

The processor capacity displays the remaining available CPU time online.

1790

Active
at once

Measuring circuit type indirect measuring system

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

–

This machine data displays the measuring circuit code number of the indirect measuring
system (motor).
Value table:
0

Voltage raw signals

1-7

Reserved

1791

Active
at once

Measuring circuit type direct measuring system

Default value

Lower output limit

Upper output limit

Units

0

-1

32 767

–

This machine data displays the measuring circuit code number of the direct measuring system
if one is inserted.
Value table:
-1

No measuring system present

0

Voltage raw signals

1

Current raw signals (FDD)

2-7

Reserved

1797

Active
at once

Data version

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

–

Output of present data version (machine data list).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–163

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

04.96

1798

Active
at once

Firmware date

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

–

Output of coded software version in decimal notation. The software version is output in the
following form: DDMMY, where DD = day, MM = month and Y = last digit of the year.
Example: 01.06.1993 =ˆ 01063dec

1799

Active
at once

Firmware version

Default value

Lower output limit

Upper output limit

Units

0

0

32 767

–

Output of present software version in decimal notation, e.g. 21000. The latter corrresponds to
version 2.10/00.
Drive machine data MSD: 2nd motor
Drive machine data, MSD for 2nd motor are listed below.
They only differ from the 1st motor by a number, not in their meaning:
•

the first number is 2.

Example
MD 1005 No. of encoder marks motor measuring system 1st motor
MD 2005 No. of encoder marks motor measuring system 2nd motor
The meaning of the MDs of the 2nd motor are identical to the MDs of the same name of the
1st motor: see description for 1st motor.
MD No. Motor 2

Title

MD No. Motor 1

2005

No. encoder marks motor measuring system

1005

2102

Motor code number (up to SW 4)

1102

2103

Motor rated current

1103

2117

Motor moment of inertia

1117

2119

Inductance of series reactor

1119

2120

P-gain current controller

1120

2121

Integral-action time current controller

1121

2125

Ramp-up time 1 for V/f operation

1125

2126

Ramp-up time 2 for V/f operation

1126

2127

Voltage when f=0 V/f operation

1127

2129

cos phi power factor

1129

2130

Motor rated power

1130

7–164

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

MD No. Motor 2

Title

MD No. Motor 1

2132

Motor rated voltage

1132

2134

Motor rated frequency

1134

2135

Motor no-load voltage

1135

2136

Motor no-load current

1136

2137

Stator resistance cold

1137

2138

Rotor resistance cold

1138

2139

Stator leakage reactance

1139

2140

Rotor leakage reactance

1140

2141

Magnetizing reactance

1141

2142

Speed at start of field weakening

1142

2143

Upper speed Lh characteristic

1143

2144

Gain factor Lh characteristic

1144

2145

Breakdown torque reduction factor

1145

2146

Motor maximum speed

1146

2147

Speed limitation

1147

2150

P-gain flux controller

1150

2151

Integral-action time flux controller

1151

2160

Speed for start of flux detection

1160

2191

Adaptation servo limit torque

1191

2230

1st torque limiting value

1230

2231

2nd torque limiting value

1231

2232

Switching speed from Md1 to Md2

1232

2233

Generative limitation

1233

2234

Hysteresis P: 1232

1234

2235

1st power limit value

1235

2236

2nd power limit value

1236

2238

Current limit

1238

2239

Torque limit setup mode

1239

2245

Threshold speed M. setp. smoothing

1245

2246

Hysteresis speed M. setp. smoothing

1246

2400

Motor rated speed

1400

2401

Maximum motor operational speed

1401

2403

Creep speed pulse suppression

1403

2405

Monitoring speed motor

1405

2407

P-gain speed controller

1407

2408

P-gain upper adaptation speed

1408

2409

Integral-action time speed controller

1409

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–165

7 Drive Machine Data (SIMODRIVE Drive MD)
7.3.2 Drive MD (data description)

04.96

MD No. Motor 2

Title

MD No. Motor 1

2410

Integral-action time upper adaptation speed

1410

2411

Lower adaptation speed

1411

2412

Upper adaptation speed

1412

2413

Selection adaptation speed controller

1413

2414

Natural frequency ref. model speed

1414

2417

Message nx for nact < nx

1417

2418

Message nmin for nact < nmin

1418

2426

Tolerance band for nset = nact message

1426

2602

Motor temperature warning threshold

1602

2607

Switchoff limit motor temperature

1607

2608

Fixed temperature

1608

2711

Significance speed representation

1711

2712

Significance rotor flux representation

1712

2713

Significance torque representation

1713

2714

Significance rotor position representation

1714

2725

Scaling torque setpoint interface

1725

7–166

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

7 Drive Machine Data (SIMODRIVE Drive MD)
7.4 FDD/MSD-specific diagnosis/service machine data (as from SW 3)

7.4

FDD/MSD-specific diagnosis/service machine data
(as from SW 3)

7.4.1

Output of diagnosis/service machine data (as from SW 3)

The diagnosis/service machine data provide an overview and evaluation of signals and states
of the FDD/MSD drives.

7.4.2

Servo service data (SSD)

3000

Active
at once

Acceleration (QEC – as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

-9999999.9

9999999.9

mm/s2

This machine data displays the acceleration rate at the instant at which the appropriate axis
executed the last speed zero crossing when quadrant error compensation (QEC) is active. The
display is called by means of softkey Service QEC in the "Circularity test" menu.
Note:
This machine data is effective only if one of the two quadrant error compensation modes is
active.

3001

Active
at once

Compensation amplitude (QEC – as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

-99999.999

99999.999

%

This machine data displays the compensation amplitude at the instant at which the appropriate
axis executed the last speed zero crossing when quadrant error compensation (QEC) is active.
The display is called by means of softkey Service QEC in the "Circularity test" menu.
Note:
This machine data is effective only if one of the two quadrant error compensation modes is
active.

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–167

7 Drive Machine Data (SIMODRIVE Drive MD)
7.4.2 Servo service data (SSD)

3002

07.97

Active
at once

Quadrant error (QEC – as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

-99999.999

99999.999

mm/ms

This machine data displays the quadrant error plane at the instant at which the appropriate axis
executed the last speed zero crossing when quadrant error compensation (QEC) is active. The
display is called by means of softkey Service QEC in the "Circularity test" menu.
Note:
This machine data is effective only if one of the two quadrant error compensation modes is
active.

3003

Active
at once

Duration of measurement (QEC – as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

-99999999

99999999

ms

This machine data displays the error measurement time at the instant at which the appropriate
axis executed the last speed zero crossing. The display is called by means of softkey Service
QEC in the "Circularity test" menu.
Note:
This machine data is effective only if one of the two quadrant error compensation modes is
active.

7.4.3

Diagnosis/service MD (data description - as from SW 3)

1000010014
100291)

Active on
Power on

Drive configuration (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

0000

0000

FFFF

Hex

The "Drive configuration" machine data contains the descriptive information for a drive module
which is actually installed. In the case of a two-axis module, the data contains two sets of
information. Machine data 10000 to 10014 are assigned to physical addresses 1 to 15.
Bits 0 - 7

Drive number:

These bits assign the physical drive address to the logical
drive number (1 - 15) for digital drives.

Bit 8

Active identifier:

0 =ˆ positive
1 =ˆ active

Bits 9 - 11

Module type:

000 =ˆ Single-axis module (1)
010 =ˆ Two-axis module (left - 2L)
011 =ˆ Two-axis module (right - 2R)

Bit 12

Drive type:

0 =ˆ FDD
1 =ˆ MSD

1)

(no machine data required)
(used as control axis/machine data
required)

As from SW 5

7–168

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.4.3 Diagnosis/service MD (data description - as from SW 3)

1010010114
10119 1)

Active on
Power on

Module order code (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

0

0

65535

-

The "Module order code" machine data contains the selected module in the form of a decimal
code number. In the case of two-axis modules, the data contains two sets of information.
Machine data 10100 to 10114 are assigned to physical addresses 1 to 15.

1020010214
10229 1)

Active on
Power on

Power section code (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

0000

0000

FFFF

Hex

The "Power section code" machine data contains the required or used amperages for the
selected module according to the hexadecimal code number (see also MD 1106). In the case
of two-axis modules, the data contains two sets of information. Machine data 10200 to 10214
are assigned to physical addresses 1 to 15.

10900
Default value

Lower output limit

Upper output limit

Units

–

–

–

–

10901

Active

Firmware version (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

–

–

–

10902

Active

Firmware data (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

–

–

–

10903

Active

Hardware configuration (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

–

–

–

10903.0
10903.1

1)

Active

Data version (as from SW 4)

Mixed I/O
DCM

As from SW 5

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–169

7 Drive Machine Data (SIMODRIVE Drive MD)
7.4.3 Diagnosis/service MD (data description - as from SW 3)

11000

10.94

Active
at once

Ramp-up phase

Default value

Lower output limit

Upper output limit

Units

–

0000

0505

–

The "Ramp-up phase" machine data contains the control word for the ramp-up control of the
611D components. This machine data is provided for every logical, digital drive number. The
high byte displays the ramp-up status as specified by the SERVO; the low byte displays the
status acknowledged by the drive.
High byte
Bits 8 - 15

Output of ramp-up status specified by SERVO

Low byte
Bits 0 - 7

Output of ramp-up status acknowledged by the drive

11001

Active
at once

CRC error

Default value

Lower output limit

Upper output limit

Units

–

0000

FFFF

Hex

The "CRC error" machine data (cyclical error block check) contains 4 error counters for bus
transmission errors between the NC and drive which have been detected by a hardware
monitor.
Errors are detected by ASICs (DCM, DCS, PCU 0 and PCU 1) which are involved in the
transmission.
The error counters are reset after an NCK power on reset and cease to be incremented once
they have reached their maximum value.
The machine data is formatted as follows:
High byte
Bits 12-15

Error counter DCM
(Drive Communication Master)

: No. of errors on reading from the
digital drive

High byte
Bits 8-11

Error counter DCS
(Drive Communication Slave)

: No. of errors on writing from the
digital drive

Low byte
Bits 4 - 7

Error counter PCU 1
(Position Control Unit=Motor
ˆ
measuring system)

: Number of errors on writing to
PCU 1

Low byte
Bits 0 - 3

Error counter PCU 0
(Position Control Unit=Direct
ˆ
measuring system)

: Number of errors on writing to
PCU 0

7–170

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.4.3 Diagnosis/service MD (data description - as from SW 3)

11002

Active
after ramp-up
of 611D link

Status word 1

Default value

Lower output limit

Upper output limit

Units

–

0000

FFFF

Hex

This machine data contains the low-order status bits (bits 0 - 15) of the cyclical status word at
the interface between SERVO and 611D.
0 : off
1 : on

Bit 0

Status class 1 (ZK 1) message

Bits 1-6

Assigned to or reserved for internal system functions

Bit 7 - SW 4

Motor switchover active

Bit 8

Set-up mode actual

Bit 9

Ramp-function generator rapid stop actual

Bit 10

2nd torque limit actual

0 : off
1 : on

0 : off
1 : on

Bit 11 - SW 4 Speed setpoint smoothing (filter 1) actual
Bits 12-15

Assigned to or reserved for internal system functions

11003

Active
after ramp-up
of 611D link

Status word 2

Default value

Lower output limit

Upper output limit

Units

–

0000

FFFF

Hex

This machine data contains the high-order status bits (bits 16-31) of the cyclical status word at
the interface between SERVO and 611D.
Bits 0-2

Set of actual parameters

0 to 7Dec

Bit 3

Motor selection actual

0 : star
1 : delta

Bit 4

Assigned to or reserved for internal system functions

Bit 5

Drive ready

Bit 6

Integrator inhibit actual

Bit 7

Pulse enable actual

Bit 8

Current controller enable actual

Bit 9

Speed controller enable actual

Bit 10

Command variable actual

Bit 11

Master/slave operation actual

0 : off
1 : on

Bit 12 - SW 4 U/f operation
Bit 13

Travel against fixed stop actual

Bit 14

C axis mode actual

Bit 15 - SW 4 Independent braking initiated (generative stop)

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

0 : torque
1 : speed

0 : off
1 : on

0 : off
1 : on

7–171

7 Drive Machine Data (SIMODRIVE Drive MD)
7.4.3 Diagnosis/service MD (data description - as from SW 3)

11004

09.95

Active
after ramp-up
of 611D link

Status word 1

Default value

Lower output limit

Upper output limit

Units

–

0000

FFFF

Hex

This machine data contains the low-order status bits (bits 0-15) of the cyclical status word at
the interface between SERVO and 611D.
Bit 0

DC link 1 reset

Bit 1

Parking axis setpoint

Bits 2-4

Assigned to or reserved for internal system functions

Bit 5

Function generator setpoint

Bit 6

Assigned to or reserved for internal system functions

Bit 7 - SW 4

Ramp-function generator setpoint

Bit 8

Assigned to or reserved for internal system functions

Bit 9

Ramp-function generator rapid stop setpoint

Bit 10

2nd torque limit setpoint

Bit 11

Speed setpoint smoothing setpoint

Bits 12-15

Assigned to or reserved for internal system functions

11005

0 : on
1 : off

0 : on
1 : off

0 : on
1 : off

0 : off
1 : on

Active
after ramp-up
of 611D link

Status word 2

Default value

Lower output limit

Upper output limit

Units

–

0000

FFFF

Hex

This machine data contains the high-order status bits (bits 16-31) of the cyclical status word at
the interface between SERVO and 611D.
Bits 0-2

Set of set parameters

0 to 7Dec

Bit 3

Motor selection setpoint

0 : star
1 : delta

Bit 4

Assigned to or reserved for internal system functions

Bit 5 - SW 4

Motor switchover

Bit 6

Integrator inhibit setpoint

Bit 7

Pulse enable PLC setpoint

Bit 8 - SW 4

Current controller enable setpoint

Bit 9

Speed controller enable NC setpoint

7–172

0 : off
1 : on

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

7 Drive Machine Data (SIMODRIVE Drive MD)
7.4.3 Diagnosis/service MD (data description - as from SW 3)

0 : torque
1 : speed

Bit 10 - SW 4 Command variable
Bits 11-12

(Bit 11:) Master-slave operation setpoint

Bit 13

Travel against fixed stop setpoint

Bit 14

C axis mode setpoint

Bit 15

Sign of life

11006

0 : off
1 : on

Active
after ramp-up
of 611D link

Status class 2

Default value

Lower output limit

Upper output limit

Units

–

0000

FFFF

Hex

This machine data contains the warnings of a digital drive. It is stored on an axis-specific basis
at the interface between the SERVO and the 611D.
Bit 0

DC link (off =ˆ DC link fault)

Bit 1 - SW 4

DC link voltage emergency retraction ( MD 1634)

Bit 2 - SW 4

Emergency retraction/generator mode active

Bit 3 - SW 4

Generator speed < minimum speed

Bits 4-13

Assigned to or reserved for internal system functions

Bit 14

Motor temperature warning

Bit 15

Heat sink temperature warning

11007

0 : off
1 : on
0 : on
1 : off

0 : off
1 : on

Active
after ramp-up
of 611D link

Status class 3

Default value

Lower output limit

Upper output limit

Units

–

0000

FFFF

Hex

This machine data contains the warnings of a digital drive. The machine data is stored on an
axis-specific basis at the interface between the SERVO and the 611D. For bits 6 to 15 there is
no evaluation or connection to the PLC.
Bit 0 - SW 3

Programmable message 1

Bit 0 - SW 4

Ramp-up completed

Bit 1 - SW 3

Programmable message 2

Bit 1 - SW 4

I Md I< Mdx

Bit 2 - SW 3

Programmable message 3

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

0 : off
1 : on

7–173

7 Drive Machine Data (SIMODRIVE Drive MD)
7.4.3 Diagnosis/service MD (data description - as from SW 3)

10.94

Bit 2 - SW 4

I nact I < nmin

Bit 3 - SW 3

Programmable message 4

Bit 3 - SW 4

I nact I < nx

Bit 4 - SW 3

Programmable message 5

Bit 4 - SW 4

nsoll = nist

Bit 5 - SW 3

Programmable message 6

Bit 5 - SW 4

Variable message function

Bit 6 - SW 4

(nset - nact) < DELTA (–)

Bit 7 - SW 4

(nset - nact) > DELTA (+)

Bit 8 - SW 4

Actuating voltage Ustell(q) > Umax

Bit 9 - SW 4

Current setpoint Iset > Imax

Bit 10

Assigned to or reserved for system-internal functions

0 : off
1 : on

0 : off
1 : on

Bit 11 - SW 4 Set speed nset > nUewa-Motor
0 : off
1 : on

Bit 12 - SW 4 Actuating voltage Ustell(d) > Umax
Bit 13 - SW 4 Torque setpoint mset >mlimit
Bits 14-15

Assigned to or reserved for system-internal functions

11008

Active
at once

Drive status

Default value

Lower output limit

Upper output limit

Units

–

0

5

–

This machine data defines the ramp-up and operating status of the digital drives on an axisspecific basis. The status is generated during ramp-up in the SERVO and updated accordingly
when the machine data is accessed.
Bit 0

Drive off

Bit 1

Drive on (after establishment of drive link)

Bit 2

On-line (communications connection between NC and drive)

Bit 3

Bootstrapping (drive must be booted)

Bit 4

Connected in (drive has ramped up to setpoint)

Bit 5

Ready (drive in control circuit, power connected) =ˆ MD 11003.5

7–174

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

7 Drive Machine Data (SIMODRIVE Drive MD)
7.4.3 Diagnosis/service MD (data description - as from SW 3)

11009

Active
at once

Capacity utilization (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

0000

7FFF

Hex

This machine data specifies the capacity utilization of the digital drive as a percentage
(0 ... 7FFF H =ˆ 0 ... 100%).

11010

Active
at once

Torque setpoint (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

-32 768

32 767

–

This machine data specifies the torque setpoint of the digital drive as a percentage
(-32768 ... 32767 =ˆ -200% ... 200%). The torque corresponding to 100 % (internal notation
4000 H) is stored in machine data "Scaling torque setpoint interface" (MD 1725).

11011

Active
at once

Active power (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

-327.68

327.67

kW

This machine data specifies the active power of the digital drive.

11012

Active
at once

Current actual value (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

-32 768

32 767

–

This machine data specifies the current actual value of the digital drive as a percentage
(-32768 ... 32767 =ˆ -200% ... 200%). The limit current corresponding to 100 % (internal
notation 4000 H) is stored in the machine data "Transistor limit current power section" (MD
1107).

11013

Active
at once

Speed actual value (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

-200

200

%

This machine data specifies the current actual value of the digital drive. The actual speed
value corresponding to 100 % (internal notation 4000 H) is stored in the machine data "Speed
for max. motor operational speed" (MD 1401).

© Siemens AG

1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

7–175

7 Drive Machine Data (SIMODRIVE Drive MD)
7.4.3 Diagnosis/service MD (data description - as from SW 3)

12000

04.96

Active
at once

Position actual value

Default value

Lower output limit

Upper output limit

Units

–

-99999999

99999999

–

Output of currently valid position actual value which is dependent on the position control for
rotary axes (NC-MD 5640.5) and position control resolution (NC-MD 18000.0-3). The
information is output in the drive service displays.

12001
Default value

Lower output limit

Upper output limit

Units

–

–

–

–

12002

Active

Position controller cycle (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

–

–

–

12003

7–176

Active

v-max (FDD)/n-setpoint max (MSD) (as from SW 4)

Active

Actual gear stage (as from SW 4)

Default value

Lower output limit

Upper output limit

Units

–

–

–

–

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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04.96

7.5

7 Drive Machine Data (SIMODRIVE Drive MD)
7.5 Safety Integrated (SI) data

Safety Integrated (SI) data
Note:
The SINUMERIK Safety Integrated function is an option.
The Safety Integrated machine and service data
are described in the documentation SINUMERIK
Safety Integrated (Description of Functions).

END OF SECTION

SINUMERIK 840C (IA)

© Siemens AG

1992 All Rights Reserved

6FC5197- AA50

7–177

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aaaaaaaaaaaaaaaaaaaa

10.94

1)

8 PLC Machine Data (PLC MD)
8.1 General

8
PLC Machine Data (PLC MD)

8.1
General

8.1.1
Entering PLC MD (up to SW 2)

You must set the PLC machine data (PLC MD) to adapt the PLC system program to the
machine tool and to the PLC user program.

The PLC MD are transferred from the machine data area to the data blocks on a PLC cold
restart. There they are available to the PLC user program. PLC MD cannot be entered directly
into the data blocks.

The PLC MD that influence the PLC system program do take effect until a cold restart has
been performed. (A cold restart is performed on a change from initial clear mode to normal
mode).

Selecting PLC MD (up to SW 2)
Diagnosis

NC
Diagnosis

NC
start-up 1)

NC
MD
PLC
MD
Cycles
MD
Enter
password
Disable
password
Initial clear
mode

System
data
FB
data
User
data
System
bits
FB
bits
User
bits

You cannot modify the PLC MD until you have entered a password.

Note

The description of the functions of the bits always refer to the function that is active when the
bit is set. The function that is active when the bit is not set is simply the negation of this
description. MD not described have been set to zero either when the standard MC were
loaded or when the control was started up, or they have been set to a default value indicating
the control configuration.

Note

As from SW 3, start-up of the PLC-MD is performed in the MDD.
For further details, refer to Section MDD.

_______

You can prevent selection of "NC start-up" with the key switch, if NC MD 5006 bit 5 = "1".

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

8–1

8 PLC Machine Data (PLC MD)
8.1.2 Breakdown of the PLC MD

8.1.2

08.96

Breakdown of the PLC MD

PLC
MD
0
to
839
2000
to
2849
4000
to
4049
6000
to
6599
7000
to
7799
8000
to
8199

DB

Description

Softkey

Section

DB60

MD for operating system

System data

8.2

DB61

MD for function blocks

FB data

8.3

DB62

MD for user

User data

8.4

DB63

MD bits for
operating system

System bits

8.5

DB64

MD bits for
function blocks

FB bits

8.6

DB65

MD bits for user

User bits

8.7

Example:
PLC MD No.
for input, read

2

DB 60

Name
Lower input limit

Upper input limit

Units

a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
aaaaa
a

Default value

a
aaa
aaaaaaa
a
a
a
a
a
a
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aaaaaaa
a

a
aaa
aaaaaaa
a
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a
aaaaaaa
a

Data block to which PLC MD
are transferred on a cold
restart. For read.

Value initialized
when PLC MD are
loaded in "Overall
Reset" mode

8–2

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

8 PLC Machine Data (PLC MD)
8.2 PLC MD for the operating system (system data)

8.2

PLC MD for the operating system (system data)

2

DB 60
DW 2

Time base for calling OB 5

Default value

Lower input limit

Upper input limit

Units

1

+1

3

2.5 ms

3

DB 60
DW 3

Time base for calling OB 6

Default value

Lower input limit

Upper input limit

Units

1

+1

9

10 ms

4

DB 60
DW 4

Time base for calling OB 7

Default value

Lower input limit

Upper input limit

Units

1

+1

255

100 ms

You can use the organization blocks OB 5, OB 6 and OB 7 for time-controlled program
execution.
You can vary the time base by specifying a factor. This factor is specific to the block:

Blocks

Normal time
base

Factor

OB 5

2.5 ms

1 to 3

OB 6

10 ms

1 to 9

OB 7

100 ms

1 to 255

You must not specify zero as a factor.
If you want to use OB 5, set PLC MD 6051.0 to 0 to enable OB 5 to be invoked. See also
PLC MD 6050 (enable block for processing) and PLC MD6048 (processing delay).

5

DB 60
DW 5

Last STEP 5 timer

Default value

Lower input limit

Upper input limit

Units

64

-1

+255

–

The processing of timers causes a certain amount of work for the PLC operating system.
Should a user program require e.g. only timers 1 to 20, entry of the number 20 tells the
operating system that it should process only these timers. This saves processor time, and can
even reduce the PLC cycle time.
An entry of "-1" disables all timers.
The extension to 255 is only possible with option N05; otherwise 127 timers are available.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

8–3

8 PLC Machine Data (PLC MD)
8.2 PLC MD for the operating system (system data)

8 1)

09.95

DB 60
DW 8

Last active channel

Default value

Lower input limit

Upper input limit

Units

1

1

4

–

9 1)

DB 60
DW 9

Last active spindle

Default value

Lower input limit

Upper input limit

Units

1

1

6

–

10 1)

DB 60
DW 10

Last active axis

Default value

Lower input limit

Upper input limit

Units

3

1

30

–

These entries inform the PLC operating system of the numbers of the last channel, spindle
and axis.
See also PLC MD 6000, 6012 and 6016
Example:
PLC-MD 8 = 4, PLC MD 6000 = 0000 0111
Informs the PLC operating system that channels 1, 2 and 3 can be processed.
The PLC operating system processes DB10, DB11 and DB12 and transfers them to the NCPLC interface.
After each restart, the PLC system obtains the information required from the relevant NC
machine data and stores it in the data blocks DB60 and DB63, which means that
-

the other PLC MD remain active

-

the PLC processes only those channels, spindles and axes actually defined via NC MD

-

any changes in the number of channels, spindles or axes will become effective only after a
PLC restart.

11

DB 60
DW 11

Last byte to reset in input image

Default value

Lower input limit

Upper input limit

Units

127

64

127

–

12

DB 60
DW 12

Last byte to reset in output image

Default value

Lower input limit

Upper input limit

Units

127

64

127

–

You can use this MD to specify the last input byte/output byte to be reset in the input
image/output image on a cold or warm restart. This means that the bytes not used by the
process peripherals can be utilized as additional retentive flag bytes.
_______
1)

8–4

As from SW 3, these PLC MDs are irrelevant.

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

8 PLC Machine Data (PLC MD)
8.2 PLC MD for the operating system (system data)

Example:
Value in PLC MD 11 = 71 when 1st machine control panel in PLC MD 128 is set to start
address 64.
I byte 0
:
:
:
I byte 71
I byte 72
:
:
I byte 127

Signals from the machine

Can be used as additional flag area

Max. 128 bytes on 135 WB

13

Reserved

14

Reserved

DB 60
DW 13
DB 60
DW 14

Default value

Lower input limit

Upper input limit

Units

0

–

–

–

17

DB 60
DW 17

No. of wait cycles for assigned UI

Default value

Lower input limit

Upper input limit

Units

1

0

10

–

This timeout is specified as the number of PLC cycles that are allowed to elapse before the
user interface (UI) is enabled, and applies to all user interfaces on a PLC. When the timeout
has expired, a negative acknowledgement is sent in response to a frame sent to the user
interface.
Default value:

1

i.e. the user interface must be free again after one PLC cycle

Max. input value:

10 i.e. the user interface must be free again after ten PLC cycles

See also Computer Link

18

DB 60
DW 18

No. of the UI during synchronization

Default value

Lower input limit

Upper input limit

Units

0

0

31

–

A frame sent to the host computer can be output only via this user interface during
synchronization. See Computer Link.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

8–5

8 PLC Machine Data (PLC MD)
8.2 PLC MD for the operating system (system data)

19

09.95

DB 60
DW 19

No. of function numbers

Default value

Lower input limit

Upper input limit

Units

3

0

10

–

Number of function numbers for a UI kernel sequence initiation.
Input values:

0

=

UI kernel sequence initiation not allowed in this PLC

1...10 (max.)

=

UI kernel sequence initiation allowed.
The input value specifies the number of function numbers,
beginning with MD DB60, DW20, for a UI kernel sequence
initiation.

3

=

Default value

See Computer Link.

20-29

DB 60
DW 20-29

Function no. for kernel sequence initiation

Default value

Lower input limit

Upper input limit

Units

see table

0

255

–

Default value
MD

Value

20

25

21

26

22

30

23
.
.
.
29

0
.
.
.
0

See Computer Link.

30

DB 60
DW 30
DB 60
DW 31

No. of interrupt byte on interface PLC/PLC 135 WD

31

Spare

Default value

Lower input limit

Upper input limit

Units

-1

-1

127

–

This tells the PLC operating system the number of the interrupt byte to be processed on the
interface module.
Enter - 1 if no byte is to be processed. If a high-speed input is to be processed, it must be
interfaced over the IF PLC module's X141 connector. There can be as many as eight inputs.
The relevant input byte is specified in this MD.

8–6

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

8 PLC Machine Data (PLC MD)
8.2 PLC MD for the operating system (system data)

You can enable the individual bits in PLC MD 6052, and set the positive or negative edge to
be evaluated in PLC MD 6055. A rapid input is possible only when bit 0 of PLC MD 6051 is set
to "0". OB2 is invoked when bit 2 of PLC MD 6050 is "0".

33

DB 60
DW 33

No. of user interfaces command channel

Default value

Lower input limit

Upper input limit

Units

0

0

8

–

Here you can set the number of user interfaces in DB41. You must enable the function in PLC
MD 6026, bit 1. The value 8 in MD 33 means that the user can enter a maximum of 8 job
requests in DB 41.
You should not enter a larger value than necessary, as the PLC OS scans the requests every
20 ms (affecting the runtime of the PLC program). The following functions can be initiated over
the command channel:
•
•
•
•
•
•

S external
Coupled motion of axes
(with option 6FC5 150-0AS02-0AA0)
Transmit
(with option 6FC5 150-0AD04-0AA0)
Division increment
Position specification
M19 through several revolutions

34 - 123

Start addresses of DMP submodules, DMP IM, lines

DB 60
DW 34-123

Default value

Lower input limit

Upper input limit

Units

see table

-1

254

–

DMP = Distributed machine peripherals (byte number).
MD 34 to 123 define the start addresses of the input and outputs for each DMP submodule
interfaced. At the same time, the PLC and the DMP interface submodule check, service and
monitor the submodules.
Enter - 1 if no DMP submodule is interfaced. PLC MD 94 defaults to 64, thus interfacing the
signals from the machine control panel, beginning with input/output byte 64, to the IF PLC.
Notes:
•
•

See the Interface Description, Part 2 for a detailed description.
Central interrupts and DMPs generating interrupts must not be used at the same time.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

8–7

8 PLC Machine Data (PLC MD)
8.2 PLC MD for the operating system (system data)

06.93

Table for MD 34 to 123

PLC MD, Interface
DB60 DW

8–8

Terminal PLC MD
MPC line block No. standard
No.
value

Terminal
block
rotary
switch
position

34
35
36
37
38
39
40
41
42
43
44
45
46
47
48

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1

E
D
C
B
A
9
8
7
6
5
4
3
2
1
0

49
50
51
52
53
54
55
56
57
58
59
60
61
62
63

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

2
2
2
2
2
2
2
2
2
2
2
2
2
2
2

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1

E
D
C
B
A
9
8
7
6
5
4
3
2
1
0

64
65
66
67
68
69
70
71
72
73
74
75
76
77
78

2
2
2
2
2
2
2
2
2
2
2
2
2
2
2

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1

E
D
C
B
A
9
8
7
6
5
4
3
2
1
0

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

8 PLC Machine Data (PLC MD)
8.2 PLC MD for the operating system (system data)

PLC MD, Interface
DB60 DW

Terminal
MPC line
block
No.
No.

PLC MD
standard
value

Terminal
block
rotary
switch
position

79
80
81
82
83
84
85
86
87
88
89
90
91
92
93

2
2
2
2
2
2
2
2
2
2
2
2
2
2
2

2
2
2
2
2
2
2
2
2
2
2
2
2
2
2

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1

E
D
C
B
A
9
8
7
6
5
4
3
2
1
0

94
95
96
97
98
99
100
101
102
103
104
105
106
107
108

3
3
3
3
3
3
3
3
3
3
3
3
3
3
3

1
1
1
1
1
1
1
1
1
1
1
1
1
1
1

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

64
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1

E
D
C
B
A
9
8
7
6
5
4
3
2
1
0

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

8–9

8 PLC Machine Data (PLC MD)
8.2 PLC MD for the operating system (system data)

09.95

124

Byte no. of 1st alarm byte

125

Byte no. of 2nd alarm byte

126

Byte no. of 3rd alarm byte

127

Byte no. of 4th alarm byte

DB 60
DW 124
DB 60
DW 125
DB 60
DW 126
DB 60
DW 127

Default value

Lower input limit

Upper input limit

Units

-1

-1

127 (SW 4 and
higher)

–

This PLC MD can be used to define as many as 4 input bytes as alarm bytes. The PLC
software scans these bytes for changes every 10 ms. Enter - 1 for input bytes that are not to
serve as alarm bytes.
The PLC outputs an error message and goes to STOP if illegal values are detected on a cold
restart.
If enabled in PLC MD 6050, bit 3 (bit 3 = 0), OB 3 is invoked when an alarm is generated.

128

DB 60
DW 128

Address 1st machine control panel

Default value

Lower input limit

Upper input limit

Units

64

0

127 (SW 4 and
higher)

–

129

DB 60
DW 129

Address 2nd machine control panel

Default value

Lower input limit

Upper input limit

Units

72

0

127 (SW 4 and
higher)

–

These PLC MD specify the start address (byte) for the machine control panels.
Eight bytes are required for each control panel. The inputs and outputs for each control panel
have the same address numbers.

8–10

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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09.95

*
1)
2)

8 PLC Machine Data (PLC MD)
8.2 PLC MD for the operating system (system data)

Machine data words for PLC operating system (DB 60)

DW No.
PLC
MD No.

High byte (DL)

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

Low byte (DR)

DW 130
MD 130
Address interrupt byte
Default setting=–1
–1 ... 254

DW 131
MD 131
Address interrupt byte
Default setting=–1
–1 ... 254

DW 132
MD 132
Address interrupt byte
Default setting=–1
–1 ... 254

DW 133
MD 133
Address interrupt byte
Default setting=–1
–1 ... 254

DW 134
MD 134
Address interrupt byte of interface PLC/PLC 135 WD
Default setting=–1
–1 ... 254

DW 135
MD 135
Spare
Default setting=–1
–1 ... 254

DW 136
MD 136
Free configuring data block
Default setting=0 (no DB)

DW 137
MD 137
OEM information bits FW (MMC PLC IF) 1) 2)
DB 1 - 255
DX 0 - 255
1 ... 255
1000 ... 1255

Note:

For configuration see Interface Description, Part 1, Signals, Section 2.11, Configuration of the
distributed machine peripherals (DMP).

_______

Not software version 1
As from SW 3
Description in OEM package

8–11

8 PLC Machine Data (PLC MD)
8.3 PLC MD for function blocks (FB data)

8.3

09.01

PLC MD for function blocks (FB data)

2000 to
2077
Default value

DB 61
DW 0 - 77

PLC MD values for tool management package
Lower input limit

Upper input limit

Units

0

–

For values and their meanings, refer to the Tool Management description.

2078 to
2089
Default value

DB 61
DW 78 - 89

PLC MD values for computer link package
Lower input limit

Upper input limit

Units

0

–

For values and their meanings, see the Computer Link description.

2090

DB 61
DW 90

PLC MD values for load package

Default value

Lower input limit

Upper input limit

Units

0

–

For values and their meanings, see the Package 0 description.

2096 to
2119
Default value

DB 61

PLC MD values for computer link package
Lower input limit

DW 96 - 119

Upper input limit

Units

0

2120 to
2139
Default value

–

DB 61

PLC MD values for tool management package
Lower input limit

DW 120-139

Upper input limit

Units

0

8.4

–

PLC MD for the user

4000 to
4255

DB 62
DW 0 - 255

PLC MD values for user

Default value

Lower input limit

Upper input limit

Units

0

0

65535

–

A special area comprising 50 PLC MD words is available to the user to do with it as he sees
fit. This area can be used, for example, to match the user's machine program to the machine
configuration (also see PLC MD 8000 to 8255).

8–12

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

8.5

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC MD for the operating system (system bits)

PLC MD
DB63
DW No.

Bit No.
7

6

6000 1)
DL 0

5

4

3

6 2)

5 2)

4

2

1

0

Signals from/to NC channel

Default value:

3

2

1

0000 1111

This MD is used to enable the interchange of channel signals between NC and PLC. Because
the 840 system has a one-channel basic configuration, bit 0 must be "1". If there are several
channels, you must set the bits corresponding to the channels in this MD.
The highest channel number is specified for the PLC software in PLC MD 8. Options D32, D33
and D34 enable the use of as many as 4 channels (as from SW 4: 6 channels).

PLC MD
DB63
DW No.

Bit No.
7

6

5

4

3

2

1

0

M decoding with ext. address channel

6009
DR 4

6 2)

Default value:

5 2)

4

3

2

1

All bits default to 0

M DECODING WITH EXTENDED ADDRESS FOR NC CHANNEL (1 TO 4)
Bit = 0
Bit = 1

No M decoding with extended address
M decoding with extended address

Note:
The relevant data block (DB 80 - DB 83) must be loaded to enable M decoding with extended
address. If the bit is set but the DB has not been loaded, the PLC goes into the STOP loop
(for a list of errors, see the Installation Lists).
After each restart, the PLC system obtains the information required from the relevant NC
machine data and stores it in the data blocks DB60 and DB63, which means that
- the other PLC MD remain active
- the PLC processes only those channels, spindles and axes actually defined via NC MD
- any changes in the number of channels, spindles or axes will become effective only after a
PLC restart.

_______
1)
2)

As from software version 3, these PLC MD are irrelevant, they are only used for display purposes
SW 4 and higher

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

8–13

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC MD
DB63
DW No.

09.95

Bit No.
7

6

6012 1)
DL 6

5

4

3

2

1

0

2

1

Signals from/to spindle
6

Default value:

5

4

3

0000 0001

This MD enables the interchange of spindle signals between NC and PLC. As the basic
configuration of the 840T includes only one spindle, bit 0 must be "1".
If more than one spindle is available, you must set the bits corresponding to the channels in
this MD. The highest spindle number is entered in PLC MD 9. Options E41, F05 and F06
enable the use of as many as six spindles.

PLC MD
DB63
DW No.

7

6

5

6016 1)
DL 8

8

7

6

6017 1)
DR 8

16

15

14

6018 1)
DL 9

Bit No.
3

2

1

0

3

2

1

11

10

9

19

18

17

27

26

25

Signals from/to axis
5

4

Signals from/to axis
13

12

Signals from/to axis
24

23

6019 1)
DR 9
Default value:

4

22

21

20

Signals from/to axis
30

29

28

MD 6016 0000 0111
MD 6017 0000 0000

Use this MD to enable the signals of the axes between the NC and the PLC. As the basic
configuration of the 840T includes two axes, bits 0 and 1 in MD 6016 must be set to "1".
If there are more than two axes, the corresponding bits must be set in this MD.
The highest axis number is specified in PLC MD 10.
Fictitious axes for transformation (option 6FC5 150-0AD04-0AA0) must also be declared in the
PLC MDs. Options A01 to A06 provide for more than two real axes.
After each restart, the PLC system obtains the information required from the relevant NC
machine data and stores it in the data blocks DB60 and DB63, which means that
-

the other PLC MD remain active

-

the PLC processes only those channels, spindles and axes actually defined via NC MD

-

any changes in the number of channels, spindles or axes will become effective only after a
PLC restart.

_______
1)

As from software version 3, these PLC MD are irrelevant, they are only used for display purposes

8–14

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC MD
DB63
DW No.

Bit No.
7
Enable
serial
interface
DB37

6026
DL 13

6

5

Enable init
in same
channel

Deselect
autom. NC
START
INHIBIT
with MDA

4

3

2

1

Save flag
area

Access to
PLC data
inhibited
with @

Command
channel
enabled

0

Default value:

1000 000

Bit 7

When bit 7 is set, data can be read in and out via the computer link
interface with DB 37.

Bit 6 = 1:

Funktion Init im eigenen Kanal wird freigegeben.

Bit 5 = 1:

NC start is issued to all channels (even if ”NC start inhibit” is active).
It is up to the passed to make sure that NC start is not passed to the NC
(DB 10-13, D 20).

Bit 3 = 0:

Save flags 224 - 255 (default setting) when changing processing level

Bit 3 = 1:

Save flags 200 - 255 when changing processing level

Bit 5 = 0:

On MDA mode, NC start is only passed to the selected channel. NC start
is not passed to those channels signalling ”NC start inhibit”
(DBs 10-13, D 16-15).

Note:
The MD is not active when using the ”Overstore” function. With ”Overstore”, NC start is
always prevented from becoming active in a non-selected channel.
Bit 2

Access to PLC data over @ commands is disabled.

Bit 1

The command channel function is enabled. The number of user interfaces
is specified in PLC MD 33. See PLC MD 33.

PLC MD
DB63
DW No.

Bit No.
7

6

5

4

3

2

1

Signal T/H
word routing
target
channel
suppressed

6029
DR 14

0
T/H
word
routing
active

Default value:

0

Bit 0

Bit = 0

T and H words are output to the programmed channel DB only. Also see
the Interface Description.

Bit = 1

T/H words can be routed to different channel DBs over the extended T/H
address.

Bit 3

As long as interface signal DB 10 to 13, DR 63.6 is set to "1", machine data bit
6029.3 has the following effect:
Bit = 0

The signal "Route T/H word" from the source channel to the programmed
target channel is suppressed.

Bit = 1

The signal "T/H word routing" is suppressed in the target channel.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

8–15

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC MD
DB63
DW No.

09.95

Bit No.
7

6

5

4

6030
DL 15

3
4

Default value:

2

1

Error/operational messages
on inactive channels 1)
3
2

0
1

All bits default to 0

0 signal:

Corresponding inactive channel DB is not used to activate error/operational
messages.

1 signal:

The inactive channel DB is used to activate error/operational messages.

Example:
0

0

0

0

0

0

1

1

PLC MD 6000

Only the error bits in the active channel DBs (DB10, DB11) for channels 1 and 2 are
evaluated.
0

0

0

0

1

1

0

0

PLC MD 6030

The error bits in the inactive channel DBs (DB12, DB13) for channels 3 and 4 are also
evaluated.
Note:
If an error bit is set in an inactive channel DB that is used for the extended display of error and
operational messages, then the corresponding errors are not included in the message group
displays.
You are not permitted to assign PLC channels (MD 6000) while the display of error and
operational messages for unused channels (MD 6030) is active, as it would result in
corruption and falsification of the displays. Also refer to the PLC Installation Section.
Example:

MD 6000.0 = 1 and
MD 6030.0 = 1

_______
1)

No longer exists from SW 4 onwards, new alarm concept

8–16

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC MD
DB63
DW No.

Bit No.
7

6032
DL 16

6

5

4

3

2

1

0

DL 7

DR 6

DL 6

DL 11

DR 10

DL 10

Alarm channel DB
DR 9

DL 9

DR 8

6033
DR 16

DL 8

DR 7

Alarm channel DB
DR 11

Default value:

All bits default to 0

Bit = 0

The system software does not evaluate the bits in the corresponding interface
byte for error messages.

Bit = 1

The system software evaluates the bits in the corresponding interface byte for
error messages.

Note:
The bit applies to all channels. If the corresponding bit is also set for operational messages
(PLC MD 6040/6041), the PLC goes into the stop loop in the startup routine.
Sample application:
Error message evaluation when a DR8 bit is "1": PLC MD 6032.5=1
Bit 9.5 in channel 2 (DB 11) results in output of error message number 6145 (see PLC
Installation Section).

PLC MD
DB63
DW No.

Bit No.
7

6

5

6034
DL 17

4

3

2

1

0

Alarm DB 31
DR k+3

Default value:

DL k+3

All bits default to 0

K = 0, 4, 8, 12, 16, 20 (1st to 6th spindle)
Bit = 0

The system software does not evaluate the bits in the corresponding interface
byte for error messages.

Bit = 1

The system software evaluates the bits in the corresponding interface byte for
error messages.

Notes:
1) The bit applies to all spindles.
2) If the corresponding bit is also set for operational messages (PLC MD 6042), the PLC
goes into the stop loop in the startup routine.
Sample application:
DB 31 D 7.9
PLC MD 6034.0=

1 signal error message 8021;
1 (See PLC Installation Section)

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

8–17

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC MD
DB63
DW No.

09.95

Bit No.
7

6

5

6035
DR 17

4

3

2

1

0

Alarm DB 32
DR k+3

Default value:

DL k+3

All bits default to 0

K = 0, 4, 8, 12, ... 116 (1st to 30th axis)
Bit = 0

The system software does not evaluate the bits in the corresponding interface
byte for error messages.

Bit = 1

The system software evaluates the bits in the corresponding interface byte for
error messages.

Notes:
1) The bit applies to all axes.
2) If the identical bit is also set for operational messages (PLC MD 6043), the PLC goes into
the Stop loop.
Sample application:
DB 32 D 3.3
PLC MD 6035.1=

1 signal error message 8211;
1

See PLC Installation Section.

PLC MD
DB63
DW No.

Bit No.
7

6036
DL 18

5

4

3

2

1

0

DL 2

DR 1

DL 1

DL 6

DR 5

DL 5

DL 10

DR 9

DL 9

DL 14

DR 13

DL 13

Alarm DB 58
DR 4

6037
DR 18
6038
DL 19

6
DL 4

DR 3

DL 3

DR 2

Alarm DB 58
DR 8

DL 8

DR 7

DL 7

DR 6

Alarm DB 58
DR 12

6039
DR 19

DL 12

DR 11

DL 11

DR 10

Alarm DB 58
DL 16

Default value:

DR 15

DL 15

DR 14

All bits default to 0

Bit = 0

The system software does not evaluate the bits in the corresponding interface
byte for error messages.

Bit = 1

The system software evaluates the bits in the corresponding interface byte for
error messages.

Note:
If the identical bit is also set for operational messages (PLC MD 6044-6047), the PLC goes
into the Stop loop.
Sample application:
DB 58 D 3.10
PLC MD 6039.4 =

8–18

1 signal error message 9034;
1

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC MD
DB63
DW No.

Bit No.
7

6040
DL 20

6

5

4

3

2

1

0

DL 7

DR 6

DL 6

DL 11

DR 10

DL 10

Signal channel DB
DR 9

DL 9

6041
DR 20

DR 8

DL 8

DR7

Signal channel DB
DR 11

Default value:

All bits default to 0

Bit = 0

The system software does not evaluate the bits in the corresponding interface
byte for operational messages.

Bit = 1

The system software evaluates the bits in the corresponding interface byte for
operational messages.

Notes:
1) The bit applies to all NC channels.
2) If the same bit is also set for error messages (PLC MD 6032, 6033), the PLC goes into the
Stop loop.
Sample application:
DB 10 D 6.8
1 signal operational message 6000;
PLC MD 6040.0=
1
See PLC Installation Section.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

8–19

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC MD
DB63
DW No.

09.95

Bit No.
7

6

5

6042
DL 21

4

3

2

1

0

Signal DB 31
DR k+3

DL k+3

Default value: All bits default to 0
K = 0, 4, 8, 12, 16, 20 (1st to 6th spindle)
Bit = 0

The system software does not evaluate the bits in the corresponding interface
byte for operational messages.

Bit = 1

The system software evaluates the bits in the corresponding interface byte for
operational messages.

Notes:
1) The bit applies to all spindles.
2) If the same bit is also set for error messages (PLC MD 6034), the PLC goes into the Stop
loop.
Sample application:
DB 31 D 7.1
1 signal operational message 8029;
PLC MD 6042.1=
1
See PLC Installation Section.

PLC MD
DB63
DW No.

Bit No.
7

6

5

6043
DR 21

4

3

2

1

0

Signal DB 32
DR k+3

Default value:

DL k+3

All bits default to 0

K = 0, 4, 8, 12, ... 116 (1st to 30th axis)
Bit = 0

The system software does not evaluate the bits in the corresponding interface
byte for operational messages.

Bit = 1

The system software evaluates the bits in the corresponding interface byte for
operational messages.

Notes:
1) The bit applies to all axes.
2) If the same bit is also set for error messages (PLC MD 6035), the PLC goes into the Stop
loop.
Sample application:
DB 31 D 7.1
1 signal operational message 8029;
PLC MD 6042.1=
1
See PLC Installation Section.

8–20

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC MD
DB63
DW No.

7

6

5

4

6044
DL 22

DR 4

DL 4

DR 3

DL 3

6045
DR 22

DR 8

DL 8

DR 7

DL 7

6046
DL 23

Bit No.
3

2

1

0

DL 2

DR 1

DL 1

DL 6

DR 5

DL 5

DL 10

DR 9

DL 9

DL 14

DR 13

DL 13

Signal DB 58
DR 2

Signal DB 58
DR 6

Signal DB 58
DR 12

6047
DR 23

DL 12

DR 11

DL 11

DR 10

Signal DB 58
DL 16

Default value:

DR 15

DL 15

DR 14

All bits default to 0

Bit = 0

The system software does not evaluate the bits in the corresponding interface
byte for operational messages.

Bit = 1

The system software evaluates the bits in the corresponding interface byte for
operational messages.

Note:
If the same bit is also set for error messages (PLC MD 6036 to 6039), the PLC goes into the
Stop loop.
Sample application:
DB 58 D 5.1
1 signal operational message 9073;
PLC MD 6045.1 = 1

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

8–21

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC MD
DB63
DW No.

7

6

5

6048
DL 24

OB 7

OB 6

OB 5

09.95

Bit No.
4

3

2

1

0

Stop during processing delay by

Default value:

OB 4

OB 3

OB 2

1111 1100

Bit = 0

A delay in the relevant OB does not force the programmable controller to STOP.

Bit = 1

A delay in the relevant OB forces the programmable controller to STOP.

Note:
If you do not want the programmable controller to go to STOP when there is a processing
delay in an OB, you must make use of a bit in flag byte 6 which is set when such a delay
occurs. The user program can scan this bit and take any appropriate measures.

PLC MD
DB63
DW No.

Bit No.
7

6

5

4

3

2

1

OB1 without Cold restart
minimum
cycle time on RESET

6049
DR 24
Default value:

0
Access to
link bus

0

Bit 0

For installation and for testing the STEP 5 program.

Bit = 0

No precise cause for a time-out during bus access can be displayed. In standard
operations, this bit must be 0.

Bit = 1

The exact cause of a time-out (QVZ) is displayed as one item of precision error
detection data (135 WB PLC). Bus access or the STEP 5 program is slower.

The bus interface executes a write access to the link or local bus while the processor receives
an acknowledgement and continues operation (buffered access to local/link bus). Should a
timeout occur during this type of write access, no deductions can be made regarding its cause
by inspecting the state of to the processor and coprocessor registers.
The user can switch off buffered access to link and local bus via machine data (PLC operating
system MD bits 6049.0 (e.g. if he wishes to test STEP 5 programs during start-up). However,
this type of access operates is slower as the processor only receives an acknowledgement
once the entire bus cycle is completed.
You must set machine data 6048.0 to be able to determine the exact cause of the timeout.
Bit 1 = 0

No IP/WF modules used (standard)

Bit 1 = 1

IP/WF modules inserted, a cold restart is enforced after every RESET.

8–22

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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09.95

Bit 2-7

Bit 1

Bit 0

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

6049, bit 2 = 0
PLC minimum cycle time switched on (default setting).

6049, bit 2 = 1
PLC minimum cycle time switched off, i.e. the PLC cycle time is derived
from the running time of the user program.

If the PLC minimum cycle time is switched off with PLC machine data
6049, bit 2, the user himself must maintain the VDI signals for at least
twice the IPO sampling time.

PLC MD
DB63
DW No.

Bit No.

7

6050
DL 25

Default value:

PLC MD
DB63
DW No.

Default value:
6

OB 7

SINUMERIK 840C (IA)
OB 6

7
6

© Siemens AG 1992 All Rights Reserved

5

OB 5

4
Disable

OB 4

5
4

6FC5197- AA50

3
2

OB 3
OB 2

3
2

6051
DR 25

Bit = 0
The programmer displays 155U as CPU identifier

Bit = 1
The programmer displays 135 WB as CPU identifier
1

Bit = 0
The OB referred to is enabled for processing.

Bit = 1
The OB is disabled for processing and is not invoked by the system
program.
0

1111 1100

Bit No.
1
0

Programmer mode
Special
mode

0000 0011

See Section 3

For OB 5, also see PLC MD 2
For OB 2, also see PLC MD 30, 6032 and 6055

Bit = 0
Level change possible after each STEP 5 statement (special mode).

Bit = 1

Level change (e.g. OB 6 interrupts OB 1) possible at block boundaries
only (same performance as 130 WB PLC in normal mode).

Note:

You must set the bit for "PLC mode" to 0 if OB 2 and OB 5 are to be invoked. If this
bit is "1", the OBs are not processed even if they have been loaded into the
programmable controller.

8–23

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

09.95

PLC MD
DB63
DW No.

7

6

6052
DL 26

7

6

5

4

6053
DR 26

7

6

5

4

Bit No.
5

4

3

2

1

0

Enable central interrupt byte IF PLC/PLC 135 WD
3

2

1

0

3

2

1

0

1

0

Reserved

Default value:

0

An EU interface module's eight interrupt inputs can be enabled separately.
Bit = 0

Input is disabled

Bit = 1

Input is enabled for OB 2 call

Also see PLC MD 30.

PLC MD
DB63
DW No.

7

6

6055
DR 27

7

6

Bit No.
5

4

3

2

Edge central interrupt byte IF PLC/PLC 135 WD

6056
DL 28

5

4

3

2

1

0

3

2

1

0

Reserved
7

Default value:

6

5

4

0

A signal change at an EU IM interrupt input triggers the interrupt that invokes OB 2 (enable via
PLC MD 6052). The signal edge (i.e. positive or negative edge) that is to trigger the interrupt
can be specified separately for each interrupt input.
Bit = 0

Positive edge triggers interrupt

Bit = 1

Negative edge triggers interrupt

The system program checks the machine data for the interrupt-generating I/Os for validity on
cold restart. The PLC issues an error message and goes to STOP when illegal machine data
are encountered. Also see PLC MD 30.

PLC MD
DB63
DW No.

Bit No.
7

6

5

4

3

2

1

0

6061
DR 30
Default value:

8–24

All bits default to 0

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC MD
DB63
DW No.

Bit No.
7

6

5

4

3

2

1

6064
DL 32
Default value:
Bit 0

All bits default to 0

Bit = 0

PL/M programming not possible

Bit = 1

PL/M programming
Permits function blocks written in the higher-level programming language
PL/M to be processed in the 135 WB.

PLC MD
DB63
DW No.

Bit No.
7

6

5

4

3

2

1

Default value:

PLC MD
DB63
DW No.

0
Travel-key
display for
both MCPs

6065
DR 32

Bit 0

0
High-level
language
PLM

All bits default to 0

Travel-key LEDs on the machine control panel
Bit = 0

The user can control the travel-key LEDs

Bit = 1

The PLC operating system controls the travel-key LEDs

Bit No.
7

6

5

4

3

2

1

0

6066
DL 33

Processing 1st machine control panel configuration
of direction
keys for
user
TT machine

1st MCP
present

6067
DR 33

Processing 2nd machine control panel configuration
of direction
keys for
user
TT machine

2nd MCP
present

Bit 0

Bit 4

Bit 5

Bit = 1

Machine control panel (MCP) available

Bit = 0

Machine control panel (MCP) not available

Only on T machines:
Bit = 0

T machine

Bit = 1

TT machine

Bit = 0

Direction key module processing by PLC operating system

Bit = 1

Direction key module processing by user program

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

8–25

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

09.95

PLC MD

Default values

6400 - 6431

0000 0001

6480 - 6511

0000 0001

6560 - 6563

1111 1111

6572 - 6575

1111 1111

These PLC MDs are internal system bits. The default values must not be
changed.

Byte No.
DB63
PLC MD

15

14

7

6

10

9

8

2

1

0

6068
DL 34

Edge for interrupt byte
1st DMP interface module

1st line,

6069
DR 34

Edge for interrupt byte
1st DMP interface module

2nd line, bits 0...7

6070
DL 35

Edge for interrupt byte
2nd DMP interface module 1)

1st line,

6071
DR 35

Edge for interrupt byte
2nd DMP interface module 1)

2nd line, bits 0...7

6072
DL 36

Edge for distributed interrupt byte
interface PLC/PLC 135WD

6073
DR 36

bits 0...7

bits 0...7

Bits 0...7

Reserved

Bits 0...7

6074
DL 37

Enable for interrupt byte
1st DMP interface module

1st line,

6075
DR 37

Enable for interrupt byte
1st DMP interface module

2nd line, bits 0...7

6076
DL 38

Enable for interrupt byte
2nd DMP interface module 1)

1st line,

6077
DR 38

Enable for interrupt byte
2nd DMP interface module 1)

2nd line, bits 0...7

6078
DL 39

Enable for distributed interrupt byte
interface PLC/PLC 135WD

6079
DR 39

1)

PLC performance (IA)
13
12
11
Bit No.
5
4
3

Reserved

bits 0...7

bits 0...7

Bits 0...7

Bits 0...7

SW 3 and higher

8–26

© Siemens AG 1992 All Rights Reserved

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SINUMERIK 840C (IA)

09.95

Byte No.

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

15

Processing of operational messages (IA)
14
13
12
11
10
Bit No.
6
5
4
3
2

DB63
PLC MD

7

6080
DL 40

DR 20

DL 20

DR 19

DR 24

DL 24

DR 23

6081
DR 40
6082
DL 41

6086
DL 43

8

1

0

Alarm DB 58
DL 19

DR 18

DL 18

DR 17

DL 17

DL 23

DR 22

DL 22

DR 21

DL 21

DL 27

DR 26

DL 26

DR 25

DL 25

DL 31

DR 30

DL 30

DR 29

DL 29

DR 18

DL 18

DR 17

DL 17

DR 22

DL 22

DR 21

DL 21

DR 26

DL 26

DR 25

DL 25

DR 30

DL 30

DR 29

DL 29

Alarm DB 58

Alarm DB 58
DR 28

6083
DR 41
6084
DL 42
6085
DR 42

9

DL 28

DR 27

DL 32

DR 31

DL 20

DR 19

Alarm DB 58

Signal DB 58
DR 20

DL 19

Signal DB 58
DR 24

DL 24

DR 23

DL 23

Signal DB 58
DR 28

6087
DR 43
6088
DL 44

DL 28

DR 27

DL 32

DR 31

DL 27

Signal DB 58
DL 31

Baudrate for RS232 C (V.24) interface on
interface PLC/PLC 135WD

6089
DR 44

Reserved

6090
DL 45

Reserved

6091
DR 45

Reserved

6092
DL 46

Reserved

6093
DR 46

Reserved

6094
DL 47

Reserved

6095
DR 47

Reserved

MD 6088: Baud rate for RS232C (V.24) interface on the interface PLC
Machine data 6088
Bit 3 - 0
Baud rate
0000
110 baud
0001
150 baud
0010
300 baud
0011
600 baud (up to SW 4)
0100
1200 baud
0101
2400 baud
0111
9600 baud Default value: 0111
1000
19200 baud

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

8–27

8 PLC Machine Data (PLC MD)
8.5 PLC MD for the operating system (system bits)

PLC
MD No.
DW No.

15

14

7

6

11.92

PLC performance (IA)
13
12
11
Bit No.
5
4
3

6096
DL 48

Reserved

6097
DR 48

Reserved

6098
DL 49

Reserved

6099
DR 49

Reserved

10

9

8

2

1

0

2

1

0

2

1

0

Bit No.
7

MD No.

6

5

4

3

6400
..
6419

Internal system bits
Bit 0 must be set to 1

6480
..
6499

Internal system bits
Bit 0 must be set to 1

MD 6400 to 6574 without DB.

8.6

PLC MD bits for function blocks (FB bits)

PLC MD
DB64
DW No.

Bit No.
7

6

5

4

3

7000 to
7049
DW 0 DW 24

Default value:

All bits default to 0

Refer to the Tool Management and Computer Link literature for details.

8–28

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

8 PLC Machine Data (PLC MD)
8.7 PLC MD bits for the user (user bits)

8.7

PLC MD bits for the user (user bits)

PLC MD
DB65
DW No.

Bit No.
7

6

5

4

3

2

1

0

8000 to
8049
DW 0 DW 24

Default value:

0

In addition to PLC MD words, PLC MD bits are also available to the user to do with as he sees
fit. The available bit area comprises 25 words (400 bits).
The PLC machine data enables the machine manufacturer to process program blocks, function
blocks or sections of a program conditionally on the basis of the bits set, and to allocate
machine-specific option bits. The user can then specify additional machine-specific values.
Sample application:
A user builds machines with different turrets, but wants to be able to provide a single program
for all machines. The turrets differ in the number of tool locations, e.g. turret 1 has 6, turret 2
has 8 locations.
The program for each type of turret (in this case a program block) is invoked via a
corresponding PLC machine data bit. In the program, the number of tool locations is specified
in PLC MD words.

OB 1

PB turret 1
FB turret s

U MD1
JC PB
PB turret 2

U MD2
JC PB

END OF SECTION

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6FC5197- AA50

8–29

09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.1 General Comments

9

Drive Servo Start-Up Application
(as from SW 3)

Introduction

SW 3 / SW 4 provides support for drive start-up and diagnostics by means of the
following functions:
Description in section

9.1

Measurement of drive control loops (current, speed, position)

9.2

Function generator

9.3

DAC output
Mixed I/O output

9.4

Circularity test (SW 4 and higher)
Conventional quadrant error compensation (SW 2 and higher)
Neuronal quadrant error compensation (SW 4 and higher)

9.5

Trace function (user-parameterizable oscilloscope function – SW 4

9.6

General Comments

Safety measures

All measuring functions initiate traversing motions. It is therefore important to ensure that

S the EMERGENCY STOP switch is within reach
S the traversing range is free of obstacles.
Always enter the lowest possible traversing range limits. The measuring
function is aborted if the specified traversing range is exceeded.
For axes with an endless traversing range, the traversing range monitoring function
can be deactivated by entering “0” for the traversing range upper and lower limits.

The value 0.0 corresponds to zero traversing limits, i.e. the
traversing range is not monitored.

You can also end the movement by means of the

S NC STOP key
S STOP softkey
S RESET key
or by cancelling the

S
S
S
S

controller enabling command,
drive enabling commands or
traverse enabling command

feed or spindle enabling command
or by setting the OVERRIDE switch to 0/50 for feed/main spindle drives.
Enabling commands

There are three possible methods of enabling traversing motions; these can be
selected in the Enables toggle field:

S internally
S PLC
S PLC or NC (SW 4 and higher)



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9–1

09.95
10.94

9 Drive Servo Start-Up Application (as from SW 3)

Internal

The following conditions must be fulfilled before the traversing motion can be
started:

S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S

NC operating mode “JOG”
No traversing command for axis/spindle
No follow-up mode (for axes)
No parking
No axis/spindle disable
No alarms
No EMERGENCY STOP
No warm restart
Channel in reset
Controller enabling command
Drive enabling commands
Feed/spindle enabling command
No HW limit switch (for axes)
Feed override  0 (for axes)
No PLC spindle control

No violation of working area limits (for axes)
The traversing motion is initiated through actuation of the NC start hardkey.
PLC

Axes with a mechanical brake also require a brake activation function. Select the
“PLC” enables for this purpose. In this enable mode, the PLC signal “Motion enable drive test” acts in addition to the traverse enabling commands listed above.
The traversing motion is likewise initiated through actuation of the NC start hardkey.
Use the request signal “Traverse request drive test” which is generated with
selection of the measuring function in the PLC user program and the
acknowledgement signal “Motion enable drive test” (see Interface Description –
DB29 and DB31).

S On “Traverse request drive test”, switch on the control and enable the brake.
S Acknowledge the enabling of the control and brake with “Motion enable drive
test”, following expiry of a delay timer if appropriate.

S The measuring function can only start when this sequence is complete.
S On completion of the measurements – when “Traverse request drive test”
disappears, disable the brake and control again.
PLC without NC
(as from SW 4)

In this enable mode, a positive edge of the PLC signal “Motion enable drive test”
is required to start the traversing motion.
NC start is not necessary. In this mode, the number of internal enable monitoring
functions is reduced to axial signals

S
S
S
S
S

Controller enable
Follow-up
Parking
Pulse enable
Motion enable drive test

and to the general signals

S Key reset
S NCK mode switchover
S EMERGENCY STOP
S Warm restart.

9–2

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09.95
10.94

9 Drive Servo Start-Up Application (as from SW 3)

The following start conditions must be fulfilled when the
measuring functions are started.

S NC operating mode “JOG” selected.
S No traversing command for the axis/spindle (NCK or command channel).

The “Overstore” function is disabled while the measurement is in progress. The
axis or spindle interface is operated depending on which interface (spindle or (C)
axis) is active when test mode is selected.
Operating mode on
selection

Active interface

DB number

C-axis mode

Axis interface

DB 29/32

Spindle operating mode

Spindle interface

DB 31

Axis mode (feed axis)

Axis interface

DB 29/32

The measurement function for the current control loop must
not be used for suspended axes without an external weight
balance. When a mechanical brake is fitted, it must be
ensured that it cannot be released by electrical means.

Automatic quadrant
error compensation
with integrated
circularity test
(option – SW 4)

The purpose of the quadrant error compensation function is to
minimize contour errors resulting from friction, backlash and
torsional strain during reversal.The following functions are provided with
SW 4 to allow the detection and compensation of quadrant errors:

S Automatic setting of quadrant error compensation to facilitate start-up.
S Integrated circularity test to provide visual display of axis performance and for
diagnostic purposes.
Trace function
(user-parameterizable
oscilloscope
function – SW 4)



A storage oscilloscope function with 4 user-parameterizable
channels has been introduced as a supplement to the start-up functions
implemented in SW 3 to date. This oscilloscope function makes it possible
to record important signals for optimization and diagnostic purposes during
start-up and in operation.

Siemens AG 2001 All Rights Reserved
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9–3

09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.1.1 Selection of/menu trees drive servo start-up application

9.1.1

Selection of/menu trees of drive servo start-up application
Diagnosis

Start-up

Drive servo
startup
Explanation

The drive servo start-up display (identical to the machine configuration display
MDD) is called by means of the “Diagnosis”, “Start-up” and “Drive servo startup”
softkeys.

Note

The Drive servo startup function takes approximately 30 s to load and is commented with the flashing text “Wait” during loading.

Fig. 9.1

Explanation

9–4

The drive servo start-up display (= machine configuration display) provides an
overview of the current axis/spindle configuration and functions purely as a display (see also description of machine configuration in machine data dialog).



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09.95
10.94

9 Drive Servo Start-Up Application (as from SW 3)
9.1.1 Selection of/menu trees drive servo start-up application

D Menu tree: Axis start-up function
Start-up
fct. axis
Current
Speed
Position
Function
contr. loop contr. loop contr. loop generator

1)

Measurement

Meas.
paras.

Contr. para
drive

Display

File
functions

Measurement

Meas.paras.

Contr.para
drive

Display

File
functions

Measurement

Meas.paras.

Contr.para Contr.para
drive
NC

Display

File
functions

Measurement

Signalparas.

Contr.para Contr.para
drive
NC

Function
paras.

Contr.para Contr.para
drive
NC

Learn

Neural
QEC 1)

File
functions

Display

File
functions

1) as from SW 4



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9–5

09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.1.1 Selection of/menu trees drive servo start-up application

D Menu tree: Spindle start-up function
Start-up
fct. spindle
Current 1) Speed
Position
Function
contr. loop contr. loop contr. loop generator

1)

Measurement

Meas.
paras.

Contr.para
drive

Display

File
functions

Measurement

Meas.
paras.

Contr.para
drive

Display

File
functions

Measurement

Meas.
paras.

Contr.para Contr.para
drive
NC

Display

File
functions

Measurement

Signalparas.

Contr.para Contr.para
drive
NC

9.1.2

File
functions

Softkeys

Start

This softkey enables the measurement or the DAC output. In order to start a
measurement with traversing operation, the traverse enabling commands set by
means of toggle field from the PLC/NC must be available. This operator action is
acknowledged by an appropriate message.
The measurement or the DAC output is enabled by selecting the Start softkey,
but can be disabled again with the Stop softkey. The function is aborted if the
Recall hardkey is pressed without a preceding NC start command.

Stop

This softkey aborts the measurement, DAC output or traversing operation
(function generator, QEC learning process) which is in progress.

1) as from SW 4

9–6

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09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.1.2 Softkeys

D Copying / pasting measuring parameter files into / from the clipboard
Copy to
clipboard
Paste from
clipboard

With these softkeys you can re-use measuring parameter files that have been stored
for the axis X, for example, for other axes as well (e.g. for axis Y). The same function
can also be used for spindles.
Note:

S It is not possible to copy measuring parameter files from axes to spindles and vice
versa.

S Measuring parameter files that have been backed up to measure in a current control loop, for example, cannot be copied to other measuring functions such as measuring in a speed control loop.

S A copy of a measuring parameter file in the clipboard is invalid as soon as the corresponding display is exited.

Fig. 9.2

Note

Measuring in a current control loop for axes

The File functions softkey can be used to read in a measuring parameter file with the
softkey “Load from disk”. In the basic display assigned to the measuring function in
question and under the softkey “Measuring parameters” it is possible to change values
before accepting them for another axis. With the softkey “Copy to clipboard”, the measuring parameters are copied into the clipboard for the currently selected axis. To accept the values for another axis, you can select another axis with the softkeys “Axis+”
and “Axis–”. The softkey “Paste from clipboard” is used to insert the measuring parameters of the old axis from the clipboard for the newly selected axis.
The procedure is the same for the measuring functions for spindles except that the
softkeys “Spindle+” and “Spindle–” are used in the initial display.

Explanation

The results of the drive servo start-up functions: Measurement current control loop,
Measurement speed control loop and Measurement position control loop are
displayed.

Note

The value specification e.g. –2.08 e+02 is equivalent to :

–2.08 x 102 = –208



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9–7

09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.1.2 Softkeys

X marker

Y marker

Expand

Picture 1

This softkey activates or deactivates the marker with the horizontal direction of
movement. This marker is displayed as a vertical line which can be moved along
the displayed curve by the cursor control keys on the operator panel (shift + cursor= fast movement). The X and Y coordinates corresponding to the present
position of the marker are displayed. The marker always appears in the active
display; the active display can be switched over by means of the Home key.
This softkey activates or deactivates the marker with the horizontal direction of
movement. This marker is displayed as a vertical line which can be moved along
the displayed curve by the cursor control keys on the operator panel. The X and
Y coordinates corresponding to the present position of the marker are displayed.
The marker always appears in the active display; the active display can be
switched over by means of the Home key.
This softkey is used to expand a diagram window horizontally. The window is
marked first with the X marker softkey and the Expand softkey then selected.
The display can be returned to its original form by selecting the Expand softkey
again.
These softkeys can be used to display each of the diagrams as a full-frame.

Picture 2

Picture 1 +
Picture 2

X
lin/log

Correct
display

This softkey is used to return the display to its original form.

You can alter the raster grid in the diagram along the horizontal axis with this softkey. You have the choice between a linear and a logarithmic raster grid.

With this softkey, it is possible to change the scaling of the Y coordinates manually in both displays (see Fig. 9.3).
Operation is identical to servo trace display.
See description Section 9.6.

Axis +/–

These softkeys are used to select the axes or spindles which must be started up.

Spindle +/–

Contr.para.
FDD
Contr.para.
MSD

By selecting these softkeys, you can initiate the machine data dialog for the drive
controller machine data for feed (FDD) and main spindle drives (MSD) or for the
NC controller machine data.
Changes which you need to make for the drive servo start-up process can be
entered immediately in this dialog.

Contr.para.
drive
Contr.para.
NC

9–8

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09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.1.2 Softkeys

Note

Display

With SW 4 and higher, the Contr.para FDD and Contr.para MSD softkeys have
been combined under the Contr.para drive softkey with one exception: Under
the circularity test function, the softkeys have remained as they were in SW 3.
You can call up the graphic display of measurement results with this softkey.

Fig. 9.3

File
functions

You can enter the file function area by selecting this softkey.

Example for position
control loop

Fig. 9.4



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9–9

09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.1.2 Softkeys

Explanation

This softkey gives you access to the control functions Load, Save and Delete
with which you can load, save or delete a special measurement setting (configuration).
Displays/measurement results can likewise be loaded, saved or deleted.
After you have selected the desired file, a selection field appears in which you
can choose the following functions with either “Yes” or “No” via the toggle key:
Measurement parameters
Controller parameters drive
Controller parameters NC
Picture 1
Picture 2
This means that you can reproduce settings and displays as you require.

Accept
configur.

You can select the “Accept configuration” function with this softkey.

Explanation

On pressing this softkey, changes to the Power On data relevant for start-up (e.g.
position/speed controller cycle time) are transferred.

Notes

This softkey function must be activated after NCK reset (Power On) or after Drive
Off/On when the start-up application is active (acceptance of the configuration is
also requested).The configuration need not be accepted if an NCK reset is carried out when the machine data have not been changed.
If an NCK reset is performed without changing any machine data, it is possible to
renounce to assume the configurations.

SIEMENS
Service 1

You can select the SIEMENS Service 1 function with this softkey.

The SIEMENS Service 1 softkey function is relevant only
for SIEMENS servicing procedures and should be used
only after consultation via the hotline.

9–10

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09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.2 Measuring the drive servo loops (current, speed, position)

9.2

Measuring the drive servo loops (current, speed, position)

Note

When measuring the spindle it is important not to enter the weak field range as this
produces an incorrect display.

Measurements in
the time range

The integrated time-range measuring functions of the drive servo start-up
application enable you to assess the significant quantities of the speed and
position control loops on the NC screen without external measuring equipment.
You can input a step or ramp function with adjustable amplitude and, if required,
ramp time as a test signal for a parameterizable measurement time; a constant
offset can also be superimposed on the test signal. By entering a settling time,
you can determine the instant at which data recording begins.
The specified traversing path is monitored during the measurement. On
completion of the measurement, you can assess the result on the screen by selecting the Display softkey.
Special test sockets on the drive modules of 611D drives allow all important
control loop signals (setpoints, actual values, control deviations) to be output
(DAC configuration) on external instruments (oscilloscope or signal recorder).
You can also output these signals if you use a mixed I/O module (mixed I/O
configuration).
There are always exactly three DAC channels for every 611D feed drive and
main spindle module, even in multi-axis versions. A total of four position
controller signals can be output simultaneously via the 611D DAC channels or
the mixed I/O.
An integrated function generator supplies periodic test signals (square-wave and
triangular signals, staircase function) to stimulate the control loops as well as
noise signals for spectral analysis using external equipment.
The parameters of drives or position control can be accessed at any time, the
application need not be terminated for this purpose.

Frequency response
measurement

In addition to the usual method of optimizing control loop parameters which is
based on the transient response, i.e. time characteristics, the Fourier analysis
function integrated in the 840 C provides you with a powerful tool for assessing
control loop settings and analyzing the given mechanical characteristics.
You should use this function whenever

S unsteady current, speed or position signal forms give you reason to suspect
stability problems

S you can obtain only slow rise times in the speed loop
S the contour quality at high machining speeds is inadequate
S you require documentation of settings.
This optimization procedure is identical to that for the time range, i.e. you must
optimize “from the inside outwards”, starting with the current control. The
frequency response measurement method used in the SIN 840 C supplies
precise and reproducible results even at very low test signal amplitudes; the
measurement parameters can be matched to the application in question.
All measurements are carried out in the course of an offset movement of a few
(approximately 1–5) revolutions per minute; a test signal amplitude (noise) of
one to two revolutions is superimposed on the offset. The accuracy increases
with the number of averaging operations (selectable); a value of 20 is normally
sufficient. The bandwidth, which is likewise adjustable, is normally selected to
correspond to half the sampling frequency.
1
max. bandwidth = fsampl.
=

 4000 Hz
2 x tsampl.
2



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9–11

09.95
10.94

9 Drive Servo Start-Up Application (as from SW 3)
9.2 Measuring the drive servo loops (current, speed, position)

e.g. for 125 ms sampling time (cycle)
Owing to the short measuring times, traversing paths of a few revolutions are
sufficient for the frequency response measurement. The measurement time is
calculated as follows:
512 x No. of averaging ops
Meas. time [s] 
 Setting time
Bandwidth [Hz]
The frequency response measurement on a drive with a sampling time of 125 ms
and 20 averaging operations therefore takes approximately 2.5 s; given an offset of 5
rev/min, a traversing path of less than 0.3 revolutions is required for the measurement.
Always begin measurements with the lowest possible values for offset and amplitude. Do not increase the number of averaging operations or the amplitude
unless you obtain extremely noisy results. Excessively high amplitude values
lead to incorrect results and may cause mechanical damage.
The offset should always be higher than the amplitude. The measuring results
at very low values may differ from those obtained at higher traversing speeds
owing to backlash or static friction.
By decreasing the bandwidth, you can increase the frequency resolution,
particularly at low frequencies.
After evaluating the measurement series – which takes between 5 and 20 s
depending on the MMC-CPU, you can call up the result as a Bode diagram under
the “Display” softkey.
Machine

Parameter

Programm.

Services Diagnosis

Ampl. response
axis: X
X marker

dB
Y marker

Expand

Phase resp
axis: X

Picture 1

Picture 2

Deg
x
lin/log

Measurement

Fig. 9.5

Meas.
parameters

Contr.para
FDD

Contr.para
MSD

Display

File
functions

New softkey bar as from SW 5: See Fig. 9.3

You can identify the position and intensity of any critical mechanical resonant
points in the frequency response diagram – in the above diagram, you can see
resonant points at 450 Hz, 600 Hz and 1200 Hz. Increasing the P gain of the
speed controller would cause instability if filters were not used.
611D offers low-pass or bandstop filters as standard; the parameters of these
filters – stop frequency, bandwidth or limit frequency – can be estimated using
the Bode diagram.

9–12

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9 Drive Servo Start-Up Application (as from SW 3)
9.2.1 Current control loop (axis and spindle – as from SW 3)

You can set the filters or controller parameters as required by means of
“Contr.para FDD” or “Contr.para MSD”. You should check their effect immediately
after a further measurement. You can also determine from the Bode diagram
whether the available high dynamic response of the SIMODRIVE drives is being
fully utilized. You should measure values of between 1 and 2 kHz in the current
controller frequency response; the speed control loop reaches several hundred
Hertz in feed drives and at least 100 Hz in main spindle drives.
Optimum setting of the current controller can be ensured when a standard motor/
power section combination is input; the control need therefore only be measured
when motors or power sections are used which are not contained in the standard
lists or for servicing purposes.
The speed controller parameters are roughly preset for standard motor/power
sections based on the motor moment of inertia. You must optimize the speed
control loop according to the mechanical properties of the axis during start-up.
The response of the position control which has a decisive effect on the contour
should be as linear as possible, particularly in the range up to 10 Hz. Resonance
in the position controller frequency response always causes overshoots on the
contour.

9.2.1

Current control loop (axis and spindle – as from SW 3)

Current
control loop

You can select the measuring function for the current control loop with this softkey.

Note

Test measurements on the current control loop can be performed on digital feed
and main spindle drives with SW 4 and higher. With SW 3, this function can still
only be applied to digital feed drives.

Explanation

Test measurements on the current control loop are based purely on the reference
frequency response measurement = frequency response. The torque-producing current actual value measured quantity = current actual value is always
measured.
The enable commands must be implemented either internally or with PLC or
with PLC without NC (SW 4 and higher).
The following applies to the upper and lower traversing range limits:
The specified limit values define the permissible traversing range during start-up.
With a referenced axis/positioned spindle, the limit applies to the axis position/
spindle position at the start of the movement and, with a non-referenced axis/
positioned spindle, to the axis/spindle position at the start of the first test movement after the machine is switched on.

The value 0.0 corresponds to zero traversing limits, i.e. the
traversing range is not monitored.

The current axis/spindle position is displayed in the “Position actual value/absolute position” field.

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09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.2.2 Current control loop – measurement parameters (as from SW 3)

9.2.2

Current control loop – measurement parameters (as from SW 3)

Default settings

Meas.
parameter

Measurement = frequency response and measured quantity = current actual
value.
You can select the menu with the measurement parameters for the current control loop with this softkey.

Note

You enter the measurement parameters in the selected display. These
parameters are managed internally as configuration data rather than machine
data, i.e. the data are not initialized when the machine runs up.

Measurement
parameter settings
(see Section
“Signal waveforms
of function generator”)

S Amplitude
Input of maximum amplitude of test signals. Values
corresponding to approximately 5% of power section
current are suitable.

S Bandwidth
Input of maximum amplitude of test signal. Values corresponding to approximately 5% of power section current are suitable.
f sampl.
1
max. band width 

e.g.
2
2 x t sampl.
– 4 KHz for 2-axis modules (125 ms current controller sampling time).
– 8 KHz/4 KHz for single-axis module (62.5 ms/125 ms depending on current
controller sampling time).

S Averaging operations
The normal value used is 20.
The higher the value, the more accurate the measurement.

S Settling time
The measurement is delayed with respect to the instant of injection of the test
signal by the value entered here. Use a value of approximately 10 ms in normal cases.

This function must not be used for suspended axes without
an external weight balance. When a mechanical brake is
fitted, it must be ensured that it cannot be released by electrical means.

9–14

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9 Drive Servo Start-Up Application (as from SW 3)
9.2.3 Speed control loop (axis and spindle – as from SW 3)

9.2.3

Speed control loop (axis and spindle – as from SW 3)

Speed
control loop
Notes

You can select the measuring function for the speed control loop with this softkey.

Test measurements on the speed control loop (axis and spindle) can be performed on both analog and digital drives.
Applic. to analog:

The speed is sensed by the same
measuring system with which the
position control (SERVO) operates.

Applic. to digital:

The motor speed is always measured.

The spindle measuring system (spindle encoder) must be defined or declared
(NC-MD 5200.2) for the spindle.

Explanation

Different types of measurement are available for testing the speed control loop:
Reference frequency response
Interference frequency response (up to SW 4.4)
Mechanical frequency response nact/Iqact (as from SW 5)
Setpoint step change
Disturbance step change
The actual speed value of the active measuring system is the measured quantity.
The enable commands must be implemented internally or with PLC or with PLC
without NC (as from SW 4).
The following applies to the upper and lower traversing range limits:
The specified limit values define the permissible traversing range during start-up.
In the case of a referenced axis/positioned spindle, the limit refers to the
axis/spindle position at the start of the movement and, with a non-referenced
axis/non-positioned spindle, to the axis/spindle position at the start of the first
test movement after the machine is switched on.

Value 0.0 means no traversing limit, i.e. the traversing
range is not monitored.

The current axis/spindle position is displayed in the position actual value/absolute
position field.

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9 Drive Servo Start-Up Application (as from SW 3)
9.2.4 Speed control loop (axis and spindle) – measurement parameters (4 basic settings – as from SW 3)

9.2.4

Speed control loop (axis and spindle) – measurement parameters
(4 basic settings – as from SW 3)

Overview of
measurement types

The types of measurement available depend on the type of drive used. Various
variables can be measured depending on the type of measurement selected.
Measured quantity Speed
actual value

Type of measurement
Reference frequency response

analog / 611D

Interference frequency response (up to
SW 4
Mechanical frequency response nact/Iqact
(as from SW 5)
Setpoint step change

analog / 611D

Disturbance step change

Note

611D FDD (SW 3)/
611D (SW 4)

611D FDD (SW 3)/
611D (SW 4)

If the selected measurement cannot be carried out with the installed drive, the
dialog box 160007 Measurement/drive-type combination not allowed appears
when the Start softkey is selected.

D 1st measurement type: Reference frequency response
The reference frequency response measurement determines the transient response of the speed control loop. The response range should be as wide as possible and without resonance. It may be necessary to install stop or low-pass
(611D) filters. Particular care must be taken to prevent resonance within the
speed controller limit frequency range.
Meas.
parameters
Notes

You can select the menu with the parameters for measuring the speed control
loop with this softkey.
You enter the measurement parameters in the selected display. These parameters are managed internally as configuration data rather than machine data, i.e.
they initialized when the machine runs up. Data can be input in two different
ways:

S Manual input
S Input by loading of an existing, complete data set with the aid of file functions
The measurement of the MSD speed control loop frequency response is carried
out with respect to the position control only with SW 3 and therefore makes allowance for system-related transfer times between the position and speed control
loops.
Measurement
parameter settings
(see Section “Signal
waveforms
of function generator”)

S Amplitude
This parameter determines the magnitude of the test signal amplitude.
It should not be more than a few (approx. 1–2) motor rpm for the 1st basic
setting (frequency reference response).

S Offset
The measurement requires a small speed offset of a few motor revolutions
per minute. The offset value must be set higher than the amplitude value.

9–16

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9 Drive Servo Start-Up Application (as from SW 3)
9.2.4 Speed control loop (axis and spindle) – measurement parameters (4 basic settings – as from SW 3)

As from SW 6:

S The offset is reached along an acceleration ramp.
S The acceleration value is defined for an
axis:
MD 276*: Acceleration
spindle: MD 419* –
MD 426*: Acceleration constant for 8 gear stages

S The following applies:

Acceleration value=0, no ramp
Acceleration value0, ramp active

S The actual measuring function is not activated until the offset value is reached.

S Bandwidth
Setting of frequency range to be analyzed (must not exceed a value corresponding to half the speed controller sampling frequency). The lower this value, the finer the frequency resolution will be and the longer the measurement
time.
f sampl.
1

max.band width 
2
2 x t sampl.
e.g. 4 kHz with 1 or 2 drive modules (for 125 ms speed controller sampling
time)

S Averaging operations
The higher this value is set, the more accurate the measurement and the longer the measurement time. You should normally enter a value of 20.

S Settling time
This value represents the delay between the start of measured data recording
and injection of the test signal and offset. A settling time of more than zero
(0.1–2 s) should be entered for frequency response measurements in order to
take measurements under steady-state conditions – interference in the
amplitude and phase response may otherwise occur as a result of transient
behaviour.

D 2nd measurement type: Interference frequency response (up to SW 4.4) Mechanical
frequency response nact/Iqact (as from SW 5)
To evaluate the noise suppressions by the control (only 611 D–FDD), the interference frequency response can be entered. With SW4, this measurement can also
be performed for 611 D_MSD.
Meas.
parameter
Note

You can select the menu Meas. parameters for measuring the speed control loop
with this softkey.
You enter the measurement parameters in the selected display. These parameters are managed internally as configuration data rather than machine data, i.e.
they are not initialized when the machine runs up. Data can be input in two different ways:

S Manual input
S Input by loading of an existing, complete data set with the aid of file functions
Measurement
as for measurement type reference frequency response
parameter setting
(see Section on Signal
waveforms of the
function generator)

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9 Drive Servo Start-Up Application (as from SW 3)
9.2.4 Speed control loop (axis and spindle) – measurement parameters (4 basic settings – as from SW 3)

D 3rd measurement type: Setpoint step change
The transient response of the speed control in the time range can be assessed
with the step stimulation function for setpoint or disturbance variables. If an offset value other than zero is input, the step change is stimulated during transition.
Meas.
parameter
Notes

You can select the menu with the parameters for measuring the speed control
loop with this softkey.
You enter the measurement parameters in the selected display. These parameters are managed internally as configuration data rather than machine data, i.e.
they are not initialized when the machine runs up. Data can be input in two
different ways:

S Manual input
S Input by loading of an existing, complete data set with the aid of file functions
The recording starts with the output of the setpoint step, i.e. the step is not visible
in the setpoint signal display. This does not apply to analog drives because a
fixed pre-trigger time corresponding to 10 % of the measurement time is set for
them. If the settling time setting is lower than this 10 % value, then the pre-trigger
time is limited to the settling time.
Measurement
parameter settings

S Amplitude
This parameter determines the magnitude of the specified disturbance step
change.

S Offset
The step is stimulated from standstill or starting from the constant traverse
speed set in this parameter.
As from SW 6:

S The offset is reached along an acceleration ramp.
S The acceleration value is defined for an
axis:
MD 276*: Acceleration
spindle: MD 419* –
MD 426*: Acceleration constant for 8 gear stages

S The following applies:

Acceleration value=0, no ramp
Acceleration value0, ramp active

S The actual measuring function is not activated until the offset value is reached.

S Measurement time
This parameter determines the period of time to be recorded.

S Settling time
This value represents the delay between the start of measured data recording
and injection of the test signal and offset (not relevant for 611D).
Notes

The recording starts with the output of the setpoint step, i.e. the step is not visible
in the setpoint signal display.
If the selected measurement cannot be carried out with the installed drive, the
dialog box 160007 Measurement/drive-type combination not allowed appears
when the Start softkey is selected.

9–18

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9 Drive Servo Start-Up Application (as from SW 3)
9.2.4 Speed control loop (axis and spindle) – measurement parameters (4 basic settings – as from SW 3)

D 4th Measurement type: Disturbance step change
The transient response of the speed control in the time range can be assessed
with the step stimulation function for setpoint or disturbance variables. If an offset value other than zero is input, the step change is stimulated during transition.
Meas.
parameter
Notes

You can select the menu with the parameters for measuring the speed control
loop with this softkey.
The test signal can also be connected to the speed controller output to allow
assessment of the control response to disturbances (611D FDD only). This function is also available for 611D MSD when SW 4 is installed.
You enter the measurement parameters in the selected display. These parameters are managed internally as configuration data rather than machine data, i.e.
they are not initialized when the machine runs up. Data can be input in two different ways:

S Manual input
S Input by loading of an existing, complete data set with the aid of file functions
Measurement
parameter settings

as for measurement type setpoint step change

Notes

as for measurement type setpoint step change

9.2.5

Position control loop (axis and spindle – as from SW 3)

Position
contr. loop
Notes

You can select the measuring function for the position control loop with this softkey.
Test measurements on the position control loop (axis and spindle) can be
performed on both analog and digital drives.
The spindle measuring system (spindle encoder) must be defined or declared
(NC-MD 5200.2) for the spindle.

Explanation

Three different types of measurement are available for testing the speed control
loop:
Frequency response
Setpoint step change
Setpoint ramp
The position actual value, following error or speed actual value of the active
measuring system are acquired depending on the type of measurement selected.
The enable commands must be implemented internally or with PLC or with PLC
without NC (SW 4 and higher)
The following applies to the upper and lower traversing range limits:
The specified limit values define the permissible traversing range during start-up.
In the case of a referenced axis/positioned spindle, the limit refers to the
axis/spindle position at the start of the movement and, with a non-referenced
axis/non-positioned spindle, to the axis/spindle position at the start of the first
test movement after the machine is switched on.

Value 0.0 means no traversing limit, i.e. the traversing
range is not monitored.

The current axis/spindle position is displayed in the position actual value/absolute
position field.

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9 Drive Servo Start-Up Application (as from SW 3)
9.2.6 Position control loop (axis and spindle) – measurement parameters (9 basic settings – as from SW 3)

9.2.6

Position control loop (axis and spindle) – measurement
parameters (9 basic settings – as from SW 3)

Overview of types
of measurement

The types of measurement listed below are not dependent on the drive used.
Various variables can be measured depending on the measurement type
selected.
Type of
measurement

Measured quantity
Position actual
value

Measured quantity
Following error

Measured
quantity
Speed actual
value

1.)

Frequency response

analog / 611D

–

–

2.)

Setpoint step
change

analog / 611D

analog / 611D

analog / 611D

3.)

Setpoint ramp

analog / 611D

analog / 611D

analog / 611D

D 1st measured type: Frequency response
The frequency response measurement determines the response of the position
control loop in the frequency range. The balancing filter, KV value and feedforward control must be parameterized such that resonance is avoided wherever
possible over the entire frequency range. Excessive resonance requires

S increase in balancing filter
S decrease in KV value
In the case of dips in the frequency response, the setting of the feedforward
balancing filter should be reduced. If these measures do not lead to an improvement, then the setpoint can be rounded by means of a smoothing filter. The
effects of this filter can be checked in the test functions in the time range (step
and ramp stimulation).
Meas.
parameter
Note

You can select the menu with the parameters for measuring the position control
loop with this softkey.
You enter the measurement parameters in the selected display. These parameters are managed internally as configuration data rather than machine data, i.e.
they are not initialized when the machine runs up. Data can be input in two different ways:

S Manual input
S Input by loading of an existing, complete data set with the aid of file functions
Measurement
parameter settings

S Amplitude
This parameter determines the magnitude of the test signal amplitude.

S Offset
The measurement requires a small speed offset of a few motor revolutions
per minute. The offset value must be set higher than the amplitude value.

S Bandwidth
Setting of frequency range to be analyzed (must not exceed a value corresponding to half the speed controller sampling frequency). The lower this value, the finer the frequency resolution will be and the longer the measurement
time.
f sampl.
1
max.band width 

2
2 x t sampl.
e.g. 0.5 kHz with position controller sampling time of 2 ms.

9–20

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9 Drive Servo Start-Up Application (as from SW 3)
9.2.6 Position control loop (axis and spindle) – measurement parameters (9 basic settings – as from SW 3)

S Averaging operations
The higher this value is set, the more accurate the measurement and the longer the measurement time. You should normally enter a value of 20.

S Settling time

Notes

This value represents the delay between the start of measured data recording
and injection of the test signal and offset. Set the value to between 0.2 and
1 s.
In order to ensure a more gentle machine setting, the lowest possible values
should be set for amplitude and offset. Excessively high input values result in
the output of alarm messages such as “1560 Speed setpoint alarm limit violated”.
The only quantity which can be measured is the position actual value from the
active (current) measuring system.
When speed actual value or following error is selected, the dialog box 160043
Measurement/measured-qty combin. not allowed appears when the Start
softkey is selected.

D 2nd measurement type: Setpoint step change
The transient or positioning response of the position control in the time range can
be assessed with the step stimulation function.
If an offset value other than zero is input, the step change is stimulated during
traversal. The displayed position actual value does not include this speed offset.
The effect of the setpoint smoothing filter can be checked on the basis of the
position setpoint characteristic.
Meas.
parameter
Notes

You can select the menu with the parameters for measuring the speed control
loop with this softkey.
You enter the measurement parameters in the selected display. These
parameters are managed internally as configuration data rather than machine
data, i.e. they are not initialized when the machine runs up. Data can be input in
two different ways:

S Manual input
S Input by loading of an existing, complete data set with the aid of file functions.
A fixed pre-trigger time corresponding to 10 % of the measurement time is set for
the recording, i.e. the setpoint step change is also visible in the setpoint signal
display. If the settling time setting is lower than this 10 % value, then the pre-trigger time is limited to the settling time.
Measurement
parameter settings

S Amplitude
This parameter determines the magnitude of the specified setpoint step
change.

S Offset
The step is stimulated from standstill or starting from the constant traverse
speed set in this parameter.

S Measurement time
This parameter determines the period of time to be recorded.

S Settling time
This value represents the delay between the start of measured data recording
and the injection of the test signal and the offset.

S Ramp time
When the basic setting “Setpoint ramp” is selected, the position setpoint is
changed according to the set ramp time. In this case, the acceleration is
specified in accordance with the acceleration limits which currently apply for
the axis or spindle
These limits must be set in “Controller parameters NC”
Spindle: NC MD 4780–4850
Axis:
NC MD 2760

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9 Drive Servo Start-Up Application (as from SW 3)
9.2.6 Position control loop (axis and spindle) – measurement parameters (9 basic settings – as from SW 3)

Notes

In order to ensure a more gentle machine setting, the lowest possible values
should be set for amplitude and offset. Excessively high input values result in
the output of alarm messages such as “1560 Speed setpoint alarm limit violated”.
Following error, speed actual value or position actual value are the quantities
which can be measured. The position setpoint and the active measuring system
are recorded in each case.

D 3rd measuring type: Setpoint ramp
The transient or positioning of the position control in the time range can be assessed with the ramp stimulation function. If an offset value other than zero is
input, the step change is stimulated during traversal. The displayed position actual value does not include this speed offset. The effect of the setpoint smoothing
filter can be checked on the basis of the position setpoint characteristic.
Meas.
parameter
Note

You can select the menu with the parameters for measuring the position control
loop with this softkey.
You enter the measurement parameters in the selected display. These parameters are managed internally as configuration data rather than machine data, i.e.
they are not initialized when the machine runs up. Data can be input in two different ways:

S Manual input
S Input by loading of an existing, complete data set with the aid of file functions
Measurement
parameter settings

as for measurement type setpoint step change

Note

as for measurement type setpoint step change

9–22

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9 Drive Servo Start-Up Application (as from SW 3)
9.3 Function generator (axis and spindle – as from SW 3)

9.3

Function generator (axis and spindle – as from SW 3)

Function
generator

You can select the function generator with this softkey.

Note

Axes and spindles can be traversed with the function generator in both analog
and digital drives.

Explanation

The function generator can operate in the following five different modes:
Current setpoint (SW 3: 611D FDD/SW 4: 611D)
Disturbing torque (SW 3: 611D FDD/SW 4: 611D)
Speed setpoint speed loop (speed controller
SW 3: 611D FDD/SW 4: 611D)
Speed setpoint position loop (position controller)
Position setpoint
The signal types square-wave, noise signal, sawtooth and staircase function
can be used within the framework of these operating modes.
The following applies to the upper and lower traversing range limits:
The specified limit values define the permissible traversing range during start-up.
In the case of a referenced axis/positioned spindle, the limit refers to the
axis/spindle position at the start of the test movement and, with a non-referenced
axis/non-positioned spindle, to the axis/spindle position at the start of the first
movement after the machine is switched on.
The current axis/spindle position is displayed in the position actual value/absolute
position field.
The scaling can also be altered when the function generator is in operation. This
is done by entering the normalization factor and confirming the input with the
Start softkey bar. When a normalization value of 100 is entered, the function
generator generates precisely the amplitude set by the signal parameters. The
value can be varied to obtain a fine setting.

Overview of operating
modes

Note



The type of drive used determines which operating modes are available. Various
signal forms are available depending on the selected operating mode.
Operating
mode

Signal type
“Squarewave”

Signal type
“Sawtooth”

Signal type
“Staircase”

Signal type
“Noise signal”

Current
setpoint

611D

–

–

611D

Disturbing
torque

611D

–

–

611D

Speed setpoint
(speed controller cycle)

611D

–

–

611D

Speed setpoint
(position controller cycle)

analog/611D

analog/611D

analog/611D

analog/611D

Position
setpoint

analog/611D

analog/611D

analog/611D

analog/611D

If combinations other than those specified above are selected, the dialog boxes
160008 Mode/drive type combination not allowed or
160009 Mode/signal type combination not allowed appear when the Start softkey is selected.

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9 Drive Servo Start-Up Application (as from SW 3)
9.3 Function generator (axis and spindle – as from SW 3)

D Selection of function generator parameterization “Signal types with operating
modes”
Signal
parameters
Note

You can select the menu with the signal parameters for the function generator in
the five operating modes with this softkey.
You enter the signal parameters in the selected displays. These parameters are
managed internally as configuration data rather than machine data, i.e. they are
not initialized when the machine runs up. Data can be input in two different ways:

S Manual input
S Input by loading of an existing, complete data set with the aid of file functions

9.3.1

Function generator (axis and spindle) – signal parameters
(as from SW 3)

Measurement
parameter settings

With a scaling value of 100 %, the function generator output signal is
determined by the following signal parameters:

S Amplitude/Amplitude 1
This parameter determines the magnitude of the specified setpoint step
change.

S Amplitude 2
This parameter is significant only for the staircase signal form. It determines
the maximum signal amplitude (see waveforms of signal types).

S Offset
In the disturbing torque, speed setpoint speed loop, speed setpoint position
loop and position setpoint operating modes, stimulation takes place from
standstill or starting at the constant reverse speed set in this parameter.
In the current setpoint operating mode, stimulation takes place from standstill
or starting at the current offset set in this parameter.

S Limitation
The output signal is limited to this value prior to normalization.

S Period
This parameter specifies the fundamental frequency of the function generator.

S Pulse width
See Section “Waveforms of signal types”.

S Bandwidth
See Section “Frequency response measurement”.

9–24

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9 Drive Servo Start-Up Application (as from SW 3)
9.3.2 Additional information (notes) on measurement and signal parameters (as from SW 3)

9.3.2

Additional information (notes) on measurement and signal
parameters (as from SW 3)

Overrange

The maximum values which may be set for amplitudes, offset and acceleration
are dependent upon (see also corresponding NC and drive machine data):

S Drive type
S Selected operating mode
S Position controller resolution
S Axis or spindle-specific current and velocity limitations
Note

Monitoring takes place in operation or when the function is started.

Interdependencies

The following parameters are also mutually interdependent:

S Band width [Hz]
Band width 

1
2 x sampling time [s]

S Period [ms]
Period  6 x sampling time [ms]

S Pulse width [ms]
0 < pulse width < period (with function generator)
Note



The user should generally apply the input values which are recommended for
these functions. He must, however, make allowance for any machine-related
restrictions by setting the appropriate parameter values (e.g. signal amplitudes).

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9 Drive Servo Start-Up Application (as from SW 3)
9.3.3 Signal waveforms of function generator (as from SW 3)

9.3.3

Signal waveforms of function generator (as from SW 3)

D Square-wave (speed setpoint)

Speed
setpoint
+A

O
t
–A
E1

T2
T1

E2

Fig. 9.6

Conditions

Operating mode
Signal type
E1
E2
T1
T2
A
O

Explanation

: Speed setpoint
(position controller cycle)
: Square-wave
: Switch-on instant (NC Start hardkey)
: Switch-off instant (e.g. NC Reset)
: Period
: Pulse width
: Amplitude (+/–)
: Speed offset

While starting and braking is in progress, the speed setpoint is output with a delay via a filter. The speed setpoint amplitude acts in relation to the set speed offset.
The axis/spindle is traversed at the set amplitude during period T1 (Period). The
amplitude is output with the opposite sign during period T2 (pulse width).

D Sawtooth (speed setpoint)

Speed
setpoint
+A

O
t
–A
E1

T1

E2

Fig. 9.7

9–26

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9 Drive Servo Start-Up Application (as from SW 3)
9.3.3 Signal waveforms of function generator (as from SW 3)

Conditions

Operating mode

: Speed setpoint
(position controller cycle)
: Sawtooth
: Switch-on instant (NC Start hardkey)
: Switch-off instant (e.g. NC Reset)
: Period
: Amplitude (+/–)
: Speed offset

Signal type
E1
E2
T1
A
O
Explanation

The speed setpoint is output with a delay via a filter during braking.
The speed setpoint amplitude acts in relation to the speed offset.

D Staircase (speed setpoint)
Speed
setpoint
+A2
+A1

O
–A1

t

–A2
E1

T1

E2

Fig. 9.8

Conditions

Operating mode
Signal type
E1
E2
T1
A1
A2
O

Explanation

: Speed setpoint
(position controller cycle)
: Staircase
: Switch-on instant (NC
Start hardkey)
: Switch-off instant (e.g. NC Reset)
: Period
: Amplitude 1 (+/–)
: Amplitude 2 (+/–)
: Speed offset

Starting and braking are implemented with a delay via a filter. The amplitude
changes in cyclical operation are output in step form.
Amplitudes A1 and A2 are calculated symmetrically to the offset line.

D Noise signal
Note



This waveform corresponds to that of a square-wave signal, but with statistically
varying pulse width and period.

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9 Drive Servo Start-Up Application (as from SW 3)
9.3.3 Signal waveforms of function generator (as from SW 3)

D Ramp 1 (position setpoint)
Position
A

s

RD
ESD

t
MD

Speed
characteristic
v
O
t
Fig. 9.9

Conditions

Operating mode
Signal type
ESD
RD
MD
A
O

:
:
:
:
:
:
:

Position setpoint
Ramp
Settling time
Ramp time
Measuring time
Amplitude
Speed offset

Note

Set acceleration is very high (speed characteristic).

Erläuterung

The axis/spindle is traversed at the constant speed offset during the setting time
and after ramping according to the position ramp. The speed setpoint increases
during the position ramp time.
The acceleration set in the NC MD generally applies to the signal waveform of
the speed characteristic. To obtain the above signal waveform, a very high value
must be set in this NC-MD to ensure step changes in the speed.

9–28

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9 Drive Servo Start-Up Application (as from SW 3)
9.3.3 Signal waveforms of function generator (as from SW 3)

D Ramp 2 (position setpoint with reduced acceleration value)
Position
A

s

RD
ESD

t
MD

Speed
characteristic
v
O
t
Fig. 9.10

Conditions

Operating mode
Signal type
ESD
RD
MD
A
O

Note

Set acceleration is lower (speed characteristic).

Explanation

The setpoint characteristic is the same as that in the ramp 1 diagram except that
the drive acceleration has been reduced. The position setpoint transitions during
speed changes are therefore softer. The speed is influenced by the values set in
the NC-MD:



:
:
:
:
:
:
:

Position setpoint
Ramp
Settling time
Ramp time
Measurement time
Amplitude
Speed offset

S Spindle :

MD 4780 – MD 4850

S Axis

MD 2760

:

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9 Drive Servo Start-Up Application (as from SW 3)
9.3.3 Signal waveforms of function generator (as from SW 3)

D Step change (speed setpoint)
Speed
setpoint
v
A

O
ESD

MD

t

Position
characteristic
s

t
Fig. 9.11

Conditions

Operating mode
Signal type
ESD
MD
A
O

Explanation

: Speed setpoint (position controller
cycle)
: Step change
: Settling time
: Measurement time
: Amplitude
: Speed offset

On expiry of the settling time the speed setpoint is increased abruptly by the amplitude value from the offset.
On expiry of the measurement time, the setpoint signal is removed and the speed
setpoint reduced to zero with a delay via a filter.

9–30

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9 Drive Servo Start-Up Application (as from SW 3)
9.3.3 Signal waveforms of function generator (as from SW 3)

D Step change (position setpoint)
Position
setpoint
s
A

ESD

MD

t

Speed
characteristic
v
O
t
Fig. 9.12

Conditions

Operating mode
Signal type
ESD
MD
A
O

Explanation

During the settling period and on completion of the position step change, the
drive is operated with the specified speed offset.
On expiry of the settling time, the position amplitude is switched through to the
position controller input within one cycle.



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:
:
:
:
:
:

Position setpoint
Step change
Settling time
Measurement time
Amplitude
Speed offset

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9 Drive Servo Start-Up Application (as from SW 3)
9.3.3 Signal waveforms of function generator (as from SW 3)

D Effect of scaling on the signal waveform

+A

nset

0.65 A
t

E3

–A

Fig. 9.13

Conditions

Operating mode
Signal type
E3
A

Explanation

9–32

: Speed setpoint (position controller
cycle)
: Sawtooth
: Change in scaling value by
user (e.g. from 65% to 100%)
: Amplitude (+/–)

A new scaling value is input via the Start softkey at instant in time E3. The resultant increase in amplitude is not input as a sudden step change, but is delayed
via a filter.



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9 Drive Servo Start-Up Application (as from SW 3)
9.4 Mixed I/O configuration and digital-analog converter, DAC (as from SW 3)

9.4

Mixed I/O configuration and digital-analog converter, DAC (as
from SW 3)

General notes on
mixed I/O

The possible applications for digital-analog converters described in this Section
are used to conduct test measurements on digital signals from the drive or position control. These signals can be output as analog voltages for diagnostic purposes on an oscilloscope or a recorder.
The 4 DAC channels of the MIXED I/O module with the order no.
6FX1138–4BA01 (16-bit resolution) are used for this purpose.
The DAC signals are output at connector X111.

General notes
on DAC, 611D drives

Max. 4 DAC channels are supported for output of SERVO quantities.

The DACs on the 611D feed and main spindle drives have the following features:
SW 3:

S 8-bit resolution
S 3 DACs on each feed drive module (single and two-axis module).
S Each main spindle module is provided with 2 DACs and a special-purpose
test socket. This test socket outputs a voltage which is proportional to the current actual value of phase R (see Table).
Module

Scaling
Test socket IR

8/10/16 A

25 A 
 8.25 V

24/32/32 A

50 A 
 8.25 V

30/40/51 A

75 A 
 8.25 V

45/60/76 A

150 A 
 8.25 V

60/80/102 A

150 A 
 8.25 V

85/110/127 A

200 A 
 8.25 V

SW 4/SW 5:

S 8-bit resolution
S 3 DACs are installed on each MSD and FDD module
Arrangement of DACs/sockets:

X1
X3/IR

X2

X1 :

Test socket DAC1

X2 :

Test socket DAC2

X3 :

Test socket DAC3

IR :

Test socket current actual value phase R
(MSD module) – SW 3 only

M :

Reference earth for test sockets

M

With SW 3 only, the scaling of the voltage output with test socket IR is dependent
on the MSD module used:



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9 Drive Servo Start-Up Application (as from SW 3)
9.4 Mixed I/O configuration and digital-analog converter, DAC (as from SW 3)

Note

The test sockets on 611D modules have an output voltage of between 0 and 5 V;
611A modules have a +/–10 V output. The test sockets can be evaluated in the
usual way. These sockets are not intended for use in normal operation.

Anwahl

Diagnosis

Start-up

Drive servo
startup

Configur.
DAC

Configur.
mixed I/O

Configur.
DAC

Fig. 9.14

Explanation

In this display, the output DACs are assigned via drive selection (+/–) and specification of the axis/spindle name.
The offset input values must make allowance for the output range of the analog
voltage signal. The 611D drive module DACs have an output range of –2.5 V to
2.5 V.
Since the DAC resolution is limited (8 bits), a window can be placed over the
output value by means of the shift factor, i.e. the signal output is decreased
(normalization) when a negative shift factor is input and is increased
(normalization) with a positive shift factor. The input limits for the shift factor vary
for SERVO, FDD and MSD:

9–34

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9 Drive Servo Start-Up Application (as from SW 3)
9.4 Mixed I/O configuration and digital-analog converter, DAC (as from SW 3)

Notes

Lower input limit

Upper input limit

SERVO (SW 3 SW 4)

–7

31

FDD (SW 3/SW 4)

–7

23

MSD (SW 3)

0

15

MSD (SW 4)

–7

23

Make sure that the selected drive (display) corresponds to the connected test
sockets (DACs) of the appropriate drive (module) in the case of 611D signals.
Servo signals (max. 4) can be output by every module – however, the axis name
must also be input.
The analog output must be set again after power on reset.
When 611D signals are output from an

S FDD (speed/current controller signals) or an
S MSD (speed SW 4: current controller/signals)
the drive (drive number) which is to be measured must be selected for the output.
The “Axis/spindle” input field has no function in this case.
Note

S It is not possible to save the DAC configuration with “Load/save all” for complete backup, nor is it possible to load a boot file via the File function.

S The DAC boot file should be deleted if the DACs are not longer required, in
order to reduce the load on the processor.

S It is no longer possible to reinstall the analog output after Power On as these
DACs are active again after Power On.
Configur.
mixed I/O

Fig. 9.15



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9 Drive Servo Start-Up Application (as from SW 3)
9.4 Mixed I/O configuration and digital-analog converter, DAC (as from SW 3)

Explanation

In this display, the output DACs are assigned via drive selection (+/–) and specification of the axis/spindle name.
The offset input values must make allowance for the output range of the analog
voltage signal. The 611D drive module DACs have an output range of –2.5 V to
2.5 V.
Since the DAC resolution is limited (8 bits), a window can be placed over the
output value by means of the shift factor, i.e. the signal output is decreased
(scaling) when a negative shift factor is input and is increased (scaling) with a
positive shift factor. The input limits for the shift factor vary for SERVO, FDD and
MSD:

Note
Selection
meas. signal

The analog output must be set again after Power On Reset.
SW 3
You can select lists containing a selection of signals with this softkey:

Explanation

Signals are selected with the cursor hardkeys and softkey Selection End. The
page-up and page-down hardkeys can be used to scroll in this list.

Selection list for axes
(SERVO)

Following error
Absolute setpoint (IPO)
Speed setpoint
Part actual value
Part setpoint (IPO cycle)
Contour deviation
Following error (IPO cycle)
Absolut value modulo
Part setpoint FIPO input
Absolute setpoint (LR)
Part setpoint FIPO output

Selection list for axes
and spindles (SERVO)

Part actual value 2nd MS/spindle encoder
Part actual value 1st MS/C-axis encoder

Selection list for
spindles (SERVO)

Speed actual value
Speed setpoint (actual)

Selection list for
gearbox interpolation
(SERVO)

Synchronism deviation
Delay compensation value abs.
Delay compensation value inc.
Part compensation value FIPO output
Limiting memory
Part compensation value FIPO input
Leading axis total actual value link
Leading axis total all leading axes
Leading axis total active
Part compensation value (IPO cycle)
GI additional setpoint

Selection list for
611D FDD (feed) only

Current i(R)
Current i(S)
Current i(d)
Current i(q)
Current setpoint (limited)
Current setpoint (controller output)
Speed actual value motor
Speed setpoint
Speed setpoint reference model

9–36

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9 Drive Servo Start-Up Application (as from SW 3)
9.4 Mixed I/O configuration and digital-analog converter, DAC (as from SW 3)

Selection list for
611D MSD (spindle)
only

Selection
meas. signal

Speed setpoint low
Speed setpoint high
Speed actual value low
Speed actual value high
Speed actual value amount
Rated power as percentage
Motor rated torque as percentage
Torque setpoint
Active current setpoint
Magnetization current setpoint
Slip frequency setpoint
Stator temperature smoothed
SW 4 and 5
You can select lists containing a selection of signals with this softkey:

Explanation

Signals are selected or deselected with the cursor hardkeys and softkeys ok and
Abort. The page-up and page-down hardkeys can be used to scroll in this list.

SERVO signals for
axes/spindles

Following error as from SW 6 position control difference (following error)
Absolute setpoint
Absolute actual value
Speed setpoint (0.01 %)
Part actual value (active)
Part setpoint
Synchronism error

SERVO signals for axes Contour deviation
Abs. compensation value
SERVO signals for
spindles

Speed setpoint (present)
Speed setpoint (RFG output)
Speed actual value

Special SERVO signals Part actual value 1st MS
Part actual value 2nd MS
Following error (IPO cycle) Position control difference (IPO cycle)
Absolute value modulo Part setpoint (IPO cycle)
Part setpoint (FIPO input)
Absolute position setpoint (PC)
Part setpoint (FIPO output)
Part compensation value FIPO output
Part compensation value FIPO input
Leading axis total actual value link
Leading axis total all leading axes
Leading axis total active
Part compensation value (IPO cycle)
Angular offset (mech. coupling)
Learn criterion (QEC)
Quadrant error
Output torque compensatory controller
Setpoint torque compensatory controller, as from SW 6 modulo position
Signals for 611D only



Speed actual value motor
Speed setpoint
Speed setpoint reference model
Torque setpoint (controller output)
Current i_q (before filter)
Current setpoint i_q (limit)

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9 Drive Servo Start-Up Application (as from SW 3)
9.4 Mixed I/O configuration and digital-analog converter, DAC (as from SW 3)

Current actual value i_q (torque-producing)
Rotor flux setpoint
Rotor flux actual value (MSD only)
Current setpoint i_d
Current actual value i_d
Cross voltage U (q)
Longitudinal voltage U (d)
Current actual value i_r (Phase R)
Current actual value i_s (Phase S)
Torque setpoint limit
Active power
Capacity utilization M/Mmax
Motor temperature
Zero mark signal motor measuring system Shift factor 16
Bero signal
DC-link voltage
Rotor position signal (in $10 000 format with extrapolation; as from SW 6)
Voltage setpoint (as from SW 6)
Current setpoint (as from SW 6)
Notes

SIEMENS
Service 2

The zero mark signal is connected to bit 7.
The cam bero signal is connected to bit 11 (for a 24-bit data word width this
means a shift factor of 11)
You can select the SIEMENS Service 2 function with this softkey

The SIEMENS Service 2 softkey function is relevant only
for SIEMENS servicing procedures and should be used
only after consultation via the hotline.

9–38

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9 Drive Servo Start-Up Application (as from SW 3)
9.5 Quadrant error compensation

9.5

Quadrant error compensation

9.5.1

General comments

Technical reasons why If an axis is accelerated from a negative to a positive velocity (or vice versa), it
quadrant error compen- sticks when passing through zero speed because of the changing friction
sation is necessary
conditions. this action causes contour errors with interpolating axes. This action
seriously effects machining of circular contours, where one axis moves at the
maximum path velocity whereas the second axis is still at the quadrant transition
point. Measurements on machines have shown that this disturbing friction moment can be compensated for by applying an additional speed setpoint impulse
(with a high enough amplitude and correct sign).
Other measurements shows that the compensating amplitude of the friction feedforward value does not remain constant across the whole acceleration range.
Where the acceleration is higher, feedforward control must be applied with a
smaller compensation value than for smaller acceleration. For this reason, a friction compensation with adapted amplitude has been developed.
Installation

The compensation value for the quadrant error compensation essentially depends on the machine configuration.
The easiest way to install the quadrant error compensation is to carry out a circularity test. With a circularity test, deviations from the programmed radius when a
circle is described can be measured and displayed graphically, must especially at
the quadrant transition points. To obtain an optimum compensation in the whole
working range of the friction feedforward control, the compensation dependancy
on the acceleration must also be considered. This is done by measuring this dependancy at various points in the range between acceleration 0 and set maximum acceleration.

9.5.2
Explanation

Circularity test (option – SW 4)
The circularity test is provided as a means of testing the contour accuracy
achieved. It is implemented on a level above axial start-up since the functions
involved are applied generally rather than to one specific axis.
This circularity test can be used to check the neuronal as well as the conventional quadrant error compensation. Since this test function displays a number of
important guide quantities, it also facilitates setting of the conventional QEC.

Notes

At least 2 axes must be defined or else activation of the circularity test function is
disabled with error message 160107 “Axes not configured”.
The circle must be specified by means of an NC part program, i.e. the circularity
test is a pure measurement function.

Selection



The circularity test display can be called by means of softkeys Diagnosis,
Start-up and Drive servo startup.

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.2 Circularity test (option – SW 4)

Fig. 9.16

Explanation

Measurement

The axis names with which the circle is to be traversed are selected in this display. No check is made to ascertain whether the selected axes correspond to
those programmed in the part program.
The measurement time for the circularity test can be parameterized only by
means of radius and feedrate and is displayed when the measurement commences or when softkey Measurement is selected again.
The values entered in input fields “Radius” and “Feed” must correspond to those
entered in the part program controlling the circular motion of the axes, with allowance made for the override switch. No check is made to ascertain whether the
values in the part program (including override) correspond to those entered in the
display.
Display field “Meas. time” displays the measurement time required to record the
position actual values during traversal of the circle; this time is calculated on the
basis of the radius and feed values.
It is also possible to parameterize the mode in which measurement results are
represented (via programmed radius or mean radius) and the resolution (scaling
of diagram axes). These inputs are used by the MMC to prepare representation
of the measured values in the form of a circle diagram.
If the measurement time exceeds the time range which can be represented by
the trace buffers (measurement time position controller cycle x 2048), then an
appropriate sub-scanning process is executed for the recording.

Start

The user must start the test program chosen to control the traversing motion (circular) for the selected axes by means of “NC start” to ensure that the program
receives the values required to perform the measurement function. “NC start” can
be executed from standard operating modes such as MDA or AUTOMATIC.

S The measurement function is initiated by selecting the vertical Start softkey.
Stop

9–40

S The measurement can be terminated at any time by selecting the vertical
Stop softkey.



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9 Drive Servo Start-Up Application (as from SW 3)
9.5.2 Circularity test (option – SW 4)

Display

Any measurements which may not be complete at the point of interruption are
displayed as well as possible under the Display softkey. No monitoring functions
are activated in this case.
The part program (for circle traversal) and the measurement function are not synchronized. The user can freely select the order in which he starts the part program (via NC start) and starts the measurement depending on the application in
question. The standard displays (machine display) can be used to test and check
the traversing motion (e.g. to trace traversal path).
Softkeys Contr.para FDD, Contr.para MSD and Contr.para NC are made available to allow direct access to the controller parameters required.

Axis +, –

These softkeys lead to the list input displays for the NC and drive controller machine data. The appropriate axes must be selected in these displays by means of
vertical softkeys Axis + and Axis – or Drive + and Drive –.
The machine data required for the conventional quadrant error compensation are
also contained in the list input display Contr.para NC. Only a small number of
operator inputs are therefore required to start up the conventional QEC.

Service
QEC
Explanation

You can select the service QEC display with this softkey.

Important guide quantities relating to the quadrant error compensation of the two
relevant axes are displayed under softkey Service QEC to assist the user further
in starting up the conventional QEC.

Fig. 9.17



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9 Drive Servo Start-Up Application (as from SW 3)
9.5.2 Circularity test (option – SW 4)

Explanation

The following service data are output cyclically in the above display:

S The following service data are output cyclically in the above display:
S The axial acceleration at the instant of the last speed zero crossing
S The compensation amplitude on the last speed zero crossing
S The axis quadrant error (error criterion) of the neuronal QEC in cases where
an error measuring time is parameterized (see section “Further optimization
and intervention options”).
Note

Display

The characteristic for the quadrant error compensation function in use to date
can be determined directly on the basis of the quantities acceleration and compensation amplitude. Using the quadrant error (error criterion) as a basis, the setting can be assessed (this value should be as low as possible).
SW 4
You can call the graphic representation of the circularity test by means of this
softkey.

Fig. 9.18

Explanation

This display shows the measured characteristic of the two axis position actual
values in the form of a circle with the resolution selected by the user. The mean
radius (or the programmed radius), the programmed feedrate and the circle measurement time derived from these values are then displayed for documentation
purposes (i.e. for subsequent storage of the measured circle characteristic as a
file).
In order to accentuate the transitions on the quadrants, for example, the user can
set a finer scale for the diagram axes in the input field/selection with position
frame to the right. Softkey Display must then be selected again in order to display the entire circle diagram with the new resolution setting.

9–42

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.2 Circularity test (option – SW 4)

Note

The displayed measurement results can be stored as a file on the MMC by selecting
softkey File functions.

Data output of
circularity test
measurement results

Data can be output on an external PC via the V24 interface and
by means of commands in the “Services” menu. The extensions for “Services”
required for this purpose are listed in the requirements to other areas. Data can
therefore be output in PC format with the aid of the “PC-IN” program. Within this
program, it is possible to re-convert the data back to the original ASCII format
with software version 3.0 and higher.

Note

Measurement results can also be written to a file using the hardcopy function and
output by means of “Services” functions.

Display

SW 5
You can switch to graphic representation of the contour with this softkey.

Fig. 9.19

Explanation

The contour is shown without any distortion if the value 0 is entered in the field
“Resolution”. If suitable radius and feedrate values are entered, other contours
can also be displayed.
Radius and feedrate represent the input parameters required for setting the measuring duration and the radius is used to define the form of graphic representation.

Note



Storage and output of the measuring results are the same as described for the
circularity test display in Section 9.5.2.

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.3 Conventional quadrant error compensation (as from SW 2)

9.5.3

Conventional quadrant error compensation (as from SW 2)

Corresponding
data

S MD 1332*
1236*
1240*
1244*
1248*
1252*
1256*

S MD 1804*, bit 6
1804*, bit 7
1824*, bit 0
Parameterization

The friction feedforward control is activated axis-specifically via MD 1804*, bit 6.
If MD 1804*, bit 7 is set, the adaptation characteristic also becomes active.
The following machine data area available for parameterization:
MD 1232*
MD 1236*
MD 1240*
MD 1244*
MD 1248*
MD 1252*

[0.1 mV] [0.01 %] 1)
[0.1 ms]
[0.1 mV] [0.01 %] 1)
[100 units MS/s2]
[100 units MS/s2]
[10000 units MS/s2]

Compensation value in range 2
Compensation time constant
Compensation value in range 4
Upper limit range 1 (a1)
Upper limit range 2 (a2)
Upper limit range 3 (a3)

9.5.3.1 Installation without adaptation characteristic
The installation is carried out in two stages. In stage one, the friction feedforward
control without adaptation (MD 1804*, bit 6=1) is derived.
Two parameters (compensating amplitude and compensation time constant) can
be altered. These two parameters are each increased or decreased until the deviations from the programmed radius become minimal or have completely disappeared in the circularity test at the quadrant transition point (Figs. 9.20 to 9.24).
A starting value of a relatively small compensating amplitude (e.g. MD 1232* =
100) and a time constant of a few position controller cycles (e.g. MD 1236* = 80)
should be defined at the beginning of the measurement.
Changes can most clearly be seen when the circularity test is first carried without
friction feedforward control (MD 1804*, bit 6 = 0).
Fig. 9.20 shows typical quadrant transition points without friction feedforward
control.

1) 100% in the two compensation values from MD 1232* and 1240* correspond to a speed setpoint of
1 V on analog drives and 10% of the maximum speed set on the drive side on digital drives.

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.3 Conventional quadrant error compensation (as from SW 2)

Counter 2
II

I

Counter 1

Quadrant transition point
III

Fig. 9.20

Setting the compensating amplitude

IV

Radius deviations at the quadrant transition points without compensation

If the compensating amplitude is too small, the circularity test shows that the
radius deviations from the programmed radius at the quadrant crossover points
have insufficient compensation (see Fig. 9.21).

Counter 2
II

I

Counter 1

III

Fig. 9.21
tion

IV

Radius deviations at the quadrant crossover points with insufficient compensa-

If the compensating amplitude is too high, the circularity test clearly shows the
overcompensation of the radius deviations at the quadrant crossover points (see
Fig. 9.22).

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.3 Conventional quadrant error compensation (as from SW 2)

Counter 2
II

I

Counter 1

III

Fig. 9.22

Setting the compensation time constant

IV

Compensating amplitude too high

If the compensation time constant used in the circularity test is too small, the test
shows that the radius deviation is compensated for, for a short time at the quadrant transition points, but that larger radius deviations from the programmed radius again occur immediately after (see Fig. 9.23).

Counter 2
II

I

Counter 1

III

Fig. 9.23

IV

Compensation time constant too small

If the value for the compensation time constant chosen for the circularity test is
too high, we see that the radius deviation at the quadrant transition points is compensated for (it is assumed that the optimum compensating amplitude has been
found), but that after the quadrant transition point the radius deviation is less than
the programmed radius (see Fig. 9.24).

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.3 Conventional quadrant error compensation (as from SW 2)

Counter 2
II

I

Counter 1

III

Fig. 9.24

IV

Compensation time constant too large

If it is not possible to find a uniform compensation time constant for the various
radii and velocities, the average value of the derived time constants is used.
If it has been possible to achieve a good result with these time constants and the
constant compensating amplitude across the whole working range, i.e. for all required radii and velocities and for positioning, characteristic adaptation
(MD 1804*, bit 7) is no longer needed.

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.3 Conventional quadrant error compensation (as from SW 2)

9.5.3.2 Installation with adaptation characteristic
If the compensation is acceleration dependant, a characteristic must be determined in a second stage.
The required compensation amplitudes for different radii and velocities are determined, the effect of the compensating amplitudes checked in a circularity test and
the optimum compensation amplitudes logged.
The following characteristic is used for the adaptation:

Dn
Dnmax

Max. amplitude NC MD 12320

Minimum amplitude
NC MD 12400

Dnmin

t

Acceleration

1 a
1

2

a2

3

a3 a’3

4

NC MD 12440 NC MD 12480 NC MD 12520

Fig. 9.25

A distinction is made between four ranges in the characteristics:

Dn =

a
Dnmax  a
1

for a < a1

Dnmax

for a1  a  a2

Dnmax



a–a
1 – a – a2
3
2

Dnmin



for a2 < a < a3
for a3  a

The characteristics in Fig. 9.25 are used for the following examples. It is defined
by the values “Maximum compensating amplitude”, “Minimum compensating amplitude” and the three acceleration values a3, a2 and a1. Considerably more measured values should be determined as a control, must importantly there should
be a sufficient number of points for high velocities with small radii. The characteristic values are most easily derived from a graphic representation.
The acceleration values are derived from  a  = v2/r from the radius and travel
velocity. The acceleration value can easily be varied using the override switch.
Before entering these acceleration values a3, a2 and a1 in machine data 1244*,
1248* and 1252*, it may be necessary to convert to the input format of the machine data ([mm/s2]  [100 units MS/s2] or [10000 units MS/s2]).
A monitoring function in the control ensures that incorrect parameterization of the
characteristics for the friction feedforward control are avoided.
The following conditions must be met when entering accelerations a3, a2 and a1
for the characteristic.
a1 < a2 < a3
If this condition is not met, parameter error 328 is output. The user should therefore follow the input sequence a3, a2 and then a1 when entering the acceleration
values. Parameter error 328 is also output if internal formats are exceeded as a
result of calculation errors when determining the accelerations from inputs a3, a2
and a1 . If this happens, the user must check whether the break points in the

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.3 Conventional quadrant error compensation (as from SW 2)

curve have been correctly calculated and/or have been entered in the correct
input format (caution: MD 1252* uses a format factor 100 larger than MDs 1244*
and 1248*!)
Example for setting
the characteristic

a. To derive the actual acceleration
The acceleration when passing through zero speed in a circular path is calculated as follows:
a = v2/r
A radius of 10 mm and a circular velocity of 1 m/min = 16.7 mm/s produces an
acceleration a = 16.72/10 [mm/s2] = 27.78 mm/s2.
b. Entering the characteristic break points
The following accelerations were determined as the characteristic break point:
a1 = 1.11 mm/s2, a2 = 27.78 mm/s2, a3 = 695 mm/s2
The position control resolution 0.5  10 – 4 mm was selected, resulting in:
1000 units [MS] = 1 mm
The characteristic break points are therefore:
a1 = 11100 units/s2, a2 = 277800 units/s2, a3 = 6950000 units/s2
The following values must therefore be entered in the machine data in the
given order:
MD 1252* = 695, MD 1248* = 2778, MD 1244* = 111

If unsatisfactory results are obtained for very low speed
values,
a. increase the position control resolution
b. raise the smoothing time constant (MD 1256*), values
 100 ms are recommended.
c. set MD 1824* bit 0 to 1. However, it must be
remembered that compensation if performed on small
traversing movements (e.g. with µ incremental mode)
with this parameterization.

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

9.5.4

Neural quadrant error compensation (QEC – SW 4)

Explanation/basic
principles

The quadrant error compensation function reduces the contour errors resulting
from friction, backlash or torsional stresses during reversal. Errors are compensated through the injection of an additional speed setpoint pulse at the instant of
zero crossing of the speed setpoint (see diagram below on left).
With software versions up to and including SW 3, the intensity of the compensation pulse can be set according to a characteristic as a function of acceleration.
This characteristic must be determined and parameterized during start-up using
external measuring instruments (see diagram below on right), i.e. it is a relatively
complicated process requiring a certain amount of experience.

Dn
Dnmax

maximum amplitude NC-MD 12320

minimum amplitude
NC-MD 12400

Dnmin

t

Acceleration

1 a
1

2

NC-MD 12440

a2

3

NC-MD 12480

a3 a’3

4

NC-MD 12520

Fig. 9.26

With SW 4 and higher, the manually parameterized characteristic block used to
date can be replaced by a neural network of type CMAC which offers the following advantages:

S To facilitate start-up, the characteristic need no longer be set by the start-up
engineer. Instead, it is automatically calculated during a learning phase. However, the characteristic can be calculated correctly only if errors occurring on
the workpiece during quadrant transition are actually detected by the measuring system. This means that a direct measuring system, an indirect measuring
system with distinct load reactions on the motor (rigid mechanical construction, low backlash) or appropriate compensation systems must be available.
In the case of indirect measuring systems, the backlash compensation function should be applied to compensate any backlash.

S With the conventional QEC, the characteristic is approximated by means of a
polygon with 4 straight lines. The neural network can simulate the actual characteristic shape considerably better, ensuring a greater degree of accuracy.
The characteristic resolution can be adjusted to achieve the required accuracy and a directional dependency of the compensation amplitude can be
taken into account. Apart from the compensation amplitude, the decay time
can also be adapted to the acceleration rate in special cases.
During the learning phase, the neural network acquires a certain operating response, i.e. it learns a certain correlation between its input and output quantities.
In the working phase, however, no further changes whatsoever are made to the
stored characteristic.
During the learning phase, the neuronal quadrant error compensation requires a
speed feedforward control of 100 %; a setpoint filter may be required for adaptation of the dynamic response.
Notes

9–50

The learning and working phases as well as the resultant neural quadrant error
compensation have a purely axis-specific action, i.e. there is no mutual influence
between axes.

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

The operating procedure from SW 3 can still be used if, for example, the conditions listed under facilitation of start-up cannot be met or if there is insufficient
computing time available for the neuronal network.
Quantization of
tof operating range

The input quantity (setpoint acceleration) is quantized before it is processed by
the CMAC network. The entire operating range is broken down into intervals, the
output value remaining constant in each interval (see diagram below). A memory
location is assigned to each interval. The interval width increases with the acceleration rate in order to optimize memory requirement and learning period.
Finer quantization – involving higher memory space requirements – allows the
resolution of the characteristic to be increased (see diagram below). However,
this also prolongs the learning phase, i.e. start-up takes longer.

Compensation amplitude

Compensation amplitude

Coarse quantization

Setpoint acceleration

Fine quantization

Setpoint acceleration

Fig. 9.27

Quantization of the input quantity is set by means of the two variables fine quantization c and coarse quantization q. The amount of memory space required or
the total number of quantization intervals is calculated according to the following
formula:
Amount of memory space = c x (q + 1)
A maximum of 1000 memory locations are reserved for each axis, affording sufficient resolution even when a high degree of accuracy is required.
Two quantities are used to determine quantization since fine quantization c has a
further function in addition to its role in determining the interval sizes. A high fine
quantization setting results in a “similar” output value being calculated for adjacent intervals of the input quantity, making it possible to identify, for example,
measuring errors which only occur at a certain acceleration rate. In contrast, a
low fine quantization setting allows characteristics with sharp changes in shape
to be simulated better. For the purpose of neuronal friction compensation, the
greater error tolerance afforded by a high fine quantization setting (c setting in
the range of approx. 10) should be used. Only when the coarse quantization
value is no longer significantly higher than the fine quantization value may the
latter be reduced.
The lower the acceleration rate, the finer the quantization of the input quantity. In
the low acceleration range, a particularly high resolution is required to ensure that
the widely varying compensation values in this range can be simulated.
The following diagram shows the correlation between the quantization interval
width and the setpoint acceleration (storage utilization by means of variable node
distance).

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

Interval width

1

2

a1

a2

3

a3

Acceleration

Fig. 9.28

Values a1 (lower range limit) and a2 (medium range limit) can be parameterized
(see Function parameters softkey), a3 (max. acceleration) is the upper limit of
the parameterized operating range. The standard settings for the limits of the operating range are as follows:
a1 = 2 %
a2 = 60 % of parameterized maximum acceleration
The parameter settings of a1 and a2 should only be changed if the compensatory
effect in certain acceleration ranges is insufficient.
This can be assumed to be the case if the learned characteristic in one of the 3
ranges, 1, 2 or 3, deviates sharply from the diagram shown above while having a
very uniform shape in one or both of the other ranges. The characteristic can be
checked by selecting the Display softkey.

D Saving and loading NQEC data
The MDD functions “Save all” and “Load all” have been extended to include the
NQEC functions.
With “Save all”, the NQEC parameterization including the measured values are
read from the NCK/servo and stored in the ASCII files under the selected name.
With “Load all”, the selected NQEC ASCII files are read in and stored as boot
files. Using a method similar to TEA3-Load all, a back-up mechanism is implemented which is able to regenerate the original NQEC boot files automatically on
power loss, emergency stop, disk full, abort key or similar occurrences.
New alarms for this function: 165051 to 165054.

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

D Standard start-up QEC
Explanation

The start-up process is semi-automatic and does not involve any external equipment. The contour accuracy achieved can be checked by means of the circularity
test implemented internally in the control or with the aid of external measuring
equipment. The standard start-up procedure is described and explained below.
The functions provided to assist start-up as well as additional parameterization
options in the event of unsatisfactory results are also given.

Decay time setting

The optimum decay time (NC-MD 12360) is determined manually at an operating
point; the procedure to follow is described in section “Friction compensation”. The
integrated circularity test is provided to assist calculation of this setting (see section headed “Circularity test”). The default settings of NC-MD 12360 (15 ms) ensure good results. The decay time is generally constant over the entire operating
range. In special cases, however, it may be advantageous to raise the setting in
the very low acceleration range or vice versa, to reduce the setting for very high
acceleration rates (see section headed “Further optimization and intervention
options”).

Loading of standard
parameters

A file (STANDD_Q) containing standard data is available on the MMC for the
parameters described under the Function parameters softkey; its purpose is to
facilitate the start-up procedure. The start-up engineer can load these data by
selecting softkey File functions or he can, as an alternative, enter the parameters individually.
The value for parameter “Max. acceleration” must be entered according to requirements, i.e. the neuronal network works and learns optimally only in the operating range with this maximum acceleration value.

Note:

When these parameters are entered manually, they do not become operative as
working data until the Parameter transfer softkey has been selected.

When one of the function parameters is changed by means
of the Parameter transfer softkey, the working data
(SERVO) are overwritten with the initialization value. The
saved characteristics (files on MMC) are not affected.

Activation of neural
quadrant error
compensation

The neural QEC is activated for the desired axis by setting bit 0
of NC-MD 18120. If the function parameters in the working data are not
meaningfully assigned at the instant of activation, then service number 328 is set
(see start-up lists).

Learning process

This process trains the network. For this purpose, a test signal is generated on
the basis of which the network learns the optimum compensation amplitude over
the entire parameterized operating range.

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

Acceleration
+a1 +a2
+a1

+a2

t

–a1

–a2

TPer

TPer

TPer

Velocity

t

Path

t

Fig. 9.29

The test signal generates successive reversing processes which are executed at
an acceleration rate which slowly decreases over the three sections of the operating range.
The individual sections with time TPer are repeated according to a parameterizable number of learn process runs (default setting: 15). Estimate values for the
required learning period are given under section heading “Further optimization
and intervention options”.
The learning process is started on a menu-assisted basis (sequence of operations as for function generator). The end of the traversing motion is indicated by
the message “Learning process complete”. The training result can be checked
immediately by means of a circularity test.
Storage of information
learned

On completion of the learning process, the compensation data must be saved in
a boot file by means of file functions. This file is loaded after power ON by means
of a file transfer from the MMC to the neuronal network. The file functions also
allow the data to be stored in user files which can also be loaded to the neural
network, thus making it possible to store several learned “characteristics” for one
axis (e.g. for test purposes).

Notes

After power OFF/ON, however, the characteristic from the boot file is always active.
After data have been saved in the boot file, it is advisable to store them again in a
user file for two reasons. Firstly, data can be loaded from a boot file only through
the execution of an NCK reset and secondly, a back-up copy will then be available in the event of the boot file being accidentally erased or overwritten.

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

9.5.4.1 Start-up of neural QEC
Neural
QEC

You can select the “Neural quadrant error compensation” function for axes with
this softkey.

Fig. 9.30

Explanation/Notes

The input/information output display Learn has the same structure as the Measurement displays in the other axial start-up functions. The inputs in this display
determine in which way the traverse enabling commands for the function generator are generated (internally PLC). In addition, the monitored traversing range
limits can be parameterized. The present position actual value (cyclically updated) is displayed.
The learning process takes place on an axial basis; there is no mutual influence
between axes.
The Start softkey initiates the automatic learning process by the neuronal network provided the QEC function is activated by means of bit 0, NC-MD 18120 (bit
can be set under the Contr.para NC softkey). If this sequence is not observed,
then error message “QEC bits not set” is output.
When the automatic learning process is started, a check is also made whether
the speed feedforward control is parameterized and activated. If this is not the
case, the function is aborted with error message 160106 “Feedforward control
not activated”.
For safety reasons, the user must still select the enabling commands set in the
toggle field after he has actuated softkey Start since traversing motions must not
be started through the selection of softkeys alone.
The traversing motions determined by the test signal (see learning process) are
executed during the learning process. At this point in time, the learning phase of
the neuronal network is automatically activated, i.e. the learning phase activation
bit (NC-MD 18120, bit 1) is not taken into account.
After the function generator has stopped, the setting selected beforehand via the
NC-MD activation bit becomes effective again.
The traversing motion can be interrupted by means of the Stop softkey and with
the other start-up functions (e.g. NC stop, Reset key, etc.).

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

D Neural QEC parameterization
Function
parameters

You can select the menu with the function parameters for the neural QEC function with this softkey.

Fig. 9.31

Notes

You enter the function parameters in this display. If the neural QEC has not yet
been started up for this axis, all parameters are set to 0. Meaningful standard
parameter settings can be assigned by means of the file functions with “Load file:
STANDD_Q”. The current parameter settings are displayed if a data block is already stored in the boot file or if the neuronal network has been activated since
the last power ON for the axis displayed.

Function parameter
settings

S Max. acceleration (a3)
This parameter defines the upper limit of the operating range. Values of > 0
may be entered. The default setting after “Load default” is 500 mm/s2.

S Lower range limit (a1)
This parameter defines the limit of the lower acceleration range. Values of >0
and <100 may be entered. The default setting after “Load default” is 2 %.

S Medium range limit (a2)
This parameter defines the limit of the medium acceleration range. Values of
>0 and <100 may be entered. The default setting after “Load default” is 60 %.

S Direction dependence
This parameter determines the direction-specific compensation. The states
“yes” or “no” may be selected. The default setting after “Load default” is “no”.

S Fine quantization
This parameter defines the fine quantization of the input quantity. Values of

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

between 4 and 32 may be entered. The default setting after “Load default” is
8.

S Coarse quantization
This parameter defines the coarse quantization of the input quantity. Values of
>1 and <250 may be entered. The default setting after “Load default” is 49.

S Initialization value
This parameter determines the initialization value of the compensation amplitude. Values between 0 and 1 may be entered. The default setting after “Load
default” corresponds to 0 % of the maximum speed.

S Number of learn process runs
This parameter determines the number of learn process runs. Values of between >1 and <41 may be entered. The default setting after “Load default” is
15.

S Detailed learning
This parameter determines whether the detailed learning function is selected
or not. The states “yes” or “no” may be selected. The default setting after
“Load default” is “no”.

D Parameter transfer
Parameter
transfer
Additional information

This softkey is required to transfer manually changed data.

All NC machine data of the selected axis required to parameterize the neural
QEC are available under the Contr.para NC softkey. Most importantly, the activation bits are stored under this key.
In cases where the activation bit of the conventional QEC (NC-MD 18040, bit 6)
is set at the same time, the neural QEC has priority.

Display



If you need to check the neuronal QEC characteristic, it can be selected with this
softkey.

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

9.5.4.2 Further optimization and intervention options
Checking methods
1st method:

Circularity test

2nd method:

Display of characteristic – in this display, the compensation amplitude is output
as a % of the maximum speed as a function of the set memory partitioning.

3rd method:

Record the learning process for a difficult acceleration (derived from the
SERVICE quadrant error compensation display) with SERVO trace. The following
SERVO trace parameterization is recommended:
Measuring times, trigger conditions:
Trace 2, 3, 4 with start trigger Trace 1, measuring time 200 ms, triggering
time–50 ms
Trace 1: Edge signal  threshold for positive passage through zero, edge signal
 threshold for negative passage through zero at threshold = 0.
Trace signals:
Trace 1:
Trace 2:
Trace 3:
Trace 4:

Partial setpoint FIPO output (for triggering only)
Following error
Learning criterion QEC
Quadrant error

Examination of Trace 2 and 3:

S If the bump can be seen in following error and not in learning criterion QEC,
the measuring time in the area examined must be increased.

S If the bump can be clearly seen in learning criterion QEC and a later fault is
also included, the measuring time must be reduced.

S If vibrations are contained in the following error at the time of the passage
through zero, they must be eliminated by trying other control settings. A very
high position setpoint smoothing can only be considered a solution during the
automatic learning stage. Conditions can also be improved by reducing the
measuring time.
Table:

Possible errors and how they can be eliminated
Error:

Recognized by:

Remedial action:

Compensation not adequate

Circularity test

Increase the learning rate or
increase number of learning
passes

Overcompensation in the lower
and middle range

S Circularity test
S Display of the characteristic:

Increase measuring time in this
range (MD 1372*, MD 1376*)

Overshooting in this range
Over compensation in the upper
range

S Circularity test
S Display of the characteristic:
Overshooting in this range

S Check with SERVO Trace
Large fluctuations in
compensation: sometimes
overcompensation, sometimes
undercompensation

9–58

S Circularity test
S Display of the characteristic:
Large fluctuations

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Check the following error and
learning criteria QEC with
SERVO Trace or DAC output and
adapt the measuring time in this
range on the basis of that
information (MD 1380*)
Decrease learning rate, restart
learning process (with fewer
learning passes)

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9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

Direction-specific
compensation

Direction-specific injection can be selected via a function parameter under the
Function parameters softkey. This is necessary in cases where the compensation is not equally effective in opposing quadrants when the injection is not direction-specific (see diagram below).
However, the following points must be noted in this respect:

S Twice the number of quantization intervals or memory locations must be provided for the characteristic, e.g. by doubling the coarse quantization.

S The number of learning process runs with the test signal (see “Learning processes”) should likewise be increased because only every 2nd zero crossing
is executed again on the same input quantity (this time +/– a, last time |a|)!

S If the resolution is not altered, the start-up process takes longer.
S Changes to this parameter setting cause a re-initialization of the weight factors already learned.

y
Poorly compensated

x

Well
compensated

Direction of
motion

Fig. 9.32

It is often possible to decrease the resolution while maintaining the same degree
of accuracy by reducing the maximum acceleration. If a higher acceleration rate
than the parameterized operating range is detected, then the injection amplitude
which was calculated for the parameterized maximum operating range is applied.
At high acceleration rates, this injection value remains relatively constant.
Influencing the period of As described under “Learning process”, the test signal for
“Detailed learning”
the learning phase is derived from the parameterized acceleration range of the
neural QEC. In normal cases, the acceleration is varied in steps of approximately
one coarse quantization step when “Detailed learning” is set to “no” (e.g. from a1
to a2 – see diagram under “Learning process”). The duration of the learning process is thus calculated from the function parameters according to the following
formula:
Learning period = (coarse quantization + 1) x number of learning process runs x
TPer
The period TPer (see diagram “Learning process”) is 1 s. With the default settings, therefore, the learning process period is approximately 12.5 min per axis.
As from SW4.4 the period of the learning signal can be parameterized (NCMD 1296*).
The learning period can be reduced by specifying a higher fine quantization setting and a lower coarse quantization setting which will give rise to the effects of a
high fine quantization setting described under “Quantization of operating range”.



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09.95
10.94

9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

The number of learning process runs can be reduced particularly in cases where
data blocks are already available for the machine type in question so that only
minor optimization measures are required.
When “Detailed learning” is set to “yes”, the acceleration step changes in the test
signal are varied in much smaller increments, leading to a considerable increase
in the total time required for the learning process.
When “Detailed learning” is selected, the number of learning process runs can
and should be reduced for this reason. The duration of the “Detailed learning”
process is calculated as follows:
Learning period = (coarse quantization + 1) x fine quantization x number of learning process runs x TPer
When default settings are used and the number of learning process runs reduced
to 5, the learning process takes approximately 33 min (if the number were to remain at 15, the process would take 100 min!). When “Detailed learning” is selected and the resolution remains unchanged, the time required for the learning process cannot be reduced by changing the coarse and fine quantization settings.
“Detailed learning” should only be used in cases where extremely high accuracy
is required.
Changing the variable
node distance

The standard input for the variable node distance makes
allowance for the fact that the characteristic requires a higher resolution at low
acceleration rates. In the higher acceleration range, the compensation values
vary only slightly so that a low resolution is quite sufficient.
This parameter setting is based on empirical values acquired on machines with a
maximum acceleration (= operation range) of up to approximately 700 mm/s2.
If a significantly smaller operating range is selected, then limits a1 and a2 from
the diagram “Storage utilization by means of variable node distance” will likewise
be lower in absolute terms since they are parameterized as a % of the maximum
acceleration. These parameters should then be set to slightly higher values. However, a1 should not exceed the range corresponding to approximately 5 % of
the maximum acceleration. 40% to 75% of the maximum acceleration are meaningful limits for a2.
If ranges with widely varying amplitudes are discovered when the characteristic is
checked (Display softkey), then it is advisable to increase the resolution in these
ranges to satisfy more stringent requirements. The inputs for a1 and a2 must be
altered appropriately for this purpose.
Please note, however, that this will cause a change in the memory partitioning,
resulting in re-initialization (see “Loading of standard parameters”). The currently
valid working data are overwritten.

Adaptation of decay time It has already been mentioned under the heading “Basic principles” that the
decay time can be adapted by means of parameterization. However, this option
should only be used to a limited extent; significant improvements can normally be
achieved by selecting a finer position control and input resolution.
An increase in the decay time, e.g. by a factor of 5 or higher, produces better results only in the very low acceleration range; a relatively constant value is desirable over the remaining operating range.
The adaptation of the speed setpoint pulse decay time according to the characteristic in the following diagram is parameterized by means of a 2nd compensation
time constant in NC-MD 13640 and activated via bit 2 in NC-MD 18120.
The time constant which is effective without adaptation (NC-MD 12360) applies in
the medium acceleration range (50 %). The adaptation characteristic is produced
according to an e–x function through these two points.

9–60

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09.95
10.94

9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

The decay time is not adapted when a value of 0 or of less than or equal to the
value in NC-MD 12360 is entered in NC-MD 13640.
Monitoring of the decay time continues to ensure that it cannot become a negative value at maximum acceleration (100 % of acceleration in diagram below). In
this case, the characteristic is positioned such that a decay time of 0 is calculated
at maximum acceleration.
Decay time
MD 13640

MD 12360

Setpoint acceleration

50%

100%

Fig. 9.33

Parameterizing the
error measuring time

While the neuronal network is in its learning phase, the error measuring time
determines the time window during which the contour error is monitored after the
speed zero crossing.
Experience shows that the error measuring time for medium-range acceleration
rates (approx. 2 – 50 mm/s2) must be set to a value corresponding to three times
the decay time.
The error measuring time must be adapted for the very high or very low acceleration ranges. The time is adapted automatically according to the characteristic in
the diagram below. In this case, a value corresponding to 6 times the decay time
is set for the error measuring time at low acceleration rates tM1 while double the
decay time is set for high acceleration rates tM3 (default setting by the appropriate machine data).
In order to maintain these relationships when the decay time is changed, the error measuring times (e.g. 1st axis: NC-MD 13720, NC-MD 13760 and NC-MD
13800) are specified as a %age of the compensation time constant (NC-MD
12360).
If NC-MD 12360 is set to 0, then the percentages specified in NC-MDs 13720,
13760 and 13800 are referred to a time of 10 ms.

Measurement time
tM1
(MD 13720)
tM2
(MD 13760)

tM3
(MD 13800)

1 a
1

2

a2

3

a3 IAccelerationI

Fig. 9.34



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09.95
10.94

9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

In special cases, however, it may still be necessary to re-parameterize the error
measuring times:

S Setting of very extreme values for the compensation time constant (NC-MD
12360).
Experience shows that error measuring times of <10 ms and >200 ms are not
effective.
If a value of more than approximately 30 ms is set in NC-MD 12360, then the
setting in NC-MD 13700 (tM1) should be reduced in any case, and possibly
also the other error measuring times if appropriate.
If a value of less than approximately 5 ms (but not 0, see above) is set in NCMD 12360, then the setting in NC-MD 13800 (tM1), and possibly the other error measuring times as well, should be increased.

S Parameterization of measuring times when DT1 time constant is adapted
(NC-MD 18120, bit 2 = 1).
If the adaptation function for the DT1 time constant is used, then the following
rule of thumb applies to the parameter settings of error measuring time tM1:
tM1 must be set to approximately 3 times the value in NC-MD 13640.
Example

A value of 10 ms is parameterized in NC-MD 12360 and a value of 30 ms in
NC-MD 13640. With the default value from NC-MD 13720 of 600 %, an error
measuring time tM1 of 60 ms is thus calculated. However, the rule of thumb dictates that a tM1 of 90 ms must be applied and NC-MD 13720 must therefore be
set to 900 %.

Notes

The error measuring time is required to produce the error criterion of the neural
quadrant error compensation function. This error criterion is also made available
under the Circularity Test in display Service QEC in order to facilitate parameterization of the conventional quadrant error compensation function.
To ensure that the error criterion produces useful results, the error measuring
time should be parameterized even when the neuronal QEC is deselected (NCMD 18120, bit 0 = 0). NC-MD 13760 is provided for this purpose. NC-MD 13760
need only be re-parameterized for the decay time parameter settings (NC-MD
12360) described under the compensation time constant.
These 3 machine data are monitored or limited as follows:

S Service number 328 is output if NC-MD 13760 is set to 0 when the neural
QEC is activated via its machine data bits. This does not result in an error
message output with the conventional QEC.

S If the setting in NC-MD 13700 is lower or equal to the value in NC-MD 13760,
then the error measuring time in range 1 (in diagram above: a < a1) remains
constant at the error measuring time value from NC-MD 13760.

S If the setting in NC-MD 13800 is higher or equal to the value in NC-MD 13760,
then the error measuring time in range 3 (in diagram above: a > a2) remains
constant at the error measuring time value from NC-MD 13760.

9–62

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09.95
10.94

9 Drive Servo Start-Up Application (as from SW 3)
9.5.4 Neural quadrant error compensation (QEC – SW 4)

9.5.4.3 Power ON/OFF – monitoring functions – special functions (SW 4)
Power ON procedure

After power ON, the boot file stored for the neuronal QEC must be transferred
from the MMC to the SERVO. These data are transferred in the same way as
611D drive machine data are booted.
Service number 328 is output if bit 0 in NC-MD 18120 is set at the instant of
power ON for an axis which does not have an axial boot file.
Please note that no compensation is applied to the axis concerned in this case.
This alarm is output on Power ON only if the neuronal QEC is activated via bit 0
in NC-MD 18120 at that instant.

Incorrect
parameterization
of machine data

As with the previous software version, service number 328 is output in
response to incorrect/illegal parameter settings caused by changes to
machine data. Possible causes for this error message are:

S Activation of neuronal QEC (NC-MD 18120, bit 0) without valid parameter settings for function parameters. This parameterization error is also indicated on
power ON if the start-up results have not been saved in the boot file.

S Activation of neuronal QEC (NC-MD 18120, bit 0) with learning rate setting of
0 or learning rate parameterized as 0 (NC-MD 13680) when neuronal QEC is
active.

S Activation of neuronal QEC (NC-MD 18120, bit 0) with error measuring time
tM2 set to 0 or error measuring time tM2 parameterized to 0 (NC-MD 13760)
when neuronal QEC is active.

S Previously detected incorrect/illegal QEC parameter settings when the neuronal QEC is not activated.
Incorrect
parameter iinputs
for start-up function



Incorrect inputs for the function parameter settings trigger a start-up application
error message. Possible causes and remedies can be found under section
headings “Neuronal QEC parameterization” and “Alarm description”.

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09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.6 SERVO trace (SW 4)

9.6
Explanation

SERVO trace (SW 4)
To supplement the start-up functions “DAC output” and “Measurement function”
implemented in SW 3, SW 4 includes a trace function with the following functionality:

S 4 trace buffers with 2048 values
S Output of SERVO signals with symbolic signal selection
S Graphic representation of recorded signal waveforms
S Various trigger conditions for starting recording
S Pre-trigger and post-trigger settings possible
S File functions for storing and loading trace settings and measurement curves
The SERVO trace function is integrated on the highest menu tree level of the
drive servo start-up application since the 4 trace buffers offer 4 global resources
which can be applied to any NC axis or spindle (comparable to the 4 DAC channels of the mixed I/O module).
Selection

The SERVO trace display can be called by means of softkeys Diagnosis,
Start-up and Drive servo startup.

Fig. 9.35

Explanation

The measurement parameters relevant to the trace function can be set in this
display.
The field marked “Signal” is a pure output field which indicates the measured signal selected under softkey Selection meas.signal. The text “No signal” is the
default setting.

9–64

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09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.6 SERVO trace (SW 4)

Trigger conditions for starting the recording can be set in the field marked “Trigger”. The following settings are provided:

S No trigger 
 default setting for trace 1
S Edge signal  threshold


Recording starts if selected signal is greater
than set “threshold” (edge transition)

S Edge signal  threshold


Recording starts if selected signal is smaller
than set “threshold” (edge transition)

S PLC trigger




Recording starts if PLC trigger signal (1 to 4)
switches from 0 to 1 (the 4 trigger signal are preassigned to the 4 trace buffers).
DB48 DR2 bit 0 ... 3

S Startt rigger trace 1 
 The start trigger of trace 1 is used
(default setting for as the start trigger condition. Traces 2-4)
The start of recording can be set in the field marked “Trigger time”. Pre-trigger
(“Trigger time” < 0) and post-trigger (“Trigger time”  0) settings can be entered
here. If the measurement has commenced and the trigger condition is fulfilled
before the set pre-trigger time has elapsed, then the pre-trigger range is displayed in an appropriately shortened form in the measurement curve.
The trace functions are initiated through selection of softkey Start. This key starts
all trace functions with valid signal selection. When the function is activated, the
recording is started internally in a ring buffer store. The relevant trace buffers are
then filled when the trigger condition is fulfilled with allowance made for the trigger time (pre-/post-trigger times).
The trace function is terminated if

S the trace buffer is full (allowing for pre-/post-trigger) or
S the measurement time has elapsed or
S the Stop softkey is actuated.
Note

“Trigger time” and “Measurement time” of traces 2 – 4 (applies only when “No
trigger” setting is selected) are linked to the start trigger of trace 1.
A new input parameter has been integrated from SW 5 for selecting channel and
IKA number (see Fig. 9.35).



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09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.6.1 Selection of measured signal

9.6.1

Selection of measured signal

Selection
meas. signal

You can select lists containing a selection of signals with this vertical softkey (see
Fig. 9.35).

Explanation

Signals are selected or deselected with the cursor hardkeys and softkeys ok and
Abort. The page-up and page-down hardkeys can be used to scroll in this list.

SERVO signals for
axes/spindles

Following error
Absolute setpoint
Absolute actual value
Speed setpoint (0.01 %)
Part actual value (active)
Part setpoint
Synchronism error

SERVO signals for axes Contour deviation
Abs. compensation value
SERVO signals for
spindles

Speed setpoint (present)
Speed setpoint (RFG output)
Speed actual value

Special SERVO signals Part actual value 1st MS
Part actual value 2nd MS
Following error (IPO cycle)
Absolute value modulo
Part setpoint (FIPO input)
Absolute position setpoint (PC)
Part setpoint (FIPO output)
Part compensation value FIPO output
Part compensation value FIPO input
Leading axis total actual value link
Leading axis total all leading axes
Leading axis total active
Angular offset (mech. coupling)
Position setpoint (PC cycle)
Absolute actual value (PC cycle)
Quadrant error
Quadrant error plane
Torque compensation controller output (SW 5)
Setpoint torque compensation control (SW 5)
611D signals in position Current actual value
controller cycle
Power
Torque
Torque (delta)
Speed actual value
Capacity utilization in %
NCK signals
(as from SW 5)

9–66

Axial feedrate
Path feedrate
Distance-to-go path
Distance-to-go axis
Number of predecoded blocks
Capacity utilization
Set position before transformation
Path feedrate before transformation
IKA input A
IKA input B
IKA output



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09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.6.1 Selection of measured signal

SIEMENS
Service 3

You can select the SIEMENS Service 3 function with this vertical softkey.

The displayed signals are not explained here.
The SIEMENS Service 3 softkey function is relevant only
for SIEMENS servicing procedures and should be used
only after consultation via the hotline.

Fig. 9.36

Physical addresses can be defined in this display. The toggle field “Module type”
has been extended to include “NCK” (from SW 5).



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9–67

09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.6.2 SERVO trace display

9.6.2
Display

SERVO trace display
You can call the graphic representation of the SERVO trace function by selecting
this softkey.

Follow.g error

Part. setpt

Fig. 9.37

Explanation

Two SERVO trace signals are output in this display. The trigger is shown as a
vertical, broken line.

Note

The displayed measurement results can be transferred to the MMC for storage
as a file by means of softkey File functions.

9–68

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09.95

9 Drive Servo Start-Up Application (as from SW 3)
9.6.2 SERVO trace display

Configure
display

The two displays (Picture 1/Picture 2) can be set by means of this softkey.

Fig. 9.38

Explanation

The displays called by means of softkey Display (Picture 1/Picture 2) can be set
in the above display. The displays can be allocated to trace buffers 1 to 4 in the
input fields marked “Picture 1” and “Picture 2”. The scaling can be set separately
for each display to “automatic” (display format is automatically scaled by value
range in trace buffer) or to “manual”. When “manual” is selected, the required
resolution and the offset must be entered in the appropriate input fields. The automatic setting provides an optimum visual display of the measured characteristic
between the maximum and minimum values of the measured curve. The
“manual” setting allows the resolution to be altered as required in order, for example, to zoom part of the displayed range.

END OF SECTION



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aaaaaaaaaaaaaaaaaaaa

09.95

10

10.1

10 Axis and Spindle Installation
10.1 Determining sampling interval and interpolation time

Axis and Spindle Installation
Determining sampling interval and interpolation time

Corresponding data

MD 155
MD 160
MD 168
MD 1396*/MD 466*

SINUMERIK 840C (IA)

NC MD Position controller basic clock frequency
Ratio of interpolation to position control
Drive basic cycle time
Position control clock frequency increase axis/spindle

Functional description

MD 155 and MD 168 are used to set the position control basic clock frequency, and MD 160
to set the ratio of the interpolation time to the sampling interval. The objective is to keep both
these times to a minimum.

In order to off-load the CPU as much as possible, axes that are not used for workpiece
machining (auxiliary axes, loader axes) can be controlled at longer intervals. MD 1396* is used
to increase the sampling interval.

The sampling interval is the interval at which the control forwards a new setpoint to the axes
and computes the actual value.

MD466* is valid for the spindle rather than MD1396*.

MD 168

X
MD 160
=IPO clock frequency

© Siemens AG 1992 All Rights Reserved

X
MD 1396*
=Position control clock
frequency

Axes

6FC5197- AA50

Drive basic cycle time
[62.5 µs]

X
MD 155
=Position control basic
clock frequency

X
MD 466*
=Position control clock
frequency

Spindles

Determination of sampling interval and interpolation time

From software version 3 onwards, the machine data dialog
handels the standard start-up.
See Section entitled Machine Data Dialog (MDD).

10–1

10 Axis and Spindle Installation
10.1 Determining sampling interval and interpolation time

09.95

Setting
•
•
•
•
•

Enter drive basic cycle time in MD 168 (in 62.5 µs).
Enter position control basic clock frequency in MD 155 (multiplier MD 168).
Enter ratio to interpolation time in MD 160.
If MD is incorrect, alarm 1012* ”Parameterization error” drive MD is output.
Set increase of position control basic clock frequency for each axis in MD 1396*

Relationship between interpolation time and position control sampling time must be integral and
larger than 1
IPO time
–––––––––––––––––––> 1
Position control time
Example for setting the sampling interval
Available:

2 machining axes (X, Z)
2 auxiliary axes (Q1, Q2)

Desired sampling interval for machining axis
Desired interpolation cycle time

1 ms
4 ms

Possible sampling intervals for auxiliary axis:
1 ms, 2 ms. The selected interval is 2 ms.
MD values:
MD 168
MD 155
MD 160
MD 1396*

=
=
=
=

8
2
4
2

(0.5 ms)
(1 ms)
(4 ms)
(4 ms)

Display of the NC CPU utilization (SW 5 and higher)
The SINUMERIK 840C control has a real-time operating system that ensures that the moving
axes and spindles are supplied with setpoints in a defined timebase (position control and
interpolation cycles). All other control activities (display, input etc.) are dealt with a lower
priority by the operating system.
The value displayed for the NC CPU utilization when the control is in the reset state and no
operator actions are being performed is the basic CPU utilization.
The user can influence this basic utilization of the NC CPU by setting the position control and
interpolation cycles. It also depends on the number of channels, axes and spindles.
The interpolation cycle is the basic cycle in the control. Within the IPO cycle, all control
activities (calculation of the next partial setpoint, processing of keystrokes, refreshing the
active display etc.) must be terminated. If time is left at the end of a cycle, the control is idle.
The shorter the position control or interpolation cycles, the shorter the control idling time will
be.
The NC CPU utilization is the ratio of the idling time to the set IPO cycle. The NC CPU
is considered fully utilized if there is no more idling time within a cycle.
The value of the CPU utilization indicates to what extent the interpolation and position control
cycles can be set for the NC CPU used for a certain control configuration.

10–2

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

a
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
a

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aaaa
a

09.95

•
•

10 Axis and Spindle Installation
10.1 Determining sampling interval and interpolation time

Notes:
The maximum value of the basic utilization should be approx. 70%.
Evaluation of the CPU utilization is performed in a 960 ms timebase in order to be able to
display a "stable" mean value.

How the NC CPU utilization is displayed

The value calculated for the NC CPU utilization is entered in machine data 60012. This value
is displayed in the MDD under Machine data/NC MD/General NC MD/General basic MD (for
original display see also Section 5, Section "User displays"):
Start-up/Machine data/NC MD/General NC MD

General basic MD

Measuring units

5002.4 System of units
5005.4-7 Input resolution

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

Metric
1E-3 mm

Utilization

60012 NC CPU utilization

70%

System cycles

168 Basic drive cycle
155 Position control cycle
160 Interpolation cycle

1.00 ms
4.00 ms
16.00 ms

General basic data

5197.0 Display M active
... etc.

yes

Optimization of the CPU use

On start-up of the control, it is possible to proceed as follows:

1.
Perform control configuration, i.e. definition of the number channels, axes and
spindles. The MD set are activated after Power On.

2.
Observe the basic NC CPU utilization in the MDD display during cyclic operation.

3.
Change the values for the position control and interpolation cycles: If the basic use is
small, the above cycle values can be made shorter, and vice versa.

After Power On, continue with point 2 until the optimum has been found.

Comment:

On starting a part program, additional modules are active that perform the decoding of the
part program blocks. The blocks are entered in the block buffer of each channel. Depending
on the number of block buffers set (flexible memory configuration function) it takes a while
until all block buffers are full. During this time, CPU utilization is 100%. After all block buffers
have been filled, the value settles at a lower value.

6FC5197- AA50

10–3

10 Axis and Spindle Installation
10.2 Axis-specific resolutions

10.2

06.93

Axis-specific resolutions

Corresponding data
MD 5002
MD 564*
MD 1800*
MD 1800*

bit 4-7
bit 5
bit 0-3
bit 4-7

Input resolution
Rotary axis
Position control resolution
Display resolution

Indirectly related:
MD 155
MD 160
MD 168

Position controller's sampling interval
Ratio of interpolation to position control
Basic cycle time of drive

10.2.1 General remarks on the axis-specific resolutions
The axes can be matched to the controls via MD. It must be remembered that only specific
combinations are permissible, and care must be taken that the boundaries, maximum axis
speed and range limits are not exceeded.
The following types of resolution can be specified for axes:
•
•
•
•
•

Input resolution:Set via MD for all axes
Geometry resolution:
Input resolution x 0.5
Position control resolution:
Set via MD for each axis
Display resolution:
Set via MD for each axis
Measuring system resolution:
Set via MD for each axis

The measuring system resolution is used for adapting the axes to the measuring system.

10.2.2 Input, display and position control resolution
The input resolution for the entire control is defined in MD 5002, bits 4 to 7. The input
resolution defines the geometry resolution for linear and rotary axes. Rotary axes have the
same input resolution as linear axes. The geometry resolution determines the interpolation
accuracy.
The input resolution also defines the number of maximum programmed decimal places after
the decimal point for positional values in the part program as well as the number of decimal
places after the decimal point for TO, ZO, SD etc. (and therefore also the maximum
achievable degree of precision).
The input resolution defines the units system (inch - metric - degrees).
The input resolution must be taken into account when entering machine data that must be
stored in the input system. The default value for linear axes is 10-3 and for rotary axes
10-3 degrees.

10–4

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

a
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aaaaaaaaaaaaaaaaaaaaa
a

12.93
10 Axis and Spindle Installation
10.2.2 Input, display and position control resolution

Display resolution

In addition to the input resolution, the user must also define the display resolution. In contrast
to the input resolution, the display resolution is defined separately for each axis. NC MD 1800*,
bits 4-7, are provided for this purpose. The display resolution defines the number of decimal
places that are to be displayed. The default value for all axes is 10-3 mm or degrees.
The display resolution must have the same input system (inch - metric - degrees) as the input
resolution. Alarm 4 (Power on Alarm) is issued to flag "Illegal input system" if this is not the
case.

A display resolution < 10-3 degrees is only possible for rotary axes if the option is available.
Position control resolution (Measuring System - MS)

Like the display resolution, the position control resolution is defined on an axis-specific basis.
This must be taken into account when entering machine data stored in the measuring system.
MD 1800*, bits 0-3, are used to define the position control resolution.

The unit system must be the same for each position control resolution.

The unit system (inch - metric - degrees) used for the position control resolution need not
necessarily be identical to the one used for the input resolution.

Note:

A position control resolution < 10-3 degrees is only possible for rotary axes if the option is
available.

Position control, input and measuring system resolutions

On the SINUMERIK 840C, position control resolution and input resolution can be entered
separately. In order to obtain a closed position control loop, the pulses arriving from the digital
measuring system and the control accuracy must be matched.

The units ”unit (MS)” for the position control resolution and ”unit (IS)” for input resolution are
used as new units of measurement.

The following applies:
1 unit (MS) = 2 units of position control resolution
1 unit (IS) = 1 unit of input resolution

Example:

Assuming a position control resolution of 0.0005 mm and an input resolution of 0.001 mm the
following applies:

1 unit (IS) = 1 unit (MS) = 1 µm

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

10–5

10 Axis and Spindle Installation
10.2.3 Resolution block diagram

12.93

10.2.3 Resolution block diagram

Input

Display

Input resolution
MD 5002 bits 4-7

G70/G71
Display resolution
MD 1800* bits 4-7
X 0.5

Geometry resolution

Unit system
MD 5002 bits 4-7
Service
display
Pos. control resolution
MD 1800* bits 0-3

Contouring error calculation

Set speed
resolution
DAC
1:8192

Drive
control

MD 364*
MD 368*
Measuring system resolution

10–6

X
4

M

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

10 Axis and Spindle Installation
10.2.4 Resolution codes

10.2.4 Resolution codes
The following Table shows the codes for the various types of resolution.
Alarm 4 ("Illegal input system") is issued when illegal values are entered as machine data. NC
MD 5002, bit 4 is used to identify the units system. Metric input system G71 (bit 4 = 0) is the
reset state.
Table of resolution codes
NC MD 5002

Bit 7

Bit 6

Bit 5

Bit 4

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0

0

0

0

1

0

0

0

0

1

0

0

1

1

0

0

0

0

1

0

1

0

1

0

0

1

1

0

––––––––

––––––––

––––––––

1

1

1

0

––––––––

––––––––

––––––––

0

0

0

1

––––––––

10-1

[degr.]

0.5 x 10-1

[degr.]

1

0

0

1

––––––––

10-2

[degr.]

0.5 x 10-2

[degr.]

0

1

0

1

[inch]
[degr.]

1

1

0

1

0

0

1

1

1

0

1

1

0

1

1

1

1

1

1

1

0

1

0

0

Input resolution

Pos. contr. resol.

––––––––

10-1

[mm]
[degr.]

0.5 x 10-1

[degr.]

10-2

[mm]
[degr.]

10-2

[mm]
[degr.]

0.5 x 10-2

[mm]
[degr.]

10-3

[mm]
[degr.]

10-3

[mm]
[degr.]

0.5 x 10-3

[mm]
[degr.]

2 x 10-4

[mm]
[degr.]

––––––––

––––––––
10-4

[mm]
[degr.]

10-4

[mm]
[degr.]

0.5 x 10-4

[mm]
[degr.]

10-5

[mm]
[degr.]

10-5

[mm]
[degr.]

0.5 x 10-5

[mm]
[degr.]

10-3

[inch]
[degr.]

10-3

[inch]
[degr.]

0.5 x 10-3

10-4

[inch]
[degr.]

10-4

[inch]
[degr.]

0..5 x 10-4 [inch]
[degr.]

––––––––

––––––––
10-5

[inch]
[degr.]

10-6

[inch]
[degr.]

10-5

––––––––

[inch]
[degr.]

x 10-5

[inch]

0.5 x 10-5

[inch]
[degr.]

2

––––––––

––––––––

––––––––

––––––––

NC MD 1800*

Metric
(degrees)

Inches
(degrees)

= standard machine data

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

NC MD 1800*

Display resolution

6FC5197- AA50

10–7

10 Axis and Spindle Installation
10.2.5 Permissible resolution combinations

03.95

10.2.5 Permissible resolution combinations
Permissible resolution combinations
Input resolution, display resolution and position control resolution can be defined in any
combination within certain limits (see the following two tables). Please note that a factor of
max. 200 between input resolution and position control resolution for all axes together is
possible.
Example:
Input resolution
10-4 mm or degrees
Position control resolution rotary axis
0.5 . 10-4 degrees
Position control resolution machining axes 0.5 . 10-3 mm
Position control resolution loader axes
0.5 . 10-2 mm
Permissible combinations of position control resolution and input resolution
Input resolution
Unit
system

mm
mm

0.5 x 10-2
0.5 x

[mm][degr.]

10-3 [mm][degr.]
10-4 [mm]

mm

2x

mm

0.5 x 10-4

mm

10-3

10-4

10-5

10-3

10-4

10-5

10-6

[mm]

[mm]

[mm]

[mm]

[inch]

[inch]

[inch]

[inch]

[degr.]

[degr.]

[degr.]

[degr.]

[degr.]

[degr.]

[degr.]

[degr.]

xy

x

x

-

x

x

x

x

x

x

-

-

-

x

x

x

x

-

xy

xy

2)

x

x

x

x

x

xy

xy

xy

x

[degr.]

y

y

y

y

-

xy

x

x

xy

xy

x

-

[mm][degr.]

0.5 x 10-5

10-2

inch

0.5 x 10-3

[inch][degr.]

x

x

inch

0.5 x 10-4 [inch][degr.]

x

x

-

x

x

x

x

x

x

x

x

x

x

x

x

xy

xy

xy

x

inch
inch

x
y
xy
–
2)

Position control
resolution

...
...
...
...

2 x 10-5
0.5 x

[inch]

10-5 [inch][degr.]

linear axes only
rotary axes only
linear and rotary axes
linear and rotary axes illegal
standard machine data

Note:
Excessive differences between position control resolution and input resolution ought to be
avoided. For example, an input resolution of 10-2 mm together with a position control resolution
of 0.5 - 10-5 mm does not make sense since one geometry resolution unit equals 1000
position control resolution units.
If the units of both position control and input resolution belong to the same unit system (metric,
inches, degrees), the display resolution and the position control resolution must be equal (see
table above).
If the units of the position control and input resolution do not belong to the same unit system,
the display resolution must be set according to the table above.
As a matter of principle, the same unit system must be used for the display resolution and the
input resolution.
Note:
As from SW 4, the position control and display resolution for the rotary axes must not exceed
the input resolution.
_______
1)

Bit "High-resolution rotary axis" must be set for rotary axes. For input resolution 10-4, otherwise alarm
message 4 "System of units illegal" is output.

10–8

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

03.95

10 Axis and Spindle Installation
10.2.5 Permissible resolution combinations

Valid combinations of position control resolution and input resolution
Input resolution
Unit
system

Position control
resolution

inch

mm

10-1 10-2 10-3 10-4 10-5 10-1 10-2 10-3 10-4 10-5
mm

0.5 x 10-1 [degr.]

xy

-

-

-

-

-

-

-

-

-

mm

0.5 x 10-2 [mm][degr.]

-

xy

-

-

-

-

-

x

-

-

mm

0.5 x 10-3 [mm][degr.]

-

-

xy

-

-

-

-

-

x

-

mm

2 x 10-4 [mm]

-

-

xy

xy

-

-

-

-

-

x

mm

0.5 x 10-4 [mm][degr.]

-

-

-

xy

-

-

-

-

-

x

mm

0.5 x 10-5 [degr.]

-

-

-

-

xy

-

-

-

-

-

inch

0.5 x 10-1 [degr.]

-

-

-

-

-

xy

-

-

-

-

inch

0.5 x 10-2 [degr.]

-

-

-

-

-

-

xy

-

-

-

inch

0.5 x 10-3 [inch][degr.]

-

x

-

-

-

-

-

xy

-

-

inch

0.5 x 10-4 [inch][degr.]

-

x

-

-

-

-

-

-

xy

-

inch

2 x 10-5 [inch]

-

-

x

-

-

-

-

-

xy

xy

inch

0.5 x 10-5 [inch][degr.]

-

-

x

-

-

-

-

-

-

xy

xy ... permissible for both linear and rotary axes
x ... permissible for linear axes only
– ... linear axes and rotary axes illegal
Caution:
The display resolution must use the same unit system (inches - metric - degrees) as the input
resolution.

10.2.6 The influence of resolution on velocity
The input resolution determines not only the path resolution, but also the lowest programmable
velocity. The lowest programmable velocity is always 10 times greater than the path resolution.
For example, if the input resolution is 10-4, the lowest programmable velocity is then 10-3
mm/min. Depending on the unit system used, the feedrate is interpreted either in mm/min or in
inches/min. If one of the interpolating axes is a rotary axis, the corresponding axial
feedrate is interpreted as degrees/min.
When rotational feedrate G95 is used, the feedrate is interpreted in either mm/revolution,
inches/revolution or degrees/revolution.
When the feedrate is rotational, the lowest programmable velocity is identical to the path
resolution (for instance, for an input resolution of 10-4, the lowest programmable velocity for
G95 would be 10-4 mm/revolution).
The limiting value based on the position control resolution can be taken from the table above.
At no time may the limiting values be exceeded.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–9

10 Axis and Spindle Installation
10.2.6 The influence of resolution on velocity

03.95

Input resolution

Smallest programmable path velocity

10-2 mm, degrees

0.1 mm/min, degrees/min

10-3 mm, degrees

0.01 mm/min, degrees/min

10-4 mm, degrees

0.001 mm/min, degrees/min

10-5 mm, degrees

0.0001 mm/min, degrees/min

10-3 inch, degrees

0.01 inch/min, degrees/min

10-4 inch, degrees

0.001 inch/min, degrees/min

10-5 inch, degrees

0.0001 inch/min, degrees/min

10-6 inch, degrees

0.00001 inch/min, degrees/min

The maximum axis velocity is only dependent on the input resolution with the
SINUMERIK 840C:

Input resolution

10–10

Maximum axis velocity
(NC MD 540*.6 = 0 mm/min)

10-2 mm, degrees

99 999 000 mm/min, degrees/min

10-3 mm, degrees

10 737 400 mm/min, degrees/min

10-4 mm, degrees

1 073 740 mm/min, degrees/min

10-5 mm, degrees

107 300 mm/min, degrees/min

10-3 inch, degrees

99 999 000 inch/min, degrees/min

10-4 inch, degrees

27 273 000 inch/min, degrees/min

10-5 inch, degrees

2 727 300 inch/min, degrees/min

10-6 inch, degrees

272 700 inch/min, degrees/min

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

10 Axis and Spindle Installation
10.2.6 The influence of resolution on speed

The maximum path velocity (defined with the input resolution) and the maximum axis velocity
together define the maximum velocities.
The interpolator breaks down the path velocity into its axis specific velocity components (axis
velocities). Then these values are converted to position control resolution. This conversion is
only possible if the relevant maximum velocities and their correlation to interpolation are
observed during programming. Alarm 2038, ”Path feed too high” (reset alarm) is output if the
velocity is not possible. The alarm disables processing and NC Start.
Setting data item in ”Dry-run feedrate” is still entered in 1000 IS units/mm. A maximum of 5
places can be displayed or entered via the keyboard (e.g. input resolution of 10-4 mm max.
dry-run feedrate 9.999 m/min).
If more than 5 places are programmed using the CL 800 command in ”SEN” or the command
@ 410, alarm 3040 ”Field/variable cannot be displayed” is issued.

10.2.7 Maximum velocity for thread cutting
In the case of threading blocks G33, G34 and G35, the feedrate is calculated from the spindle
speed and the pitch rather than being based on the programmed (linear) feedrate. This
feedrate determines the tool path feedrate for the threading block.
Constant pitch thread cutting (G33)
For this type of threading, the tool path feedrate must not exceed the following limiting values.
Input resolution:

10-2 mm
10-3 mm
10-4 mm
10-5 mm

:
:
:
:

<
<
<
<

1000
1000
1000
100

m/min
m/min
m/min
m/min

When programming thread cutting blocks, not only the maximum path velocity but also the
maximum axis velocity must be taken into consideration (see tables in Axis installation
Section).
Thread cutting with variable pitch (G34/G35)
Please follow the permissible limiting values for this type of thread cutting. This applies to path
velocity, axis velocity, pitch and spindle speed (see NC Programming Guide).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–11

10 Axis and Spindle Installation
10.2.8 Maximum traversing range

06.93

10.2.8 Maximum traversing range
The set combination of input resolution and axis-specific position control resolution determines
the maximum traversing range (separate for each axis). This maximum traversing range
applies to the maximum path between the two axis limitations as well as to the maximum
programmable value for axis positions, interpolation parameters, chamfer, radius etc.
Only values which are within the range limits are permitted for the working area limitation
(setting data: 300*, 304*). If an illegal value is entered for the working area limitation, alarm
3084 ”Wrong working area limitation” is issued. In addition, the maximum permissible
maximum or minimum value is entered by the control into the setting data ”Working area
limitation”.
In addition to the working area limitation, the control also checks that the software limit switch
(machine data: 224*, 228*, 232*, 236*) and the prelimit switch (machine data: 1100*) are valid.
Alarm 87 ”Wrong software end switch” is output if the values are illegal. This check is carried
out independently of machine data 556* bit 5 ”Working area limitation, software limit switch
active”.
To avoid exceeding the working area, the absolute position is compared with the range limits.
This comparison only has to be carried out if the software limit switch/working area limitation
are not active, because when they are, the traversing range is not exceeded. This check is not
carried out on rotary axes.
If the range limits are exceeded, alarm 1204* ”Traversing range limit” (reset alarm) is issued.
The alarm is output if the traversing range is exceeded in a positive or a negative direction.
The same procedures are introduced when the working area limitation is violated, i.e. retreat
from the area limits is only possible in the opposite direction. The alarm is only issued once
the traversing area has been left. The axes concerned are braked abruptly (no deceleration
ramp).
In the case of endlessly rotating rotary axes the traversing ranges shown below can be
exceeded if the permitted combination of input and position control resolution has been
configured. If illegal input resolution and position control resolutions are entered, incorrect
operation results (when the traversing range is overshot).

10–12

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

10 Axis and Spindle Installation
10.2.8 Maximum traversing range

Input resolution
Unit
system

Position
control
resolution

10-2

10-3

10-4

10-5

[mm]
[degrees]

[mm]
[degrees]

[mm]
[degrees]

[mm]
[degrees]

inches

0.5*10-1
[degrees]

----

----

----

----

inches

0.5*10-2
[degrees]

----

----

----

----

inches

0.5*10-3
[inches]
[degrees]

±99999.99 mm
±3937.007 inches
--

±99999.999 mm
±3937.0078 inches
--

----

----

inches

0.5*10-4
[inches]
[degrees]

±9999.99 mm
±393.700 inches
--

±99999.999 mm
±3937.0078 inches
--

----

----

inches

2*10-5
[inches]

±25399.99 mm
±999.999 inches
--

±25399.999 mm
±999.99999 inches
--

±25399.999 mm
±999.9999 inches
--

±9999.9999 mm
±421.99999 inches
--

inches

0.5*10-5
[inches]
[degrees]

±25399.99 mm
±999.999 inches
--

±25399.999 mm
±999.9999 inches
--

±25399.999 mm
±999.99999 inches
--

±9999.9999 mm
±421.99999 inches
--

Input resolution
Unit
system

Position
control
resolution

10-3
[inches]
[degrees]

10-4
[inches]
[degrees]

10-5
[inches]
[degrees]

10-6
[inches]
[degrees]

inches

0.5*10-1
[degrees]

--±99999.9 degrees

----

----

----

inches

0.5*10-2
[degrees]

--±999999.99 degrees

--±99999.99 degrees

----

----

inches

0.5*10-3
[inches]
[degrees]

±253999.99 mm
±9999.999 inches
±99999.999 degrees

±253999.99 mm
±9999.999 inches
±99999.999 degrees

±107374.18 mm
±9999.999 inches
--

----

inches

0.5*10-4
[inches]
[degrees]

±253999.99 mm
±9999.999 inches
±9999.999 degrees

±253999.99 mm
±9999.9999 inches
±9999.9999 degrees

±107374.18 mm
±9999.9999 inches
±9999.9999 inches

----

inches

2*10-5
[inches]

±25399.99 mm
±999.999 inches
--

±25399.9999 mm
±999.9999 inches
--

±25399.99 mm
±999.99999 inches
--

±10737.418 mm
±999.99999 inches
--

inches

0.5*10-5
[inches]
[degrees]

±25399.99 mm
±999.999 inches
±999.999 degrees

±25399.999 mm
±999.9999 inches
±999.9999 degrees

±25399.999 mm
±999.99999 inches
±999.99999 degrees

±10737.418 mm
±999.99999 inches
±999.99999 degrees

± 99999.999 mm
± 3837.0078 inches
± 99999.999 degrees

max. traversing range for linear axes in [mm]
max. traversing range for linear axes in [inches]
max. traversing range for rotary axes in [degrees] (when NC MD 572* bit 2=0)

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–13

10 Axis and Spindle Installation
10.2.5 Permissible resolution combinations

04.96

Input resolution
Unit
system

Position
control
resolution

10-2

10-3

10-4

10-5

[mm]
[degrees]

[mm]
[degrees]

[mm]
[degrees]

[mm]
[degrees]

mm

0.5*10-1
[degrees]

--±999999.9 degrees

--±999999.9 degrees

----

----

mm

0.5*10-2
[mm]
[degrees]

±99999.99 mm
±3937.007 inches
±999999.99 degrees

±99999.99 mm
±3937.007 inches
±999999.99 degrees

±99999.99 mm
±3937.007 inches
±99999.99 degrees

----

mm

0.5*10-3
[mm]
[degrees]

±99999.99 mm
±3937.007 inches
±99999.99 degrees

±99999.999 mm
±3937.0078 inches
±99999.999 degrees

±99999.999 mm
±3937.0078 inches
±99999.999 degrees

----

mm

2*10-4
[mm]

±9999.99 mm
±393.700 inches
--

±9999.999 mm
±393.7007 inches
--

±9999.9999 mm
±393.70078 inches
--

±9999.9999 mm
±393.70078 inches
--

mm

0.5*10-4
[mm]
[degrees]

±9999.99 mm
±393.700 inches
±9999.99 degrees

±9999.999 mm
±393.7007 inches
±9999.999 degrees

±9999.9999 mm
±393.70078 inches
±9999.9999 degrees

±9999.9999 mm
±393.70078 inches
±9999.9999 degrees

mm

0.5*10-5
[degrees]

--±999. 99 degrees

--±999.999 degrees

--±999.9999 degrees

--±999.99999 degrees

Input resolution
Unit
system

Position
control
resolution

10-3
[inches]
[degrees]

10-4
[inches]
[degrees]

10-5
[inches]
[degrees]

10-6
[inches]
[degrees]

mm

0.5*10-1
[degrees]

----

----

----

----

mm

0.5*10-2
[mm]
[degrees]

±99999.99 mm
±3937.007 inches
--

±99999.99 mm
±3937.007 inches
--

±99999.99 mm
±3937.007 inches
--

----

mm

0.5*10-3
[mm]
[degrees]

±99999.999 mm
±3937.0078 inches

±99999.999 mm
±3937.0078 inches

±99999.999 mm
±3937.0078 inches
--

----

mm

2*10-4
[mm]

----

----

±9999.9999 mm
±393.70078 inches
--

±9999.9999 mm
±393.70078 inches
--

mm

0.5*10-4
[mm]
[degrees]

----

----

±9999.9999 mm
±393.70078 inches
--

±9999.9999 mm
±393.70078 inches
--

mm

0.5*10-5
[degrees]

----

----

----

----

± 99999.999 mm
± 3837.0078 inches
± 99999.999 degrees

10–14

max. traversing range for linear axes in [mm]
max. traversing range for linear axes in [inches]
max. traversing range for rotary axes in [degrees] (when NC MD 572* bit 2=0)

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

10 Axis and Spindle Installation
10.2.9 Influence on the display

10.2.9

Influence on the display

The axis position is displayed with the relevant axis-specific number of decimal places. No
distinction is made between linear and rotary axes when defining the number of decimal
places.
The values for zero offset, working area limitation and scale are displayed in the input
resolution. If this is not possible, decimal places are truncated in order to enable the display of
the entire integer portion of the value.
Rotary axis values can be displayed as absolute or modulo values (depending on NC MD 560*
bit 7).
Service display
The service display shows the absolute position in the units of position control resolution.
When viewing this display, it must be noted that the significance of the last decade depends
on the axis-specific position control resolution.
In the case of endlessly rotating rotary axes (NC MD 572* bit 2=0) the control automatically
switches the service display from the maximum positive value to the maximum negative value
plus compensation factor when the 32 bit limit (1073741.824 degrees =ˆ 2982.61 revolutions at
a resolution of 10-3 degrees) is reached.

10.2.10

Influence on the modes/function

"Increment" mode
In "Increment" mode, the machine travels at the specified incremental speed. The feedrate is
specified via machine data. The increment is derived from the mode (NC 1, 10, 100, 1000,
10000) and from the display resolution of the relevant axis.
The table below shows the traverse path in mm, inches or degrees in dependence on the
display resolution and the mode.

Millimeters / Degrees / Inches
Display
res.
Increment

10-1
[degr.]

10-2
[mm]
[degr.]

10-3
[mm]
[degr.]
[inch]

10-4
[mm]
[degr.]
[inch]

10-5
[degr.]
[inch]

INC 1

0.1

0.01

0.001

0.0001

0.00001

INC 10

1

0.1

0.01

0.001

0.0001

INC 100

10

1

0.1

0.01

0.001

INC 1000

100

10

1

0.1

0.01

INC 10000

1000

100

10

1

0.1

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–15

10 Axis and Spindle Installation
10.2.10 Influence on the modes/function

11.92

”DRF” function
In "DRF" mode, the handwheel pulses are also weighted with the display resolution of the
selected axis. If the input resolution is greater than the display resolution (e.g. input resolution
10-2 mm, position control resolution 0.5 · 10-3), no DRF is possible.
Input resolution
10-2
10-3
10-2
10-2
10-3
10-2
10-3
10-4

1000
0100
1000
1000
0100
1000
0100
0010

Display resolution
10-4
10-4
10-3
10-4
10-4
10-5
10-5
10-5

0010
0010
0100
0010
0011
1010
1010
1010

Increments 1 and 10 no function
Increment 1 no function
Increment 1 no function
Increments 1 and 10 no function
Increment 1 no function
Without function handwheel not possible
Increments 1 and 10 no function
Increment 1 no function

”Preset” function
The "Preset" mode can be used to shift control zero to an arbitrary point in the machine
coordinate system. The Preset offset may comprise no more than 8 decades (plus sign). An
alarm is issued if more than 8 decades are entered.
The following value ranges must be observed when specifying a preset value for rotary axes.
Input resolution

Value range

10-2 degr.

0 ... 359.99

10-3 degr.

0 ... 359.999

10-4 degr.

0 ... 359.9999

10-5 degr.

0 ... 359.99999

10-6 degr.

0 ... 359.999999

”Play back” function
In this mode, position values approached in jog mode are transferred to the part program. The
input resolution determines the number of decimal places with which the coordinate values are
transferred to the part program. The number of decimal places is identical for all axes, and is
independent of the display or position control resolution. A maximum of 8 decades can be
transferred as position value to the part program. Where applicable, decimal places are not
transferred to the part program.

10–16

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

11.92

10 Axis and Spindle Installation
10.2.10 Influence on the modes/function

Maximum pitch for threads
The maximum pitch that can be defined for threads depends on the IPO time and the input
resolution. The table shows the maximum product that can be defined for spindle
speed · pitch:

IPO [ms]
8
10
12
14
16
18
20

Maximum product
10 **-3
120000
100000
85000
75000
65000
55000
52000

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

with IR ... [mm/inches]
10 **-4
12000
10000
8500
7500
6500
5500
5200

6FC5197- AA50

10 **-5
1200
1000
850
750
650
550
520

10–17

10 Axis and Spindle Installation
10.3 BERO (SW 4 and higher)

10.3

10.94

BERO (SW 4 and higher)

The zero mark can be synchronized to a BERO switch with SW 4 by means of a PCA
measuring circuit or with SW 3 by means of actual value acquisition via 611D-PCU. The
following machine data are used for switching over from encoder zero mark to BERO
synchronization:
MD 522*, bit 0 "external zero mark"
MD 1820*, bit 2 "external zero mark 1:MS"
MD 1820*, bit 4 "external zero mark 2:MS"

(spindle) and
(axis)
(axis)

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The switching edge of the BERO signal causes the actual value system to be updated.
Positive direction of rotation - positive switching edge

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Negative direction of rotation - negative switching edge

1

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BERO

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A

2

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B

a

Synchronization with BERO switch

Uncertainty range of BERO switching edge
In this range, the actual value register of the measuring circuit is deleted depending on the
position of the switching edge of the BERO switch.
The following machine data have been introduced in order to compensate for a switching
hysteresis:
MD 3096* - 3124*
MD 2416* - 2433*
MD 3128* - 3156*
MD 2434* - 2441*

"Zero mark compensation positive"
"Zero mark compensation positive"
"Zero mark compensation negative"
"Zero mark compensation negative"

(axis),
(spindle) and
(axis),
(spindle)

These MDs are stored in the ”Speed ratios” parameter set group, which means that they can
be set for each gear ratio (Description of Functions Section).
The control is unable to detect effects of external influences (speed, temperature, etc.) on this
switching hysteresis. Basically, the different parameter sets permit, however, to parameterize
different zero mark offsets.
The existing MDs (also) remain active:
MD 240*
MD 459*

"Reference point offset"
"Zero mark offset"

(axis)
(spindle)

The system does not verify whether the external hardware required for the external zero mark
hardware is actually available (BERO and cabling).

10–18

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

10 Axis and Spindle Installation
10.4 Axis installation

10.4

Axis installation

10.4.1

Drive optimization

10.4.1.1

Checking and setting the control direction of the feed axes

Simplified block diagram of the drive control system

Setpoint
position from
the interpolator

nset

iset

Position
controller

Actual
position

Speed
controller

nact

Current
controller

Motor

Encoder

iact

Before the position control system is put into operation, the speed controller and the current
controller for the drive must be installed and optimized. When the position control system is
installed, the actual position must be checked before the setpoint position is optimized.
The following must be clarified before beginning work:
•

Travel direction of the feed axis (as per customer specification or in accordance with the
ISO standard)

•

Polarity of the set speed voltage on the control unit for axis movements in a positive
direction (as per customer specification or ascertained by performing a test using a battery
box)

The control direction of the position control system can be influenced via bit 1 of NC MD 564*
(which changes the sign of the setpoint position) and bit 2 of NC MD 564* (which changes the
sign of the actual position) - see flowchart.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–19

10 Axis and Spindle Installation
10.4.1 Drive optimization

11.92

Bit 2 of NC MD 564* = 0

Move feed axis
mechanically in pos.
direction

Is actual value
display on NC
monitor being
incremented?

No

Bit 2 of NC MD 564* = 1
Yes

10 mm mech.
movement = 10
mm actual value
display on NC
monitor?

No

Check (NC MD 364*, 368* and
1800*)

Yes

Pos. polarity of set
speed voltage
when axes move in
pos. direction?

No

Yes
Bit 1 of NC MD 564* = 0

Bit 1 of NC MD 564* = 1

Axis-specific closing of the
position control loop

10–20

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

10.4.1.2

10 Axis and Spindle Installation
10.4.1 Drive optimization

Speed setpoint matching / tacho compensation

NC MD 256*

Scaling factor maximum velocity

[mm/min]
[inches/min]
[degrees/min]

NC MD 260*

Scaling factor maximum speed setpoint

[mV] (up to SW 2)
[0.01 % of max. setpoint
speed] (as from SW 3)

The quotient of MD 256* and MD 260* is used to match the controlled system to the servo
gain factor defined in MD 252*. The quotient serves as the multiplier for the entered servo gain
factor.
Procedure for standard installation
Basic setting: The maximum speed of the axis is entered in MD 256*. The unit is always
mm/min or inches/min for linear axes depending on the position control basic system (1800*)
(mm or inches). The unit for rotary axes is always degrees/min. The input value depends on
the resolution of the basic system.
The speed setpoint which will produce the maximum traversing velocity is entered in MD 260*
(the unit of the MD is mV). For analog drives a maximum speed setpoint voltage of 9V is
usually selected, i.e. 9000 is input.
On digital drives 100% is set, i.e. 10 000 is entered. The control margin is taken into account
in the drive machine data.
Tacho compensation (analog only)
This compensation is carried out in the tacho potentiometer in the drive. A traversing velocity
of 10% of the maximum velocity can be defined via the control. The speed setpoint service
display must be watched during the traversing operation. The tacho compensation at the drive
must be continued until the speed setpoint is approx. 0.9 V. The voltage 0.9 V corresponds to
a speed setpoint display of 737 VELOS or 900 [0.01 %].
Fine tacho compensation (analog only)
The axis must then be traversed at maximum velocity. A speed setpoint of approx. 9 V or 7373
VELOS or 900 [0.01 %] results. This displayed value must be converted and entered in MD
260*.
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Conversion (analog only)
MD 260* =

Speed setpoint VELO
VELO
0.8192
(until SW2)
mV

”In the service display”...
After the compensation, the contour deviation at constant velocity must be nearly zero. The
following error value must correspond to the theoretical value which results from the defined
servo gain factor and the velocity.
Precision enhancement
For even more precision of the setpoint matching, MD 256* and MD 260* can be increased by
the same factor.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–21

10 Axis and Spindle Installation
10.4.1 Drive optimization

09.95

Example (for analog):
”Vmax” = 300 mm/min
”Umax” = 9000 mV

MD 256* = 3000 or 6000 with SW 3
MD 260* = 90000 or 18000 with SW 3

Example of a linear axis
for analog
Input/display resolution

IS

=

10-4 inch

Position control resolution

MS

=

0.5 · 10-3 mm

Rated motor speed
or FDD MD 1400

n

=

3000 rev/min

Spindle pitch

s

=

10 mm/rev

Gear (spindle motor)

r

=

1 : 2 = 0.5

Required max. setpoint

U

=

9.5 V

Max. velocity

Vmax[mm] =
Vmax[mm] =
Vmax[mm] =
Vmax[inch] =
=

MD 256*, Scaling factor
maximum velocity

as for analog

n·S·r
3000 rev/min · 10 mm/rev · 0,5
15000 mm/min
15000 mm/min : 25.4 mm/inch
590.55 inch/min 590 inch/min

15 000 [mm/min]

MD 260*, Scaling factor
maximum speed setpoint

9 500 [mV] or [0.01 %]

MD 280*, Maximum velocity
(progr. rapid traverse G00)

5 900 [1000 · 10-4
inch/min]

FDD MD 1147 speed
limitation

for digital

––

as for analog

15 000 [mm/min]
10 000 [mV] or [0.01 %]
5 900 [1000 · 10-4 inch/min]
3 300

A speed setpoint of 7730 VELOS or 9500 [0.01 %] results in rapid traverse. The converted
value of 9436 or 9500 is entered in MD 260* (for analog only).
Maximum speed setpoint
The maximum value to be output as the speed setpoint is defined with MD 268*, maximum
speed setpoint. If the limit is exceeded, alarm 104*, ”DAC monitor has responded” is triggered.
The internal speed setpoint is also monitored. If the speed setpoint set is too high, alarm 156*,
”Speed setpoint alarm limit activated”, is triggered.
The alarms appear when the tacho compensation (for analog only) has not been carried out
correctly or there is a measuring circuit or drive error.
For axes whose maximum velocity is reached at approx. 9 V, for analog, or 100%, for digital,
the standard values can be used for the machine data.
Matching is necessary when the maximum velocity is reached at a low speed setpoint voltage.
This applies to axes for which the theoretical maximum velocity has to be limited for
mechanical reasons, e.g. pulse encoder.
The tacho compensation must be set to the desired maximum speed setpoint. This speed
setpoint must be entered in MD 268* taking account of the control margin of 5 - 10%. For
MD 264*, a value that is 20% higher than that for MD 268* is selected.

10–22

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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5%

MD 292*

SINUMERIK 840C (IA)
a
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09.95
10 Axis and Spindle Installation
10.4.1 Drive optimization

nset = speed setpoint in [VELO], [0.01%] or [mm/min]
nset

MD 264*

Input resolution
Position control resolution
Motor speed
Gear (axis motor)
Max. velocity
:
:
:
:
:

Set max. velocity
for axis
:

© Siemens AG 1992 All Rights Reserved

IS =
MS =
n
=
r
=
Vmax =
=

MD 256*, scaling factor maximum velocity:
MD 260*, scaling factor maximum speed setpoint:
MD 280*, maximum velocity (progr. rapid traverse G00):
MD 268*, maximum speed setpoint:
MD 268*, MD 260* · 0.8192 + 5% =
MD 264*, threshold for drive errors:
MD 264*, MD 268* + 20% =

6FC5197- AA50

Threshold for drive error

MD 268*
MD 280*

Max. speed setpoint
Max. velocity
(progr. rapid traverse G00)
Conv. rapid traverse

MD 288*

Conv. feedrate
t[sec]

Example:

Overdimensioned drive for a rotary axis (analog)

10-3 degrees
10-3 degrees
3000 rev/min
1 :10
n · r · 360 [degrees/min]
108000 degrees/min = 300 rev/min

= 54000 degrees/min = 150 rev/min

The following machine data result

54000 [degrees/min]
5000 [mV] [0.01%]
54000 [1000 · 10-3 degr./min]

4300
[VELO] or 5250 [0.01%]

5160
[VELO] or 6300 [0.01%]

Caution: The low speed setpoint has an adverse effect on the control

behaviour of the axis.

10–23

a
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10 Axis and Spindle Installation
10.4.1 Drive optimization

10.4.1.3

KV =

mm

10–24

12.93

Servo gain factor KV NC MD 252*

To achieve only negligible contour deviations with continuous path control, a high KV (servo
gain) factor (NC MD 252*) is required.
If the KV factor is too high, however, instability, overshoots and possibly excessive machine
loads result.

The maximum permissible KV factor depends on:
•
the drive configuration
(rise time, acceleration and braking ability).

•
the quality of the machine

The KV factor is defined as

Speed
[m/min]

Following error
[mm]

m/min

is the unit of the KV factor according to VDI standard

If an empirical value for the KV factor is known for the machine, set this value and check for
overshooting or instability.

Good speed controller optimization is a precondition for

a correct KV factor setting.

KV factor adjustment

Reduce the acceleration (NC MD 276*). The overshoot behaviour is decisive for evaluating the
maximum KV factor. The acceleration must therefore be set at an accordingly low level to
ensure that the drive remains below its current threshold.

If the drive is intended to have acceleration of 1 m/s2, adopt a cautious approach and reduce
to one-half of the value

0.5 m/s2 =ˆinput 50

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

09.95

10 Axis and Spindle Installation
10.4.1 Drive optimization

Enter the servo gain according to the following conversion formula in NC MD 252*:
5000
KV (0.01 s-1) =

3

m/min
·

KV

·

KV

mm
m/min

=

1666

mm

The numerical value 1666 is thus input for the KV factor 1.
To evaluate the starting conditions and determine whether the set maximum value has been
selected correctly, use the dynamically most unfavourable axis that contributes to continuous
path control.
Measure the setpoint voltage nset to the speed controller with an oscillomink ink jet plotter,
storage oscilloscope or with the integrated servo start-up function (Section 9). Traverse at
various feedrates.

n set [V]

t [ms]
n set [V]

t [ms]

Especially deceleration can be observed with high voltage gain on the screen.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–25

10 Axis and Spindle Installation
10.4.1 Drive optimization

12.93

Overshooting may also have one of the following causes:
•
•
•
•
•
•

Acceleration too great (current threshold is reached)
Excessive rise time of speed circuit
Fault in speed controller (re-optimization may be necessary)
Mechanical backlash
Displaced location of mechanical components
Load fluctuations (vertical axis)

For safety reasons, select a Kv factor that is at least 10 % lower than the maximum possible
factor.
Important:
Axes that operate together with continuous path control must have the same KV factor.
KV factor check
Refer to the service display for the individual axes (see diagnosis description for selection) to
determine the size of the following error. The displayed value is the same with both positive
and negative traverse directions if the drift is compensated.
Subsequently check the input KV factor of all axes on traversing with reference to the following
error display.
Exact continuous path control requires that the dynamic behaviour of the axes is the same, i.e.
the same following error must occur at the same speed.
In the event of discrepancies, the differences must be compensated at the multgain or speed
actual value potentiometer.

10.4.1.4

Acceleration NC MD 276*

The specified accelerations
b x 10-2 [m/s2]
are used to accelerate and decelerate the axes.
This enables the axes to accelerate to the relevant speed and assume position quickly,
accurately and with the least possible wear and tear on the machine.
The customer must be questioned as to the machine's suitability for continuous deceleration/acceleration. This value (if it does not overtax the drive) is entered in NC MD 276*.
This value normally lies in the range from 0.3 m/s2 to 2 m/s2.

10–26

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

10 Axis and Spindle Installation
10.4.1 Drive optimization

Checking/determining the acceleration values
Setting:

NC MD 276*

Criterion:

Overshoot-free acceleration or positioning at rapid traverse rate
(acceleration stop limit).
Under maximum load conditions (heavy workpieces on the machine table)

Measuring
equipment:

Recorders, storage oscilloscopes or trace function (Section 9)

Measuring
point:

Setpoint speed and possibly actual current and speed controller output.
With digital drive DAC, mixed I/O (see Section 9).

Once acceleration has stopped, the axes travel at maximum speed (rapid traverse) and the
actual current values and possibly the n-controller output are recorded. This makes it possible
to ascertain whether or not the current limit was reached. The drive can reach the current limit
briefly, but this must occur only in the rapid traverse range. Speed control and current control
must be back within the normal range (current limit not attained!) before the rapid traverse rate
or position has been reached.

nset

nact

iset +

iset -

Example of a wellchosen acceleration
value

In this example, the current limit is
reached (recognizable by the fact
that the actual current retains its
maximum value over a period of
time). A lower acceleration must be
chosen in this case.

Relation between acceleration and actual current

Minor changes in the load (such as sluggishness or the effects of lubrication) must not cause
immediate reaching of the current limit. A 10 % lower acceleration value should therefore be
specified.
If the customer wishes it, the acceleration can be further reduced to protect the machine
against excessive wear and tear. The various axes, including interpolating axes, may be
assigned different accelerations.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–27

10 Axis and Spindle Installation
10.4.1 Drive optimization

10.4.1.5

09.01

Jerk limitation (as from SW 6)

Definition of term:
By jerk we mean the change in acceleration per unit of time.
Previous behavior (up to SW 5)
In the velocity control function used until now, the acceleration changes over time in steps.
The aim of this velocity control is to accelerate to the programmed feedrate at the maximum
permissible acceleration at the beginning of a block and then to decelerate at maximum
permissible acceleration at the end of the block. Jerk-free approach and deceleration of the
axes is not possible with this discontinuous, stepped acceleration behavior but a contour is
followed faster than it would be with jerk limitation at the same acceleration.
New behavior (as from SW 6):
Unlike stepped acceleration, in jerk-limited acceleration the axis setpoint adopts a jerk-limited
course.
This is achieved by limiting the change in acceleration. However, a smoother acceleration
curve results in a longer traversing time for the same path, velocity and acceleration than
would result for a stepped acceleration. This loss in time can be partially compensated for by
increasing the acceleration of the axes.
Jerk-limited acceleration offers the following advantages:
•
•
•
•

Full exploitation of the acceleration possibilities of the machine
Reduction in the mechanical load on the machine and drive
Reduction in vibration of the machine system
Improvement of the movement of machine parts with a high breakdown torque

Description of function
With a jerk-controlled interpolator the velocity is increased and reduced by a constantly
changing acceleration. At the beginning of the acceleration and braking phase the acceleration
value is increased from zero to the maximum value by a constant amount (jerk) and then
reduced in the same way at the end of the phase. The axis is traversed at constant
acceleration in the intermediate time. A steady change in the acceleration and a smooth
velocity curve are the result.
User interface
The function ”Jerk-controlled interpolation” is a function activated via NC MD 5198 bit 2. The
jerk value is stored axis-specifically and parameter-set-specifically in machine data 3332* to
3360*. The default for the jerk values is 0, i.e. jerk limitation is not active and accelerationcontrolled interpolation is used.
A path jerk is calculated from the axial jerk and path data as for velocity and acceleration.
–

Jerk limitation is active in all operating modes.

Exceptions:
–

–

Jerk limitation is not active:
• In emergency retraction blocks:
• In thread blocks with G33 (with and without ram), G34 and G35;
The function ”Look Ahead” is not implemented. It is therefore the responsibility of the
programmer to program the path feedrate at a knee in the contour in such a way that the
axes involved move with as little jerk as possible.

10–28

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.01

10 Axis and Spindle Installation
10.4.1 Drive optimization

Example:
50 m/s3
4 m/s2
24 m/min
10 ms

Maximum jerk (r):
Maximum acceleration (a):
Programmed velocity (v)
Interpolation cycle (TIPO):

A jerk of 50 m/s3 results in a change in acceleration per IPO cycle of 0.5 ms/2.
This is calculated as follows:
r=50

50 m
m
m
=
= 0.5 2 /TIPO
s3 100·TIPO·s2
s

With jerk limitation the maximum acceleration of 4 m/s2 is not reached until 8 IPO cycles have
elapsed.
In addition, the change in acceleration of 0.5 m/s2 per IPO cycle results in a change of velocity
of 0.005 m/s (corresponds to 0.3 m/min) per IPO cycle.
This is calculated as follows:
m
0.5 m
m
a=0.5 s2 =
= 0.005
100·TIPO·s
s

m

/TIPO=0.3 min /TIPO

In the table below a movement from zero speed is assumed:
Constant, maximum acceleration takes place In the 8th to 10th IPO cycle. Then, the
acceleration is reduced to zero again with jerk limitation. After 17 IPO cycles a velocity of 24
m/min is reached and a ”constant travel phase” follows.
Time [ms]

10

20

30

40

50

60

70

80

90

100

r [m/s3]

0.5

0.5

0.5

0.5

0.5

0.5

0.5

0.5

0

0

a [m/s2]

0.5

1.0

1.5

2.0

2.5

3.0

3.5

4.0

4.0

4.0

v [m/min]

0.3

0.9

1.8

3.0

4.5

6.3

84

10.8

13.2

15.6

Time [ms]

110

120

130

140

150

160

170

180

190

200

r [m/s3]

-0.5

-0.5

-0.5

-0.5

-0.5

-0.5

-0.5

-0.5

0

0

a [m/s2]

3.5

3.0

2.5

2.0

1.5

1.0

0.5

0

0

0

v [m/min]

17.7

19.5

21.0

22.2

23.1

23.7

24.0

24.0

24.0

24.0

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–29

10 Axis and Spindle Installation
10.4.1 Drive optimization

10.4.1.6

06.93

Position monitoring

Coarse exact stop and fine exact stop tolerance ranges (NC MD 204* and 208*)
The approached position is checked. In automatic mode, the next block is not started if the
following error exceeds the value entered in NC MD 204* to 208*.
Setting
The positioning accuracy depends on the quality of the position control and speed control
loops.
The normal deviation is ascertained by observing the following error at zero speed (i.e. in the
"at rest" state).
Depending on the customer's requirements and the positioning accuracy attained, the
specified value should lie in the range from 10 µm to 50 µm, but should be at least double the
maximum following error deviation at zero speed.
Zero-speed monitoring (NC MD 212*)
The machine manufacturer must try to keep the position deviation to a minimum, i.e. under the
exact stop tolerance range set in NC MD 204* to 208*. The value specified for zero-speed
monitoring (NC MD 212*) should be approximately double that entered in NC MD 204* to 208*.
Alarm 112* is triggered if one of the axes is forced out of position (clamping active and
cancellation of the servo enable signal) at zero speed (after the time set in NC MD 372* has
elapsed).
Positioning is monitored in order to ensure that an axis reaches its position within the specified
time period (in dependence on KV factor, acceleration, ...). The monitoring data are set in NC
MD 212* and NC MD 372*. A detailed description is given under NC MD 372*.

10–30

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

10.4.1.7

10 Axis and Spindle Installation
10.4.1 Drive optimization

Dynamic contour monitoring

Operational faults resulting from the mechanical jamming of axes or drive faults can be
detected with the help of dynamic contour monitoring and an incorrect parameterization of the
machine data setting for drift and multgain rectified. The contour monitoring works by
continuously comparing the measured following error and the following error calculated from
the NC position partial setpoint. A model which reproduces the dynamics of the position
control including the feedforward control is used to calculate the following error.
The contour monitoring tolerance band (MD 332*) is defined as the difference between the
actual and the calculated following error and is input in the format "units (MS)".
A tolerance band is entered to avoid triggering the contour monitoring unnecessarily when
slight speed fluctuations resulting from operational control processes occur.
In addition to the velocity at which the contour monitoring responds (MD 336*), it is also
possible to define the response time (MD 1200*) during which the contour monitoring response
threshold can be exceeded.

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The contour monitoring can be switched off with MD 1820*, bit 7 (1 = contour monitoring off)
(e.g. during installation, before MD 256*/ 260* have been set exactly).

Actual following error

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Tolerance band MC
332*

336*
Threshold
velocity

t2

t3

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Calculated following
error contour
t4

Time
Activating contour monitoring at constant setpoint velocity

t2-t1 < MD 1200*
t4-t3 > MD 1200*

:
:

Monitoring not switched off
Monitoring switched off and alarm output at t4

If the velocity exceeds the response threshold (MD 336*) and the difference between the
measured and calculated following error lies outside the tolerance band (MD 332*) for longer
than the defined response time (MD 1200*), the mode group concerned is switched off and the
alarm message "Contour monitoring" is output for the axis concerned. The illustration above
shows how the contour monitoring works.
Machining true to contour is only possible if all the axes that interpolate with each other are set
to the same servo gain (also applies to rotary axes).
The servo gain factor should be as high as possible.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–31

10 Axis and Spindle Installation
10.4.1 Drive optimization

09.95

In addition to the values set in machine data NC MD 252* (servo gain) and NC MD 260*,
1200* (multgain), the servo gain is also influenced by the tachogenerator compensation in the
speed controller (for analog), by the variable increment weighting and by gear ratios etc.
NC MD 332*, MD 256* and 336* are used to influence the contour monitoring.
The tolerance band defining the range of activity of the contour monitoring is specified in NC
MD 332*.
The speed from which the contour monitoring is to take effect is entered in NC MD 336* in
1000 units/min (IS). If the value 0 is entered, the contour monitoring is also active when the
axis is at zero speed. The zero-speed monitoring also checks for excessive axis movement
when the axes are at zero speed.
Deviations from the contour at any one time can be displayed for the individual axes in the
diagnostics menu under softkey "SERVICE DISPLAY".
When the monitoring is triggered, alarm 116* is output and the drives are decelerated at the
current limit with the output of setpoint value "0". The speed controllers are also disabled and
switched to follow-up mode. The alarms can only be cleared with "RESET" (MD/M30).
If alarm 116* is output it can be assumed that either the speed control loop has been poorly
optimized, the servo gain factor is too large for the machine or the tolerance band is too small.

10.4.2

Drift compensation

Drift compensation is semi-automatic on the SINUMERIK 840C, as it must be initiated by the
operator. Drift compensation can be performed when the axes (of the NC) and the drives are
operating in closed-loop control mode and the axes are at rest.
Drift compensation has to be carried out if the drift has exceeded the permitted values defined
in MD 204* and 208*.
Drift compensation must be carried out for all axes individually.

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Drift compensation can also be carried out manually by changing the value in MD 272* until the
following error at zero speed has reached zero (check service data for axes).

When very high precision machines are used, drift compensation should
be performed several times daily because of the variations in
temperature during operation as the drift is a direct factor in terms of
the following error.

Selection of drift compensation (up to SW 2)
Use the DIAGNOSIS/NC DIAGNOSIS/SERVICE DISPLAY softkeys.

Selection as from SW 3
Use the DIAGNOSIS/SERVICE DISPLAY/NC DIAGNOSIS softkeys.

10–32

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

10 Axis and Spindle Installation
10.4.3 Axis traversing

10.4.3

Axis traversing

10.4.3.1

Traversing in jog mode

Prerequisites
•
•
•
•
•

All axis setpoint cables inserted.
Control direction correct.
Position control loops closed.
All gain values correct.
Safety signals active (EMERGENCY STOP, HARDWARE LIMIT SWITCH).

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The following alarms can prevent axis traversing:
Alarm No.

Description

2000

”EMERGENCY STOP"

148*
152*

Software limit switch approached (triggered by MD224*, 228*, 232*, 236*)
Software limit switch approached (triggered by MD224*, 228*, 232*, 236*)

188*
192*

Hardware limit switch approached
Hardware limit switch approached

168*

Interface unit revoked servo enable for traversing axis

156*

Set speed too high. Triggered by NC MD 264*.

112*

Zero-speed monitor
Axis is not in position. Triggered by NC MD 372*

116*

Contour monitor (triggered by NC MD 332*, 336*)

132*
136*

Hardware measuring-circuit monitor
Measuring system dirty

The following additional signals (which do not trigger an alarm) are required for traversing in
jog mode:
No feed disable

X, Y, Z, 4 - 9

No feed disable all
No axis disable

X, Y, Z, 4 - 9

Servo enable

X, Y, Z, 4 - 9

No follow-up mode

X, Y, Z, 4 - 9

No parking axis

X, Y, Z, 4 - 9

Interface test

Pulse enable with
digital drive

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–33

10 Axis and Spindle Installation
10.4.3 Axis traversing

06.93

In the absence of feed enable and servo enable signals, an indication showing that the axis is
not in position (" > ") is screened when the direction key is pressed. The following signals
must not be present if the axis is to traverse at the specified speed (with consideration given
to the feedrate/rapid traverse override switch):
•

External F (feedrate from PLC)

•

Feedrate reduction ratio 1:100

•

Testing of all jog mode functions:
– Limit switches
– External deceleration (reference point cam)
– Feedrate override
– Incremental feed mode
– Reference point approach

10.4.3.2

Program-controlled traversing

Only the main function should be tested to enable the use of programs as optimization aid.
The following data and signals can prevent program-controlled traversing:
•
•
•
•
•
•
•
•

Read-in inhibited (DL 7 to DR 10)
NC START = 1 / NC STOP = 0 (DR 2)
NC START inhibited (DW 11)
NC MD 106*
Reference point not approached or bit 3 set in NC MD 5004
NC MD 548*, 550*, 552*
NC START ineffective (DL 16)
Feed disable all

Check to see if axis traversing is possible via program memory.

10–34

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

10.4.4

10 Axis and Spindle Installation
10.4.4 Reference point approach

Reference point approach

Corresponding data
•
•
•
•
•
•
•
•
•

MD 240*
(reference point value)
MD 244*
(reference point offset)
MD 284*
(reference point cutoff speed)
MD 296*
(reference point approach speed)
MD 5008
bit 5
(setting up in jogging mode)
MD 560*
bit 6
(reference point approach with automatic direction recognition)
MD 564*
bit 0
(direction of reference point approach)
"Ref. point reached" signal (DB 32 DLK bit 4)
"Decelerate reference point approach" signal (DB 32 DLK+1 bit 4)

Indirectly related:
•
•

MD 5004
MD 560*

Bit 3
bit 4

(NC START without reference point)
(no start inhibit for reference point)

The control provides options for two different types of reference point approach, i.e. with and
without automatic direction finding. The relevant option is selected via MD 560* bit 6.
Note:
From SW 5, simultaneous referencing of several axes in one channel is possible.

10.4.4.1

Reference point approach without automatic direction
recognition

Prerequisites
•
•
•
•

MD 560* bit 6 = 0
Axis-specific feed enable set
Collective feed enable set
Reference point between reference point cam and limit switch.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–35

10 Axis and Spindle Installation
10.4.4 Reference point approach

11.92

1st case: Axis is ahead of the reference point cam
Speed
2000 units
MD 296*

MD 284*
0

1

2

3

Reference point cam

4

Path

Reference point
Reference point pulse

Axis is ahead of reference point cam

0

When the direction key is pressed, the reference point for the axis is approached in the
specified direction (MD 564* bit 0) at the speed defined in MD 296*.

1

When the reference point cam is reached, the "Deceleration" interface signal reduces
the axis speed to the value defined in MD 284*.

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After the axis has left the reference point cam, the next reference point pulse is
evaluated and the axis decelerated.

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2

3

To prevent backlash on the machine during reference point approach, an additional path
of 2000 units is travelled from the reference point pulse to the actual reference point.

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Because point is in different places for different speeds, the distance still to be
traversed ( ) must be determined before the actual reference point is
approached. The axis decelerates down to zero speed.
4

Reference point reached.

Note:
The NC's approach path from to after reaching the zero mark depends on the position
control resolution entered in NC MD 18000. If the specified position control resolution is 1/2 10-3 mm, the NC will travel another 2 mm after reaching the zero mark, whereas it will travel
20 mm if the position control resolution is 1/2 x 10-2. This could be compensated with the aid
of NC MD 244* ("Reference point offset") by entering 2000 in NC MD 244* and a position
control resolution of 1/2 x 10-3.
During reference point approach, the axis would then travel to and then back to .

10–36

© Siemens AG 1992 All Rights Reserved 6FC5197- AA50
SINUMERIK 840C (IA)

11.92

10 Axis and Spindle Installation
10.4.4 Reference point approach

2nd case: Axis is at the reference point cam
Rather than accelerate to the reference speed, the axis accelerates immediately to the
reference point cutoff speed (MD 284*).
Speed

2000 units

MD 284*
1

Reference point cam

2

3

Reference point pulse

4

Path

Reference point

Axis is at reference point cam

3rd case: Axis is behind the reference point cam

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Since the signal state of the "Deceleration" signal is the same after the reference point as it
was before, the control assumes that the axis is still ahead of the reference point cam and
therefore accelerates to the reference approach speed (MD 296*), i.e. the axis travels at high
speed toward the limit switch (EMERGENCY STOP), as the software limit switches are not in
force prior to or during reference point approach.
Limit switch

Speed

MD 296*

Path
0

Reference point cam

Reference point
Reference point pulse

Axis is behind reference point cam

If referencing is repeated several times, the software limit switches are exceeded by the
following error if the cam is not reached. The automatic direction recognition function is used
to remedy this.
In order to circumvent the problems posed by case 3, it was necessary to integrate a complex
system of travel interlocks in the PLC. It was therefore decided that the SINUMERIK System
800 should provide an option which would solve the problem without additional PLC support
during reference point approach. This option is referred to as automatic reference point
approach, i.e. reference point approach with automatic direction recognition.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–37

10 Axis and Spindle Installation
10.4.4 Reference point approach

10.4.4.2

12.93

Reference point approach with automatic direction
recognition

Prerequisites
•
•
•
•

MD 560* Bit 6 = 1
Feed enables set
Reference point cam extends as far as the traversing limit
Reference point is ahead of reference point cam

The purpose of automatic direction recognition is to eliminate the problems caused by
reference point approach without automatic direction recognition in situations such as those
presented in case 3.
Axis is ahead of the reference point cam

Speed
b
MD 296*

2000 units

MD 284*
a

c

Reference point

Reference point cam
EMERGENCY STOP

Reference point pulse

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1st case:

Path

Traversing limit

Axis is ahead of reference point cam

a

When the direction key is pressed, the axis approaches the reference point in the
specified direction (MD 564* bit 0) at the speed defined in MC 296*.

b

Upon reaching the reference point cam, the axis is decelerated to zero speed with the
"Deceleration" signal.

c

The axis then moves away from the reference point cam at reverse speed (MD 284*)
and the next reference pulse is evaluated (refer to Section REFERENCE POINT
APPROACH WITHOUT AUTOMATIC DIRECTION RECOGNITION for a detailed
description of the remaining part of the sequence).

10–38

© Siemens AG 1992 All Rights Reserved 6FC5197- AA50
SINUMERIK 840C (IA)

07.97

10 Axis and Spindle Installation
10.4.4 Reference point approach

2nd case: Axis is at the reference point cam

2000 units

MD 284*

d

Reference point

Reference point cam
EMERGENCY
STOP
Reference point pulse

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Speed

Path

Traversing limit

Axis is at reference point cam

When the Direction key is pressed, the PLC's "Deceleration" signal enables the NC to
establish with absolute accuracy that the axis is already located at the reference point
cam. The axis therefore accelerates in the reverse direction (MD 564* bit 0) to the speed
defined in MD 284* (refer to Section REFERENCE POINT APPROACH WITHOUT
AUTOMATIC DIRECTION RECOGNITION for a detailed description of the remaining
portion of the sequence).

d

10.4.4.3

Program-controlled reference point approach

Reference point approach can be executed in a part program with G74. When MD 1808*, bit 4,
is set, reference point approach to the coded reference marks is executed automatically. The
direction is defined in MD 564*, bit 0, and not with the direction keys.
Example:
AUTOMATIC or MDA mode
N10

G74

X

LF

Note:
From SW 5, simultaneous referencing of up to 5 axes is possible.
Example:
N10

G74

X

Y

Z

U

V

LF

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–39

10 Axis and Spindle Installation
10.4.4 Reference point approach

01.99

Remarks:
LF)

•

Only one axis per NC block can be programmed (e.g. G74

•

From SW 5 up to 5 axes can be programmed in one NC block.

•

TRANSMIT or coupled motion must not be selected

•

G74 is non modal

•

Tool offset and zero offset, PRESET + DRF are suppressed internally with G74 and automatically become active again after ”Reference point reached”. This also applies to G
functions such as e.g. G01, G90, G94 etc.

•

After the function "Program-controlled reference point approach with synchronization" has
been initiated, the "actual position" continues to be updated. The distance to go is
displayed as zero because no proper differential values are produced while this function is
active.

10.4.4.4

C

Referencing without programmed motion
(with SW 4 and higher)

Corresponding data
•
•
•
•
•
•

NC MD 240*
NC MD 244*
NC MD 296*
NC MD 564* bit 0
Signal DB 32 DW K+2 bit 13
Signal DB 32 DW K+2 bit 12

(Reference point value)
(Reference point offset)
(Absolute encoder offset)
(Reference point direction, negative)
(Referencing without programmed motion)
(Delay reference point approach)

General
With SW 4, referencing without programmed travel movement (without NC setpoint
assignment, referencing in follow up mode) is possible. This function is required for axes, for
example, that cannot be operated in position-controlled operation.
Function description
MD 560*, bit 6 ("Automatic reference point approach") is not evaluated, i.e. the user must
defined the approach direction himself with MD 564*, bit 0).
Reference point offset is then calculated for the selected direction. If reference point approach
is performed in different directions, different machine positions also result if the reference point
offset is not equal to zero.
Linear and rotary incremental encoders as well as distance-coded measuring systems can be
used. Absolute encoders (e.g. SIPOS encoders) can also be used.
The interface signal "Delay reference point approach" in DB 32 DW k + 1, bit 12 is evaluated
as for normal reference point approach.

10–40

© Siemens AG 1992 All Rights Reserved 6FC5197- AA50
SINUMERIK 840C (IA)

07.97

10 Axis and Spindle Installation
10.4.4 Reference point approach

This function is started by
•

G74 from the part program (with internal triggering of G200 for this axis at the end of
referencing) or

•

pressing of the direction key enabled for referencing by the user in the reference point
approach mode.

The block-stepping conditions with G74 are the same as with conventional referencing. As
soon as the function has been initiated, either the axis or the measuring system must be
moved, for example by hand or by an auxiliary drive, so that the reference cam and the zero
mark are passed.
When the zero mark is reached, the absolute system is set according to MD 240*, 244* and
the constant offset of 2000 position control increments (not with C axes to spindles). A conventional NC-controlled reference operation provides the same result.
In order to be able to execute the function, servo enable must also be set for an axis in followup mode.

10.4.4.5

Setting reference dimension by a PLC request
(SW 4 and higher)

The PLC request ”Set reference dimension” permits to bring an axis to the ”Axis referenced”
state at any position without explicit referencing operation:
This function cannot be executed unless the axis is at standstill.
Corresponding data:
NC MD 1824*, bit 5 ”Setting reference dimension allowed”
NC MD 1824*, bit 3 ”Set absolute system to reference dimension”
NC MD 240*, ”Reference point value”
NC MD 244*, ”Reference point offset”
NC MD 396*, ”Absolute encoder offset”
NC MD 564*, Bit 1 ”Reference point offset negative”
Signal: ”Set reference dimension”, (DB 32, DW K+2, bit 14)
Signal: ”Reference point reached”, (DB 32, DW K+0, bit 12)
Significance of this function:
•
•
•
•

Set absolute system to MD 240* (depending on MD 1824*, bit 3)
Enable leadscrew error compensation, IKA compensation
Enable SW limit switch monitoring
Set "Reference point reached" bit, (DB 32, DW K+0, bit 12)

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–41

10 Axis and Spindle Installation
10.4.4 Reference point approach

07.97

MD 1824* bit 5 enables this function. By means of MD 1824* bit 3 the user can define whether
only the "Reference point reached" signal is set with "Set reference dimension" or whether
the absolute system is also set to the value specified in MD 240*. MD 1824* bit 3 is active only
with the "Set reference dimension" function and has no effect on normal reference point
approach (default: setting of absolute system MD 240* active).
The request is triggered by an edge change of the axis-specific control signal DB 32, DW
K+2, bit 14 "Set reference dimension".
When the edge is positive, the "Reference point reached" status signal is first deleted (DB 32,
DW K+0, bit 12).
If the actual value system of the NC has been updated according to the the new reference
dimension (only if MD 1824*, bit 3 = 1) after subsequent deletion of the "Set reference
dimension" control signal (negative edge), the status signal "Reference point reached" is set
again as positive acknowledgement of the function. If the function could not be executed (axis
not at standstill), the "Reference point reached" signal is not set and, in addition, the axisspecific RESET alarm 1028* "Setting reference dimension not possible" is triggered. This
monitoring function is not performed unless the axis is in position-controlled operation when
”Set reference dimension” is requested.
If position control is not active, two different cases are possible:
a) Follow-up operation/parking active:
Equal values for setpoint and actual value are set in this state. No following error is stored.
If "Set reference dimension" is requested, setpoint and actual value are set to the new
value (depending on MD 1824*, bit 3).
b) Controller enable missing:
In this state, the following error is stored. If "Set reference dimension" is requested, an
active following error is deleted (depending on MD 1824*, bit 3) and setpoint and actual
value are set to the reference dimension value (depending on MD 1824*, bit 3).
General conditions for using leadscrew error compensation, IKA:
Leadscrew error compensation/IKA does not make sense and operate properly unless ”Set
reference dimension” is performed in the reference point of the axis. Otherwise, leadscrew
error compensation/IKA looses its reference to the existing machine system since leadscrew
error compensation/IKA uses the position at the moment when ”Set reference dimension” is
requested as reference position.

10–42

© Siemens AG 1992 All Rights Reserved 6FC5197- AA50
SINUMERIK 840C (IA)

11.92

10.4.5

10 Axis and Spindle Installation
10.4.5 Distance-coded reference marks

Distance-coded reference marks

Corresponding data
NC MD 240*
NC MD 284*
NC MD 396*
NC MD 564*
NC MD 1300*
NC MD 1304*
NC MD 1808*
NC MD 1808*
NC MD 1808*

bit 0

bit 2
bit 3
bit 4

DB32 DW (K) bit 12

Reference point value, reference point for leadscrew error
compensation
Reference point creep speed
Absolute encoder offset
Reference point approach direction (only required for G74)
Basic distance between coded reference point marks
External pulse multiplication
Encoder absolute system opposite to machine system
Absolute offset valid
Measuring system 1 distance coded
Signal "REFERENCE POINT REACHED"

Machine data 240* (reference point value) is of no significance to the referencing movement,
but continues to described the reference point for the leadscrew error compensation table
(= position to which no offset is applied).
Description of function
In the case of linear scales with distance coded reference marks which have a reference mark
track and an incremental track running parallel to each other, neither a cam play has to be
evaluated, nor a certain point (reference point) approached when referencing the axes. The
distance between any two reference points is always different. The absolute position of the
axis in the machine system can thus be determined by crossing two reference marks and
measuring the distance between those two marks. The absolute position is sent to the NC: the
actual position has now been determined.
The direction and position from which the reference marks are crossed is of no significance. A
reference point cam is no longer necessary.
In operating mode REFPOINT, the travel direction (referred to the machine system) is
determined by the direction key (+/-) which is pressed on start.
In operating modes AUTOMATIC and MDI AUTOMATIC, a reference point can be taken from a
part program with the G74 command. As the G74 command contains no information regarding
direction, the reference point approach direction defined in machine data MD 564*, bit 0, is
taken (see also FUNCTIONAL DESCRIPTIONS Section).
Reference point approach is executed at creep speed (MD 284*).
If the reference point approach does not produce successful results within double the "Basic
distance between reference marks" (MD 1300*), because, for example, the zero mark tracks
are faulty, the axis is brought to a halt with alarm 132* ("Control loop hardware").
The function "Distance coded reference marks" does not affect the reference point approach
with position encoders already in use.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–43

10 Axis and Spindle Installation
10.4.5 Distance-coded reference marks

11.92

The following control loops must be used for processing distance coded reference marks:
•

SPC control loop.
Measuring systems with rectangular and sinusoidal output signals (currents) can be
connected to a SPC.
Where measuring systems have sinusoidal output signals, EXE submodules must be
inserted into the module.

•

HMS control loop.
As standard, this board is only used for encoders producing unconditioned voltage signals.
Encoders producing unconditioned current signals can also be connected if, instead of the
shorting plug, an I/V hybrid is inserted in the relevant jumper sockets (U23, U17, U12 for
axes 1,2 and 3). (no EXE submodules).
For reasons of interference immunity and precision, the unconditioned current signal
encoder can only be connected directly if the cable is no longer than 18 m. If the cable is
longer, the unconditioned current signals must be converted to unconditioned voltage
signals of specifed amplitude in an external converter positioned close to the encoder.
Encoder with voltage signals
(800mV to 180 ohms)

Encoder with current
signals (5.5 µA)

Axis 1

Shorting plug (X23)

I/V hybrid (U23)

Axis 2

Shorting plug (X17)

I/V hybrid (U17)

Axis 3

Shorting plug (X12)

I/V hybrid (U12)

X..

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a

The shorting plug (minimum 12-pin) and the I/V hybrid (20-way) are both connected to start at
pin 1.

U..

Note:
During reference point approach, the axis must be brought to rest within the range covered by
the (linear) scale after crossing two adjoining reference marks.

10–44

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

11.92

10 Axis and Spindle Installation
10.4.5 Distance-coded reference marks

10.4.5.1

Initial installation of distance-coded reference marks

The following steps must be followed when installing the distance coded reference marks for
the first time:
1. Selecting the measuring system
MD 1808*, bit 4, must be set for distance coded reference point approach.
2. Calculating the maximum permissible velocity for reference point approach
(Creep speed MD 284*)
The velocity used for reference point approach (creep speed) must not exceed a maximum
value. The velocity must be so slow that the time taken to cross the smallest possible reference mark distance on the scale is always longer than one cycle of the position controller
(PCC).
The smallest possible distance between two adjoining reference marks on the scale is
calculated as follows:
a

Xmin =

a:
b:

2

·

k-

Measured length on scale
a

Basic distance (in multiples of the scale division)
Scale division (grid spacing [in µm])

The maximum possible creep speed for the reference point approach is calculated as follows:
Xmin

Vmax <=

Xmin:
PCC:

PCC

Smallest possible reference mark distance
Set position controller cycle

A value which is smaller than or equal to Vmax must be entered in MD 284*.
Example:
Calculating the maximum possible velocity for one linear scale with the following data:
Measured length:
3040 mm
Scale division k:
20 µm = 0.02 mm
Basic distance a:
1000 1000*k = 20 mm
Max. servo cycle time (PCC)
8 ms
Xmin =

a
2

·

k-

Measured length
a

=

1000
2

· 0.02 mm-

3040 mm
1000

= 6.96 mm

Vmax <= Xmin / PCC = 6.96 mm / 8msec = 52.2 m/min
The maximum possible value which can be entered for the creep speed is therefore:
MD 284* (axis) = 50 m/min.
Machine data MD 296* (reference point approach speed) is not evaluated.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–45

10 Axis and Spindle Installation
10.4.5 Distance-coded reference marks

11.92

3. Direction of linear scale as compared with the machine system
It should be made clear how the linear scale is applied to the machine system. Whether the
direction is positive or negative is defined in MD 1808*.
• NC MD 1808*, bit 2 = 0 Linear scale same direction as machine system
• NC MD 1808*, bit 2 = 1 Linear scale opposite direction to machine system
4. Determining the offset of (linear) scale and machine system
(Absolute offset)
Structure of the linear scale with coded reference marks:

1

2

3

4

5

6

7

k

a
aaaaa
a
a
a
aa
a
a
aa
aa
a
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a
a
a
a
a
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a
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aa
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a
a
aaaaa
a
a
a
a
a
a
a
a
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a
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a
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a
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a
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a
a
aaaaa
a
a
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a
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a
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a
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a
a
a
a
a
a
a
a
aaaa
a
a
a
a
a
a
a
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a
a
a
a
a
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a
a
a
a
a
a
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a
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a
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a
a
a
a
a
a
a
a
a
aaaaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaa
a

a
aaaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
a
a
a
a
aaaa
a
aaaaaaa
a
aa
a
a
aa
aa
aa
aa
aa
a

a
a
aaa
a
a
a
a
aa
a
a
a
aaa
aa
a

a
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaa
a

X min

(a/2-1).k

a.k

(a/2+2).k

(a/2-2).k

(a/2+3).k

(a/2-3).k

a.k

(a/2
-n).k

(a/2+n).k

a
a
a
a
aaa
a
a
aa
aa
aa
a
a
a
a
a

(a/2+1).k

a.k

a.k

(n-1) . a . k

Reference mark

Measured length on scale
a.k

with n =

Using the above example:

1

2

3

4

5

6

7

k

10.02

9.98
20

10.04

9.96
20

10.06

9.94

a
a
a
aa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaaa
a

X min

10-n
0.02

10+n 0.02

20

20

(n-1) . 20
Reference mark

10–46

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11.92

n=

10 Axis and Spindle Installation
10.4.5 Distance-coded reference marks

3040 mm
1000 . 0.02 mm

= 152

The following correlation is used for calculating the absolute offset:
Position in machine system = Absolute offset +/- absolute position in scale system
(xLA)
(xMA)
or
Absolute offset = Position in machine system -/+ absolute position in scale system
(xLA)
(xMA)
+: Machine scale and linear scale in same direction
(MD 1808*, bit 2=0)
a
aaaa
a
aa
aaa
a

Machine system

0

xMA

Absolute value
offset

a
aaaa
a
a
aa
aaa
aa
a

Scale system

0

xLA
Direction of movement

a
aaaa
a
aa
aaa
a

-: Machine and linear scale in opposite directions
(MD 1808*, bit 2=1)

0

a
aa
aa
aa
a

xMA

0

xLA

Absolute value offset
Direction of movement

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10–47

10 Axis and Spindle Installation
10.4.5 Distance-coded reference marks

09.95

The absolute offset is the offset between machine zero and the 1st reference mark on the
linear scale; at any one point (any axis position) the absolute offset corresponds to the
difference between the position to be measured in the machine system (e.g. measured with a
laser interferometer) and the current position on the linear scale (1st actual value display when
MD 396* = 0).
The absolute offset (MD 396*) is derived as follows:
•

Machine data MD 396* for the absolute offset must be set to 0.

•

Reference point approach (manually in REFPOINT mode)
When two reference marks have been crossed, the axis is decelerated to rest.
The absolute position in the reference system on the linear scale (scale system) is now
available as the "actual value".

•

By deriving the current axis position relative to the machine system, i.e. the offset relative
to the machine zero or another known accessible point in the machine system (e.g. by
measuring it with a laser interferometer).

•

By calculating the absolute offset from the measured positional value in the machine
system and the value shown as the actual value in the scale system (acc. to the formula).

•

The calculated absolute offset must be entered in MD 396* and declared as valid with
"Absolute offset valid", MD 1808*, bit 3.

Now the axis can be referenced in the usual way (manually or automatically).
If the absolute offset is not declared valid for the referencing, i.e. when "Absolute offset valid"
(MD 1808*, bit 3) has not been set, the PLC interfacer interface signal, "Reference point
reached" is not set and no part program can be started. The software limit switches are not
enabled and no values are displayed in the reference point display.

10–48

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08.96

10.5

10 Axis and Spindle Installation
10.5 Spindle installation, spindle functions

Spindle installation, spindle functions

Corresponding data
•
•
•
•
•
•
•
•

MD 131 ... 146 (Spindle override)
MD 4000 ... 499* (Spindle data)
MD 540* bit 2
MD 5200 bits 0 ... 7
MD 524* bits 0 ... 3
MD 521* bit 1 and bit 7
Interface DB 31 (Spindle DB)
Interface DB 10 ... 13 (Channel DB)

Note:
Additional information in Functional Descriptions Section.
Overview
In SINUMERIK 840C, output of the analog spindle speed is fully implemented in the NC, so
that it can only be influenced from the PLC with special signals (see Interface Description,
Part 1, Signals). Spindle data for max. 8 gear stages and additional monitoring functions are
stored in the control.
The following spindle functions are available:
•
•
•

Speed-controlled spindle
Oriented spindle stop
Position-controlled spindle (C axis)

The individual spindle functions are produced with the following spindle modes:
•

Control mode

Spindle rotates with constant speed or cutting rate (open-loop
control of spindle speed)

•

Oscillation mode

Spindle rotates at constant motor speed setpoint (open-loop control
of spindle speed)

•

Positioning mode

Spindle stops at a preset position (oriented spindle stop)

•

C axis mode

Spindle acts like a rotary axis (position-controlled spindle). See
Section 12 for a description.

•

V/f operation

Voltage/frequency controlled operation for MSD/AM and FDD. See
Section 12 for description.

•
•
•

Following error compensation for thread cutting
Multiple thread
Thread recutting

The main characteristics are:
•
•
•
•
•
•
•

Spindle speeds up to 99 999 rev/min without actual-value encoder
Spindle speeds up to 30 000 rev/min with actual-value encoder
Encoder-specific resolution
Monitoring of encoder cutoff frequency
Adjustable zero mark
C axis mode
Several positioning modes

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6FC5197- AA50

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10 Axis and Spindle Installation
10.5 Spindle installation, spindle functions

09.95

General notes:
•

With a spindle speed of 0.1, the feed actual value indication in the basic display with
functions G95/G96 is too low by a factor of 10.

•

If the system includes several spindles, a function must always be assigned to the first
spindle.

The diagram "Structure of spindle control" provides an overview of the functions available and
also the flow of data and commands. Data flows in the direction indicated:
Setpoints and control data
Actual values and status data
Switching commands
Status

NC

PLC

Command
channel

PROCESSOR
Switching logic
Mode switching
Monitoring functions

Link RAM

Open-loop speed control
Servo position control
Monitoring functions

Measuring circuits

Structure of spindle control

10–50

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09.95

10 Axis and Spindle Installation
10.5 Spindle installation, spindle functions

Description of the spindle modes
The following is a description of the various modes in which the spindle may be operated. The
individual modes can be programmed by NC (part program MDA, overstore), PLC or command
channel (CC). The functions that are then available are given in each case.
The various command sources (NC, PLC or CC) have different priorities, i.e. they can interrupt
or interlock each other.
The various switching conditions and interlocks are dealt with in the section headed ”Switching
logic”.

10.5.1

Open-loop control mode

General
In the open-loop control mode, the spindle is issued with a setpoint for speed (or cutting rate)
and direction of rotation. The setpoint that has been input can be altered by "Speed override"
when necessary.
Actual value acquisition
•

The open-loop control mode normally requires no encoder for actual value acquisition
except if the spindle is to be used for thread-cutting or the "Revolutional feedrate" function
in which case an encoder must be mounted on the spindle.

•

If an encoder is fitted, it is also used in the open-loop control mode for monitoring and
displaying the actual values (of speed and position). The encoder must be mounted
directly on the spindle so that the actual speed and position of the spindle can be
measured.

Selecting the open-loop control mode
Open-loop control mode is selected by NC, PLC or command channel. The following functions
are possible:
PLC:

Request for open-loop control mode
• Constant speed and direction of rotation:
– IS:INITIALIZE
– set speed from MD 449*
– set direction of rotation with IS:SET ROTATION CW

CC:

Request for control mode
• Constant speed and direction of rotation:
– ”S external” function
– set S value (speed) and M3, M4 (rotation) or M5 (spindle stop) in user data of
command channel

NC:

Request for open-loop control mode
• Constant speed and direction of rotation
– programming of S value, M3, M4, M5, G94, G95, G97
•

Constant cutting rate
– programming of S value, M3, M4, M5 and G96

•

Thread-cutting
– programming of S value, M3, M4, M5 and G33, G34, G35

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10 Axis and Spindle Installation
10.5.1 Open-loop control mode

09.95

Gear ratio changing
Gear ratio changing is only possible in the open-loop control mode. There can be up to eight
different ratios between motor and spindle.
A permitted range of speed can be laid down for each gear ratio by defining maximum and
minimum speed values. If the speed setpoint does not fall within the range of the gear ratio
that is currently active, the number of the required gear ratio is ascertained automatically and
entered into the interface to the PLC together with IS:CHANGE GEAR.
The PLC user program executes the gear change, acknowledges the request by resetting IS:
CHANGE GEAR and enters the new gear ratio into the interface.
If no suitable gear ratio for the programmed speed exists, no request for gear changing is
generated. The programmed speed is then transferred to the current gear ratio. So it is
important to ensure that there is always a suitable gear ratio available.
The behaviour of the spindle during gear ratio changing can be influenced by MD 521*, bit 5
"New S value after PLC acknowledgement". If the bit is set, the programmed speed setpoint
will only be accepted when the PLC has acknowledged gear ratio changing. This prevents an
unwanted increase in speed while still in the old ratio before changeover.
Voltage [volts]
MD 4030

MD 4040

MD 4050

10

MD 4480

Speed [rev/min]
MD 4110

MD 4130

MD 4120

The gear is output on the basis of the lowest switching frequency, i.e. if the speeds of the
individual gears overlap, a new gear is output only when the programmed S value is no longer
possible for the selected gear.

10–52

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09.95

10 Axis and Spindle Installation
10.5.1 Open-loop control mode

In view of the fact that not all spindle drives are equipped with ramp-function generators, a
ramp-function generator was integrated in the control (unit 1 ms). The following enable signals
are required for spindle setpoint output:
DB 31 Spindle-specific signals
•
•
•
•

DLK+1 bit 6= 1
DLK+1 bit 5= 0
DWK+3 all bits= 0
Setting data

"Servo enable"
"Default setpoint is 0"
"Spindle disable"
"Spindle speed limitation"

Note:
See also functional description ”Parameter set switchover” in Section 12.
Data required
This section describes the data that is of particular significance to the open-loop control mode.
•

Limiting the speed
Parameters for maximum and minimum speed limits can be assigned for each gear ratio.
Parameter assignment is effected through the machine data:
– MD 403* to 410*
”Max. speed” per gear ratio
– MD 411* to 418*
”Min. speed” per gear ratio
If a gear stage is not used, the value zero must be entered for the maximum speed of this
gear stage and not the value in the standard machine data.
Regardless of which gear ratio is active, the speed is limited by:
– MD 451*
”Max. chuck speed”
– MD 448*
”Min. motor speed”
– SD 401*
”Programmable spindle speed limit for G96”; programmed with
G92
– SD 403*
”Programmable spindle speed limit”; programmed with G26

•

Limiting the acceleration
In order to avoid excessive acceleration when changing speeds, the setpoint is ramped up
or down accordingly by means of a ramp-function generator. The maximum value of
acceleration to be used is assigned by means of an acceleration time constant. A
separate acceleration time constant must be specified for each gear ratio employed:
–

MD 419* to 426*

”Acceleration time constant without position control”

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10–53

10 Axis and Spindle Installation
10.5.2 Oscillation mode

10.5.2

09.95

Oscillation mode

The oscillation mode can be used with gear ratio changing to facilitate engagement of the gear
by oscillating the spindle.
When switching from open-loop control to oscillation control, the speed setpoint is first
reduced to zero at the deceleration ramp defined by the active acceleration time constant. The
oscillation speed setpoint is then output.
Preconditions
The request for the oscillation mode comes from the PLC. The PLC user program sets the IS:
OSCILLATION SPEED. The following conditions must be satisfied:
•

IS:PLC SPINDLE CONTROL set

Parameter assignment
•

The motor setpoint for oscillation speed is issued by MD 450*. The sign of the setpoint,
and hence the direction of rotation, is determined by IS: SET ROTATION CW

•

There is no acceleration or speed limitation in the oscillation mode.

Implementation
•

The spindle is actually oscillated by the setpoint being output with an alternating sign. This
has to be implemented in the PLC user program by inverting IS:SET ROTATION CW.

10.5.3

Positioning mode, M19, M19 through several revolutions

10.5.3.1

General

In the positioning mode, the spindle is driven to a preset position under position control and
stopped there. The position is reached either directly (M19) or through several revolutions
(M19tsr).
Position control and actual value acquisition
•

Actual value acquisition is needed for position control. Therefore, an encoder must be
mounted directly on the spindle.

•

The reference point for the angle measuring system is the zero mark of the encoder. A
permanent offset to the zero mark can be established by using the zero mark shift
(MD 459*).

Position control polarity with M19
When the spindle is switched to closed-loop control with M19 by the control, the pulses from
the ROD encoder must reach the control with the correct direction of rotation. Incorrect
position control polarity can be recognized because the spindle spins fast and shuts down at
the maximum setpoint with alarm "Alarm limit speed setpoint", cancelling the speed controller
enable.

10–54

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09.95

10 Axis and Spindle Installation
10.5.3 Positioning mode, M19, M19 through several revolutions

Accuracy
•

The position is entered with an accuracy of 0.01o. The positioning accuracy achieved by
the spindle depends on a number of factors:
– The resolution of the angle measuring system
– The gain factor of the active gear ratio
– The drift
– The interfacing to the drive system.

Restrictions
•
•

Gear ratio changing cannot be employed in the positioning mode.
M19 must not be activated or programmed when the G96 function is active.

Selecting the positioning mode
A distinction must be made between absolute positioning (M19 from NC or PLC) and
incremental positioning (M19 through several revolutions from the command channel).
Positioning mode can be selected by NC, PLC or command channel. The following functions
are available:
PLC:

Request for M19
• IS:POSITION SPINDLE
– set position from MD 452*

CC:

Request for M19tsr
• ”Incremental spindle positioning” function
– set incremental traversing path in user data of command channel
– spindle override remains active

NC:

Request for M19
• M19 in part program or during overstore
– set position as S value
– set position from setting data (SD 402*) if no S value has been programmed.

Acknowledging M19
If the signal "Spindle position reached" (DB 31 DL k bit 4) is output during positioning by the
NC, the PLC must then output the signal "Acknowledge M19" (DB 31 DR k + 2 bit 2) if
function M19 is to be terminated. However, signal "Acknowledge M19" must not be output
until the spindle has settled in position. If serious overshoot occurs (gain factor very large) , it
is advisable to delay output of signal "Acknowledge M19" to the NC until signal "Spindle
position reached" has been pending for a machine-specific time tv.
Signal "Acknowledge M19" not only cancels spindle positioning but it also stops the spindle
(like M05) so that a new M03 or M04 has to be programmed in the part program to enable the
spindle to accelerate to the S value previously programmed.
Signal "Acknowledge M19" is only active in combination with "PLC spindle control".

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10–55

10 Axis and Spindle Installation
10.5.3 Positioning mode, M19, M19 through several revolutions

09.95

Data required
This section describes the data that is of special significance to the positioning mode. A
detailed description of the machine data and setting data will be found in the Section "NC
Machine Data (NC MD)/NC Setting Data (NC SD)".
•

Position
An absolute position is given in response to a request from the NC or PLC. The position is
specified by S value, machine data or setting data. The values must be within the range 0
to 359.99° and the entry must be to an accuracy of 0.01°.

•

Distance traversed
An incremental path is given in response to a request from the command channel. This
path is specified in the user data of the command channel and can be more than one
revolution. The size is only limited by the numerical format. The value must again be
accurate to 0.01° and its mathematical sign determines the direction of rotation for
positioning.

•

Override factor
The speed during positioning can be influenced by the spindle override factor.

•

Other data
Positioning is effected with interpolation guiding and under position control. The following
data is needed:
– Maximum permitted speed during positioning
– Maximum permitted acceleration
– Gain factor
– Position window
This information is transferred to the user data on request from the command channel.
When there is a request from the NC or PLC, the corresponding machine data of the
active gear ratio is used, which is:
–
–

MD 427* to 434*
MD 478* to 485*

–
–

MD 435* to 442*
MD 443*

”Creep speed for M19” as max. speed during positioning
”Acceleration time constant with position control” for
limiting the acceleration rate during acceleration and
deceleration
”Gain factor” for the position controller
”Position tolerance” for establishing the position window
(regardless of the active gear ratio)

If the gain factor is required to be changed in the positioning mode, the following will also
be needed:
–

MD 469*

–

Output of signal "Spindle position reached" (DB31 DLK bit 4) to the PLC if the current
spindle position has not reached the tolerance range set in MD 4430.

–

M19 is completed when the PLC outputs signal "Acknowledge M19" (DB31 DRK + 2
bit 2), or with M3, M4. In this case the position control loop is opened but the spindle
controller enable relay does not drop out (spindle can drift out of position).

10–56

”Factor for gain changing”

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SINUMERIK 840C (IA)

09.95

10 Axis and Spindle Installation
10.5.3 Positioning mode, M19, M19 through several revolutions

10.5.3.2

Absolute positioning sequence (M19)

The spindle is to be brought to a preset angular position as quickly as possible and
stopped there. Driving to a particular position is only possible if the spindle is synchronized
with the encoder, i.e. if the zero mark has been overtravelled once. It is only then that the
absolute position of the spindle can be defined.
1. Spindle synchronized with encoder
a) Spindle stopped
The spindle is driven to the preset position by the shortest path. This means that
the path to be traversed is always within the range -180 to +180°. Determining
the shortest path also determines the direction of rotation.
The maximum speed attained during positioning is the creep speed.

n

Creep speed for M19

t

a
a
a
aaaa
a
a
aa
aa
aa
a
a
a
a
a

Speed characteristic for case 1a

Example
aaa
a
a
a
aa
a
a
aa
aa
a

a
a
aa
a
a
a
aa
aa
a
a
aa
aa
aa
a

0°

Actual position:
Programmed position:

90°
+135°

a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaa
a

Shortest path:

315°

Example for case 1a

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6FC5197- AA50

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10 Axis and Spindle Installation
10.5.3 Positioning mode, M19, M19 through several revolutions

09.95

b) Spindle running
The spindle is driven to the specified position as quickly as possible, without
changing the direction of rotation.
The nearest position at which the spindle can be stopped is calculated from the
actual position and the deceleration distance based on the momentary speed. The
spindle is driven to the specified position in the direction of travel. The sum of this
required distance and the deceleration distance then gives the distance to be
traversed, which is covered as quickly as possible.
If the actual speed is less than the creep speed, the spindle is accelerated up to
and no further than the creep speed.
If the actual speed is greater than the creep speed, the spindle decelerated until
the creep speed has been reached (MD 427*). Then the M19 position is
approached with interpolation until the spindle can be stopped at the specified
position utilizing maximum deceleration.

n
Creep speed for M19
Speed at beginning of positioning
Beginning of positioning

t

Speed characteristic for case 1b (actual speed < creep speed)

n
Deceleration from MD 419*
Creep speed for M19
Speed at beginning of positioning
Beginning of positioning
Dwell from MD 478*
t
Speed characteristic for case 1b (actual speed creep speed)

10–58

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10 Axis and Spindle Installation
10.5.3 Positioning mode, M19, M19 through several revolutions

aaaaaaaa
aaaaaaaa
aaaa

09.95

aaaaaaaa
aaaaaaaa
aaaa

a
aaaa
a
a
a
a
aa
a
a
a
aaa
aa
a

a
a
a
aa
a
a
a
a
a
a
a
a
a
a
aaaaa

a
a
aa
a
a
a
aaaaaaa
a
aa
aaa

aaaaaaaa
aaaaaaaa
aaaa

0°

Example
Actual position:

315°

Actual rotation:

positive

Programmed position:
Nearest position at which spindle
can be stopped:
Distance to be traversed in addition
to the deceleration distance:
Total distance to be traversed:

90°
270°
+180°
+495°

Example for case 1b

2. Spindle not in synchronism with zero mark
In this case, neither the actual position nor the distance to be traversed can be ascertained
correctly.
Therefore, the spindle is first driven at creep speed (MD 427* to 434*) until the zero mark
of the encoder is recognized.
This allows the internal actual-value counter to be synchronized with the encoder. The
remainder of the positioning sequence is identical to that of case 1b.
If, when M19 is selected, the spindle rotates at a speed above the encoder cutoff
frequency (MD 462*), the spindle is first decelerated under control to the creep speed.
If the speed of the spindle is below the limit speed, it must be resynchronized. Continue
then as in case 1b).
n
Creep speed for M19
Recognition of zero mark

t
Speed characteristic for case 2

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10 Axis and Spindle Installation
10.5.3 Positioning mode, M19, M19 through several revolutions

01.99

The following applies when selecting the creep speed:
The drive must have sufficient acceleration reserves in the speed range below the creep
speed, corresponding to the programmed acceleration for position-controlled spindle operation.
The values in the preset range (100 rev/min to 500 rev/min) are generally suitable.
If the spindle leaves the target position when function M19 is selected (e.g. by being pushed
out of position when the closed loop control is switched off), it is returned to the target position
using interpolation when the servo enable is reactivated.
If the closed loop control is disabled while the position is being approached, the positioning
operation restarts when servo enable is restarted, if M19 is still selected.

10.5.3.3

Incremental positioning sequence (M19 through several
revolutions)

There are two preconditions to be fulfilled in this case:
•
•

spindle stopped
spindle synchronized with encoder

The specified angle in this case is not the position to be reached but the distance to be
traversed. The starting point for this distance is the last position to which the spindle was
driven (last M19 position). The direction of rotation is determined by the sign of the
programmed path.
If the spindle has not been driven to an absolute position before incremental positioning is
carried out for the first time, the starting point is assumed to be 0°.
It is possible, e.g. due to drift, that the actual position does not agree with the last M19
position. In this case the discrepancy is included in the distance to be traversed.
The actual position can be uniquely defined only within one revolution (0 ... 360°). Since one
assumes that the spindle has moved little since the last positioning, the difference is defined in
the range -180 to +180°.
n
Max. speed from DB user data

t
Speed characteristic for incremental positioning

Note:
If function M19 is interrupted during several revolutions via command channel (e.g. by reset),
this may lead to incorrect positioning.

10–60

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

a
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09.95
10 Axis and Spindle Installation
10.5.3 Positioning mode, M19, M19 through several revolutions

Examples

0°

Last M19 position:

Actual position:

SINUMERIK 840C (IA)

270°

0°

Specified travel:
+180°

This means that the spindle has moved 90° from the last M19 position in the opposite
direction to the specified direction, so the total is:
Distance to be traversed:

last M19 position:
Actual position:
Specified travel:

© Siemens AG 1992 All Rights Reserved

+270°

Example 1

0°

90°
0°
–180°

The spindle has thus moved 90° from the last M19 position in the specified
direction, so the total is

Distance to be traversed:

–90°

Example 2

6FC5197- AA50

10–61

10 Axis and Spindle Installation
10.5.3 Positioning mode, M19, M19 through several revolutions

10.5.3.4

09.95

Method A and B in the NC-internal solution

With the NC-internal solution there are two methods (method A and method B) by which
the oriented spindle stop can be integrated into the block sequence of the NC program.
Method A (M19 without axis motion):
With method A, the spindle stop is handled in a separate part program block and a block
change is only initiated after the function has terminated. Axis motions are not possible at the
same time as spindle positioning.
Method B (M19 with axis motion):
In method B, M19 is modal even across several blocks. While the spindle is positioning or is
held in the position control, it is possible to move the axes, continue the program or even
perform a tool change (NC MD 520*, bit 5).
The following applies to both methods (A and B):
•

M19 S... must be programmed in a separate block without axis motions.

•

The orientation is performed in the specified direction of rotation (M03/M04)

•

M19 is possible from rest (shortest path)

•

The oriented spindle stop is started at the beginning of the block

•

M19 is cancelled and terminated by
– Emergency stop (alarm 2000)
– Reset (machine data dependent)
– End of program (M02/M30)(machine data dependent)
– Spindle disable (DB 31 DW K+3)
– Servo loop error of spindle or axis
– Error that causes all axes to stop
– Cancellation of NCBB2
– Acknowledge M19 + PLC spindle control (DB 31 DW K+2)

•

in "MDI AUTO", "jog" or "AUTOMATIC". M19 can also be selected by overstoring.

•

M19 is output at the PLC interface as an auxiliary function.

Characteristics peculiar to method A (NC MD 520*, bit 5 = 0)
•
•

Block change is only performed after the M19 function has terminated (acknowledge M19)
Simultaneous traversing of the axes is not possible.

Characteristics peculiar to method B (NC MD 520*, bit 5 = 1)
•

M19 is modal even across several blocks.

•

The block change is performed after a delay of one PLC cycle.

•

In the following blocks axes can be moved or a tool change performed parallel to
positioning or position control.

•

While positioning is running (M19) the direction of rotation must not be reversed
(M03/M04). Otherwise positioning is performed in an undefined direction.

•

During M19 it is possible to switch to jog, incremental or repositioning. The position control
loop remains closed and the axes can be traversed.

10–62

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

10 Axis and Spindle Installation
10.5.3 Positioning mode, M19, M19 through several revolutions

•

If the PLC detects the auxiliary function M19 it can prevent the block change by
cancellation of the READ-IN ENABLE.

•

If M19 is reselected before a previous M19 has terminated with the signal "Acknowledge
M19", the new spindle position is adopted by the function. The NC moves to the new
position by the shortest path regardless of the set direction of rotation. The spindle path is
smaller than 180° regardless of the closed-loop control characteristic.

10.5.3.5

Gain factor change

Gain factor change
In the positioning mode it must be possible to drive the spindle to a target position from full
speed under position feedback control. The spindle must be held at the target position even
when there is drift.
To ensure that the spindle is steady at rest, even in the presence of drift, very small set
speeds with very high resolution must be given to the drive actuator via the analog interface.
The speed setpoints are transferred as voltage signals via the analog interface between control
system and drive actuator. Under some circumstances the control behaviour can be improved
by increasing the voltage level (relative to the set speed) because it enables a higher
resolution to be achieved and the analog interference noise can be reduced.
Consequently, with some drive actuators, such as the SIMODRIVE 650, a different scaling for
the set speeds (voltage levels) can be selected by applying a configurable terminal signal.
This changing of the scaling in the drive actuator must be allowed for in the control so that,
overall, the effective gain factor remains the same. The gain factor (dependent on gear ratio,
MD 435* to 442*) must be adapted to the new scaling.
The factor for gain changing is entered as machine data. The value is calculated from:
MD 469* =

1
N

where N =

scaling factor in the drive actuator

Changing of the gain factor must be initiated by the PLC user program with the interface signal
CHANGE GAIN FACTOR (DW K + 1, bit 15).
The diagram below is intended to illustrate the changeover process using SIMODRIVE 650 as
an example.
SINUMERIK

SIMODRIVE
Terminal for M19
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IS:CHANGE GAIN FACTOR
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b

Following
error

Gain
factor

DAC

MD
469*

ADC

P-54

Simplified block diagram

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–63

10 Axis and Spindle Installation
10.5.3 Positioning mode, M19, M19 through several revolutions

09.95

Referring to the SIMODRIVE 650 Operating Instructions will explain the following:
P-54:

Scaling factor for set speeds
(M19 mode)

Terminal for M19:

Terminal configurable with P-83 to P-85

The block diagram shows that MD 469* and the SIMODRIVE parameter P-54 must add up to 1
in order to obtain the same effective gain factor between points a and b with or without
changeover.
It is also apparent that, for stable control behaviour, the changeover of the gain factor and the
speed normalization must always take place simultaneously. Only then will the effective gain
factor remain the same.
Gain factor change in the positioning mode
In order to position the spindle from full speed, it must first be possible to transfer the
maximum speed setpoints. Consequently, when the positioning mode is started, neither
changeover of the drive actuator scaling nor changeover of the gain factor must be activated.
Changeover should only be effected when the spindle has come to rest. Therefore, it is
sensible for it to be done when the interface signal SPINDLE STOPPED has been set by the
NC system.
In all cases it is essential for the value of speed setpoint (voltage level) to be transferred to be
less than 10 V after changeover.
If the spindle is to be positioned several times in succession, it can be convenient for
changeover to remain activated at the start of the second positioning sequence and the
subsequent ones. However, then it will be necessary to ensure that the maximum speed
attained during positioning (see section headed "The positioning sequence") is less than the
speed that can be transferred via the analog interface at a maximum of ± 10 V.

10–64

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

10.5.3.6

10 Axis and Spindle Installation
10.5.3 Positioning mode, M19, M19 through several revolutions

Aborting the positioning mode

The specified position is regarded as having been reached (or the distance as having been
traversed) when the spindle is within the position window. This is signalled to the PLC by
setting IS:SPINDLE POSITION REACHED.
The position is held under position control until the M19 function is aborted. The conditions for
aborting are as follows:
•
•
•
•
•

IS ACKNOWLEDGE M19
M3/M4 in part program or command channel
Select C axis or synchronous mode
Program end
Reset

M19 and RESET
NC MD 520* bit 6 (no M19 abort on RESET) can be set to prevent function M19 aborting on
program end (M30/M2) or RESET (key). In this case, M19 can only be aborted by signal
"Acknowledge M19" from the PLC or by alarms ”Remove NCBB2” or ”EMERGENCY STOP”.
Otherwise function M19 is only aborted on channel-specific reset if the channel is aborted for
which the spindle is entered in the channel DB as the spindle of that channel.
Setting IS:SPINDLE DISABLE or resetting IS:SERVO ENABLE interrupts the positioning mode.
If the signal is reset again or set again, positioning is continued, but with the following
exception:
•

If the positioning mode was selected from the command channel, it will be interrupted if
IS:SERVO ENABLE is reset. An error message will be entered in the user interface.
Positioning will not be continued, however, if the signal is set again.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–65

Fig. 1

Speed

Fig. 2

10–66
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nn

Rated speed

T1
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M 1/n

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T2

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M = const

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Constant
torque

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TorqueM

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10.5.4

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10 Axis and Spindle Installation
10.5.4 Curved acceleration characteristic (SW 4 and higher)
09.95

Curved acceleration characteristic (SW 4 and higher)

When induction motors are used (spindle operation), allowance must be made for their speeddependent acceleration capability in position-controlled operation:
Constant
power

Breakdown limit

M 1/(n*n)

nmax

Speed n

Torque characteristic of induction motor

At speeds (n) above rated speed (nn), the drive acceleration capability decreases in relation to
the speed. Immediately above rated speed nn, there is a range of "constant power" in which
the torque (and thus also the acceleration capability) drop in proportion to 1/n. When speed n
increases further, there is a range ("breakdown limit") immediately above speed nk in which
the torque decreases in proportion to 1/(n*n).
The required parameters are selected and set in the MSD drive unit.

The obtainable linear ramp-up time constants
increase out of proportion for higher speeds

Setpoint

nk

nn

Time

Speed characteristic during acceleration (thick line)

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

09.95

10 Axis and Spindle Installation
10.5.4 Curved acceleration characteristic (SW 4 and higher)

Figure 2 shows the speed characteristics which are obtained when the acceleration capability
is fully utilized.
In speed-controlled operation, the drive accelerates either according to the acceleration rate
(dashed line for T2 in Fig. 2) set in MD 419* (ramp-up time constant T in open-loop control
mode) or, when the ramp-up time constant is shorter, optimally in terms of time along the
current limit.
With software versions up to and including SW 3, the ramp-up time constant in MD 478* for
position-controlled operation must be set such that the current limit must not be reached
when the drive accelerates to maximum speed to avoid the risk of instability or overshoot on
positioning. The maximum acceleration capability of the drive cannot be fully utilized.
In the new software version, a speed-dependent acceleration characteristic, which can be
adapted according to the prevalent physical conditions (speed-dependent adaptation), is
implemented for the position-controlled spindle operating modes (most important application:
Open-loop controlled operation of a leading spindle in the synchronous spindle or ELG
grouping).
In main spindle drives, the torque is limited as follows (cf. Fig. 1):
•
•
•

Constant torque up to rated speed nn:
Constant power above rated speed
up to breakdown speed nk:
Power reduction at higher speeds up to nmax:

Torque = const
Torque 1 / n
Torque 1 / (n*n)

Allowance is made for these characteristics in the control in the form of an acceleration
adaptation which is simple to parameterize:
•

Constant acceleration (according to MD 478* as with previous SW) up to a freely settable
speed limit nx.
The speed limit nx is entered via a new MD 2471* - MD 2478* which parameter-setspecific.

•

Above speed limit nx, the acceleration rate is reduced according to the equation:
Acceleration= MD 478* nx / n
n: Present speed

It may to be necessary to make allowance for the acceleration characteristic of the induction
drive which drops in proportion to 1/(n*n) above the speed range of constant power. This can
be achieved approximately by means of an additionally applied adaptation factor c (MD 2479* MD 2486*):
for n nx
for n>nx

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Acceleration= (MD 478*)
Acceleration= (MD 478*) * [nx / (n * c)+(c - 1) / c]
Acceleration

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MD 478*

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c>1

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c=1

Fig. 3

nmax

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nx

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c<1

Speed n

Possible shapes of acceleration characteristic when adaptation factor is varied. For c = 1 (1 = 100 %),
the acceleration above speed limit nx is reduced in inverse proportion to the speed.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–67

10 Axis and Spindle Installation
10.5.4 Curved acceleration characteristic (SW 4 and higher)

09.95

When speed nx is set to the same value as limit speed nmax or when "0" (default setting) is
input, the acceleration characteristic is the same as that obtained with previous software
versions, i.e. without characteristic curvature (break point above maximum speed).
When "1" is entered for adaptation factor c, the acceleration rate is reduced according to the
speed value reciprocal (1/n) above limit speed. This reduction rate can be increased
("steeper" acceleration characteristic) or decreased ("flatter" acceleration characteristic) as
required by entering values lower or greater than "1" (i.e. 100 %).
In M19 operation, the search speed is limited internally to nx.
With the exception of the parameter set extension, the acceleration response obtained with
previous software versions is still only available in C-axis operation, i.e. it is not possible to
adapt the acceleration rate to the speed value.
It is not necessary to parameterize the characteristic for spindles which are not operated in
synchronous groupings or which are equipped with feed drives.
As with previous software versions, the acceleration characteristic is parameterized by the
user according to technological requirements. In this case, analog and digital drives are treated
in the same way. Automatic adjustment using drive data (e.g. breakdown limit) does not take
place. It is thus possible to set the load side parameters (acceleration characteristic) and the
drive side parameters (protection of motor and power section) independently.
The "Curved acceleration characteristic for spindles" is operative in the following spindle
operating modes:
•

Open-loop control mode (M3, M4, adjust PLC):
The setpoint speed is specified according to the "Curved acceleration characteristic" when
the position controller is active at the same time (main application: Leading spindle in
synchronous spindle group).

•

Positioning mode (M19, positioning from PLC or command channel):
The maximum positioning speed is limited to nx ("Limit at which acceleration adaptation
takes effect", MD 2471*).

10–68

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

10 Axis and Spindle Installation
10.5.5 PLC intervention in spindle control

10.5.5

PLC intervention in spindle control

The flowchart on the next page shows the effects of the various PLC interface signals on the
spindle. For the sake of clarity, the feedback pulses are not shown.

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The "Set direction of rotation clockwise", "Oscillation speed", "Standard speed", "Spindle
positioning", "Resynchronize spindle" and "Acknowledge M19" signals are effective only in
conjunction with the "PLC spindle control" signal.

All signals in DB 31

Bit

0

1

K = Number of the spindle

2

(1 to 6)

8 gears

M3, M4, M5

S value

Delete S value

M19
DLK + 1/bit 5 (specify setpoint 0)
DRK + 2/bit 5 (basic speed)
Spindle speed
limitation

Setting data (G26 S...)

DRK + 2/bit 6 (oscillation speed)
DRK + 2/bit 4 (position spindle)
Servo enable

DWK + 3 (spindle disable)

S

DLK + 1/bit 6
S
Timer

n set

(set spindle speed)

Actuator

M

Gearing

Spindle

MD 5210 bit 7

1:1
ROD

MD 5200 bit 2

DRK + 1

END OF SECTION

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

10–69

12.93

11 Data Backup/CPU Replacement
11.1 Data area

11

Data Backup/CPU Replacement

11.1

Data area

The following data areas are backed up by a battery on the CSB module:
NC data:
•
•
•
•
•
•

NC machine data
Cycle machine data
Setting data
Tool offsets
Zero offset
R parameters

PLC machine data
PLC data (RAM to PLC CPU, ...):
•
•

Data blocks
User program

The following might cause data loss:
•
•
•
•

Failure or replacement of the battery while the control is switched off
NC CPU defective or removed (NC data)
MMC CPU defective or removed (PLC MD)
PLC CPU defective or removed (PLC data)

•

Main programs and subroutines are not battery-backed. If you edit part programs in the
NCK memory (parameter area), you must save them to hard disk when you have finished
editing them. Otherwise they will be lost when you switch off the control. The operating
system offers you a workpiece called STANDARD. All data associated with the workpiece
STANDARD are automatically loaded into the NCK memory when the control is powered
up.
With SW 2 and higher, you can use MD 5025 bit 7 to set whether the last active
workpiece is to be loaded in the NCK at Power On.
With SW 3 and higher, data (e.g. IKA data) can be loaded automatically in the NCK at
Power On (similar to UMS) (see General Reset Section).

•

When you have completed start-up you should save the data in the memory of the hard
disk (MMC CPU).

•

The SINUMERIK 840C provides the option of storing various data sets of the same type.
To facilitate management of these files, the SINUMERIK 840C allows the use of directories
like those used on PCs. If the MMC CPU is defective all data is lost even on the hard disk.
So, it is advisable to back up user data on an external storage medium.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

11–1

11 Data Backup/CPU Replacement
11.1.1 Ways of backing up data

01.99

11.1.1 Ways of backing up data
•

BACKUP function
On the MMC CPU you will find a Centronics parallel interface (X122) to which you can
connect a VALITEK streamer. With a streamer you can make a backup copy of all files on
the hard disk (including the operating system and user data). You cannot copy individual
files with the BACKUP function. You can call the BACKUP function from within the
DIAGNOSIS area1). The function is only designed to work with the VALITEK streamer. The
VALITEK streamer is not included in the scope of supply but must be ordered as a
hardware option. If you copy a hard disk copy from the streamer back onto the hard disk,
all existing data on the hard disk is overwritten.
See also Section 10, Subsection BACKUP, of the Operator’s Guide.
As from SW 6, data can be saved in an external PC using the help function of the ”PC
link” user interface. See Section 4.6 for a detailed description.

•

Data backup with V24/20mA interface from MMC CPU to external backup devices
On the MMC CPU you will find two serial interfaces, one for the operator panel (X141) and
one for data exchange (X151). Via X151 you can only transfer the user data. You can
connect various devices (e.g. programmer, PC, etc.).
Under the softkey DATA INPUT/OUTPUT in the SERVICES area, you can also create
archive lists of your user data files. An archive list is a list of files (directories, workpieces
files and other files and even archive lists) that you can only read out via the V24/20mA
interface. When you read out an archive list the files listed are read out. When you read an
archive list in again the files are put back into their original directories and directories are
put back into their original position in the directory tree. It only makes sense to output
archive lists in PC format because only in this format is information on the original path of
files and directories output.
See the SINUMERIK 840C Operator’s Guide for a detailed description.
The interface is automatically switched between V24 and 20mA modes to match the cable
used. Two additional V24 interfaces are available if the MMC interface is used. Floppy disk
drive FD-E2 can be connected to the MMC interface.

•

Data backup with V24/20mA interface in the interface PLC or
PLC CPU
This interface is only of interest for start-up and service.
With it, you can read out the PLC program in S5 format onto a programmer and make an
error diagnosis if PLC errors occur. It is not necessary to back up the PLC program
because it is normally stored on an EPROM. As from SW 3, the PLC program is saved on
hard disk. This serial interface is permanently active but you have to switch the
programmer ON-LINE.

•

Data transfer with IBM compatible PCs
Program description PC IN V3.0 can be ordered at the Werkstatt Fürth.

––––––––––––
1) As from SW 3, a system backup and a user backup can be called.

11–2

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

SINUMERIK 840C (IA)
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Drive machine data

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SRAM buffered
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NCK data
DRAM not buffered

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DRAM not buffered

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PLC

SRAM buffered

PLC user program

memory
PLC memory
PLC system data

NCK data

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

Drive 611D

DRAM not buffered

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NCK

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•
•
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NCK data
PLC user program
611D configuration
and MD
Boot file 611D

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01.99
11 Data Backup/CPU Replacement
11.1.2 General notes on data backup

11.1.2 General notes on data backup

Loss of data occurs in case of
hardware defect on the module
hard disk defect
backup battery failure (loss of SRAM data)
withdrawal of modules CSB, NC CPU, MMC CPU
EMC influence

Data range

Hardware overview

MMC
SRAM

clock

TEA2
PLC machine data

Hard disk

MMC data
WOP data

Note:

The CSB battery is used for SRAM data buffering.

11–3

11–4
DRAM
Software and TEA3

FDD
SRAM

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Data mem.

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Monitor

PG S5

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NC keyboard

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DRAM

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DRAM

DRAM
Software and TEA3

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Hard disk

PG function
in MMC

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Centronics

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TEA2

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SRAM

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aaaaaaaa
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DRAM

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Streamer

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SW and
MD for
611D

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MMC CPU

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NCK CPU

FDD

611D

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TEA1
TEA4
SEA
RPA
IKA1
ZOA
TOA
GIA

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MPF
SPF
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aaaaaaaaaaaaaaaaaaaa
a

11 Data Backup/CPU Replacement
11.1.2 General notes on data backup
01.99

Overview of the data on the following modules:
PLC CPU

SRAM

User mem.

SW

System
data

Oper. sys.

DRAM

V24

PG PCIN

CSB

Battery
for all
data
in the SRAM

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

a
aaa
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© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

NC/Data

TEA1
TEA4

Startup/
Data

MMC CPU

TEA3

PLC CPU

PLC programs

User
programs

6FC5197- AA50

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Local
Global/
Workpieces

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User
directories

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IKA1
IKA2
IKA3

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a

GIA

PLC programs

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RPA
SEA
ZOA
TOA

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SPF

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aaaaaaaa
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NCK CPU

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01.99
11 Data Backup/CPU Replacement
11.1.3 Saving/loading NCK data

11.1.3 Saving/loading NCK data

Saving and loading RAM data from or to the hard disk

Area, softkey

Services
NC,
SAVE,
LOAD

Services
NC,
SAVE,
LOAD
Diagnosis

Machine data,
File functions
SAVE on disk,
LOAD from disk

TEA2

611D

Diagnosis
General reset mode
PLC backup
USER_PROG

Diagnosis
General reset mode
PLC general reset

LOAD
SAVE

Notes:

•

Workpieces can also be transferred from the ”Machine” area to the NCK while in the
automatic operating mode.

•

NC programs can be transferred from the ”Machine” area and ”Programming” areas (NC
editing) to the disk.

•

NC programs can also be saved and loaded in the ”Services” area.

11–5

11 Data Backup/CPU Replacement
11.1.3 Saving/loading NCK data

01.99

aaaaaa
aaaaaa
aaa

Procedure to save all RAM data on hard disk
Start

Services and data management operating areas

Diagnosis operating area

Select the PLC/programs directory

Set password, e.g. 1111

Copy file USER_PROG to the archive
and rename it

Programming operating area

Create a new workpiece in the local
or global directory

Diagnosis operating area

Startup
Services operating area
Machine data
SK "NC"
File functions
Place cursor on newly created workpiece
Input window must appear at bottom
SK "Save start"
Use SK ”Save on hard disk”
to save all MD under a new file name

Use ”Select” key to choose data type

Use file names (not for MPF and SPF) and SK ”OK” to save
MPF, SPF, TOA, SEA, ZOA and RPA data
(without IKA) (take note of channel No.)

(TEA1 to TEA4, IKA1 to IKA3
are being saved)

Diagnosis operating area
Place cursor on NC/data directory
General reset mode
SK "Save start"
SK "Save PLC"
Use ”Select” key to choose GIA
Query: Overwrite? Yes/No
(if available)
By using file name and SK ”OK” data are being saved
END

11–6

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aaaaaaaaaaaaaaaaa
a

Note:
When implementing tool management the data blocks used must be saved by PG.

Run a backup of customer-specific PLC data

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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01.99

1)

11 Data Backup/CPU Replacement
11.1.4 Data backup procedure via streamer

11.1.4 Data backup procedure via streamer

Connect the streamer, insert tape
without write protection

Select ”Backup”

”Setup/configure” options

”Setup streamer type”
Select type of streamer and tape

Select ”Restore/Backup”

Backup system
continue

Remark:

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

(No. 2) 1)
(No. 2)

Reading out is executed automatically. According to the amount
of data this can take considerably more than 30 minutes

After completion of the readout, label tape
and insert write protection.

As opposed to ”Backup system” (No. 2), with ”Backup user data” (No. 4)
only the user data can be saved.

Using the menu option ”Backup system” all data can be saved including additional options
such as WOP.

With ”Backup user data” only user data are saved.

Note:

”User data” must be available when upgrading software.

6FC5197- AA50

11–7

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11 Data Backup/CPU Replacement
11.1.5 Restarting after MMC CPU replacement
01.99

11.1.5 Restarting after MMC CPU replacement

Loading using the streamer (Restore)
Control ”ON” after MMC CPU replacement
MMC CPU with
system software

After switching on in the ”Diagnosis”,
”Startup” operating area,
select startup of the”Backup” menu

Set date/time

Connect streamer and set up the respective type of streamer
Select ”Restore/Backup”

Different software versions
1) MMC CPU without system software:
Insert backup tape ”Complete system” and read in.
2) MMC CPU with system software and same software version:
Insert backup tape ”Complete system” (same version) and
read it in using a ”Restore” system or read in backup tape
”User data” using ”Restore user data”.
3) MMC CPU with system software of a different version:
”Uninstall MMC system” may have to be carried out before reading in.
Proceed as in 2). Take note of upgrading instructions.
4) MMC CPU with user data ”SW upgrading instructions”:
See upgrading instructions
Save user data
Proceed with ”Uninstall MMC system”
Read in tape with new software version via ”Install MMC system”
Read in user data via ”Restore user data”.

Once reading in has been completed, switch system off and then on again

Load PLC MD from disk via Diagnosis/Startup/Machine data/File function

Carry out a PLC restart via PG or
Diagnosis/General reset mode

If required load data from disk to NCK

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

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aaaaaaaaaa
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01.99
11 Data Backup/CPU Replacement
11.1.6 Loading via V24 interface or FD-E2

11.1.6 Loading via V24 interface or FD-E2

Example: Replacement of MMC CPU
MMC software is loaded (same software version)

Enter password for Diagnosis operating area

Set date/time in Diagnosis operating area

Connect external device
Attention: FD-E2 requires booting from MMC

Select Services operating area/device

Load user data via V24 interface or floppy
via Data input/Input start

PLC MD, ”Load from disk” via Diagnosis/
Startup/Machine data/File function

Carry out a PLC restart via PG
or Diagnosis/General reset mode

If required load data from disk to NCK

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

11–9

a
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9) Set time and date

11) SK ”General reset mode”

11–10
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5) Area switchover key

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a

Since a loss of data has occurred (e.g. battery failure) a forced booting
of the system software is carried out. A forced booting of the PLC
software is a prerequisite for correct PLC installation and startup
(PLC general reset).

17) Cursor on

or

Standard data
Standard_T TEA1
Standard_M TEA1

© Siemens AG 1992 All Rights Reserved
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aaaaaaaaaa

3) Switch on control

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2) Select key position 4 on the CSB

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8) Vertical SK ”Clock/Date”

7) SK ”Installation and startup”

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6) SK ”Diagnosis”

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4) Control activates various alarm
messages while still in the reset mode

18) SK ”Loading from disk”

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11 Data Backup/CPU Replacement
11.1.7 Loading from hard disk (control startup with user data)
01.99

11.1.7 Loading from hard disk (control startup with user data)

Procedure for loading data from hard disk (HD) to RAM areas, e.g. after battery or CSB failure.
The sequence is also applicable for the first startup (series installation and startup). User data
must be loaded from external sources to the hard disk before the start.

Load NC, PLC, cycle machine data
1) Control is off

Position for installation and startup

Control is booted in general reset mode

12) SK ”Forced booting NCK PLC”

13) ”Recall” key

14) Vertical SK ”NCK -Power on”

15) SK ”Machine data”

16) SK ”File functions”

Load
standard
data TEA1

10) Set vertical SK

1

SINUMERIK 840C (IA)

6FC5197- AA50

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28) SK ”Loading start”

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)
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24) SK NC MD

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20) Cursor on
TEA2 TEA4

Standard

22) SK ”Loading start”

30) SK PLC MD

32) SK ”Cycles MD”

2

6FC5197- AA50
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19) SK ”Loading start”

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01.99
11 Data Backup/CPU Replacement
11.1.7 Loading from hard disk (control startup with user data)

1
!!!Data transfer from PC to NC in progress!!!

Loading standard PLC and TEA2,
TEA4 cycle data

21) SK ”Loading from disk”

!!!Data transfer from PC to NC in progress!!!

23) After completion of loading,
press ”Recall” key

Loading NC user data

25) SK ”File functions”

26) Place cursor on user file

27) SK ”Loading from disk”

!!!Data transfer from PC to NC in progress!!!

29) After completion of loading
press ”Recall” key twice

Loading PLC user data
(loading procedures for
PLC MD same as for NC MD)

31) After completion of loading
press ”Recall” key twice

Loading cycles machine data
(loading procedures for
cycles MD same as for NC MD)

11–11

No

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Drive boot file with
user data in binary
format available
on hard disk.
Startup of 611D
with TEA3 user data
not required.

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36) SK ”Formatting NCK UM”

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33) Select key position 0 on CSB

Warning:
Pressing SK ”Drive general reset” will erase the boot file
with the drive user data in binary format.

11–12

© Siemens AG 1992 All Rights Reserved

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Drive machine data cannot be loaded

while control is in general reset mode.

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11 Data Backup/CPU Replacement
11.1.7 Loading from hard disk (control startup with user data)
01.99

2
Position for normal operation

34) Press ”Recall” three times

35) SK ”General reset mode”
It is absolutely vital
to carry out
UM formatting of current MD

37) SK ”PLC general reset”

Branch

Startup with TEA3 user data

38) SK ”Drive general reset”

A

SINUMERIK 840C (IA)

6FC5197- AA50

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46) SK ”Loading start”

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)
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41) SK ”Drive MD”

48) Vertical SK
Accept ”Conf” + ”NCK PO”

6FC5197- AA50
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01.99
11 Data Backup/CPU Replacement
11.1.7 Loading from hard disk (control startup with user data)

39) SK ”Exit general reset mode”

40) SK ”Machine data”
Loading drive user data TEA3
Warning:
Digital drives must be switched in!

42) SK ”File functions”

43) Place cursor on required file

44) SK ”Loading from disk”

45) Set ”Config.” area
via toggle switch

!!!Data transfer from PC to NC in progress!!!

47) After completion of loading,
press ”Recall”

Boot file generated

49) Machine display faded in

50) Press area switchover key

51) SK ”Diagnosis”

52) SK ”File function”

53) Place cursor on required file

3

11–13

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58) Vertical SK
Accept ”All” + ”NCK PO”

11–14
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56) SK ”Loading start”

Note:
Missing data, e.g. TC, ZO, setting data
must be reloaded later.

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11 Data Backup/CPU Replacement
11.1.7 Loading from hard disk (control startup with user data)
01.99

3

54) SK ”Loading from disk”

55) Set ”Drives” area
via toggle switch
!!!Data transfer from PC to NC in progress!!!
Note:
PLC should be activated by this time
(only green LED light on the PLC CPU)

57) Press ”Recall” key

Boot file generated
Warning:
If this SK is not pressed,
all drive data will be lost
after ”Power on”!

59) Machine display faded in

60) Area switchover

61) SK ”Diagnosis”

62) Press ”Recall” key twice

63) SK ”General reset mode”

A
64) SK ”Exit general reset mode”

65) ”Machine area” key

66) END

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

01.99

11 Data Backup/CPU Replacement
11.1.8 CPU replacement

11.1.8 CPU replacement
NCK CPU replacement
Follow installation and startup instructions according to flow diagram ”Loading from hard disk”
(Section 11.1.7).
Note:
PLC data need not be loaded.
When replacing NCK CPU, items 8 to 14, 20 to 22 as well as 30, 31 and 37 to 63 do not
apply.
After completion of the installation and startup procedure, switch to ”Power on”.
Note:
Setting data, zero offset and tool compensation are missing.

PLC CPU replacement
Follow installation and startup instructions according to flow diagram ”Loading from hard disk”
(Section 11.1.7).
Prerequisite:
The current PLC fixed program is installed on the hard disk.
When replacing PLC CPU, items 8 to 10, 16 to 29 as well as 32, 36 and 37a to 63 do not
apply.
Caution:
The contents of data blocks (e.g. tool management) are missing.

MMC CPU replacement
Follow installation and startup instructions according to flow diagram ”Loading using the
streamer” (Section 11.1.5) or flow diagram ”Loading from hard disk”, steps 8 to 66.
Caution:
If MMC CPU requires replacement (e.g. because of a defective hard disk) ensure that no MMC
software is installed on the new hard disk and that not the same software version as on the
previous hard disk is installed.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

11–15

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PLC CPU replacement

11–16
Yes

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After MMC CPU replacement

No

Forced booting
NCK ”Power on”

Step 37

PLC general reset
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Steps 8 to 66

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11 Data Backup/CPU Replacement
11.1.8 CPU replacement
01.99

Start CPU replacement

Steps 1 to 7

Time
and date

NCK CPU replacement

Steps 11 to 15

Steps 15 to 19

Loading
standard data TEA1

Steps 30 to 31

Loading PLC
user data
Steps 23 to 29

Steps 33 to 35
Loading NC
user data

Position for
normal operation
Steps 32 to 36

Loading cycles
machine data
Formatting NCK UM

Steps 64 to 66

End of general reset

END OF SECTION

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

06.93

12 Functional Descriptions
12.1 Leadscrew error compensation 6FC5 150-0AH01-0AA0

12

Functional Descriptions

12.1

Leadscrew error compensation
6FC5 150-0AH01-0AA0

12.1.1 Corresponding data
•
•
•
•
•
•
•

NC-MD 316*
(Reference point pointer for + compensation)
NC-MD 320*
(Reference point pointer for - compensation)
NC-MD 324*
(Distance between 2 leadscrew error compensation points)
NC-MD 328*
(Compensation value)
NC-MD 344*
(Modulo value for rotary axis)
NC-MD 6000 to 6249 (Leadscrew error compensation points)
Option 6FC5 150-0AH01-0AA0

Note carefully:
Changes to NC MD data for leadscrew error compensation do not go into effect until after
completion of POWER ON and reference point approach.

12.1.2 Functional description
The principle of "indirect measurement" in NC controlled machines assumes that the pitch of
the leadscrew is constant at any point within the traversing range, thus allowing the actual axis
position to be derived from the position of the drive spindle.
However, varying deviations result from manufacturing tolerances in the various spindle
qualities. In addition, measuring system errors (although comparatively insignificant) and any
other possible machine-dependent errors must also be taken into account.
The checksum error can be determined by plotting an error curve over the entire traversing
range of the axis. The reference measuring system used must be a high-precision instrument,
e.g. a laser interferometer. The dimensional deviation at the workpiece can be significantly
reduced by means of compensating values which are input to the control at the time of
installation.
The errors in each axis can be compensated separately. To this end, a total of 1000 compensation points (positions) are available for all axes. The compensation position spacing for each
axis is selectable over a range of 1 to 32,000 units. It is possible to set a compensating value
of 0 to 100 units which is identical for all positions on each axis.
Leadscrew error compensation can also be used with C axes. Yet another difference
compared with earlier software versions concerns the "Direction-dependent leadscrew error
compensation": No positioning error now occurs when switching from follow-up mode to
position control mode, even if any changes of position during follow-up mode or a non position
control mode occur.
Caution:
Changes to NC MD data for leadscrew error compensation do not take effect until POWER ON
and reference point approach have been executed.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–1

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06.93

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12 Functional Descriptions
12.1.2 Functional description

Leadscrew

Spindle meter

Feed motor

Measuring equipment with
resolver gearbox

Spindle position

Ideal leadscrew pitch

Position measured (from
measuring equipment)

Actual leadscrew pitch

Slide position
Measuring error due to leadscrew error

Compensation point
1

500

1000

MD 6000

MD 6249

(4 comp. points per MD (8 bits)

Measuring leadscrew error compensation
The reference point is first approached to synchronize the measuring system. This is then
followed by travel to the negative range limit of the axis, commencing from this point to plot an
error curve in the positive direction using an accurate instrument; the reference point must be
identified.

Pos.
error

Spacing

Traverse
path

Reference point
Neg.
error

12–2

Neg. traversing limit

Pos. traversing limit

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

12 Functional Descriptions
12.1.2 Functional description

Because compensation is not possible at the reference point, the error curve must be shifted
so that the error is zero at the reference point.

Pos.
error

Spacing

Error=0

Reference point

Traverse
path

Neg.
error

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–3

12 Functional Descriptions
12.1.2 Functional description

06.93

The spacing between 2 leadscrew error compensation points (MD 324*) is then specified,
being based on the permissible tolerance of the final (compensated) leadscrew error curve, the
actual leadscrew pitch error and the number of possible compensating values.
The following method for determining the spacing between 2 leadscrew error compensation
points may be used:
S :
l :

Compensation amount, e.g. 1/2 tolerance band
Spacing between 2 leadscrew error compensation points

Maximum slope of
error curve

+F

S

S

Setpoint
position
-F

l

The point with the greatest pitch error is determined and the travel ( l) in which the specified
amount ( S) is passed through is established.
S :
l :

Compensation amount
Spacing = MD 324*

+
+
S

+

= MD 328*

-

-

-

-

-

+

l

The relevant compensating values for the spacing is based on the permissible tolerance band,
and should be selected so that the compensated error curve approximates as closely as
possible the ideal condition. The compensating value (0 to 100 units) is transferred to
NC MD 328*.

12–4

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

12 Functional Descriptions
12.1.2 Functional description

Spacing

Pos.
error

Error=0
Traverse
path
Neg.
error
Reference point

It is then specified how many compensating points must be supplied by means of the entered
spacing between 2 leadscrew error compensation points and the end stops at the machine.
Since leadscrew error compensation is only active when the axis is synchronized - at the
reference point - particular significance is attached to the compensation point coinciding with
the reference point. This compensation point is entered in encoded form in MD 316*. The
compensating value at this point must be 0.
793

1000

6000

6198

6249

0

198

Compensation point 1

NC MD

MD 316 *

249

In view of the fact that the SINUMERIK 840C has a total of 1000 compensation points for all
axes, the control must be informed via MD 316* as to which of these 1000 points corresponds
to the axis reference point. The compensation point is not entered directly in MD 316*, the MD
offset (MD 6125 = MD offset = 125) being entered instead, so the reference point can only
be located on compensation points 1, 5, 9, 13, 17, ... .

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–5

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12 Functional Descriptions
12.1.2 Functional description

MD No.

+
No
Yes

12–6
7

=
=
=
=

06.93

Bit No.

6

5

4

3

•
Reference point is to lie on compensation point 793

•
793 – 1
MD offset = ––––––––––= 198
4
MD offset 198 = MD 6198

2

1

© Siemens AG 1992 All Rights Reserved

0

6000
Comp. point 4
Yes/No +/Comp. point 3
Yes/No +/Comp. point 2
Yes/No +/Comp. point 1
Yes/No +/-

6001
Comp. point 8
Yes/No +/Comp. point 7
Yes/No +/Comp. point 6
Yes/No +/Comp. point 5
Yes/No +/-

6002
Comp. point 12
Yes/No +/Comp. point 11
Yes/No +/Comp. point 10
Yes/No +/Comp. point 9
Yes/No +/-

6248
Comp. point 996
Yes/No +/Comp. point 995
Yes/No +/Comp. point 994
Yes/No +/Comp. point 993
Yes/No +/-

6249
Comp. point 1000
Yes/No +/Comp. point 999
Yes/No +/Comp. point 998
Yes/No +/Comp. point 997
Yes/No +/-

0
1
0
1

Since 4 compensation points are available for each machine data, it is specified in the control
that only the point on the far righthand side (bits 0, 1) can be defined as the reference point.

Example

Value in MD 316* ... 198

As stated above, the reference point determines the compensation point at which leadscrew
error compensation is activated following reference point approach. No compensation is
allowed at this compensation point!

SINUMERIK 840C (IA)

6FC5197- AA50

06.93

12 Functional Descriptions
12.1.2 Functional description

Spacing

Pos.
error

Traverse
path

Error=0

Neg.
error
Reference point
790

793

813

Example
Axis 1 shows the error curve; no compensation points have been used as yet.
Reference point value is 0
Max. - travel:
- 35.000 mm
Max. + travel:
+ 205.00 mm
Tolerance band (prescribed by machine manufacturer), e.g. 0.01 mm
Spacing between two leadscrew error compensation points, e.g. 10 mm :
235 mm traverse path/max
A10 mm grid spacing

3 compensation values

205 mm traverse path/max+
20 compensation values

A+
10 mm grid spacing
Total number of compensation values:
K =( A-) +( A+) + (Ref) = 3 + 20 + 1

24 compensation values

The result is NC MD 3161 = 1 (NC MD 6001), i.e. compensation point K5 is the point that
corresponds to the reference point; compensation at this point is not allowed. Compensation
point K4 is used when travel goes 10 mm in a negative direction, and K6 when travel goes
10 mm in a positive direction.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–7

12 Functional Descriptions
12.1.2 Functional description

Pos.
error

11.92

Spacing
K3

K16

K5
K6

K20

K24

K17

Traverse path

Error
=0
Neg.
error
Reference point
+

++

–

–

+

Tolerance band e.g. 10 µm
Compensated curve
Compensation value e.g. 5 µm

Commencing at the reference point and proceeding in a negative direction, the error curve
runs to the end of the traverse path within the tolerance band. No compensation is necessary.
A better result is obtained through positive compensation at K3. To stick as closely as possible
to 0 error, compensation in a positive direction of travel must be negative at K6, positive at
K16 and K17, negative at K20, and positive again at K24.
The following machine data must be set:
•
•
•
•
•
•
•
•
•
•
•

Option leadscrew errror compensation
NC MD 3161 = 1 (to define K5 as reference point)
NC MD 3241 = 10000 (10 mm spacing)
NC MD 3281 = 5 (compensation value 5 µm for position control resolution of
1/2 x 10-3 mm)
NC MD 6000 = 00 11 00 00 (positive compensation at K3)
NC MD 6001 = 00 00 10 00 (negative compensation at K6; bits 0 and 1 must be 0)
NC MD 6002 = 0 no compensation
NC MD 6003 = 0 no compensation
NC MD 6004 = 00 00 11 11 ( positive compensation at K16 and K17)
NC MD 6005 = 00 00 10 00 (negative compensation at K20)
NC MD 6006 = 00 00 11 00 ( positive compensation at K24)

12–8

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

11.92

12 Functional Descriptions
12.1.2 Functional description

If the reference point is assigned to compensation point 793, breakdown of the 1000
compensation points is as follows:
Comp. point
1

790

813

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500

1000

Comp. point
793
NC MD 6198
NC MD 316* 198

The reference point determines the location of the hatched area of the compensation points
used. This area terminates at point 790 or 813 due to the spacing between the leadscrew error
compensation points and the maximum traversing range of the axis.
If leadscrew error compensation is used for a number of axes, the commissioning engineer
must ensure when entering the MD that the compensation points do not overlap, as no check
is carried out in the control. However, the gaps between the axes may be of any size, provided
the total range of 1000 compensation points is not exceeded.
In direction-dependent leadscrew error compensation, there is a second compensation curve
plotted from the positive to the negative direction.
In the case of ball screws, pre-stressing of the screw nut yields an identical error curve,
irrespective of the plot direction during measurement. When worm drives are involved,
however, significant differences may arise between the positive and negative directions of
travel. Consequently, an error curve must also be plotted in the negative direction and input as
compensation value.
The procedure is similar to that for entering the positive compensating values, ensuring that
the compensation ranges do not overlap between the positive and negative traversing
movements and between the axes. Since the reference point again determines with this
compensation curve where the compensation points lie within the 1000 points, the reference
point must be entered in NC MD 320* in encoded form (MD offset).
Example

Comp. point
NC MD
NC MD 320*/316*

618

641

790

813

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500

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Comp. point

621
6155

793
6198

155

198

Neg. direction of travel

1000

Pos. direction of travel

Both direction-dependent and direction-independent leadscrew error compensation are options,
and must therefore be ordered. MD modifications do not go into force until after POWER ON
and reference point approach. Because the compensating value at the compensation point
must be processed as quickly as possible, the specified acceleration value (NC MD 276*) is
not applicable in this case.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–9

12 Functional Descriptions
12.2 Rotary axis function

12.2

09.95

Rotary axis function

12.2.1 Corresponding data
Same data as for linear axes, plus the following additional or supplementary data:
•
•
•
•
•
•
•
•
•
•
•
•

NC MD 344*
NC MD 5052* bit 0
NC MD 560* bit 7
ND MD 560* bit 3
NC MD 560* bit 2
NC MD 564* bit 5
NC MD 572* bit
NC MD 5002
NC MD 1800*
NC MD 1800*
Alarm 100*
Alarm 2064

(Rotary axis modulo value for leadscrew error compensation)
(No automatic generation of G68)
(Actual-value display modulo 360°)
(Rounding for rotary axes)
(Rounding to whole/half degree)
(Position control for rotary axis)
(Programming of rotary axis modulo 360°)
(Input resolution)
(Display resolution)
(Position control resolution)
(Invalid grid spacing for leadscrew error compensation)
(Rotary axis programming error)

12.2.2 Functional description
Different demands are made on a rotary axis, depending on the type of machine involved. The
rotary axis function is therefore subdivided into three subfunctions. These subfunctions are
activated either over the machine data or the program.
The control can be adapted to the various machine types by combining subfunctions.
"Rotary axis": NC MD 564*

Bit 5

NC MD 564*, bit 5, declares the axis to be a rotary axis. The display is absolute (1 rev. 360°,
2 revs 720°, etc.), as are the @ functions. However, the axis is programmed as though it were
a linear axis. The units of the axis-specific NC MD are treated differently.
Unit 10-3 degrees for position control resolution 1/2 x 10-3 units and input resolution 10-3
units.
Deactivation of automatic G68: NC MD 5052

Bit 0

G68 is generated by the NC automatically the first time rotary axes with modulo calculation are
programmed in a part program or the first time they are programmed after a block search, i.e.
the programmed position is approached along the shortest path.
This action is not always desirable. For this reason a new machine data bit has been
introduced for deactivating this function the first time the axis is programmed. The user can
now define how the control is to behave the first time the axis is programmed with G68, G90
or G91. Automatic generation of G68 cannot be deactivated as here the user cannot influence
the program with programming commands.
Actual-value display "modulo 360°": NC MD 560*

Bit 7

When this bit is set, the display is modulo, i.e. it is reset to 0 after 359.999 degrees. The axis
is programmed like a linear axis.
"Modulo programming": NC MD 572*

Bit 2

Programming of the rotary axis may be absolute (G90) up to max. 360 degrees. The
programmed sign defines the direction of travel. Following a program start after a block search

12–10

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

12 Functional Descriptions
12.2.2 Functional description

with calculation, and with G68, the programmed position is always approached over the
shortest path.
G68 is modal and belongs to the G90/91 group. If "modulo programming" is not activated,
G68 is treated like G90.
If the rotary axis is not to traverse over the shortest path, it must be programmed with G90
and a sign.
Example: Axis is at 270 degrees

N12 G90 C-10

N10

0

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N11

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N11 G90 C10

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N10 G68 C10

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N12

90

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270

180

The machine data "Modulo 360°" and "Modulo programming" are permissible only in
conjunction with machine data "Rotary axis".
Subfunction combinations
Rotary axis
564* Bit5
0
1
1
1
1
0
0
0

Modulo prog.
572* Bit 2
0
0
0
1
1
0
1
1

Modulo 360°
560* Bit 7
0
0
1
1
0
1
1
0

Comments
MD
Linear axis
Use permitted

Use illegal

Axis-specific machine data
If an axis is defined as rotary axis (NC MD 564, bit 5), the following applies in dependence on
NC MD (input resolution and position control resolution):
a) 1 unit =
e.g.

2 units of position control resolution (reference system MS)
1 unit of position control resolution = 0.5 x 10-3 degrees
(NC MD 1800* = xxxxx 0101)
1 unit = 10-3 degrees
b) 1 unit =
1 unit of input resolution (reference system IS)
e.g.
1 unit of input resolution = 10-3 degrees (NC MD 5002 = x0100 xxxx)
1 unit = 10-3 degrees
All axis-specific machine data is specified in degrees for a rotary axis, e.g. max. speed of a
rotary axis = 15 revs/min
15 revs/min x 360 degrees/rev = 5400 degrees/min
Entry in NC MD 280* = 5400 (1000 degrees/min)
For combinations of the various types of resolution and max. values, refer to the Section on
axis installation/start-up.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–11

12 Functional Descriptions
12.3 Endlessly rotating axis (SW 4 and higher)

12.3

08.96

Endlessly rotating axis (SW 4 and higher)

12.3.1 Corresponding data
•
•
•
•
•
•
•

NC MD 330
NC MD 5024 Bit 1
NC MD 5025 Bit 1
NC MD 5025 Bit 6
NC MD 521* Bit 2
NC MD 584* Bit 0
NC MD 1152*

(dead time compensation for dwell)
(G200 after G [..] 105, G [..] 119)
(axis-specific G functions to PLC)
(activation of endlessly rotating axis)
(power-up as C axis)
(initial position of simultaneous axis)
(speed tolerance of an endlessly rotating axis)

•
•
•
•

Alarm 1300*
Alarm 1304*
Alarm 1308*
Alarm 1312*

(programmed axis is not a rotary axis)
(axis rotates endlessly)
(simultaneous axis incorrectly programmed)
(simultaneous axis incorrectly programmed)

General
With SW 4 and higher, a rotary axis can also be operated as an endlessly rotating
axis (ERA) 1).
The scope of functions of the existing rotary axis remains unchanged.
The "Endlessly rotating axis" functionality corresponds to that of a simultaneous axis. The
ERA is not restricted by block limits, in other words, it continues to rotate in the desired
direction at the desired speed provided no stop criterion is fulfilled (shutdown, axis reset,
error).
Furthermore, shutdown can be effected with a specified position.
The characteristics of the "Endlessly rotating axis" are as follows:
•

Axis is generally in position control mode

•

Speed setpoint resolution corresponds to set position control resolution

•

Feedrate input in input system * 10
Example: If the input system is set to 10-4 by means of machine data, then the smallest
programmable feedrate unit with G94 is active is calculated as follows:
10-4 mm * 10 rev/min = 10-3 mm/min.

The "Endlessly rotating axis" function is programmed by means of new axis-specific G
commands.
It can be controlled from several channels independently of the selected operating
mode.
•

The feedrate of the endlessly rotating axis is weighted with the axis-specific override.

1)

ERA is the abbreviation for endlessly rotating axis.

12–12

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50
SINUMERIK 840C (IA)

10.94

12 Functional Descriptions
12.3.2 Display of endlessly rotating axis

12.3.2 Display of endlessly rotating axis
The actual value display is the same as that for a rotary axis, i.e. it is dependent on existent
machine data, either absolute or modulo.
The axis-specific G commands can be displayed in all operating modes. A new softkey "Axisspecific G functions" is provided for this purpose. When this function is selected, the axisspecific functions are superimposed on the program pointer. The pointer is displayed again
when RECALL is selected.

12.3.3 Reaction of endlessly rotating function to NC-STOP and
NC-RESET
An "endlessly rotating axis" cannot be stopped by means of NC-STOP. To stop an axis
operating in this mode, the appropriate axis must be halted with the axis-specific feedrate stop
command (which is not in this case displayed) when NC-STOP is initiated. The motion of an
"endlessly rotating axis" cannot be stopped by means of a reset operation (key reset, mode
group changeover and M02/M30) either.
Endlessly rotating operation can be interrupted with the new axis-specific signal "Axis reset"
(in DB 32).
The "Endlessly rotating axis" function operates on a multi-channel basis, i.e. requests may
come from several channels which means that it is not possible to automatically derive a stop
or reset command for the appropriate rotary axis from an NC-STOP or RESET command in
one channel.
Note:
In contrast to a leading spindle, the leading axis in a channel is not defined; this means that,
unlike spindles, axes are not clearly assigned to any particular channel.
Through appropriate parameter settings in the PLC user program, the motion of the endlessly
rotating axis can be linked to other axes/spindles, to a channel or to a mode group and can
then be controlled as a function of the process. For this reason, no fixed settings are made by
means of machine data.
EMERGENCY STOP (alarm 2000) as well as all alarms which effect cancellation of the
interface signal "Mode group ready" always lead to shutdown of the "endlessly rotating axis"
(specific to mode group).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–13

12 Functional Descriptions
12.4 Dwell in relation to axes or spindles

12.4

09.95

Dwell in relation to axes or spindles

With certain technological processes (e.g. gear shaping/hobbing, etc.), a defined path (circular
movement or relief cut) must be traversed when the final infeed is reached. The infeed axis
must be retracted on completion of this programmed path. This function must operate with the
greatest possible accuracy.

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Infeed depth reached

Start of
retraction motion

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V

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12.4.1 Dead time compensation, NC MD 330

Infeed to end dimension

Tt1

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Tt0

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TIPO

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t

Tt0

Tt2

TR

Dwell

Return

V/t chart for infeed axis

Legend:
TIPO:

IPO sampling time

Tt0:

0 tt0 2 IPO
Since "Exact stop reached" and "Dwell path limit evaluated/detected" are
detected in the IPO cycle, the maximum possible "inaccuracy" will in this case
be two IPO cycles.

Tt1 + Tt2:

(4.5 IPO cycles) 840 C operating times (fixed time)

TR:

Total time calculated from the programmed dwell path, the present actual velocity
and the dead time to be compensated in the machine data.

The purpose of the dead time compensation is to ensure that the programmed dwell path is
applied as accurately as possible in spite of existing internal system operating times. The
deadtime to be calculated can be entered via a general machine data, NC MD 330. This MD
value is calculated in relation to the actual velocity when the end of the dwell path is reached.
An input of 5.5 IPO cycles (default setting: Refer to legend for velocity curve) is recommended
to the 840C system.
Note:
Deadtime Tto cannot be compensated.

12–14

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50
SINUMERIK 840C (IA)

09.95

12 Functional Descriptions
12.4.2 Extension of dwell (SW 5 and higher)

12.4.2

Extension of dwell (SW 5 and higher)

12.4.2.1

Corresponding data

•
•
•
•

NC MD 330 (Deadtime compensation for dwell with reference to the axis actual value)
NC MD 332 (Deadtime compensation for dwell with reference to the axis setpoint)
NC MD 333 (Deadtime compensation for dwell with reference to the spindle actual value)
NC MD 334 (Deadtime compensation for dwell with reference to the spindle setpoint)

Following functions are implemented:
•
•
•

Dwell at setpoint (G14)
Dwell at any spindles (S1 to S6, at G14 and G24).
Position-related dwell (G90) with overtravel direction (with G14 and G24 with
axes/spindles).

The different "dwell types" cause different deadtimes. For this reason, there are new machine
data for deadtime compensation (see above):
For description see Section 12.4.1 above.
Note:
During dwell in absolute positions (G90) the speed of the axis/spindle must not be larger than
Dmax so that overtravel beyond the dwell position is reliably detected. If the speed is
greater/lower than Dmax the dwell is terminated on the next IPO cycle.
Dmax[rpm] < 30000 / (Tab[ms] * (1+Kdead[%] / 100)))
Where:
Tab = IPO scan time in ms
Kdead = Deadtime compensation value in %
Example of standard machine data:
Tab = 16 ms, Kdead = 450%:
Dmax < 30000 / (16 + (1+4,5)) rpm = 340 rpm
Note:
•

The standard value for NC MD 330 has changed from 550 to 450 since SW 4.

•

No zero offsets or tool offsets are included for the axes.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–15

12 Functional Descriptions
12.5 Warm restart

12.5

11.92

Warm restart

12.5.1 Corresponding data
•
•
•
•
•
•
•
•
•
•

NC MD 360*
NC MD 316*
NC MD 320*
NC MD 453*
NC MD 876 to 899
NC MD 5156 to 5183
NC MD 5060 to 5139
Signal DB 48 DL 0 bit 0
Signal DB 48 DR 1 bit 0
Alarm nos. 70 to 80

(Axis valid in BAG)
(Pointer for leadscrew error comp.)
(Pointer for leadscrew error comp.)
(Spindle valid in BAG)
(Coupled axis groupings)
(Coupled motion combinations)
(Transformation data blocks)
(Initiate warm restart)
(Terminate warm restart)

12.5.2 Functional description
On some machines, it is necessary to assign arbitrary axes to a different mode group without
having to shut down the control, which would result in loss of the reference point.
Example
A machine has two working areas:
Area I with axis B'
Area II with axes B1'.
To ensure effectivity, the working areas are subdivided into different mode groups.
The three main axes (X, Y and Z) are assigned separately to working area I (mode group 1) or
working area II (mode group 2) over a warm restart. This necessitates use of a separate
machine control panel for each working area; main axes X, Y and Z are allocated to each
control panel.
The machine data can also be modified with @ functions by invoking a PLC cycle in a free
channel. A warm restart is required to modify the machine data listed in 12.3.1.
When working area I is in use, the three main axes (X, Y and Z), axis B', and the spindle are
allocated to machine control panel 1 and mode group 1.
Axes B1' can be traversed in JOG mode in working area II to load and unload a workpiece.
If the working areas are to be reversed, i.e. if working area II is to be used to machine a
workpiece and working area I for loading and unloading, the axis assignments must be
changed, i.e. there must be a switch to another mode group. When this switch takes place,
the axes are reassigned to the machine control panels.
An auxiliary function is assigned to each working area to help switch mode groups. The
relevant auxiliary function provides the information which the PLC needs to reassign the axes
and to make any necessary changes in the machine data. Once the machine data has been
modified, a warm restart (DB48, DL0, bit 0) must be initiated over the PLC interface. The
"warm restart" function reconfigures the control without necessitating subsequent
reapproaching of the reference points.

12–16

© Siemens AG 1992 All Rights Reserved

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SINUMERIK 840C (IA)

06.93

12 Functional Descriptions
12.5.2 Functional description

No warm restart is required following modification of the following MD:
•
•
•
•
•
•
•

104*
304*
548*
550*
552*
554*
576*

TO area number (modification goes into force at once)
IPO parameter name (modification accepted after each NC block)
Name of horizontal axis
(")
Name of perpendicular axis
(")
Name of vertical axis
(")
Axis with constant cutting speed
(")
Axis not permitted in channel
(")

A warm restart is possible only when all channels are in the RESET state, i.e. the PLC must
bring all channels to the RESET state, coupled motion and transformation must be deselected,
and all spindles must be brought to a standstill (when M19 is active) before the warm restart is
initiated.
The RESET state must be maintained in all NC channels while a warm restart is in progress.
The number of axes cannot be altered while the warm restart function is being executed. This
is only possible with POWER ON RESET.
During a warm restart, the axial, spindle-specific interface and the EMERGENCY STOP signal
on the NC PLC and PLC NC interfaces are not processed (control is in RESET state).
Functional sequence of a warm restart
1. NC

•

Data are written to NC MD 360* with the aid of CL 800 commands (can also be
implemented via PLC).
• Auxiliary function for warm restart request is output, e.g. H1234.
2. PLC • Auxiliary function is interpreted
• The PLC writes to NC MD 360* (also possible over (NC)
• Reset over PLC for all channels
3. NC
• All part programs are aborted (channels 1 to 16)
4. PLC • User sets interface: "Warm restart" 1 (DB 48 DL0 bit 0)
5. NC
• Sets interface signal "Warm restart terminated" 1 (DB 48 DR2 bit 0)
6. PLC • User resets interface: "Warm restart" 0
7. NC
• Resets interface "Warm restart terminated" 0
8. The warm restart has been completed and program execution may be resumed.
Errors
If incorrect machine data are encountered during a warm restart, the NC issues alarms 70 to
80. The acknowledgement signal "Warm restart terminated" is set. Once the machine data
that caused the error have been corrected, the alarm can be reset only by switching the
control off and then on again (POWER ON).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–17

12 Functional Descriptions
12.6 Coordinate transformation 6FC5 150-0AD04-0AA0

12.6

09.95

Coordinate transformation 6FC5 150-0AD04-0AA0

Coordinate transformation TRANSMIT (implemented from software version 1 onwards) is used
for face milling of turned parts (lathes). In order to implement this, a C axis and a powered
milling cutter are required in addition to the X and Z axes.
2D/3D coordinate transformation (implemented from software version 2) is required when
surfaces are configured on a plane (2D coordinate transformation) or in space (3D coordinate
transformation) in such a way that they can only be machined by the (real) axes by including
rotations (the tool being positioned as normal on the plane to be machined).

12.6.1 Corresponding data
•

•
•

•
•
•
•
•
•
•
•
•
•

NC MD 730 1st transformation, parameter 1
NC MD 731 1st transformation, parameter 2
NC MD 732 1st transformation, parameter 3
NC MD 733 1st transformation, parameter 4
NC MD 734 1st transformation, parameter 5
NC MD 735 1st transformation, parameter 6
NC MD 736 1st transformation, parameter 7
NC MD 737 1st transformation, parameter 8
NC MD 738 1st transformation, parameter 9
NC MD 739 1st transformation, parameter 10
NC MD 740 to 809 2nd to 8th transformation, parameter 1 to 10
NC MD 5060 Channel numbers of the transformation
NC MD 5061 G function for transformation selection
NC MD 5062 Axis name 1st fictitious axis
NC MD 5063 Axis name 2nd fictitious axis
NC MD 5064 Axis name 3rd fictitious axis
NC MD 5065 Axis name 1st real axis
NC MD 5066 Axis name 2nd real axis
NC MD 5067 Axis name 3rd real axis
NC MD 5068 Axis name 4th real axis
NC MD 5069 Axis name 5th real axis
NC MD 5070 to 5139 1st to 8th transformation data set
NC MD 5025 bit 3 Travel through transformation centre (SW 5 and higher)
NC MD 540* bit 7 Transformation cancellation
NC MD 564* bit 6 Fictitious axis
OPTION transformation TRANSMIT/2D/3D coordinate transformation
SIGNAL DB10-DB13 DR13 BIT 7 TRANSFORMATION ACTIVE
Alarm 2043 Programming error during transformation
Alarm 2189 Transformation undefined
Alarm 2190 Transformation axes assigned
Alarm 3086 Illegal transformation selection
Alarm 3087 Error in transformation data

12–18

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50
SINUMERIK 840C (IA)

09.95

12 Functional Descriptions
12.6.2 Functional description

12.6.2 Functional description
Whereas machine movements are executed in the real machine coordinate system,
programming is carried out in the ficticious (Cartesian) coordinate system. Fictitious axes must
be defined especially for the fictitious coordinate system. A fictitious axis can only be traversed
when transformation is selected. Fictitious axes can be selected freely with respect to their
axis name and their location. Up to eight transformations with varying axis groupings can be
defined in any one control. The definition consists of a transformation data set and the
associated parameters for each transformation.
The selection of the coordinate transformation is realized via G functions in the part program
or via the command channel from the PLC.
The following G functions are defined:
G131, G231, G331 coordinate transformation TRANSMIT
G133, G233, G333 2D coordinate transformation
G135, G235, G335 3D coordinate transformation
Coordinate transformation can be cancelled via G130, G230 or G330 in part program, or via
the command channel from the PLC.
It can be specified via NC MD 540* bit 7 whether cancellation occurs automatically on RESET
of after a change in the operating mode.
See Section "Coordinate transformation" for applications of the coordination transformation
TRANSMIT.
2D coordinate transformation - see Section "Coordinate transformation".
3D coordinate transformation - see Section "Coordinate transformation".
and in the Programming Guide to System 840C.
Note:
•

When TRANSMIT is implemented, the programmed path velocity is reduced to a level
where the maximum speed of rotation of the rotary axis is not exceeded. This applies
especially to movements near the turning centre.
The speed is also reduced in rapid traverse if the rotary axis is not involved in the
movement.

•

In the case of JOG mode, the feedrate reduction will only have a partial effect as the end
point of the movement is not known. This can lead to drops in the feedrate.

•

The use of angle head cutters is restricted in TRANSMIT mode, block search with
calculation triggers an alarm.

Notes on TRANSMIT for SW 5 and higher
•

Machining contours near the turning centre:
The new function calculates the permissible feedrate in the fictitious coordinate system as
a function of the current distance of the contour from the centre of turning and the MD
"Maximum velocity rotary axis" such that the path feed changes continuously.
In this way, the feedrate on the contour is always the maximum possible feedrate. At very
low feedrates, larger velocity fluctuations of the rotary axis can occur because of the
limited calculation precision.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–19

12 Functional Descriptions
12.6.2 Functional description

09.95

For this reason, there is a transformation-specific value "Minimum velocity for Transmit"
MD 738, 748, ... . The value is entered in units [IS] / IPO cycle. Tests have shown the
value 10 to be a useful default value.
Because the feedrate is not reduced further after a certain distance between the contour
and the centre of turning, the maximum velocity of the rotary axis can be exceeded. The
NC therefore goes below the "Minimum velocity for Transmit" if the rotary axis velocity is
more than twice as large as the permissible value. After that, the rotary velocity is limited
to the maximum possible value.
This means there are no longer any velocity fluctuations of the rotary axis and the contour
error that arises because the real setpoint of the rotary axis lags behind the setpoint
calculated from the transformation is reduced. The magnitude of the contour error depends
on the input resolution, the maximum velocity of the rotary axis and the MD "Minimum
velocity for Transmit".
•

Travelling through the transformation centre
With the new function the velocity of the rotary axis is always limited to the maximum value
independently of MD 5025.3.
It is also possible to travel through the transformation centre in JOG mode independently
of MD bit 5025.3.

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aaaaaaaaaaaa
a

12.6.3 The transformation data set
Bit No.

NC MD

5060
5061
5062
5063
5064
5065
5066
5067
5068
5069

12–20

7

6

5

4

3

2

1

0

Channel number of transformation

G function for transformation selection

Axis name 1st fictitious axis

Axis name 2nd fictitious axis

Axis name 3rd fictitious axis

Axis name 1st real axis

Axis name 2nd real axis

Axis name 3rd real axis

Axis name 4th real axis

Axis name 5th real axis

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

01.99

12 Functional Descriptions
12.6.3 The transformation data set

12.6.3.1 Definition of machine data for coordinate transformation

Rotation through

+Rotation through

+Rotation through X

Xn, Yn, Zn = rotated coordinates
X, Y, Z
= real coordinate system
U, V, W
, ,x

= fictitious coordinate system
= angle of rotation

The angle or real machine axis through which the associated axis rotates, is always
assigned to the 1st real axis (MD 5065).
The angle or real machine axis through which the associated axis rotates, is always
assigned to the 2nd real axis (MD 5066)
The angle or real machine axis through which the associated axis rotates, is always assigned
to the 3rd real axis (MD 5067).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–21

12 Functional Descriptions
12.6.3 The transformation data set

NC MD 5060 to 5069
NC MD
.. 5070 to 5079
.
NC MD 5130 to 5139

01.99

1st transformation data set
2nd transformation data set
8th transformation data set

Conditions for a transformation data set
a)
b)
c)
d)
e)

All axes and the channel must be assigned to the same operating mode group.
The transformation option must be available.
The transformation data are taken over internally by the control at restart (warm restart).
Definition errors cause Alarm 3087 to be output. The incorrect machine data is coded in
the block number in the alarm text.
NC MD 564* Bit 6 must be set for all fictitious axes.
The axis names of the real and fictitious axes of a transformation data set should not be
repeated. Using the same axis name with a different extended address is permitted.
7

6

5

4

3

2

1

extended address
(address number)

address name

key:

key:
X =
Y =
Z =
A =
B =
C =
U =
V =
W =
Q =
E =

blank
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=

0000
0001
0010
0011
0100
0101
0110
0111
1000
1001
1010
1011
1100
1101
1110
1111

Example:

0000
0001

0

Bit No.

0000
0001
0010
0011
0100
0101
0110
0111
1000
1001
1010

0010=Z
1001=Q1

Legal names for axes, angles, chamfer and radius
A
B
C
D
E
F
G
H
I
J
K
L
M

12–22

unassigned address
unassigned address
unassigned address
tool offset number
unassigned address
feed
G function
H function
interpolation parameter
interpolation parameter
interpolation parameter
subroutine
M function

N
O
P
Q
R
S
T
U
V
W
X
Y
Z

subblock
danger of confusion with 0 (zero)
subroutine - number of passes
unassigned address
arithmetic parameter
spindle speed, S function
tool
unassigned address
unassigned address
unassigned address
unassigned address
unassigned address
unassigned address

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

04.96

12 Functional Descriptions
12.6.4 Transformation parameters

12.6.4 Transformation parameters
730 - 739

1st transformation, parameters 1 to 10

Active on
Warm restart

Default value

Lower input value

Upper input value

Units

0

-99 999 999

99 999 999

units (IS)

740 - 749

2nd transformation, parameters 1 to 10

Active on
Warm restart

Default value

Lower input value

Upper input value

Units

0

-99 999 999

99 999 999

units (IS)

750 - 759

3rd transformation, parameters 1 to 10

Active on
Warm restart

Default value

Lower input value

Upper input value

Units

0

-99 999 999

99 999 999

units (IS)

760 - 769

4th transformation, parameters 1 to 10

Active on
Warm restart

Default value

Lower input value

Upper input value

Units

0

-99 999 999

99 999 999

units (IS)

770 - 779

5th transformation, parameters 1 to 10

Active on
Warm restart

Default value

Lower input value

Upper input value

Units

0

-99 999 999

99 999 999

units (IS)

780 - 789

6th transformation, parameters 1 to 10

Active on
Warm restart

Default value

Lower input value

Upper input value

Units

0

-99 999 999

99 999 999

units (IS)

790 - 799

7th transformation, parameters 1 to 10

Active on
Warm restart

Default value

Lower input value

Upper input value

Units

0

-99 999 999

99 999 999

units (IS)

800 - 809

8th transformation, parameters 1 to 10

Active on
Warm restart

Default value

Lower input value

Upper input value

Units

0

-99 999 999

99 999 999

units (IS)

The transformation parameters are needed for the 2D/3D coordinate transformation (and are of
no consequence for the TRANSMIT coordinate transformation up to SW 4).
From SW 5, transformation parameters are also required for Transmit (see description below).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–23

12 Functional Descriptions
12.6.4 Transformation parameters

12.93

Transformation parameters for 2D coordinate transformation
Parameter 1:
Parameter 2:
Parameter 4:

a
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaa
a

Parameter 10:

X shift of the real system in direction X relative to the fictitious origin
a 1 [unit: units (IS)].
Y shift of the real system in direction Y relative to the fictitious origin
a 2 [unit: units (IS)].
Angle of rotation of the real system relative to the fictitious system
[unit: 10-5 degrees].
Axis number which is used to calculate the G96 (constant cutting
speed).

a
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaaa
a

a
aaa
a
a
a
a
a
a
a
a
a
a
a
aaaa
a

Yfictitious

Yreal

a
aaa
a
aa
aa
aa
a

a
aaaa
a
a
aa
aaa
aa
a

Xreal

a
a
aaa
a
a
a
a
a
aa
a
a
aaa
aa
a

a2

a
a
a
a
aa
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a
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a
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a
a
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a
a
a
aaaa
a

Y

X

a
aaaaa
a
a
a
aa
aa
aa
a

a
aaaaa
a
a
a
aa
aa
aa
a

Xfictitious

a1

Transformation parameters for 3D coordinate transformation
Parameter 1:

X shift of the real system in direction X relative to the fictitious
system [unit: units (IS)].

Parameter 2:

Y shift of the real system in direction Y relative to the fictitious
system [unit: units (IS)].

Parameter 3:

Z shift of the real system in direction Z relative to the fictitious
system [unit: units (IS)].

Parameter 4:

Angle of rotation , which occurs when the real coordinate system is
rotated about the X axis (unit: 10-5 degrees].

Parameter 5:

Angle of rotation , which occurs when the real coordinate system is
rotated about the Y axis (unit: 10-5 degrees].

Parameter 6:

Angle of rotation X, which occurs when the real coordinate system is
rotated about the Z axis (unit: 10-5 degrees].

Parameter 10:

Axis number for axis which is used to calculate G96 (constant cutting
speed).

12–24

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

01.99

12 Functional Descriptions
12.6.4 Transformation parameters

rotation through

rotation through

rotation through X

Xn, Yn, Zn = rotated coordinates
X, Y, Z
U, V, W
, ,x

= real coordinate system
= fictitious coordinate system
= angle of rotation (angle from MD)

Transformation parameters for transmit
Parameter 9:

(MD 738...) minimum speed for transmit.
[Unit: units(IS)/IPO cycle]
Recommended value 10

On standard machines, the fictitious system rotates through the real machine coordinate
system.
In this case, the rotation begins with the 3rd real axis (X). The angle through which the
fictitious coordinate system is rotated, must be negated by a right-handed coordinating system
(see angle definition pictured above).
The angles, through which the fictitious coordinate system is rotated, are - in the case of a
Gimbal head millhead - equivalent to those of the axis positions of the rotary axis if these are
set up according to the norm in the direction of rotation.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–25

12 Functional Descriptions
12.6.5 Machine data for fictitious axes

11.92

12.6.5 Machine data for fictitious axes
MD 224*

Software limit switch

MD 228*

Software limit switch

MD 232*

Software limit switch

MD 236*

Software limit switch
The software limit switch need not be input if the fictitious working
area is outside the real possible working area, as the control always
restricts the fictitious software limit switch to the limit switch of the
A1R axis (linear axis of transformation).

MD 276*

Acceleration
The acceleration value must be calculated in such a way that the
real axes of transformation are not overloaded (minimum
acceleration value of A1R to A5R).

MD 280*

Maximum speed

MD 288*

JOG speed

MD 292*

Rapid JOG
The speeds can be freely selected, as they are monitored by the
control.

MD 304*

IPO parameter

MD 360*

Operating mode group of the axis

MD 564*

Bit 6

Fictitious axes
The axis is declared as a ”fictitious axis”.
Fictitious axes have no position control. The MD 200* measuring
circuit assignment is therefore meaningless.

MD 564*

Bit 7

Axis exists

MD 568*

Encoding of the axis name

MD 576*

Axis not permitted in channel

12–26

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

11.92

12 Functional Descriptions
12.6.6 NC PLC interface signals

12.6.6 NC PLC interface signals
•

In the case of fictitious axes, only the signals ”JOG, rapid overlay and handwheel 1,2 and
the input interface” are processed.
The output interface is neglected. The signal ”Reference point reached” is permanently
set to 1.

•

The program including the transformation is not stopped if the signal ”Axis disable” is set
for a real axis in the transformation grouping. In this way an offset occurs between the
transformation and the position control and it can be eliminated only by selecting
transformation.

•

If a real axis in the transformation grouping is switched into closed-loop control from the
follow-up mode, a reverse transformation of the fictitious coordinates occurs automatically.

•

If ”Feed hold” is applied to a real axis in the transformation grouping, this applies to the
entire grouping.

•

When ”Delete distance-to-go” occurs, the fictitious distances-to-go are cleared.

•

The signal ”Transformation active” is set in the channel-specific interface NC PLC for
every channel in which the transformation is active (see also Interface Description).

•

Warm restart is possible when transformation is selected if the transformation grouping
does not change the operating mode group.

•

Command channel
In order to traverse a fictitious axis in JOG mode, the relevant transformation must first be
activated in the channel assigned via machine data. The activation, i.e. the
selection/deselection, of the transformation is a function mode of the command channel.
Selection of coordinate transformation from the command channel is described in the
Interface Description, Part 1 "Signals".

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–27

12 Functional Descriptions
12.6.7 Explanation of the programming and operation of coordinate transformation

11.92

12.6.7 Explanation of the programming and operation of coordinate
transformation
•

Fictitious axes must not be programmed in the reset position (G130, G230, G330)
Alarm 2043.

•

A transformation may only be activated from the reset position, i.e. transition to a different
transformation is only possible via a previous deselection block.

•

Coordinate transformation is selected with:
G131 or G231 or G331 TRANSMIT
G133 or G233 or G333 2D coordinate transformation
G135 or G235 or G335 3D coordinate transformation
The selection block must not contain any traversing movements, auxiliary functions etc.

•

When transformation is selected, none of the real axes in the transformation grouping must
be programmed Alarm 2043.

•

Each selection/deselection of transformations is connected to the function ”Clear buffer”
(@714). The @714 need not be programmed as it is automatically initiated by the control.

•

Cutter radius compensation and tool nose radius compensation must be cancelled before
activating the transformation (due to @714).

•

Only one transformation can be selected at a time in any one channel.

•

Transformations which are running parallel in different channels must not refer to the same
axes Alarm 2190.

•

The plane definition given in the channel-specific machine data applies for the real system.
When a transformation is selected a plane is set for the fictitious system. The fictitious
plane is defined in the transformation data by assigning the fictitious axes. Deviations from
the base planes can be programmed explicitly via G16. The initial setting of the plane is
defined as G17 (A1F-A2F) in TRANSMIT.
G17 is automatically set when transformation has been selected. The plane which was
valid before selecting transformation is automatically restored after transformation has been
deselected.

Y

a
a
aa
a
aaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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a
a
a
a
a
a
a
aaaa
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
aaaa

A2F

G02

a
a
a
a
a
a
a
a
a
a
a
aaaaa
a
a
a
aaaa
aa
a
a
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a
aa
aa
aa
a

G03
G18

G02G03
G17

12–28

G02

a
a
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a
a
a
a
a
a
a
a
a
a
a
aaaa
a

a
a
a
a
a
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a
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a
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a
a
a

G03

G19

Z

X

A3F

A1F

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

11.92

12 Functional Descriptions
12.6.7 Explanation of the programming and operation of coordinate transformation

•

Transformation must not be selected or deselected within a contour block sequence.

•

Block search with calculation to a program part where transformation is active is permitted.

•

The automatic block search to a program part where transformation is active is not
permitted.

•

PRESET shifts of real axes are ignored in transformation.

•

Fictitious axes cannot be traversed with the handwheel. Real axes can only be traversed
with the handwheel when transformation is not active.

•

DRF is not possible with fictitious axes.

•

DRF is possible with real axes only when a program block is active (not for NC STOP).

•

The settable angle of rotation for coordinate system rotation (G54 to G57) must always be
ZERO.

•

The programmable angle of rotation for coordinate system rotation (G58, G59) must also
be ZERO when transformation is selected or deselected.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–29

12 Functional Descriptions
12.6.8 Examples of coordinate transformation

12.6.8

11.92

Examples of coordinate transformation

12.6.8.1 Example of TRANSMIT coordinate transformation
A transformation data set for the TRANSMIT transformation must be defined as follows:
NC MD 5060

Channel number of the transformation Example: 0000 0010 (binary form)
(channel 2)

NC MD 5061

G function for transformation selection

NC MD 5062

Axis name 1st fictitious axis (A1F)

NC MD 5063

Axis name 2nd fictitious axis (A2F)

G131
G231
G331

0001 0001
0010 0001
0011 0001

A2F
(Y1)

A1F
(X1)

NC MD 5064

Axis name of the infeed axis (real axis)

Example: 0000 0010 (Z)

NC MD 5065

Axis name of the 1st real axis (A1R) - linear axis

NC MD 5066

Axis name of the 2nd real axis (A2R) - rotary axis
A1R
+x

A2R
-c
+c

Infeed axis
+Z

NC MD 5067 to 5069 unassigned (Input: 1111 1111)
See NC Programming Guide for programming example.

12–30

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

12 Functional Descriptions
12.6.8 Examples of coordinate transformation

12.6.8.2 Example of 2D coordinate transformation
A transformation data set for 2D coordinate transformation must be defined as follows:
NC MD 5060

Channel number of the transformation
Example: 0000 0010 (binary form) (channel 2)

NC MD 5061

G Function for transformation selection

NC MD 5062
NC MD 5063
NC MD 5064

Axis name 1st fictitious axis
(A1F) -X1
Axis name 2nd fictitious axis (A2F) -Y1
Axis name of the infeed axis (real axis)

G133
G233
G333

0001 0011
0010 0011
0011 0011

Example: 0000 0010 (Z)

Y1
(A2F)

X1
(A1F)

NC MD 5065
NC MD 5066

Axis name of the 1st real axis (A1R) - linear axis
Axis name of the 2nd real axis (A2R) - rotary axis

a
aa
aa
a
aa
aa
aa
aa
a

Y1

Example: 0000 0000 (X)
Example: 0000 0101 (C)

a
aa
aa
aa
a

Y

a
aaaa
a
aa
aaa
a

X

X1

a
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aaaaaaaaaaaaa
a

X

a
a
a
a
aaa
aa
a
a
aa
aa
aa
aa
a

Y

X, Y
X1, Y1
X, Y

= real coordinate system
= fictitious coordinate system
= fictitious coordinate system offset
= angle of rotation

NC MD 5067 to 5069 unassigned (Input: 1111 1111)
See NC Programming Guide for programming example.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–31

12 Functional Descriptions
12.6.8 Examples of coordinate transformation

11.92

12.6.8.3 Example of 3D coordinate transformation
A transformation data set for 3D coordinate transformation must be defined as follows:
NC MD 5060

Channel number of the transformation
Example : 0000 0010 (binary form) (channel 2)

NC MD 5061

G Function for transformation selection

NC MD 5062
NC MD 5063
NC MD 5064

Axis name 1st fictitious axis
Axis name 2nd fictitious axis
Axis name 3rd fictitious axis

(A1F)
(A2F)
(A3F)

G135
G235
G335

0001 0101
0010 0101
0011 0101

- X1
- Y1
- Z1

Y1
(A2F)

X1
(Y1F)

Z1
(A3F)

NC MD 5065
NC MD 5066
NC MD 5067

Axis name 1st real axis
Axis name 2nd real axis
Axis name 3rd real axis

(A1R)
(A2R)
(A3R)

-X
-Y
-Z

a
a
a
aa
aa
a
a
aa
aa
aa
a

Y

a
aaa
a
aa
a
a
aa
aa
aa
a

Y1

a
aa
aa
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a

a
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aaaaaaaaaa
a

X1

Z1

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Z

a
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a
aa
aa
aa
a

X

X, Y
X1, Y1, Z1

= real coordinate system
= fictitious coordinate system

X, Y, Z

= to be input into the fictitious coordinate system

NC MD 5068 to 5069 unassigned (Input: 1111 1111)
See NC Programming Guide for programming example.

12–32

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

01.99

12.6.9

12 Functional Descriptions
12.6.8 Transformation machine data change without warm restart

Transformation machine data change without warm restart

Corresponding data
Machine data
•

NC MD 5017 bit 6

Transformation machine data change permitted during active
transformation

•

NC MD 5017 bit 7

Transformation machine data change effective without warm restart

General
If angles or offsets of the transformation data record are changed, these values are effective at
the next transformation selection - even without a warm restart.
In order for all required data to be available at the next transformation selection, all internal
data required for the transformation are instantly recalculated after each MD change (MD 730809). This is executed parallel to machining thus avoiding loss of machining time.
Functionality is effective on the following transformation types:
2D coordinate rotation and 3D coordinate rotation
Functionality is effective in the following MD area:
MD 730 - MD 809
Caution:
Machine data must be changed in time (approx. 100 ms) before transformation selection. This
can also be achieved by programming @714 before transformation selection.
A machine data change has no effect on active and current transformations.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–33

12 Functional Descriptions
12.7 Spindle functions

12.7

12.93

Spindle functions

12.7.1 Overview
The following spindle functions are available:
•
•
•

Speed-controlled spindle
Oriented spindle stop
Position-controlled spindle (C axis)

The individual spindle functions are produced with the following spindle modes:
•

Control mode

Spindle rotates with constant speed or cutting rate (open-loop
control of spindle speed)
Spindle rotates at constant motor speed setpoint (open-loop control
of spindle speed)
Spindle stops at a preset position (oriented spindle stop)
Spindle acts like a rotary axis (position-controlled spindle)

•

Oscillation mode

•
•

Positioning mode
C axis mode

•
•
•

Following error compensation for thread cutting
Multiple thread
Thread recutting

The principle improvements are:
•
•
•
•
•
•
•
•

Spindle speeds up to 99 999 rev/min without actual-value encoder
Spindle speeds up to 30 000 rev/min with actual-value encoder
Encoder-specific resolution
Monitoring of encoder cutoff frequency
Adjustable zero mark
Improved C axis mode
Higher C axis speeds
Improved positioning mode

General notes:
•
•

With a spindle speed of 0.1, the feed actual value indication in the basic display with
functions G95/G96 is too low by a factor of 10.
If the system includes several spindles, a function must always be assigned to the first
spindle.

12–34

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

12 Functional Descriptions
12.7.1 Overview

The diagram "Structure of spindle control" provides an overview of the functions available and
also the flow of data and commands. Data flows in the direction indicated:
Setpoints and control data
Actual values and status data
Switching commands
Status

NC

PLC

Command
channel

CONTROL UNIT
Switching logic
Mode switching
Monitoring functions

Link RAM

Open-loop speed control
Servo position control
Monitoring functions

Measuring circuits

Structure of spindle control

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–35

12 Functional Descriptions
12.7.2 Description of the spindle modes

12.7.2

11.92

Description of the spindle modes

The following is a description of the various modes in which the spindle may be operated. The
individual modes can be programmed by NC (part program MDA, overstore), PLC or command
channel (CC). The functions that are then available are given in each case.
The various command sources (NC, PLC or CC) have different priorities, i.e. they can interrupt
or interlock each other.
The various switching conditions and interlocks are dealt with in the section headed "Switching
logic".

12.7.2.1 Open-loop control mode
General
In the open-loop control mode, the spindle is issued with a setpoint for speed (or cutting rate)
and direction of rotation. The setpoint that has been input can be altered by "Speed override"
when necessary.
Actual value acquisition
•

The open-loop control mode normally requires no encoder for actual value acquisition
except if the spindle is to be used for thread-cutting or the "Revolutional feedrate" function
in which case an encoder must be mounted on the spindle.

•

If an encoder is fitted, it is also used in the open-loop control mode for monitoring and
displaying the actual values (of speed and position). The encoder must be mounted
directly on the spindle so that the actual speed and position of the spindle can be
measured.

Selecting the open-loop control mode
Open-loop control mode is selected by NC, PLC or command channel. The following
functions are possible:
PLC:

Request for open-loop control mode
• Constant speed and direction of rotation:
– IS:INITIALIZE
– set speed from MD 449*
– set direction of rotation with IS:SET ROTATION CW

CC:

Request for control mode
• Constant speed and direction of rotation:
– ”S external” function
– set S value (speed) and M3, M4 (rotation) or M5 (spindle stop) in user data of
command channel

NC:

Request for open-loop control mode
• Constant speed and direction of rotation
– programming of S value, M3, M4, M5, G94, G95, G97

12–36

•

Constant cutting rate
– programming of S value, M3, M4, M5 and G96

•

Thread-cutting
– programming of S value, M3, M4, M5 and G33, G34, G35

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

03.95

12 Functional Descriptions
12.7.2 Description of the spindle modes

Gear ratio changing
Gear ratio changing is only possible in the open-loop control mode. There can be up to eight
different ratios between motor and spindle.
A permitted range of speed can be laid down for each gear ratio by defining maximum and
minimum speed values. If the speed setpoint does not fall within the range of the gear ratio
that is currently active, the number of the required gear ratio is ascertained automatically and
entered into the interface to the PLC together with IS:CHANGE GEAR.
The PLC user program executes the gear change, acknowledges the request by resetting IS:
CHANGE GEAR and enters the new gear ratio into the interface.
If no suitable gear ratio for the programmed speed exists, no request for gear changing is
generated. The programmed speed is then transferred to the current gear ratio. So it is
important to ensure that there is always a suitable gear ratio available.
The behaviour of the spindle during gear ratio changing can be influenced by MD 521*, bit 5
"New S value after PLC acknowledgement". If the bit is set, the programmed speed setpoint
will only be accepted when the PLC has acknowledged gear ratio changing. This prevents an
unwanted increase in speed while still in the old ratio before changeover.

Data required
This section describes the data that is of particular significance to the open-loop control mode.
•

Limiting the speed
Parameters for maximum and minimum speed limits can be assigned for each gear ratio.
Parameter assignment is effected through the machine data:
– MD 403* to 410*
”Max. speed” per gear ratio
– MD 411* to 418*
”Min. speed” per gear ratio
If a gear stage is not used, the value zero must be entered for the maximum speed of this
gear stage and not the value in the standard machine data.
Regardless of which gear ratio is active, the speed is limited by:
– MD 451*
”Max. chuck speed”
– MD 448*
”Min. motor speed”
– SD 401*
”Programmable spindle speed limit for G96”; programmed with
G92
– SD 403*
”Programmable spindle speed limit”; programmed with G26

•

Limiting the acceleration
In order to avoid excessive acceleration when changing speeds, the setpoint is ramped up
or down accordingly by means of a ramp-function generator. The maximum value of
acceleration to be used is assigned by means of an acceleration time constant. A
separate acceleration time constant must be specified for each gear ratio employed:
–

MD 419* to 426*

”Acceleration time constant without position control”

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–37

12 Functional Descriptions
12.7.2 Description of the spindle modes

06.93

12.7.2.2 Oscillation mode
The oscillation mode can be used with gear ratio changing to facilitate engagement of the gear
by oscillating the spindle.
When switching from open-loop control to oscillation control, the speed setpoint is first
reduced to zero at the deceleration ramp defined by the active acceleration time constant. The
oscillation speed setpoint is then output.
Preconditions
The request for the oscillation mode comes from the PLC. The PLC user program sets the IS:
OSCILLATION SPEED. The following conditions must be satisfied:
•

IS:PLC SPINDLE CONTROL set

Parameter assignment
•

The motor setpoint for oscillation speed is issued by MD 450*. The sign of the setpoint,
and hence the direction of rotation, is determined by IS: SET ROTATION CW

•

There is no acceleration or speed limitation in the oscillation mode.

Implementation
•

The spindle is actually oscillated by the setpoint being output with an alternating sign. This
has to be implemented in the PLC user program by inverting IS:SET ROTATION CW.

12.7.2.3 Positioning mode (M19, M19 through several revolutions)
General
In the positioning mode, the spindle is driven to a preset position under position control and
stopped there. The position is reached either directly (M19) or through several revolutions
(M19tsr).
Position control and actual value acquisition
•

Actual value acquisition is needed for position control. Therefore, an encoder must be
mounted directly on the spindle.

•

The reference point for the angle measuring system is the zero mark of the encoder. A
permanent offset to the zero mark can be established by using the zero mark shift
(MD 459*).

Accuracy
•

The position is entered with an accuracy of 0.01o. The positioning accuracy achieved by
the spindle depends on a number of factors:
– The resolution of the angle measuring system
– The gain factor of the active gear ratio
– The drift
– The interfacing to the drive system.

Restrictions
•
•

Gear ratio changing cannot be employed in the positioning mode.
M19 must not be activated or programmed when the G96 function is active.

12–38

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

11.92

12 Functional Descriptions
12.7.2 Description of the spindle modes

Selecting the positioning mode
Positioning mode can be selected by NC, PLC or command channel. The following functions
are available:
PLC:

Request for M19
• IS:POSITION SPINDLE
– set position from MD 452*

CC:

Request for M19tsr
• ”Incremental spindle positioning” function
– set incremental traversing path in user data of command channel
– spindle override remains active

NC:

Request for M19
• M19 in part program or during overstore
– set position as S value
– set position from setting data (SD 402*) if no S value has been programmed.

Data required
This section describes the data that is of special significance to the positioning mode.
A detailed description of the machine data and setting data will be found in the Section "NC
Machine Data (NC MD)/NC Setting Data (NC SD)".
•

Position
An absolute position is given in response to a request from the NC or PLC. The position is
specified by S value, machine data or setting data. The values must be within the range 0
to 359.99° and the entry must be to an accuracy of 0.01°.

•

Distance traversed
An incremental path is given in response to a request from the command channel. This
path is specified in the user data of the command channel and can be more than one
revolution. The size is only limited by the numerical format. The value must again be
accurate to 0.01° and its mathematical sign determines the direction of rotation for
positioning.

•

Override factor
The speed during positioning can be influenced by the spindle override factor.

•

Other data
Positioning is effected with interpolation guiding and under position control. The following
data is needed:
– Maximum permitted speed during positioning
– Maximum permitted acceleration
– Gain factor
– Position window
This information is transferred to the user data on request from the command channel.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–39

12 Functional Descriptions
12.7.2 Description of the spindle modes

06.93

When there is a request from the NC or PLC, the corresponding machine data of the
active gear ratio is used, which is:
–
–

MD 427* to 434*
MD 478* to 485*

–
–

MD 435* to 442*
MD 443*

”Creep speed for M19” as max. speed during positioning
”Acceleration time constant with position control” for
limiting the acceleration rate during acceleration and
deceleration
”Gain factor” for the position controller
”Position tolerance” for establishing the position window
(regardless of the active gear ratio)

If the gain factor is required to be changed in the positioning mode, the following will also
be needed:
–

MD 469*

”Factor for gain changing”

The positioning sequence
This section describes in detail the principle of the positioning sequence since it is now
different from the conventional spindle control.
To begin with, it is necessary to distinguish between absolute positioning (M19 from NC or
PLC) and incremental positioning (M19tsr from command channel).
•

Absolute positioning (M19)
The spindle is to be brought to a preset angular position as quickly as possible and
stopped there. Driving to a particular position is only possible if the spindle is synchronized
with the encoder, i.e. if the zero mark has been overtravelled once. It is only then that the
absolute position of the spindle can be defined.
1. Spindle synchronized with encoder
a) Spindle stopped
The spindle is driven to the preset position by the shortest path. This means that
the path to be traversed is always within the range -180 to +180°. Determining
the shortest path also determines the direction of rotation.
The maximum speed attained during positioning is the creep speed.

n

Creep speed for M19

t
Speed characteristic for case 1a

12–40

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12 Functional Descriptions
12.7.2 Description of the spindle modes

aaaaaaaa
aaaaaaaa
aaaa

0°

Example
aaaaaaaa
aaaaaaaa
aaaa

aaaaaaaa
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aaaa

11.92

Actual position:

315°

Programmed position:

+135°

a
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a

Shortest path:

90°

Example for case 1a

b) Spindle running
The spindle is driven to the specified position as quickly as possible, without
changing the direction of rotation.
The nearest position at which the spindle can be stopped is calculated from the
actual position and the deceleration distance based on the momentary speed. The
spindle is driven to the specified position in the direction of travel. The sum of this
required distance and the deceleration distance then gives the distance to be
traversed, which is covered as quickly as possible.
If the actual speed is less than the creep speed, the spindle is accelerated up to
and no further than the creep speed.
If the actual speed is greater than the creep speed, the spindle decelerated until
the creep speed has been reached (MD 427*). Then the M19 position is
approached with interpolation until the spindle can be stopped at the specified
position utilizing maximum deceleration.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–41

12 Functional Descriptions
12.7.2 Description of the spindle modes

06.93

n
Creep speed for M19
Speed at beginning of positioning
Beginning of positioning

t

Speed characteristic for case 1b (actual speed < creep speed)

n
Dwell from MD 419*
Creep speed for M19
Speed at beginning of positioning
Beginning of positioning
Dwell from MD 478*
t
Speed characteristic for case 1b (actual speed creep speed)

12–42

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12 Functional Descriptions
12.7.2 Description of the spindle modes

aaaaaaaa
aaaaaaaa
aaaa

11.92

aaaaaaaa
aaaaaaaa
aaaa

a
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a

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aaaaa

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aaaaaaaa
aaaaaaaa
aaaa

0°

Example
Actual position:

315°

Actual rotation:

positive

Programmed position:
Nearest position at which spindle
can be stopped:
Distance to be traversed in addition
to the deceleration distance:
Total distance to be traversed:

90°
270°
+180°
+495°

Example for case 1b

2. Spindle not in synchronism with zero mark
In this case, neither the actual position nor the distance to be traversed can be ascertained
correctly.
Therefore, the spindle is first driven at creep speed (MD 427* to 434*) until the zero mark
of the encoder is recognized.
This allows the internal actual-value counter to be synchronized with the encoder. The
remainder of the positioning sequence is identical to that of case 1b.
If, when M19 is selected, the spindle rotates at a speed above the encoder cutoff
frequency (MD 462*), the spindle is first decelerated under control to the creep speed.
If the speed of the spindle is below the limit speed, it must be resynchronized. Continue
then as in case 1b).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–43

12 Functional Descriptions
12.7.2 Description of the spindle modes

06.93

n
Creep speed for M19
Recognition of zero mark

t
Speed characteristic for case 2

The following applies when selecting the creep speed:
The drive must have sufficient acceleration reserves in the speed range below the creep
speed, corresponding to the programmed acceleration for position-controlled spindle operation.
The values in the preset range (100 rev/min to 500 rev/min) are generally suitable.
If the spindle leaves the target position when function M19 is selected (e.g. by being pushed
out of position when the closed loop control is switched off), it is returned to the target position
using interpolation when the servo enable is reactivated.
If the closed loop control is disabled while the position is being approached, the positioning
operation restarts when servo enable is restarted, if M19 is still selected.
•

Incremental positioning
There are two preconditions to be fulfilled in this case:
–
–

spindle stopped
spindle synchronized with encoder

The specified angle in this case is not the position to be reached but the distance to be
traversed. The starting point for this distance is the last position to which the spindle was
driven (last M19 position). The direction of rotation is determined by the sign of the
programmed path.
If the spindle has not been driven to an absolute position before incremental positioning is
carried out for the first time, the starting point is assumed to be 0°.
It is possible, e.g. due to drift, that the actual position does not agree with the last M19
position. In this case the discrepancy is included in the distance to be traversed.
The actual position can be uniquely defined only within one revolution (0 ... 360°). Since
one assumes that the spindle has moved little since the last positioning, the difference is
defined in the range -180 to +180°.

12–44

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

11.92

12 Functional Descriptions
12.7.2 Description of the spindle modes

n
Max. speed from DB user data

t
Speed characteristic for incremental positioning

a
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0°

a
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aaa
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a

Examples

Last M19 position:
Actual position:
Specified travel:

0°
270°
+180°

This means that the spindle has moved 90° from the last M19 position in the opposite
direction to the specified direction, so the total is:
Distance to be traversed:

+270°

Example 1

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–45

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a

12–46
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12 Functional Descriptions
12.7.2 Description of the spindle modes

Actual position:

last M19 position:

Specified travel:

Distance to be traversed:

11.92

0°

90°

0°

–180°

The spindle has thus moved 90° from the last M19 position in the specified
direction, so the total is
–90°

Example 2

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

11.92

12 Functional Descriptions
12.7.2 Description of the spindle modes

Gain factor change
In the positioning mode it must be possible to drive the spindle to a target position from full
speed under position feedback control. The spindle must be held at the target position even
when there is drift.
To ensure that the spindle is steady at rest, even in the presence of drift, very small set
speeds with very high resolution must be given to the drive actuator via the analog interface.
The speed setpoints are transferred as voltage signals via the analog interface between control
system and drive actuator. Under some circumstances the control behaviour can be improved
by increasing the voltage level (relative to the set speed) because it enables a higher
resolution to be achieved and the analog interference noise can be reduced.
Consequently, with some drive actuators, such as the SIMODRIVE 650, a different scaling for
the set speeds (voltage levels) can be selected by applying a configurable terminal signal.
This changing of the scaling in the drive actuator must be allowed for in the control so that,
overall, the effective gain factor remains the same. The gain factor (dependent on gear ratio,
MD 435* to 442*) must be adapted to the new scaling.
The factor for gain changing is entered as machine data. The value is calculated from:
MD 469* =

1
N

where N =

scaling factor in the drive
actuator

Changing of the gain factor must be initiated by the PLC user program with the interface signal
CHANGE GAIN FACTOR (DW K + 1, bit 15).

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The diagram below is intended to illustrate the changeover process using SIMODRIVE 650 as
an example.

SINUMERIK

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Terminal for M19

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IS:CHANGE GAIN FACTOR

SIMODRIVE

a

b

Following
error

Gain
factor

DAC

MD
469*

ADC

P-54

Simplified block diagram

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–47

12 Functional Descriptions
12.7.2 Description of the spindle modes

11.92

Referring to the SIMODRIVE 650 Operating Instructions will explain the following:
P-54:

Normalization factor for set speeds
(M19 mode)

Terminal for M19:

Terminal configurable with P-83 to P-85

The block diagram shows that MD 469* and the SIMODRIVE parameter P-54 must add up to 1
in order to obtain the same effective gain factor between points a and b with or without
changeover.
It is also apparent that, for stable control behaviour, the changeover of the gain factor and the
speed normalization must always take place simultaneously. Only then will the effective gain
factor remain the same.
Gain factor change in the positioning mode
In order to position the spindle from full speed, it must first be possible to transfer the
maximum speed setpoints. Consequently, when the positioning mode is started, neither
changeover of the drive actuator scaling nor changeover of the gain factor must be activated.
Changeover should only be effected when the spindle has come to rest. Therefore, it is
sensible for it to be done when the interface signal SPINDLE STOPPED has been set by the
NC system.
In all cases it is essential for the value of speed setpoint (voltage level) to be transferred to be
less than 10 V after changeover.
If the spindle is to be positioned several times in succession, it can be convenient for
changeover to remain activated at the start of the second positioning sequence and the
subsequent ones. However, then it will be necessary to ensure that the maximum speed
attained during positioning (see section headed "The positioning sequence") is less than the
speed that can be transferred via the analog interface at a maximum of ± 10 V.

12–48

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

12 Functional Descriptions
12.7.2 Description of the spindle modes

Aborting the positioning mode
The specified position is regarded as having been reached (or the distance as having been
traversed) when the spindle is within the position window. This is signalled to the PLC by
setting IS:SPINDLE POSITION REACHED.
The position is held under position control until the M19 function is aborted. The conditions for
aborting are as follows:
•
•
•
•
•

IS ACKNOWLEDGE M19
M3/M4 in part program or command channel
Select C axis or synchronous mode
Program end
Reset

Abort behaviour can be influenced by MD bits (see section headed "Switching logic").
Setting IS:SPINDLE DISABLE or resetting IS:SERVO ENABLE interrupts the positioning mode.
If the signal is reset again or set again, positioning is continued, but with the following
exception:
•

If the positioning mode was selected from the command channel, it will be interrupted if
IS:SERVO ENABLE is reset. An error message will be entered in the user interface.
Positioning will not be continued, however, if the signal is set again.

Curved acceleration characteristic (SW 4 and higher)

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When induction motors are used (spindle operation), allowance must be made for their speeddependent acceleration capability in position-controlled operation:

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TorqueM

Constant
power

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Constant
torque

Rated speed

Fig. 1

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nmax

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nn

M 1/(n*n)

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M 1/n

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M = const

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Breakdown limit

Speed n

Torque characteristic of induction motor

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–49

12 Functional Descriptions
12.7.2 Description of the spindle modes

10.94

At speeds (n) above rated speed (nn), the drive acceleration capability decreases in relation to
the speed. Immediately above rated speed nn, there is a range of "constant power" in which
the torque (and thus also the acceleration capability) drop in proportion to 1/n. When speed n
increases further, there is a range ("breakdown limit") immediately above speed nk in which
the torque decreases in proportion to 1/(n*n).

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The required parameters are selected and set in the MSD drive unit.
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Speed

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The obtainable linear ramp-up time constants
increase out of proportion for higher speeds

Setpoint

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nk

T1

Fig. 2

T2

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nn

Time

Speed characteristic during acceleration (thick line)

Figure 2 shows the speed characteristics which are obtained when the acceleration capability
is fully utilized.
In speed-controlled operation, the drive accelerates either according to the acceleration rate
(dashed line for T2 in Fig. 2) set in MD 419* (ramp-up time constant T in open-loop control
mode) or, when the ramp-up time constant is shorter, optimally in terms of time along the
current limit.
With software versions up to and including SW 3, the ramp-up time constant in MD 478* for
position-controlled operation must be set such that the current limit must not be reached
when the drive accelerates to maximum speed to avoid the risk of instability or overshoot on
positioning. The maximum acceleration capability of the drive cannot be fully utilized.
In the new software version, a speed-dependent acceleration characteristic, which can be
adapted according to the prevalent physical conditions (speed-dependent adaptation), is
implemented for the position-controlled spindle operating modes (most important application:
Open-loop controlled operation of a leading spindle in the synchronous spindle or ELG
grouping).

12–50

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

12 Functional Descriptions
12.7.2 Description of the spindle modes

In main spindle drives, the torque is limited as follows (cf. Fig. 1):
•
•
•

Constant torque up to rated speed nn:
Constant power above rated speed
up to breakdown speed nk:
Power reduction at higher speeds up to nmax:

Torque = const
Torque 1 / n
Torque 1 / (n*n)

Allowance is made for these characteristics in the control in the form of an acceleration
adaptation which is simple to parameterize:
•

Constant acceleration (according to MD 478* as with previous SW) up to a freely settable
speed limit nx.
The speed limit nx is entered via a new MD 2471* - MD 2478* which parameter-setspecific.

•

Above speed limit nx, the acceleration rate is reduced according to the equation:
Acceleration= MD 478* nx / n
n: Present speed

It may to be necessary to make allowance for the acceleration characteristic of the induction
drive which drops in proportion to 1/(n*n) above the speed range of constant power. This can
be achieved approximately by means of an additionally applied adaptation factor c (MD 2479* MD 2486*):
for n nx
for n>nx

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Acceleration= (MD 478*)
Acceleration= (MD 478*) * [nx / (n * c)+(c - 1) / c]

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Acceleration

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MD 478*

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c>1

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c=1

Fig. 3

nmax

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nx

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0

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c<1

Speed n

Possible shapes of acceleration characteristic when adaptation factor is varied. For c = 1 (1 = 100 %),
the acceleration above speed limit nx is reduced in inverse proportion to the speed.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–51

12 Functional Descriptions
12.7.2 Description of the spindle modes

10.94

When speed nx is set to the same value as limit speed nmax or when "0" (default setting) is
input, the acceleration characteristic is the same as that obtained with previous software
versions, i.e. without characteristic curvature (break point above maximum speed).
When "1" is entered for adaptation factor c, the acceleration rate is reduced according to the
speed value reciprocal (1/n) above limit speed. This reduction rate can be increased
("steeper" acceleration characteristic) or decreased ("flatter" acceleration characteristic) as
required by entering values lower or greater than "1" (i.e. 100 %).
In M19 operation, the search speed is limited internally to nx.
With the exception of the parameter set extension, the acceleration response obtained with
previous software versions is still only available in C-axis operation, i.e. it is not possible to
adapt the acceleration rate to the speed value.
It is not necessary to parameterize the characteristic for spindles which are not operated in
synchronous groupings or which are equipped with feed drives.
As with previous software versions, the acceleration characteristic is parameterized by the
user according to technological requirements. In this case, analog and digital drives are treated
in the same way. Automatic adjustment using drive data (e.g. breakdown limit) does not take
place. It is thus possible to set the load side parameters (acceleration characteristic) and the
drive side parameters (protection of motor and power section) independently.
The "Curved acceleration characteristic for spindles" is operative in the following spindle
operating modes:
•

Open-loop control mode (M3, M4, adjust PLC):
The setpoint speed is specified according to the "Curved acceleration characteristic" when
the position controller is active at the same time (main application: Leading spindle in
synchronous spindle group).

•

Positioning mode (M19, positioning from PLC or command channel):
The maximum positioning speed is limited to nx ("Limit at which acceleration adaptation
takes effect", MD 2471*).

12–52

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.01

12 Functional Descriptions
12.7.2 Description of the spindle modes

12.7.2.4 C axis mode
General
In the C axis mode the spindle is operated as a position-controlled rotary axis. As such, it
can be included in the interpolation with other axes (e.g. TRANSMIT coordinate transformation).
General notes:
•

Feed STOP is not displayed if a C axis is referenced in spindle mode with G74.

•

Block changes are not prevented nor are any alarms output if M19 is programmed when
C-axis mode is active.

•

No negative acknowledgement of command channel by alarm 109 on "S-external start" in
active C-axis mode.

•

No feed display when an attempt is made to traverse a C axis conventionally in spindle
mode.

•

IKA can be switched off before switching from C axis mode to spindle to avoid NC axis
alarms (e.g. 168*). As from SW 6, this can also be done via the PLC (DB48).

If a C axis has two measuring systems, the second measuring system is always that of the
spindle, MD 400*. MD 1388* and MD ”2nd MS exists” have no effect with spindle C axis
combinations. Measuring circuit switchover is set such that after a C axis switchover the
spindle encoder is effective until the axis-specific interface signal ”Measuring circuit 2 active”
has been evaluated. For C axes with one measuring system, the 1st measuring system must
be the same as that of the spindle.
Assignment and parameterizing
•

Each spindle can be assigned just one C axis by means of the machine data
(MD 461*). Like all axes, this must be parameterized via the axial machine data.

•

When switching from the spindle to the C axis, the spindle zero speed tolerance in MD
446* is decisive.

•

Before switching to C axis operation, gear switchover and PLC spindle control must be
acknowledged.

Position control and actual value acquisition
•

In the C axis mode, the position controller works with the axial servo gain factor which
must be adapted to the active gear ratio between motor and spindle. Therefore, no gear
ratio changing is possible in the C axis mode.

•

If the spindle encoder is not sufficiently accurate for the C axis mode, a separate encoder
can be used. An alternative is to use a double-track encoder - one track for the C axis
mode and the other for the remainder of the spindle modes.

•

However, the axis-specific signal IS:REFERENCE POINT REACHED is not set, so it is
also possible to employ reference point approach for the C axis (see also the section
headed ”Synchronizing and referencing”).

•

If reference point approach for the C axis is not to be used, MD 560*, bit 4 ”No start
disable for reference point” must be set.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–53

12 Functional Descriptions
12.7.2 Description of the spindle modes

01.99

Selection and deselection of the C axis mode
Selection and deselection of the C axis mode is effected by the NC system (part program,
MDA, overstore) with customer-specific M functions. The numbers of the functions are stored
in the machine data (MD 260, 261). The address extension as for spindles must be used in the
programming.
The C axis mode can only be selected when the spindle is at rest. The USET/RSET switch in
the user data of the "S external" command channel function must not be set and IS:PLC
SPINDLE CONTROL must not be set.
The PLC system must enable selection of the C axis mode with IS:INITIATE C axis MODE. If
necessary, the PLC user program must stop the spindle beforehand (e.g. M19 from PLC) and
change over to the correct gear ratio.
The C axis mode can only be deselected with the appropriate M function or a hardware reset
(depending on MD).
C axis operation cannot be deselected with an M function if the PLC spindle control is active.
If a spindle in one channel is switched to the C axis, deactivation should be executed in the
same channel. If deactivation is to be executed in another channel, channel assignment of the
spindle has to be implemented beforehand.

Block search via blocks with M functions for C axis ON/OFF
The M functions for C axis ON or C axis OFF are skipped during block search operations
regardless of whether auxiliary functions are output or collected during these operations.
These is no reaction to these functions being skipped, even if one of them is programmed in
the target block.
If necessary, the user must execute an overstore operation to make sure that the C axis is in
the correct operating mode.

C axis synchronization (SW 4 and higher)
Corresponding data
NC MD 521* bit 2

Ramp-up as C axis

Since only one absolute system exists for the spindle and associated C axis, the C axis is also
synchronized with the zero mark, i.e. quasi referenced, after synchronization of the spindle.
•

On switchover from spindle mode to C-axis mode, "Axis referenced" will be set or not
depending on the state reached beforehand (i.e. spindle synchronized with zero mark or
not).

•

If the spindle is not synchronized at the instant of operating mode switchover, then "onthe-fly" synchronization with the next zero mark of the C-axis encoder is executed when
the C axis is traversed in C-axis mode, i.e. "Axis referenced" is set even without a
reference point approach process.

The status signal "Axis is referenced" is cancelled (as with previous SW versions) if the
encoder limit frequency is exceeded in C-axis mode (alarm 1004* "Permissible feed/limit freq.
exceeded").
•

The difference is that - as in spindle mode - "on-the-fly" synchronization with the next zero
mark is executed again as soon as the frequency drops below the limit value. With
previous SW versions, "Axis is referenced" was only set after a new reference point
approach process.

The absolute system remains unchanged on switchover from C-axis mode to spindle mode,
i.e. the present status of the "Axis is referenced" signal remains valid for spindle operation.

12–54

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

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06.93

12 Functional Descriptions
12.7.2 Description of the spindle modes

Synchronizing and referencing
The reference systems for the spindle and the associated C axis should always be identical.
A parameterized shift of the zero mark (MD 459*) is taken into account.
Both systems have the absolute position 0 at the position determined by the zero mark and
the shift.
Synchronizing the spindle
When the control system has been run up, the spindle is automatically synchronized with the
encoder as soon as it passes the zero mark of the encoder for the first time. Only then can
the absolute position of the spindle be determined.
Synchronism will be lost if the cutoff frequency of the encoder is exceeded at high spindle
speeds. Resynchronizing takes place automatically when the frequency is reduced again below
the critical value.
The PLC system can initiate re-synchronizing of the spindle with IS:RESYNCHRONIZE
SPINDLE. Acknowledgement is with IS:SPINDLE SYNCHRONIZED.
Referencing the C axis
Reference point approach like that employed with feed axes is not normally needed for
spindles operated in the C axis mode. No reference point cams are usually provided because
the zero mark of the spindle encoder uniquely defines the reference point in relation to one
revolution.
Nevertheless, reference point approach is still possible with the C axis (e.g. with G74). The
sequence is the same as for normal feed axes.
Taking the zero mark offset into account provides the facility described below for optimizing
reference point approach for a C axis.
Please observe:
If a double-track encoder is used for spindle and C axis operation, the zero marks of both
encoder systems may be offset to each other. This offset must be compensated for by
entering the appropriate software zero mark offsets on installation.
Please also note that with spindles/C axes, the 2000 units of reference point offset to the zero
mark usually used for referencing the axis, have no effect. If an axis is redefined as a C axis,
its reference point is offset by 2000 units. This must be compensated for in the "Reference
point offset" (MD 244*).
Notes
•

If no explicit reference point approach has been performed for the C axis, the axis-specific
IS:REFERENCE POINT REACHED is not set. Therefore, the bit
– MD 560*, bit 4 "No start disable for reference point”
must be set if the axis is to be driven in the automatic mode.

•

MD 560*, bit 4 must not be set if an explicit reference point approach has been performed
for the C axis.

•

If the mechanical link between spindle and C axis encoder is deactivated, IS:REFERENCE
POINT REACHED must be cancelled by setting IS:PARKING AXIS (see below).
PARKING AXIS may only be reset when the mechanical link is re-established.

© Siemens AG 1992 All Rights Reserved
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12 Functional Descriptions
12.7.2 Description of the spindle modes

06.93

•

With rotary axes it is usually unnecessary to monitor software limit switches. If monitoring
is required for a C axis, an explicit reference point approach must be performed.

•

The alarm "Excessive feed" is triggered if the cutoff frequency of the C axis encoder is
exceeded.

•

Explicit referencing must be employed (e.g. G74) if the difference between the accuracy of
the entry and the accuracy of the measuring system is greater than a factor of 10 (e.g.
entry accuracy 10-4 and position control accuracy 0.5 x 10-2 mm).

•

The measuring system defined in MD 200* is permanently assigned to a spindle with C
axis during C axis operation, the second measuring system applies to the spindle operating
modes and must be parameterized in MD 400*. The C axis/spindle is assigned in MD 461*.

•

One common absolute measuring system for determining the actual position of the spindle
and C axis describes the machining position on the load side.
This absolute system is reinitialized during referencing:
MD 459* takes effect in spindle operation (inprocess encoder synchronization), as well as
for ordinary spindles for the definition/offset of the zero position.
In C axis operation (inprocess/via part program/via reference point approach mode) MD
240* and 244* have the same effect as with normal axes with the one exception that the
usual 2000 units are disregarded here, as these 2000 units are dependent on the direction
of movement and would therefore be ambiguous in inprocess referencing in both directions
of movement.
The reference point is kept when switching between spindle and C axis operation. Where
this is not required, it can be ignored by using the signals "Resynchronize spindle" or
"Parking axis". If the reference point remains valid, the zero mark found during C axis
operation is also valid in spindle operation and vice versa.
In this way, the unnecessary movements resulting with every spindle/axis switchover (for
resynchronization/referencing) can be avoided as far as possible, on condition that (as
mentioned above) the zero position defined in MD 459* is identical with the zero mark
defined in MD 240*/244* parameterization on installation.
The zero position has to be defined in two machine data because, in the case of a doubletrack encoder, for example, the two zero mark signals are offset by 180 degrees and in the
case of two separate encoders any other offset is possible and can then be corrected in
the machine data concerned. If the same encoder is used for spindle and C axis operation,
you must ensure that the machine data are identical.
If identical encoder definitions (MD 200* = MD 400*) are entered for spindle and C axis,
only the encoder cutoff frequency of the spindle encoder (MD 462*) and not the cutoff
frequency of the C axis encoder (MD 308*) is active. The same is applies to the "Sign
reversal actual value" (only effective with MD 520*, bit 1, not 564*, bit 2). Differing pulse
evaluations remain active.
The following applies to backlash compensation and leadscrew error compensation: if the
encoder definition is different for the spindle and C axis encoder, then backlash
compensation and leadscrew error compensation are only active in C axis operation (for
first measuring system), if identical encoder definitions have been entered for the spindle
and the C axis, then backlash compensation and leadscrew error compensation effect this
measuring channel.

12–56

© Siemens AG 1992 All Rights Reserved

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10.94

12 Functional Descriptions
12.7.2 Description of the spindle modes

Parking axis
If a C axis is assigned to a spindle via MD 461*, axis-specific interface signals (DB 32) are also
evaluated. Two axis-specific signals in particular should be mentioned here that have feedback
effects on spindle operation.
The measuring circuit monitoring functions are switched off by setting the signal PARKING
AXIS. Then, no alarm appears if the connection between encoder and measuring circuit
module is broken (for instance, in order to detach the axis from the machine).
The signals SPINDLE SYNCHRONIZED and REFERENCE POINT REACHED are reset, the
speed controller enabling command cancelled and the C axis automatically switched to followup mode.
The actual values are not activated.
The encoder frequency monitoring and measuring circuit monitoring functions of the C-axis
encoder are automatically deactivated in spindle operation.
Note:
•

The interface signal PARKING AXIS must never be cancelled in synchronous operation
because the request for re-synchronization of the spindle is linked to this signal. This
would, however, cause disturbances in synchronized operation.
Re-synchronization of the spindle in synchronous operation is generally not permitted.

•

If positioning mode is requested by the NC or PLC before the signal SPINDLE
SYNCHRONIZED has been set again, then the spindle traverses the zero mark again
before it approaches the programmed position.

•

If the signal SPINDLE SYNCHRONIZED is cancelled in C-axis mode, then the axis must
be referenced explicitly again (e.g. with G74) immediately afterwards.

Setting the signals in the C axis mode produces the following results:
•

PARKING AXIS 0 1
– The measuring circuit monitoring functions are deactivated.
– The actual value display of the spindle position is no longer refreshed in the basic
screen.
– The axis-specific signal REFERENCE POINT REACHED is cancelled.
– The spindle-specific signal SPINDLE SYNCHRONIZED is cancelled.
– Position control is interrupted.
– The analog speed setpoint 0 is output.
– The speed controller enabling is cancelled.

When the signals are reset, the results are as follows:
•

PARKING AXIS 1 0

Re-synchronizing of the spindle is necessary because the C axis too is always related to the
zero mark of the spindle. The two possible ways of synchronizing are:
•
•

Overtravelling the zero mark with any spindle motion
Explicit reference point approach in the C axis mode (manually or with program via G74)

Note:
•

If the positioning mode is requested by the NC or PLC system before the SPINDLE
SYNCHRONIZED signal is set again, the spindle will first pass the zero mark before it
approaches the programmed position.

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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12 Functional Descriptions
12.7.2 Description of the spindle modes

12–58

11.92

Initiating the C axis mode

This section describes various methods of changing over to the C axis mode.

The standard method

The C axis is referenced automatically when the spindle is synchronized (passing the zero
mark of the spindle encoder).

When the C axis mode is selected, the spindle is stopped (e.g. M19 from PLC), then the
interface signal INITIATE C axis MODE is set and machining with the C axis can begin.

This method cannot be used, however, if the actual value systems of the spindle and C axis
are not in agreement, i.e. if the C axis encoder is uncoupled from the spindle in the spindle
mode.

Possible reasons for uncoupling the C axis encoder are:

•
Cutoff frequency of C axis encoder exceeded in spindle mode.

•
C axis not programmed for modulo 360° (MD 572*, bit 2 not set). In this case, the actual
value systems must be decoupled otherwise the actual value system of the C axis will
track all the motions of the spindle.
For example, if the C axis were to be driven to 0°, all the revolutions of the spindle in one
direction would be cancelled.

The axis-specific interface signal PARKING AXIS must be set in order to decouple the actual
value systems (see "Synchronizing and Referencing").

To avoid long movements in the absolute positioning of the C axis after spindle operation, the
absolute position "modulo 1 revolution" is reduced when switching from spindle operation to C
axis operation.

The best results regarding costs, operation, precision and speed range are achieved with the
high-resolution measuring system. Precision and speed range of the high-resolution measuring
system meet the requirements of spindle and C axis operation.

When defining and installing spindle/C axis combinations with different encoders please note
the following:

The same direction of rotation must be set for the spindle and C axis in MD bits 564*, bits 1
and 2 (for C axis) and MD 520*, bit 1 and MD 521*, bit 1 (for spindle).

When using different encoders, please make sure that the spindle and
C axis measuring systems are parameterized in the same direction, i.e.
M3 and C cause the same direction of rotation of the spindle. Spindle

and C axis can be made to rotate in opposite directions by setting the
interface signal ”Invert M3/M4” (DB 31 DW k + 1, bit 4).

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

11.92

12 Functional Descriptions
12.7.2 Description of the spindle modes

Example:
•

Spindle/C axis with double-track encoder

•

One motor for both modes (one setpoint output)

•

In this example, the actual values from the two encoder tracks show the same direction of
rotation, which means that MD 564*, bit 2 and MD 520* bit 1 have to have the same
setting. The values for the sign in front of the setpoints are taken from these settings.

•

If this is not the case (direction of rotation of spindle and C axis not the same), positioning
with M19 will be incorrect after switching from C axis to spindle operation.

•

Where opposite directions of rotation are required for C axis and spindle, "Resynchronize
spindle" (DB 31, DW K +2, bit 0 and bit 3) must be triggered after switching back to
spindle operation via the PLC and before repositioning with M19.

Procedure for ”parked” axis
The spindle-specific signal SPINDLE SYNCHRONIZED is cancelled when the PARKING AXIS
signal is reset, although it is an essential precondition for the selection of the C axis mode.
So, if the PARKING AXIS signal is cancelled in the C axis mode, the C axis must be explicitly
referenced (e.g. with G74).
If the signal is cancelled in the spindle mode, the C axis can be referenced automatically when
the spindle is synchronized. The following can be employed:
1. Program an M function for selecting the C axis mode.
2. Decode an M function in the PLC user program.
3. Employ user program control:
•

Move the spindle to a position near the zero mark (IS:PLC SPINDLE CONTROL and
POSITION SPINDLE).

•

Cancel the signals PLC SPINDLE CONTROL and PARKING AXIS (couple up the C
axis encoder first if necessary).

•

Re-synchronize the spindle. There are several alternatives, e.g.:
– Pass the zero mark at basic speed (IS:PLC SPINDLE CONTROL and INITIALIZE;
ascertain direction of rotation with IS:SET ROTATION CW).

•

Cancel the signal PLC SPINDLE CONTROL and set the signal INITIATE C axis MODE.

4. Machining with the C axis
The advantage of this method is that machining with the C axis can begin sooner because a
defined axis position is reached quickly.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.7.2 Description of the spindle modes

12–60

06.93

Encoder-specific resolution

Any type of encoder for actual value acquisition (e.g. digital encoders with any pulse rate,
SIPOS signal generators) can be used for spindles controlled by 32-bit servo CPUs.

When SIPOS signal generators are used, employing the pulse multiplication on the HMS
measuring circuit module also allows a higher resolution to be attained.

The internal calculations for the spindle are performed with the value of resolution provided by
the measuring system (the measuring-system resolution). The matching to the different pulse
rates is performed in the same way as with axes by means of variable incremental weighting
(MD 455*, 456*).

When a spindle is assigned to a C axis via MD 461* (for C axis mode or synchronous mode),
the internal calculations for the spindle are also performed with the measuring-system
resolution of the C axis. Therefore, the variable incremental weighting for the axis must also be
entered (MD 364*, 368*, 1800*).

If there is no separate encoder for the C axis mode, the values of the spindle encoder must
also be entered in the axis-specific machine data.

If different encoders are used, please make sure that the spindle and C axis measuring system
are parameterized with the same direction of rotation.

If a value other than zero is entered in MD 461*, the variable incremental
weighting for the axis must also be entered.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

06.93

12 Functional Descriptions
12.7.2 Description of the spindle modes

Possible configurations for the C axis mode
The machine data listed below must be entered for configuring the interfaces and for format
interfacing between actual value, internal computing resolution and setpoint A more detailed
description of this machine data will be found in Section 4 and the Installation Instructions.
•

Machine data for configuring the spindle interface
MD 400*
MD 455*
MD 456*
MD 458*
MD 460*
MD 462*
MD 520*
MD 521*

•

Spindle assignment, actual value input and servo CPU
Pulses, variable incremental weighting
Distance traversed, variable incremental weighting
Pulse multiplication for HMS
Spindle assignment, setpoint output
Cutoff frequency of spindle encoder
Configuration bits
Configuration bits

Machine data for configuring the C axis interface
MD 200*
MD 308*
MD 364*
MD 368*
MD 384*
MD 564*
MD 1116*

Axis assignment, actual value input and servo CPU
Cutoff frequency of C axis encoder
Pulses, variable incremental weighting
Distance traversed, variable incremental weighting
C axis assignment, setpoint output
Configuration bits (bit 5: axis is rotary axis)
Pulse multiplication for HMS

The following diagrams give an overview of the possible input/output assignments for the C
axis mode. When configuring with two encoders and two drives, the C axis must be declared
an independent axis.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.7.2 Description of the spindle modes

11.92

Actual value

Setpoint
C axis

Drive
actuator

aaaaa
aaaaa
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Setpoint
spindle

M

Gear
ratios

Spindle

aaaa
aaaa
aaaa
aaaa

Spindle and C axis

Gear
ratios

Spindle

Configuration with one encoder

Actual value
spindle
Actual value
C axis
Setpoint
spindle
Setpoint
C axis

Drive
actuator

M

Configuration with two encoders or one double-track encoder

Actual value
spindle

Setpoint
C axis

Drive
actuator

aaaa
aaaa
aaaa

Actual value
C axis

M

Gear
ratios

Setpoint
spindle

Drive
actuator

aaaa
aaaa
aaaa

Spindle

M

Gear
ratios

Configuration with two encoders and two drives

12–62

© Siemens AG 1992 All Rights Reserved

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11.92

12 Functional Descriptions
12.7.2 Description of the spindle modes

Relevance of machine data bits for sign inversion
Setpoint/actual value for spindle + C axis
The following machine data are affected:
MD 564*, bit 1: "Sign inversion setpoint"
MD 564*, bit 2: "Sign inversion actual value"
MD 520*, bit 1: "Sign inversion actual value"
MD 521*, bit 1: "Sign inversion setpoint"
Whether these machine data bits have to be set or not depends on the configuration.
Possible configurations are:
a) Spindle and C axis have the same actual value input:
Only MD 520*, bit 1, must be correctly set. MD 564*, bit 2, is of no significance, even in C
axis operation.
b) Spindle and C axis have different actual value inputs:
The sign must be correctly set for each actual value input. MD 520*, bit 1, and MD 564* bit
2, must be set correctly. The set signs take effect in one or the other of the operating
modes.
Spindle operation: MD 520*, bit1 active.
C axis operation: MD 564*, bit2 active.
c) Spindle and C axis have different setpoint outputs:
The sign must be correctly set for each setpoint input. MD 521*, bit 1, and MD 564*, bit 1,
must be correctly set. The set signs take effect in one or the other of the operating
modes.
Spindle operation: MD 521*, bit1 active.
C axis operation: MD 564*, bit1 active.
d) Spindle and C axis have the same setpoint output:
The sign must be correctly set for each setpoint output. MD 521*, bit 1, and MD 564*,
bit 1, must be correctly set. The set signs take effect in one or the other of the operating
modes.
Spindle operation: MD 521*, bit1 active.
C axis operation: MD 564*, bit1 active.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.8 Following error compensation for thread cutting

12.8

06.93

Following error compensation for thread cutting

This function is used to correct the starting angle of the spindle by the calculated following
error. This is to ensure that the same number of thread turns is cut at a high speed as at a low
speed.
The offset caused by the following error no longer occurs. This compensation only functions
perfectly when cutting a thread with a constant lead. Depending on the size of the lead
increase the decrease, deviations can occur.
Prerequisites:
•

MD 5025, bit 2 ”Level-up thread” must be set.

•

The servo gain factors of all the axes involved in the thread cutting function must be the
same.

•

The value of the servo gain factor in the MD must not be < 200, otherwise alarm no. 2192
”Following error compensation not possible” is triggered.

Operation:
If all the above conditions are fulfilled no further steps are necessary.
However, if the compensation is not functioning perfectly, MD 164 (default value: 36) can be
set to produce a fine compensation (8 to 48). The speed should be constant within one turn.
Depending on the speed increase/decrease, deviations can occur with tapered threads with
constant speed (G96).

12.8.1 Multiple thread
A multiple thread can be cut using a starting angle with this function. Here, the channelspecific starting angle of the leading spindle is programmed directly via G92A ... for the
individual thread turn.
Example:
The part program will run first with the angle 0 degrees, then 120 degrees and then 240
degrees to produce a three-start thread.
The starting angle is stored in a channel-specific setting data (No. 202*), and is displayed in
the setting data display ”Spindle data” where it can be altered.
This setting data can only be written if the MD is set (directly with @410 K202* K.. or using
G92 A.. and direct input via the setting data display), otherwise the alarm ”Option not
available” is triggered.
The angle is entered and displayed in 3.5 format. Maximum input value = 999.99999 degrees,
input resolution = 10-5 degrees, without a sign.
The specified angle is always calculated modulo 360 degrees. Up to five places after the
comma are accepted.
R parameter chaining is possible.
The last angle to be entered remains active after power off.

12–64

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

12 Functional Descriptions
12.8.1 Multiple thread

Example:
Three-start thread (each offset by 120 degrees)
G01
G92
:
X50

G90 X50
A0 X100

G92
:
X50

A120

G92
:

A240

S200
LF

M3

LF

Starting point
1st thread start (0 degrees)

X100

LF

Starting point
2nd thread start (120 degrees)

X100

LF

Starting point
3rd thread start (240 degrees)

LF

LF

12.8.2 Thread re-cutting/setting up
With this function a precut thread with a constant lead can be reloaded and then recut.
A thread with a varying lead cannot be recut!
Procedure:
Select the assigned channel-specific display in the machine area display for ”JOG mode”
using the ”Recut thread” softkey. The option can only be selected if the MD is set, otherwise
the message ”Option not available” appears.
Over
store

INC
variable

Recut
thread

The precut thread is loaded in the spindle.
Now use the direction keys to move the tool above one of the thread bases.
Then press the softkey ”Store position”. As a result, the ”Offset angle” and the ”Starting
angle (G92A)” are automatically set to zero.
This completes setting up. Now you can start the part program for this thread in ”Automatic”
or ”MDA” mode for which the offset angle of the first thread block is used for calculation. This
offset angle is used until the softkey ”Delete offset angle” is pressed to set the offset angle to
zero.
The offset angle does not remain active after Power On.
The angle is displayed in 3.5 format.
Maximum value: 359.99999 degrees
Resolution = 10-5 degrees, without a sign.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.9 Thread cutting position controlled spindle (SW 2 and higher)

12.9

•
Option bit

•
NC MD 1320*
1260*
1324*
108*
521* bit 4

•
Signal DB 10 - 13 DR 13 bit 4

12–66

06.93

Thread cutting position controlled spindle (SW 2 and higher)

The function THREAD CUTTING POSITION-CONTROLLED SPINDLE
is an option.

12.9.1 Corresponding data

12.9.2 Description of function

The function is triggered when the control switches to linear interpolation between the spindle
as an axis and the infeed axis. The function will only run if the spindle is in axis mode.

The function can also be used for thread cutting on lathes. Transversal and longitudinal
threads (spindle as axis and linear axis) and tapered threads (spindle as axis and two linear
axes) can be cut. A linear increasing/decreasing lead (as for G34, G35) cannot be cut with
thread cutting, position control spindle (rigid tapping).

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

06.93

12 Functional Descriptions
12.9.2 Description of function

12.9.2.1 Switching on the function
Two G functions are required for the ”Thread cutting position-controlled spindle” function:
G36: Thread cutting, position controlled spindle (rigid tapping)
G36 is modal and belongs to the following G group:
Internal G group division with @36b:
Internal G
group
0

G functions
00 01 10 11 02 03 33 34 35 06 12 13 36
MD MD MD MD MD MD MD MD MD MD MD MD MD
M/T

G group division for all other cases (not for @36b):
Internal G
group
1

T/M =
MD =

G functions
00 01 10 11 02 03 33 34 35 06 12 13 36
MD MD MD MD MD MD MD MD MD MD MD MD MD
M/T

Initial setting/turning and milling
Initial setting can be set via MD

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–67

12 Functional Descriptions
12.9.2 Description of function

06.93

G98 F... Leading feedrate for a rotary axis in rev/min.
The path feedrate is calculated internally on the basis of the leading feedrate of the path axes
involved.
G98 is modal and belongs to the following G group:
Internal G group division with @36b:
Internal G
group
11

G functions
94 95 96 97
MD MD MD MD
M
T

98
MD

G group division in all other cases (not for @36b):
Internal G
group
12

T=
M=
MD =

G functions
94 95 96 97
MD MD MD MD
M
T

98
MD

Initial setting for turning
Initial setting for milling
Initial setting can be set via MD

When the ”Thread cutting position-controlled spindle” function is selected, G98 is
automatically triggered when G36 is called. G98 can also be programmed on its own in a block
in the same way as G94, G95, G96, G97. If G98 is programmed together with several rotary
axes or with linear axes only, alarm 3006 ”Wrong block structure” is triggered.

12.9.2.2

Switching off the functions

The function G36 is deactivated by programming any other interpolation type (G00, G01, G02,
G33 ...) from the 1st G group.
When G36 is switched off, the previous G command from the 12th G group (G94, G95, G96,
G97, G98) becomes active.
The function G98 can also be switched off by programming any other command (G94, G95,
G96, G97 ...) from the 12th G group.

12–68

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

12 Functional Descriptions
12.9.2 Description of function

Example for thread on a cylindrical workpiece:
N10
N20

...
G0 C30

N30

G36

N40

C

(Switch spindle to rotary axis mode)
(Position rotary axis to 30 degrees, position
Z = 2 mm; corresponds to thread insertion point)
(Thread lead 5 mm/revolution, clockwise; feedrate of C
axis 1000 rev/min)
(Thread lead 5 mm/revolution, counter-clockwise,
feedrate of C axis 1000 rev/min)

Z2

C
Z2

Z-30

K5

F1000

K-2

.
.

Explanation:
In block N30 the rotary axis must be written with G36 (spindle as axis). A value written behind
C is ignored.
To simplify programming, the final point of the rotary axis is not programmed. The control
derives the final point from the programmed lead and the path of the linear axis.
The thread lead is programmed under address K (I, J). The sign in front of K shows the
direction of rotation (see example above). Clockwise/counterclockwise movement is defined in
the Programming Guide in the section Coordinate systems.
A lead must be assigned to the individual axes with G36 as well as with G33, G34, G35. The
assignment is stored in MD 304*.
Thread lead 0 or a programmed address where axis and thread lead do not harmonize, triggers
alarm 3006 ”Wrong block structure”.
At least 2 axes, of which one is a rotary axis, must be programmed, otherwise alarm 3006
”Wrong block structure” is triggered.
G98 is triggered internally with G36, i.e. the programmed feedrate F refers only to the rotary
axis in rev/min.
The resulting path feedrate (C axis and linear axis) is derived internally from the programmed
lead.
The rotary axis (in this case C axis) must be written in every block with G36 active (N30/N40).
Starting conditions at block transfers can be influenced with G60 or G64.
Example for thread on a tapered workpiece:
N10
N20

...
G0 C30

N30
.
.
.

G36

C

X10

Z2

Z-30

X20

K5

F1000

(Switch spindle to axis mode)
(Position rotary axis to 30 degrees, position
Z = 2 mm, X = 10 mm; corresponds to the thread
insertion point)
(Thread lead 5 mm/revolution, clockwise;
Feedrate of C axis 1000 rev/min)

Explanation:
In block N30 the rotary axis must be written with G36 (spindle as axis). A value written behind
C is ignored.
To simplify programming, the final point of the rotary axis is not programmed. The control
derives the final point from the programmed lead and the path of the linear axis.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–69

12 Functional Descriptions
12.9.2 Description of function

10.94

The thread lead is programmed under address K (I, J). The sign in front of K shows the
direction of rotation (see example above).
Clockwise/counterclockwise rotation is defined in the Programming Guide in the section
Coordinate systems.
A lead must be assigned to the individual axes with G36 as well as with G33, G34, G35. The
assignment is stored in MD 304*.
The address for the thread lead must correspond to the axis with the larger path (in the
example path X = 10 mm, path Z = 32 mm thread lead K belongs to axis Z), otherwise
alarm 3006 ”Wrong block structure” is triggered. Alarm 3006 is also triggered if thread lead
zero is programmed.
Three axes must be programmed, of which exactly one must be a rotary axis. If more than
three axes are programmed, alarm 3006 ”Wrong block structure” is triggered.
G98 is triggered internally with G36, i.e. the programmed feedrate F refers only to the rotary
axis in rev/min.
The resulting path feedrate (C axis and linear axis) is derived internally from the programmed
lead.
The rotary axis (in this case C axis) must be written in every block with G36 active (N30).
Starting conditions at block transfers can be influenced with G60 or G64.

12.9.3 Parameter set switchover with thread functions
As the function ”Rigid tapping” can be greatly influenced by mechanical and design aspects
of the machine, a second set of parameters (servo gain factor, feedforward control factor, time
constant for dynamic feed forward control) can be stored in MD 1320*,
MD 1260* and MD 1324* for adapting the function to the machine. Function G36 is used to
switch over to the second parameter set if the second servo gain factor (MD 1320*) has a
value other than 0.
Only the parameter sets for the axes involved in the thread cutting operation can be switched.
The values of the second parameter set are loaded by the position controller while the control
is booting. It is thus possible to maintain G64 operation when G36 is programmed.
Note:
For further information, please refer to the description of the "Parameter set switchover"
function.

12.9.4 Option
The function G36 can only be operated when the option bit ”Rigid tapping” is set, otherwise
alarm 2047 ”Option not available” is triggered.

12.9.5 Reset behaviour
If M02/M30 is programmed, or on operator panel reset, the initial setting for the first G group
stored in MD 108* is active.
The setting of machine data 521*, bit 4 dictates whether C axis mode remains active.
MD 521*, bit 4 = 0
MD 521*, Bit 4 = 1

12–70

C axis mode remains active.
C axis mode is switched off with RESET.

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

12 Functional Descriptions
12.9.6 Reading in G functions

12.9.6 Reading in G functions
G functions G36 and G98 can be read by the user with FB69 via the PLC and with @36b from
the NC program.

12.9.7 Interface signal
DB 10 - DB 13 2), bit 4

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”Thread cutting position controlled spindle”
(Rigid tapping)
Bit No.

Byte
address

7

6

5

DR 13

4

3

2

1

0

G36

12.9.8 Display
G36 and G98 are displayed in the display field G functions.
The feedrate F is displayed with G36 and/or G98 are programmed in rev/min (refers to the
rotary axis).

12.10

FIFO/predecoding

12.10.1

Rapid block change using FIFO function (up to SW 2 only) 1)

Corresponding data
•

NC MD 5186 bit 4

must be set.

•

NC MD 9140
9141
9142
9143

FIFO active in channel

bit 0
bit 0
bit 0
bit 0

Description of function
When part programs with short traversing blocks are processed, sudden drops in feedrate can
occur because the time taken by the block preparation function to process the short
tranversing blocks is longer than the time taken to execute these blocks. The block change
time (block preparation + block transfer) is too long in such a case.
A shorter block change time results if processing is carried out with the FIFO function.
A block buffer (FIFO memory) is first filled after NC START or by programming G171.
_______
1)
2)

The FIFO function is omitted from SW 3 onwards
As from SW 4: DB 10 - DB 15

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–71

12 Functional Descriptions
12.10.1 Rapid block change using FIFO function (up to SW 2 only)

12.93

The next part program blocks are temporarily stored in this FIFO memory in a prepared state
(predecoded). Only when the memory is full with such preprocessed blocks is the program
started or continued.
The NC can now access the prepared blocks in the FIFO memory and process them in quick
succession.
If the NC occasionally processes a block with a longer traversing path or with auxiliary
functions, there is time to replenish the FIFO (filling FIFO in background).
It can however happen during a long part program section with short traversing blocks that
there is no spare time available to replenish the FIFO memory. As soon as the supply of
predecoded blocks in the FIFO memory is exhausted a feedrate drop again occurs.
Filling the FIFO memory with G171
To avoid a drop in the feedrate at an important section of the program, it is possible to fill the
FIFO memory selectively before such a program section occurs. Selective filling is initiated by
programming G171 in the part program.
This ensures that the following program section from the FIFO memory can be executed with
short block change times.
By programming G171, the following occurs in this order:
•
•
•

Processing stopped
FIFO memory filled up
Execution continued

Execution is stopped until the FIFO memory is full, up to a block with M02/30, up to @714 or
up to a block which generates a @714 (setting data block).
It only makes sense to program G171 in AUTOMATIC mode.
Behaviour on ”Program hold”
If a part program is stopped and edited during execution, the blocks already in the FIFO
memory are no longer changed. On NC START these blocks are traversed in their original
condition.
Note:
If the tool offset and zero offset values are altered in the stop state, the changes are included
the blocks already in the FIFO memory.
FIFO memory size
The NC CPU has a FIFO memory which can hold up to 60 blocks. This total memory can be
divided amongst the individual channels with NC MD 914* bit 0.
The following then applies:
FIFO active in one channel:
FIFO active in two channels:

60 FIFO blocks available in the channel
30 FIFO blocks per channel available.

The FIFO function cannot be activated in more than 2 NC CPU channels. If a FIFO buffer is
activated for a channel which does not exist, it is ignored.

12–72

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

12.10.2

12 Functional Descriptions
12.10.2 Control of predecoding (SW 5 and higher)

Control of predecoding (SW 5 and higher)

12.10.2.1 Corresponding data
•
•
•

NC MD 5052* bit 6 Programmed predecoding with G171/G172
Maximum number of predecoded blocks
Real number of predecoded blocks

Function description
With the introduction of block buffer management and flexible memory configuration, the
number of predecoded blocks per channel (SW 4 and higher) has risen to over 3500 blocks
(8 MB CPU, 1 channel). However, the user should note certain general conditions:
•

On program start, or after a "Clear buffer" (@714), the predecoding function fills the
available block buffer and only leaves a little CPU time for the display, which is then slow.

•

The refresh (program stop/start, single block) takes a long time because it is performed on
all predecoded blocks.

•

The number of predecoded blocks can be limited with the channel-specific setting data
SD 204* When the program is run in a small value should be set here (2 to 10).

•

The real number of predecoded blocks is displayed in NC SD 206*. See the description of
the setting data.

•

The two setting data are displayed in the program control display.

Control by the user of predecoding (example):
The main application of the function is testing part programs. In this case the setting data 204*
must be set to 2 to limit predecoding and to accelerate testing (e.g. in single block mode).
It is also possible to control predecoding during operation: An auxiliary function (H1234=1234)
can be programmed in the part program so that the PLC sets a read-in disable and then scans
the setting data 204* for the number blocks. Once these blocks have been predecoded
(displayed in SD 206*), the read-in disable is cancelled again. The predecoded blocks are now
processed without any drop in velocity.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–73

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aaaaaaaaaaaaaaaaaaaaa
a

12 Functional Descriptions
12.11 Absolute encoder

12.11.1.2

12–74

08.96

12.11
Absolute encoder

12.11.1
SIPOS absolute encoder up to SW 4

12.11.1.1 Functions

The SIPOS encoder system consists of a multiturn absolute encoder which functions
absolutely when switched on and incrementally during operation.

To reduce the dimensions of the encoder, part of the encoder electronics are located on a
submodule, the absolute submodule. The absolute submodule is plugged on the HMS
measuring circuit module.

After each POWER ON, the control requests the encoder absolute value from the absolute
encoder and then calculates the absolute position of the machine. The absolute encoder then
functions in exactly the same way as a standard incremental encoder with amplified sine and
cosine output signals.

The coded disc information (cyclic absolute) and the value from the battery backed tachometer
are taken to determine the absolute information. The buffer battery is located on the absolute
submodule and stores the information for up to three axes.

Encoder key data:

Max. sampling frequency:
Increments on disc:
Revolution information::
Accuracy on POWER ON:
Error information:
Battery back-up:
500 kHz
2500
16 bits
1 µm at a 10 mm spindle pitch (10000 incr./rev)
8 bits
5800 hours for 3 encoders, built in battery monitoring

Even during operation, the back-up battery level is checked every 10 minutes and a message
displayed on the control if a fault occurs.

If an additional back-up battery is installed in the encoder, the measuring circuit module and
the encoder cable can be replaced without loss of absolute information. This battery back-up
lasts for up to 5 hours.

Since 1 October 1994, the SIPOS encoder has been available only

as a spare part for existing installations.

The EnDat absolute encoder must be used for new applications.

Hardware requirements

The absolute encoder submodule is plugged onto the HMS measuring circuit in the same way
as conventional servo command modules.

The absolute encoder submodule is equipped with its own type 8096 processor which
determines the values for up to 3 axes.

The absolute encoder back-up battery which is also for up to 3 axes, is located on the
absolute submodule.

The SIPOS absolute encoder can only be used in conjunction with the

HMS measuring circuit module (high-resolution measuring system).

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

09.95

12 Functional Descriptions
12.11.1 SIPOS absolute encoder up to SW 4

12.11.1.3 Synchronizing the absolute encoder with the machine
absolute system
After installation or after replacing the absolute encoder, the measuring system must be
synchronized with the machine system in the same way as with any incremental system. The
absolute encoder is set up with the following NC machine data.
•

Axial machine data:
NC MD 240*
NC MD 396*

•

reference point value
absolute offset

Machine data bits:
NC MD 1808*

bit 0 = 1

axis with SIPOS absolute encoder

bit 2 = 0

absolute encoder same direction as the
machine system
absolute encoder opposite direction to
machine system
absolute offset not valid
absolute offset valid

1
bit 3 = 0
bit 3 = 1
Definition of terms:
Same direction:

The absolute encoder value rises and falls with the machine
absolute value.

Opposite direction:

The absolute encoder value rises as the machine absolute
value falls and vice versa.

Direct measuring system:

The absolute encoder is a position measuring system (e.g.
linear scale) and is connected directly to the mechanical
section.

Indirect measuring system:

The absolute encoder is used to measure position and speed
and is therefore connected to the motor.

There are two synchronization methods; these are explained below.

•

Synchronization in ”Reference point approach” mode
Like any standard encoder, the SIPOS absolute encoder has A and B tracks and a zero
pulse.
Similar to the incremental system, the encoder is synchronized with the machine system
by combining the zero mark of the encoder with the reference point cam signal.
A distinction can be made between two cases by setting NC MD 1808* bit 0 = 1 ("Axis
with SIPOS absolute encoder") during reference approach.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–75

a
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a

12 Functional Descriptions
12.11.1 SIPOS absolute encoder up to SW 4

Case 1:

Case 2:

12–76

10.94

NC MD 1808* bit 3 = 0

If the bit "Absolute offset valid" is not set, reference point approach is executed as for an axis
without absolute encoder. With "Reference point reached", the calculated absolute offset is
transferred to the axial NC MD 396* and NC MD 1808* bit 3 "absolute offset valid" is
automatically set for the axis relevant axis.

The absolute offset is automatically calculated according to the following equation:
Machine system = SIPOS absolute encoder value + absolute offset

Absolute offset = machine system - SIPOS absolute encoder value

Where:

•

Machine system = desired absolute position = reference point value

•

SIPOS absolute encoder value = displayed absolute position (actual value)

Note:

If NC MD 396* has a value other than 0, this value must be taken into account because it is
contained in the SIPOS absolute encoder system (= displayed actual value).
Suggestion: Set NC MD 396* before synchronization.

NC MD 1808* bit 3 = 1

If bit "Absolute offset valid" is set, reference point approach is suppressed. The condition
prevails until the user resets the bit.

In the case of the function G74 "Reference point approach from part program", referencing is
not carried out for the second case and processing starts with the following block.

Note:

Reference point approach can be restarted when NC MD 1808* bit 3 has been deleted.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

a
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10.94

•

•

12 Functional Descriptions
12.11.1 SIPOS absolute encoder up to SW 4

Setting up without a reference point

Where there is no reference cam, e.g. for reasons of cost.

NC MD 1808* bit 0 = 1 is set, i.e. a SIPOS absolute encoder is installed.

The machine is traversed manually in "JOG" or "incremental" mode to the customer’s
chosen reference point.

Calculating the absolute encoder offset:
Machine system = SIPOS absolute encoder value + absolute offset

Absolute offset = machine system - SIPOS absolute encoder value

Where the following is valid:

•

Machine system = desired absolute position = reference point value

•

SIPOS absolute encoder value = displayed absolute position (actual value)

The calculated absolute offset must be entered in MD 396* and declared valid through setting
of MD 1808*, bit 3. After the next control power-up, the displayed actual position is
synchronized with the machine system and the status signal "Reference point reached" is set.

Notes:

If NC MD 396* has a value other than 0, this value must be taken into account because it
is contained in the SIPOS absolute encoder system (= displayed actual value).

Suggestion: Set NC MD 396* before synchronization.

•
When the SIPOS absolute encoder is set up with reference point approach an overrun
control is carried out automatically. An overrun results because the absolute encoder is
absolute to ±215 revolutions and it cannot be ruled out that on setup an overrun of 0 to
215 revolutions from the zero position will occur.

•
When setting up without a reference point the customer must carry out the overrun
control. All absolute values used must then have the format ± 99999999 input units.

•
If a value larger or smaller than ± 99999999 input units results from the calculation of
the absolute offset by the machine system - SIPOS absolute encoder value, it must be
corrected as follows:

Absolute offset > 99999999:
Absolute offset <-99999999:

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

Absolute offset - 199999999
Absolute offset +199999999

Example:

a)

Calculated absolute offset = 130000000
correction:
absolute offset = 130000000 - 199999999 = - 69999999

b)

Calculated absolute offset = - 130000000
correction:
absolute offset = - 130000000 + 199999999 = +69999999

6FC5197- AA50

12–77

12 Functional Descriptions
12.11.1 SIPOS absolute encoder up to SW 4

09.95

12.11.1.4 What happens on warm restart (POWER ON)
When NC MD 1808* bit 0 "Axis with absolute encoder" is set, NC MD 1808* bit 3 "Absolute
offset valid" is checked for the relevant bits. If both bits are set, the axis-specific interface
signal "Reference point reached" is set on warm restart.

12.11.1.5 Special case ”Parking axis”
The axis-specific interface signal "Parking axis" deletes the signal "Reference point reached"
even for an axis with a SIPOS absolute encoder.

12.11.1.6 Absolute encoder error
The absolute encoder errors are displayed axis-specifically in the control with the error
message "Absolute encoder defective".
The exact type of error is displayed in the "Service number" line in the Service status display
menu. The error number is displayed.
Error numbers are explained in the section "Absolute encoder errors".
Note:
•

When the absolute encoder is first switched on, various absolute encoder numbers are
displayed for a period of approx. 10 minutes. This is caused by the back-up battery of the
absolute encoder which only establishes error-free communication with the control after a
certain charge time.

•

All absolute encoder errors are transmitted from the absolute encoder to the control on
start-up. It is not possible to acknowledge the absolute encoder errors (e.g. using the
reset key). The control can only be informed that the error has been eliminated after a
renewed POWER ON.

•

The specified axis numbers must be consecutive, i.e. no gaps in the numbering are
permitted.

12–78

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

11.92

12 Functional Descriptions
12.11.1 SIPOS absolute encoder up to SW 4

Comments
•

NC MD 1808* bit 3: – Software limit switch and leadscrew error compensation are
enabled.
– The leadscrew error between the reference point and the
absolute position are included in the calculation.

•

Reference point approach with a SIPOS absolute encoder is only possible when NC MD
1808* bit 3 has been reset.

•

Information as to whether the SIPOS absolute encoder is in the same or opposite
direction as the machine system is required by the control for calculating the absolute
value without reference point approach. Once the SIPOS absolute encoder has been
synchronized it is very easy to determine the direction of the SIPOS absolute encoder.
This is done by traversing the axis concerned to any desired position and starting up the
control.
If, after setting up, positive approach and POWER ON, a larger absolute encoder value is
displayed, the system is in the same direction and does not have to be corrected. If a
smaller absolute encoder value is displayed, NC MD 1808* bit 2 = 1 must be set. The
correct position is then displayed after the next POWER ON.

•

If the mechanical traverse direction is changed with NC MD 564*, NC MD 1808* bit 2
must also be adapted correspondingly.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–79

12 Functional Descriptions
12.11.1 SIPOS absolute encoder up to SW 4

11.92

12.11.1.7 SIPOS absolute encoder errors
With SIPOS, errors can occur in the encoder as well as in the absolute submodule located on
the HMS measuring circuit module.
Please note that a faulty connection between the encoder and the absolute submodule can
trigger nearly all the error messages because it is along this connection that communication
takes place. This transmission line should therefore always be checked first when an error
occurs.
The following is a list of all possible error numbers together with the possible cause of error
provided that the connection between the encoder and the absolute submodule is not faulty:
Error No.:

1-50, 93-195, 240-253

Meaning:
Remedy:

Absolute encoder and/or absolute submodule faulty.
– Check whether absolute encoder and absolute submodule are
damaged.
– Check that connectors are firmly in position.

Error No.:

51-70

Meaning:
Remedy:

Absolute submodule and/or connection between absolute submodule and
measuring circuit faulty
– Check whether absolute submodule is damaged.
– Check that connector between measuring circuit and absolute
submodule is firmly in position.

Error No.:

71-80, 200-230

Meaning:

Absolute submodule faulty/discharge battery (after 10 min. "battery
alarm" appears)
– Check whether absolute submodule is damaged
– Check that encoder connector is firmly in position.

Remedy:

Error No.:

81-86

Meaning:

Connection between absolute submodule and measuring circuit faulty
– Check whether absolute submodule is damaged.
– Check that connector between measuring circuit and absolute
submodule is firmly in position.

Remedy:

Note:
When sending in faulty components for repair, always state the error number.

12–80

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

01.99

12.11.2

12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

ENDAT absolute encoder (SW 5.2 and higher)

Relevant machine data and alarms
•
•
•
•
•
•
•
•
•

NC-MD 1264*
NC MD 1804* bit 0
NC MD 1808* bit 0
NC-MD 1808* bit 1
NC-MD 1808* bit 2
NC-MD 1808* bit 3
NC-MD 1808* bit 6
NC MD 1820* bit 2
Drive MD 1011.3

•

Drive MD 1030.3

•

Alarm 1040*

12.11.2.1

Grid spacing/EnDat measuring step for linear scale
Symmetrical traversing range for ENDAT absolute encoder
Axis with absolute encoder
Value range extension of absolute offset (MD 396*)
Absolute encoder counting method opposite direction
Absolute offset valid (MD 396*)
Singleturn absolute encoder present
First measuring system with external zero mark
Configuration actual-value acquisition, motor measuring system,
absolute encoder with EnDat interface
Configuration actual-value acquisition, direct measuring system,
absolute encoder with EnDat interface
Absolute encoder defective

Function features

The ENDAT encoder system is an encoder with an absolute encoder section and an
incremental encoder section.
The control requests the encoder absolute value from the encoder after every POWER ON or
deselection of ”Parking” and then calculates the machine absolute position. After that, the
control uses only the incremental encoder section with amplified sine/cosine output signals.
To determine the absolute information several binary-coded scale tracks are evaluated. With
the EQN 1325, the tracks are on several gear-coupled discs and on the linear scale with the
linear encoder LC 181.
Encoder key data:

Rotary absolute encoder HEIDENHAIN EQN 1325

Max. number of revolutions:
Max. sampling frequency:
Increments of the disk:
Detectable number of revolutions:
Activation precision:
Error information:

15.000 rpm
500 kHz at 6 dB
2048
4096
Depending on encoder resolution and position
controller resolution
8 bits

Encoder key data:

Linear absolute encoder HEIDENHAIN LC 181

Max. traversing speed:
Measuring lengths:
Measuring system resolution:
Activation precision:

40 m/min
240 mm to 3040 mm
0.5/0.1/0.01 µm
Depending on encoder resolution and position
controller resolution
8 bits

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Error information:

The max. number of encoder revolutions is:
• ± 2048 rev for linear axis
• 0 to + 4096 rev for rotary axis

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–81

12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

12.11.2.2

04.96

Hardware requirements

The ENDAT absolute encoder can only be used in conjunction with the new digital
SIMODRIVE 611D modules ”Standard and performance”.
Order No.: 6SN1118-0DM13-0AA0 2-axis version (Standard)
Order No.: 6SN1118-0DG23-0AA0 1-axis version (Performance)
Order No.: 6SN1118-0DH23-0AA0 2-axis version (Performance)
The necessary software is available as from NC software version 5.2.

12.11.2.3

Accuracy

Relevant measuring system data
•

Grid spacing:
The size of the grid spacing (=size of the pitch period of the finest track) is taken from the
company data sheet for the EnDat encoder.

•

EnDat measuring step:
The EnDat measuring step (effectively the same as the EnDat encoder resolution) is taken
from the company data sheet for the EnDat encoder.

•

Incremental measuring step:
The incremental measuring step (= measuring system resolution with which the NC
position control is working) results from the interaction between incremental encoder and
interpolating evaluation electronics (HW + SW).
Incremental measuring step = grid spacing/product of all pulse multiplications).

•

NC-MD 1264* (grid spacing/EnDat measuring step):
The NC requires this MD to convert the EnDat measuring steps into incremental
measuring steps. Only input values which are integer and can be divided by 4 are
processed by the control. With this MD, the default value = 0 for the encoder EQN 1325
is correct, i.e. it is internally interpreted as value 4. In the list display: User displays/NC
data/Axis/Measuring system data, this MD is entered directly after MD 1808*, bit 6.

Example

EQN 1325:

Spindle pitch
No. of encoder markings, finest track
Internal pulse multiplication
External pulse multiplication (interpolation)
Position controller resolution

10 mm
2048
4
512
0.5 *10-3 mm, (0.5 µm)

1 revolution
Rotary grid spacing=

= 0.000488 rev.
2048

10 mm
= 4.88 µm

Linear grid spacing=
2048

12–82

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.01

12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

Linear grid spacing

10 mm

Lin. incremental measuring step =

=
Pulse multiplication

1
= 0.002384 µm

*
2048

4 * 512

The position controller resolution is coarser than the linear incremental measuring step and
therefore determines the positioning accuracy. If the incremental measuring step were coarser
than the position controller resolution, the incremental measuring step would determine the
position controller resolution.
1 revolution
= 1.22 * 10-4 rev.

Rotary EnDat measuring step =
2048 * 4
10 mm

= 1.22 µm

EnDat measuring step =
2048 * 4

2048 * 4

10 mm

Linear grid spacing
NC-MD 1264* =

=
Lin. EnDat measuring step

Example

*
2048 *

=4
10 mm

LC 181:
16 µm
0.1 µm
4
512
0.5 µm = 0.5 * 10-3 mm

Grid spacing, finest track
EnDat measuring step
Internal pulse multiplication
External pulse multiplication (interpolation)
Position controller resolution

16 µm

Lin. grid spacing
Lin. incremental measuring step =
Pulse multiplication

4 * 512

16 µm

Lin. grid spacing
NC MD 1264* =

= 0.0078125 µm

=

=
Lin. EnDat measuring step

= 160
0.1 µm

Calculation of the grid spacing with EnDat absolute encoders using 611D:
Drive MD 1022
Meas. system 1: 1264*=
Drive MD 1005

Drive MD 1032
Meas. system 2: 1264*=
Drive MD 1007

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–83

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12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

12.11.2.4

•
•
•

•
Rotary axis, encoder on load:
Rotary axis, encoder on motor:
Linear axis, encoder on motor:

•

•

12–84

07.97

Special features for large traversing ranges

For the linear absolute scale LC 181, the traversing range is predefined
through the length of the built-on scale.

An overflow of the absolute value of the encoder EQN 1325 occurs after 4096 revolutions.
This means that the calculated position value is unambiguous only over the specified ranges:
4096 load revolutions
4096 motor revolutions
4096* eff. spindle pitch

With a linear axis having an effective spindle pitch of 10 mm, a traversing range of -20.48 to
+20.48 m is covered.

Since it is practically impossible to put the zero point of the encoder in exactly the same
position as the zero point of the machine, overflow of the absolute value encoder can occur
with large traversing ranges. The NC recognizes this overflow and corrects it appropriately.
The complete traversing range can therefore always be utilized. In as from SW 6, the
functionality ”Range extension with ENDAT absolute encoder” (see Section 12.11.3) can also
be used for larger traversing ranges.

Restrictions with rotary axes

The following restriction applies for rotary axes with absolute encoders in endless operation up
to SW 5:

If the encoder is fitted to the motor the gear ratio to the load must be n:1 (n motor
revolutions on 1 load revolution). Only powers of 2 are allowed for n.

In the standard case (encoder : load = 1 : 1) there are no restrictions for endlessly operated
rotary axes.
In as from SW 6, any gears can be used with the functionality ”Range extension with ENDAT
absolute encoder”.

If a rotary axis does not fulfill the specified conditions, it must be
referenced after every endless operation.
With MD 1808*, bit 6; Singleturn absolute encoder, you can
parameterize whether the actual value is to be determined in the
range of 1 or 16 load revolutions on POWER ON or after ”Park”.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

01.99

12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

Function extension of the symmetrical traversing range for rotary axes (as from SW 6)
General
In the case of rotary axes with EnDat absolute encoders and up to SW 5, a position between 0
and 360 degrees or between 0 and 16 revolutions was calculated (depending on MD 1808*,
bit 6). Once switched off at an axis position of -45 degrees, e.g. a position of 315 degrees was
calculated after the next POWER ON.
Bit 0 in MD 1804* must be set to 1 in order to achieve a symmetrical traversing range around
the zero position for finitely turning rotary axes. In this case, no modulo offset is implemented
between -180 degrees and +180 degrees (if MD 1808*, bit 6=1) or between -8 to +8 rotations (if MD 1808*, bit 6=0).
Examples for incorrect overflow:
MD 1808*, bit 6

MD 1804*, bit 0

Position before
POWER OFF

Position after
POWER OFF

1

0

-45 degrees

315 degrees

1

1

-45 degrees

-45 degrees

1

0

315 degrees

315 degrees

1

1

315 degrees

-45 degrees

1

1

2700 degrees (=7.5 rev)

180 degrees

0

1

2700 degrees (=7.5 rev)

2700 degrees

0

0

-45 degrees

5355 degrees

0

1

-45 degrees

-45 degrees

0

0

3060 degrees (=8.5 rev)

3060 degrees (=8.5 rev)

0

1

3060 degrees (=8.5 rev)

-2700 degrees (=7.5 rev)

The maximum traversing range for rotary axes remains at 16 rotations above which a modulo
offset is implemented.
The symmetrical traversing range is not available in conjunction with the area
expansion for the ENDAT absolute encoder (MD 1808*, bit 7=1).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–85

12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

12.11.2.5

04.96

Offset of the absolute encoder from the machine absolute
system

On initial installation or after replacement of the absolute encoder, the offset of the measuring
system zero to the machine zero must be ascertained or set.
•

Relevant machine data:
NC MD 240*
NC MD 244*
NC MD 396*
NC-MD 1808*

Reference point value
Reference point value offset
Absolute offset = Offset (measuring system ZP to machine system ZP)
Bit 0 = 1 Axis with absolute encoder
Bit 2 =

0 Absolute encoder counting method in opposite direction
1 Absolute encoder counting method in same direction

Bit 3 =

0 Absolute offset not valid
1 Absolute offset valid

Notes:
•

NC MD 1808*, bit 3:
Software limit switch and the spindle pitch error compensation are enabled. The spindle
pitch errors between the reference point and the absolute position are included in the
calculation.

•

Reference point approach with EnDat absolute encoders is possible only after resetting of
the NC MD 1808*, bit 3.

•

The counting methods in the same direction and in the opposite direction are determined
as follows. Move the axis to any position, start the control and note down the absolute
value. If a larger absolute value is displayed after a positive traversing step and another
POWER ON, the system is in the same direction and must not be corrected. If a smaller
absolute value is displayed, NC MD 1808*, bit 2 = 1 must be set. After the next POWER
ON, the correct actual position is indicated in the display.

•

When altering the mechanical traversing direction with NC MD 564*, NC MD 1808*, bit 2
must also be adjusted.

Ascertaining the offset in the ”Reference point approach” operating mode with external
reference point encoder
Like any other standard encoder, the EnDat absolute encoder has tracks A and B, but no zero
pulse. When the NC MD 1808*, bit 0, axis with absolute encoder, is set, a difference is made
between two types in the reference point approach mode.

12–86

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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04.96
12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

Type 1:

Type 2:

NC MD 1808* bit 3, absolute offset valid, = 0

If the bit is not set, referencing is performed like on an axis without the absolute encoder using
the BERO proximity switch as the reference point encoder.

The absolute offset is calculated automatically from the formula:
Machine system = absolute encoder value + absolute offset
or
Absolute offset = machine system - absolute encoder value

Where:

•

Machine system = required absolute position = reference point value

•

Absolute encoder value = displayed absolute position (actual value) with ”Absolute
offset invalid”

NC MD 1808* bit 3, absolute offset valid, = 1

If the bit is set, reference point approach is suppressed. This applies until the user resets the
bit.

With the function G 74 ”Reference point approach from a part program”, this second type of
referencing is not performed and the next block is processed.

Reference point approach is enabled again when NC MD 1808* bit 3=0

is reset.

Limited traversing range

When the traversing range of the absolute encoder is limited due to the position controller
resolution, the alarm 1204 ”Traversing range exceeded” and the alarms 148, 152* SW limit
switch plus/minus can occur when the system is started up. In this case, it might be possible
(depending on the direction) that reference point approach with Bero is not possible. For
remedy, proceed as follows:

1st step
Enter the displayed position without the first digit in the NC MD 396*, absolute
offset, and set NC MD 1808*, bits 1 and 3.

2nd step

POWER ON. Afterwards, the displayed actual position must be around zero
and there is no longer an alarm pending.

3rd step

Reset NC-MD 1808*, bit 3.

4th step

Execute reference point approach.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

12–87

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12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

Position controller resolution =
0.5 10-4 mm

Displayed actual position =
140.0000

•

Machine system = required absolute position = reference point value

•

Absolute encoder value =

12–88

04.96

Example:

Positive travel direction

Reference point approach is not possible!

1st step
Enter 40.0000 mm in NC MD 396*, absolute offset, and set NC MD 1808*, bits
1 and 3.

2nd step
After POWER ON, an actual position of 0.0001 is displayed.

3rd step
Reset NC-MD 1808*, bit 3, absolute offset valid.

4th step
Execute reference point approach.

Ascertaining the offset without the reference point encoder

•
There is no reference point cam or BERO present.

•
NC MD 1808* bit 0: axis with absolute encoder is set (absolute encoder present).

The machine is traversed to the position that the machine manufacturer regards as the
reference point manually in ”JOG” or ”Incremental” mode.

Calculation of the absolute value encoder:

Machine system = absolute encoder value + absolute offset

or

Absolute offset = machine system - absolute encoder value

Where:

displayed absolute position (actual value) with
”Absolute offset invalid”

The calculated absolute offset must be entered in MD 396* and be made valid by setting MD
1808*, bit 3. After the next control start-up, the displayed actual position, the machine system
actual position and the status signal ”Reference point reached” are set.

For set-up without reference point encoder,

the customer must take care of the overflow handling.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

04.96

12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

It must be taken into account that all absolute values have the format± 99.999.999 input units:
In order to be able to enter a larger absolute offset, bit 1 must be set in NC MD 1808*. When
this bit is set, the absolute value of 99.999.999 must be deducted from the ascertained
absolute offset.
Example:
Absolute offset = -100000010
Set NC MD 1808*, bit 1
Enter -11 in MD 396*
Calculating a correction value:
The smallest traversing range (absmax) of the encoder that is greater than 99999999 must be
calculated. This is done by continuous division of the maximum traversing range of the
encoder by 2.
Absolute offset>
99999999<
99999999>

absmax
absolute offset<
absolute offset>

absolute offset = - (2 * absmax)
absmax use NC MD 1808*, bit 1
absolute offset>absmax absolute offset+(2 *
absmax)

Example:
Assumptions:
Position controller resolution:
Spindle pitch:
EQN 1325:

0.5 * 10-4 mm
10 mm
4096 revolutions

Maximum traversing range due to position controller resolution ± 2048 * 10 mm = ±20.48 m
1st step:

Traversing range of encoder / 2 =

2nd step:

Divided again by 2

=

10.24 m > 9.99999999 m

5.2 m < 9.99999999 m

If a value > 10.24 has been ascertained for the absolute offset, 20.48 m must be deducted
from this value.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–89

12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

12.11.2.6

07.97

Behaviour on power on)

If NC MD 1808* bit 0 is set the NC MD 1808* bit 3 ”Absolute offset valid” is checked for the
corresponding axes. If both bits are set, the axis-specific interface signal ”Reference point
reached” is already set on power-on.

12.11.2.7

Special case ”Parking axis”

With the axis-specific interface signal ”Parking axis”, the interface signal ”Reference point
reached” is reset on an axis with an absolute encoder too.
If the axis-specific interface signal ”Parking axis” is cancelled and
•
•

NC MD 1808*, bit 3, absolute offset valid, is not set, referencing is suppressed
NC MD 1808*, bit 3, absolute offset valid, is set, referencing is performed immediately and
the interface signal ”Measuring system referenced = Referenced point reached” is set.

12.11.2.8

Absolute encoder error

With the absolute encoder function, errors can occur both in and outside the encoder.
Therefore, if an error occurs it is first necessary to check the transmission line between the
encoder and the absolute module.
All absolute encoder errors are displayed axis-specifically in the control with the error message
”Absolute encoder defective”.
The precise type of error can be found in the line ”Service number” in the menu service
status display. The error number is displayed.
If the error numbers are converted to 8-bit binary numbers (calculator accessory), the single
error sources are defined as follows:
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7

Not defined
Not defined
Alarm from ENDAT protocol
CRC error
TIMEOUT (shows missing start bit after 4.5 ms)
Wrong (old) hardware
Not defined
Drive ascertains ENDAT encoder error

Detailed information about the causes of error detected by the drive is provided in drive MD
1023* measuring system motor absolute track or in drive MD 1033*, direct measuring system
absolute track.
Remedy:
•
•
•

Check absolute encoder for damage
Check for correct fit of connectors between absolute encoder and servo loop
Replace encoder and motor.

12.11.3
12.11.3.1

Range extension with ENDAT absolute encoder (as from SW 6)
Description of function

If an ENDAT encoder is used as the indirect measuring system, a range extension can be set
in NC MD 1808*, bit 7. Encoder overflows are recorded and stored in the NC-CPU (SRAM) as
a rough encoder position.

12–90

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

12 Functional Descriptions
12.11.3 Range extension with ENDAT absolute encoder (as from SW 6)

Each time the absolute encoder is evaluated (Power On or deselection of parking axis), both
MD 396*, absolute offset, and the rough encoder position are used to determine the actual
position. The absolute offset must have been declared active (MD 1808*, bit 3=1). MD 396* is
not changed internally and is used as a storage medium to make it possible to load old NC-MD
files.

12.11.3.2

Storing absolute information

Until now all absolute information was stored in the encoder. The absolute encoder only had to
be restarted (axis measured) after the encoder was replaced. Restart is now also necessary
on data loss in the SRAM of the NC-CPU when the range extension of the absolute encoder is
used. However, axis measurement is not necessary if an NC-MD file was stored immediately
before data loss in the SRAM. Possible applications are:
•
•
•

SW update
Replacement of the NC-CPU
Replacement of the CSB board

Motion limitations when the axis is switched off
When switched off, the axis must only turned through half the definite traversing range of the
absolute encoder (e.g. coasting after a power failure). A violation of this condition is not
detected by the control and results in an incorrect actual position!
Example:
Rotary axis with position control resolution 0.5 · 10-3 => 1 revolution=720000 units[MS];
Gearing 1/59;
Encoder EQN1325 with a definite traversing range of 4096 rev
Calculation of half of the definite traversing range SG:
SG=4096 rev/2·1/59·720000 Units[MS]/rev=24992542.4 units [MS]
SG is the maximum permissible movement of the axis when it is switched off (=34.7 load
revolutions).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–91

12 Functional Descriptions
12.11.3 Range extension with ENDAT absolute encoder (as from SW 6)

07.97

NC MD 3944*
The rough encoder position in NC-MD 3944* currently being used is stored at the following
times:
•
•
•

When an NC-MD file is stored (all NC-MD)
On NCK Power On
When ”Parking axis” is deselected.

Linear axes, encoder on motor
The new maximum traversing range is derived from the set position control resolution. Other
limitations other than those mentioned above are not necessary.
Rotary axes, encoder on motor
In order to also avoid an error when determining the actual position of endlessly rotating rotary
axes (endless traversing range) within one or 16 revolutions, the denominator of the gear
encoder/load must be entered as NC-MD 3940* during start-up of the machine.
Example: Gearing 33/59:
59 encoder revolutions produce 33 load revolutions
MD 3940*=59
If the numerator and denominator of the gear have a common divisor, the denominator should
be reduced by this divisor. An example is given in the description of NC-MD 3940*.
Service display
To provide a control for the operator, the number of ENDAT absolute encoder overflows are
displayed in the axis service display.

12–92

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.01

12.11.3.3

12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

First start-up

Initial state
Initial state standard MD
MD 1808*, bit 3=0
Absolute offset not valid
MD 1808*, bit 7=0
No range extension
MD 1808*, bit 0=0
No absolute encoder exists
MD 3944*=0
Rough encoder position=0, no overflow
MD 3940*=0
Gear denominator=0
Note:
The initial state is equivalent to the standard data setting. If other parameter settings are
active, bit 3 in MD 1808* must be set to 0 before continuing with step 1 (i.e.: absolute offset
not valid).
Step 1:
Set MD 1808*, bit 0 and bit 7 to 1, with rotary axes the gear denominator is parameterized in
NC MD 3940* and an NCK Power On is performed.
Step 2:
The drives equipped with an absolute encoder must now enter the closed-loop control (control
e.g. via a small traversing movement). After that, the absolute encoder must be adjusted. The
absolute offset is set correctly in MD 396* after the axis has been measured and declared valid
by setting MD 1808*, bit 3=1.
Step 3:
With linear axes especially, it is advisable to approach a known position (e.g. a visible mark)
and then back up the NC MD at this point. This MD file can then be used at this position after
data loss in the SRAM instead of a file saved shortly before.
Note:
After each start-up, the service display should be checked for any number of overflows. After
the first start-up, a value between -1 and 1 (usually 0) should be displayed here, in the case of
endlessly turning rotary axes this value should be between 0 and 1.
The initial start-up process needs to be repeated whenever the service display shows
unreasonably high values. For this, parameterize the following machine data:
MD 1808*, bit 0=1
MD 1808*, bit 3=0
MD 1808*, bit 7=1

Absolute encoder present
Absolute offset not valid
Initialize encoder coarse position

Subsequently, initiate NCK Power On and continue with step 2.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–93

12 Functional Descriptions
12.11.2 ENDAT absolute encoder (SW 5.2 and higher)

12.11.3.4

01.99

Special start-up cases

Start-up after a SW update
The rough encoder position is not erased when the software is updated. The absolute encoder
does not therefore have to be reinstalled.
Foreseeable SRAM failures
Foreseeable SRAM failures occur, for example, when the NC-CPU or the CSB board is
replaced. In such cases the following procedure is necessary:
Step 1:
Save the NC-MD as an ASCII file via the MDD on the MMC. This can be performed on the
highest machine data level or on the highest NC MD level. It is at this step that the rough
encoder position is stored in NC-MD 3944*.
Step 2:
Replace the NC-CPU or the CBS board and then switch on the control. The control now
powers up in initial clear mode and the entire SRAM area is erased.
Step 3:
Load the backed up NC-MD file in initial clear mode. After the file has been loaded, CANCEL
alarm 1376*, ”Check position absolute encoder” is output. This alarm informs you that start-up
is not yet complete and remains active even after a Power Off. The alarm cannot be
acknowledged until normal mode is restored (after Step 5).
Step 4:
Set NC-MD 1808*, bit 7, to 0.
Step 5:
Terminate initial clear mode
Step 6:
The drives equipped with an absolute encoder must now enter the closed-loop control (control
e.g. via a small traversing movement). However, the limitations for movements apply in the
switched off status requiring the axis to be repositioned.
Example:
Traversing movement (JOG 1000 increments) in positive direction
Traversing movement (JOG 1000 increments) in negative direction
Then set bit 7 to 1 in MD 1808* (range extension active)
Step 7:
Initiate NCK Power On and check the position after it has powered up.

12.11.3.5

Start-up after data loss

If data loss in the SRAM occurs because of a hardware fault and it is not possible to back up
the NC-MD file, the absolute encoder must be realigned. This task can be simplified with a
visible mark on the machine from which the commissioning engineer (Siemens Customer
Service) can determine the position offset as accurately as possible.

12–94

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

12.12

12 Functional Descriptions
12.12 Path dimension from PLC

Path dimension from PLC

General notes
You can traverse NC axes directly from the PLC user program via the command channel.
Machine control (control response, traverse response) and the displays of the NC remain
unchanged.

12.12.1

Execution of the function ”Path dimension from the PLC”

The function ”Path dimension from the PLC” is activated by the PLC user program via the
command channel.
The following are entered in DB 41, e.g. starting at DW6 (m = 6 for the first ASS)
•
•
•

In DW6: Function number (1 = static path dimension)
In DW8: Source DB/DX number for the user data DB as well as selection of either DB or
DX
In DW9: DW number as of which entries are to be made in the user data DB

The user must set up a user data DB. The following values can be written in these DBs:
•
•
•
•
•

DWx
DWx+1
DWx+2 and
DWx+3
DWx+4 and
DWx+5
DWx+6

Length in words (6)
Channel number/axis number
+/- position
Axis feed
G68, G94/95, G90/91.

The function ”Path dimension from the PLC” is activated via MD 5018 bit 5. In addition, the
number of user interfaces (ASS) must be entered in PLC MD 33 and the function activated
with PLC machine data bit 6026.1.
The path dimension is executed directly when the command channel strobe (DB41 DR0) is
detected by the NC.
Depending on the path condition in the command channel (G90/G91), either
•
•

an incremental path dimension is traversed or
an absolute position is approached.

The function ”Path dimension from the PLC” does not make allowance for
•
•
•

zero offsets
tool offsets
DRF and PRESET shifts.

The axis feeds for the function ”Path dimension from the PLC” are likewise transferred via the
command channel. These feeds can be linear or rotational. The path conditions G94/P95 are
also passed down the command channel.
The required axis is specified as an axis number in the command channel. The axis must be
assigned to the mode group via whose NC channel the path dimension is traversed. You must
also parameterize the number of the NC channel.

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12 Functional Descriptions
12.12.1 Execution of the function "Path dimension from the PLC"

12.93

Manual traverse commands (traverse keys) are ignored while the path dimension is being
traversed from the PLC.
If G68 is passed down the command channel, the path dimension on a rotary axis is traversed
along the shortest path (< 180°). The function G68 precludes the functions G90/G91. The
function G68 is active only for axes to which the partial function ”modulo programming” has
been assigned.

12.12.2

Termination of the function ”Path dimension from the PLC”

The path dimension function is terminated when an acknowledgement has been sent to the
PLC (command channel).
•

Positive acknowledgement (normal mode)
The function ”Path dimension from the PLC” is acknowledged positively when the
remaining path still to be traversed has reached the ”Exact stop window coarse” (MD
204). The acknowledgement frees the channel again, i.e. program mode can be continued
or restarted. If the channel is in the RESET state and if the path dimension is started, then
an NC start cannot be executed. The channel returns to the RESET state once the path
dimension is terminated. The path dimension cannot be started when a part program is
running (see negative acknowledgement).

•

Negative acknowledgement (error condition)
If an error occurs during path dimension processing, then the function is acknowledged
through specification of an error number (DB 41, DWm + 1).

12.12.3

Interruption

The path dimension function is interrupted when the following conditions are fulfilled:
•
•
•
•
•
•
•
•
•

Reset by key
RESET by a PLC user program
Change in operating mode
EMERGENCY STOP
Warm start
Cancellation of controller enable command
Follow-up mode
Parking axis
Traverse beyond the software or hardware limit switch or the working area limitation.

Note
All alarms which disable NC processing or mode group readiness to operate likewise terminate
the path dimension function. There are no additional alarms specific to the path dimension
function. If the function is aborted, then it is merely acknowledged negatively through
specification of an error number in DB41, DWm + 1. The function is also terminated when the
operating mode is changed without initiation of a reset.
When the following conditions are fulfilled, the active path dimension can be stopped; traversal
can however be continued until the desired position is reached:
•
•

Feed override 0 %
Axis-specific feed inhibit (PLC interface signal)

NC stop and feed stop do not have any effect on an active path dimension function.

12–96

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12.93

12.12.4

12 Functional Descriptions
12.12.4 Meaning of NC MD 5008, bit 7

Meaning of NC MD 5008, bit 7

Bit 7=0:

Path dimension is started in the AUT/MDA modes only in the NC stop/RESET
state (read-in disable and end of block have no meaning).

Bit 7=1:

Path dimension is started in NC stop/RESET state or on read-in disable and
end of block.

Default setting: 0
The following conditions generally apply:
NC MD 5008.7
0

1

Reset

+

+

NC stop

+

+

Read-in disable

–

+

+ Path dimension from PLC can be executed
– Path dimension from PLC cannot be executed

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CAUTION

12.12.5

For reasons of safety, it is advisable to set this machine data bit to a
specific value. The following situation may occur: The NC MD
5008.7 is set and the path dimension from the PLC selected. If the
read-in disable is set, then the programmed path dimension is
traversed from the PLC as soon as the end of block is reached. The
axis traverses without any operator control action (e.g. NC stop)
taking place (danger of collision).

Influence of the modes on the path dimension function from
the PLC

The function ”Path dimension from the PLC” can be activated in the AUTOMATIC, MDA,
TEACH IN and JOG modes. The function is not legal in the REFPOINT and PRESET
submodes; in these modes, it is disabled and acknowledged negatively with an error number to
the PLC.

12.12.5.1 Path dimension from the PLC and JOG operating mode
If the specified NC channel is free, then the path dimension is traversed as soon as the
function is transferred via the command channel.
The path dimension function is disabled whenever:
•
•

An incremental path is being traversed (INC, REPOS)
A manual path is being traversed, i.e. a traverse key is pressed.

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12 Functional Descriptions
12.12.5 Influence of the modes on the path dimension function from the PLC

07.97

The path dimension is traversed if the disabling commands are cancelled and all required
enabling commands present.
The REPOS offset is updated whenever a program is interrupted in the AUTOMATIC mode
and a path dimension then traversed.

12.12.5.2 Path dimension from the PLC and MDA, TEACH IN and
AUTOMATIC modes
The following generally applies to the MDA, TEACH IN and AUTOMATIC modes
•

If no program is running in the specified NC channel, then the path dimension is started
immediately after the command channel transfer. If a program is interrupted in the MDA,
TEACH IN or AUTOMATIC modes, not active or JOG, INC or REPOS activated, then the
control behaves in the same way as in INC mode (for example, no setpoint/actual value
difference is displayed).

•

If a program is running in the specified NC channel, then the path dimension can be
started - depending on NC MD 5008.7 - either only in the NC stop state or when a read-in
disable is set. If a program is stopped in the MDA, TEACH IN or AUTOMATIC modes by a
read-in disable and a path dimension transferred from the PLC, then the control behaves in
the same way as in AUTOMATIC mode (the setpoint/actual value difference is displayed).
While the path dimension is being traversed, the interface signal ”Program in progress”
remains active (if the status displays are configured, then the appropriate icon is
displayed).

The following effects occur as a result of program influences and the corresponding machine
functions:
Block search:

If block search is active, a path dimension cannot be traversed. The path
dimension function is not permitted and the request is acknowledged
negatively by the PLC.

Overstoring:

If the path dimension function is active, overstoring cannot be activated
because NC start cannot be evaluated. If overstoring is active in the path
dimension channel, then the path dimension function cannot be activated
because the channel is occupied.

Single block:

It is possible to start path dimension after program stop as a result of
single block in combination with read-in disable only.

Dry run feedrate:

No effect

Note:
The conditions described apply only to the operating mode group in which the channel
selected for path dimension is situated.
Interface signals ”Program interrupted” and ”NC start possible” can be applied as the criterion
for NC channel in the stop state.

12–98

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12.93

12 Functional Descriptions
12.12.5 Influence of the modes on the path dimension function from the PLC

If a path dimension is passed down the command channel, the NC traverses the path
dimension as a fixed destination as in INC and REPOS modes. This applies whatever mode
has been selected at the machine control panel.
If the path dimension has been traversed and acknowledged to the PLC and the selected
mode is AUT or MDA, the axes moved by the PLC are actually in a different position from the
one specified in the NC program.
After NC start, the incorrect axis positions programmed in the block before the path dimension
are corrected, i.e. the end point of the block is approached again. The other axes are only
corrected when they are traversed again in the part program.
y

3.

N20
N10

Path dimension from the PLC

2.

4.

N30

1.

5.

A
x

As you can see in the above diagram, the axis positions are corrected to the end point of
block N20 (point A) after the path dimension has been traversed and NC start executed. Then
block N30 is executed (e.g. with a new tool).
Note:
If a path through several revolutions is programmed for rotary axes with G91, the programmed
end position is approached again (several revolutions) after NC stop followed by NC start.
(Same response as for part program interruption followed by NC start)

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12 Functional Descriptions
12.12.5 Influence of the modes on the path dimension function from the PLC

12.93

Comments:
•

Keys/switches on the machine control panel:
Direction keys, rapid traverse overlay, axis selector switch have no effect.

•

Feedrate override switch:
The switch position 0% is always active for path dimension, irrespective of the setting of
the PLC interface signal ”Feedrate not active”.

•

Program control:
Dry run feedrate and rapid traverse override are not active.

•

Facing axis function as a diameter:
If the path dimension axis selected is a facing axis, the facing axis functions usual in the
NC apply. If diameter incremental dimensioning is selected, the path dimension along
which the facing axis has to traverse is halved. (MD bit: INC/DRF/handwheel: facing axis
functin in diameter).

•

Rotary axis traversing functions:
If the selected path axis is a rotary axis, then the usual NC rotary axis traversing functions
such as modulo programming for rotary axes and actual value display modulo 360 degrees
apply. The path dimension to be traversed is evaluated by division into degrees according
to the selected input resolution.
On an NC start after a block search with calculation after a rotary axis path dimension, the
calculated distance to go is projected within a range of -180° < distance to go < 180°.
On NC start after automatic interrupt, the complete distance to the part program block end
point is traversed!

•

Indexing axis
If an axis is an indexing axis, the path dimension is not interpreted as a division number.
The path dimension is traversed as specified.

•

Handwheel mode
Handwheel mode can be active while a path dimension is being traversed (overlay). If you
do not want this, you can deselect the handwheel in the machine data or with a PLC
interface signal.

•

Preset/DRF offset
The actual value offset DRF and preset apply to the absolute axis actual value.
When the path dimension axis is traversed to an absolute position, the DRF and PRESET
offset are not included in the calculation.

•

Rounding axis
No rounding logic is performed! If the path dimension axis is a rounding axis, the path
dimension must be a multiple of the rounding position. (Dealt with as in the part program).
A check is made to see whether an incorrect position was given. The path dimension is
aborted to prevent an incorrect position from being traversed. (Negative acknowledgement
with error/number to the PLC).

12–100

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11.92

Software limit switch (SW-L):
The following effects occur:
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•

12 Functional Descriptions
12.12.5 Influence of the modes on the path dimension function from the PLC

SW-L

The path dimension is traversed
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1.

SW-L

The path dimension is not traversed
and aborted
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2.

SW-L

The path dimension is not traversed
and aborted

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3.

SW-L

4.

•

The path dimension is traversed

Transformation
Requirement: Transformation is selected and active.
The following conditions apply:
1. Fictitious axis as a path dimension axis
The path dimension axis is transformed into a real axis and traversed.
2. Real axis as a path dimension axis
The real axis is not traversed.
The path dimension function is aborted and a negative acknowledgement is sent to the
PLC.
If the transformation is not selected and not active and the path dimension axis is a
fictitious axis, the path dimension function is aborted.
Delete distance to go has no effect.
In-process measurement is not possible.

•

Coupled motion
Requirement: Coupled motion is selected and active.
The following conditions apply:
1. Leading axis as the path dimension axis:
The coupled-motion axes traverse with the leading axis.
2. Coupled-motion axis as the path dimension axis:
Coupled-motion axes are not traversed.
Path dimension is aborted and a negative acknowledgement is sent to the PLC.

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12 Functional Descriptions
12.13 Indexing function from the PLC

07.97

12.13 Indexing function from the PLC
Corresponding data
•

•
•
•
•
•
•
•
•
•
•
•
•

MD 244*
1104*
1108*
1112*
MD 564* bit 3
MD 564* bit 4
MD 5018 bit 4, division from PLC (this bit must be set to 1, otherwise the indexing axis is
not activated)
General
Division in set-up mode
Division from the PLC
Explanation of indexing function terms
Machine data
Traversing an indexing axis to the reference point
Monitoring
Alarms
Actual value display
PLC user interface
Conditions
Error messages from the NC to the PLC

General
NC axes in (rotary and linear axes) can be positioned at certain grid points using the indexing
function from the PLC (setup mode division related).
This function is used for various applications such as positioning auxiliary axes (turrets, tool
magazines) as well as for machining teeth (gear machining, tool grinding).
The initial setting of this function and the parameters are set in the machine data.
Positioning in the indexing grid is carried out with traversing keys ”+” and ”–” in JOG or INC
mode. It is also possible to traverse an NC axis to the desired indexing position from the PLC
via the command channel in NC modes AUT, MDA, JOG, INC and REPOS.
The divisions are calculated in such a way that no additive indexing errors occur. Absolute
reference to setpoint and actual position means that the same starting position is always used
in calculation. In the case of a rotary axis, the same starting position is always reached even
after several revolutions.
Even where a division leaves a remainder, indexing positions are calculated to a tolerance of
0.5 . input resolution and approached.

12–102

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06.93

12.13.1

12 Functional Descriptions
12.13.1 Division in set-up mode

Division in set-up mode

With this function the indexing positions are traversed incrementally in set-up modes INC and
JOG.
INC mode (incremental dimension)
The indexing axis is traversed incrementally by one division when the traversing key ”+” or
”–” is operated. This function is independent of the position on the mode switch. Incremental
dimensions INC 10, 100, 1.000, 10.000 have the same effect as INC 1 in the function ”Setup
mode division related”.
JOG mode
The indexing axis is moved as for normal JOG mode when the traversing key ”+” or ”–” is
operated.
If the traversing key ”+” or ”–” is let go in JOG mode, the axis moves to the next indexing
position to be reached in the direction of travel. If the direction is changed, the next indexing
position is approached in the direction of travel before changing direction.

12.13.2

Division from the PLC

Division from the PLC is sent via the command channel. The user must specify axis number,
division number, velocity, preparatory functions etc.
Division from the PLC can be executed in NC modes AUT, MDA, JOG, INC and REPOS. The
indexing position can be approached incrementally and absolutely. These are defined in the
preparatory functions in the command channel (G90/G91).
Please refer to the function ”Path dimension from PLC” with regard to the conditions for
modes, channels, abort conditions, error behaviour, stop conditions, part program interruption,
part program stop, travel behaviour, travel logic etc. with division from the PLC.
Overview: Division from the PLC via command channel
Preparatory
function
G90

Rotary axis
Positioning to division
number within 360°

Linear axis
Positioning to define division number
Limit: 1 ...

Limit: 1 ... number of
divisions
G91

Positioning by division
number
Limit: 1 ...

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109 x ND
––––––––
DRD

6FC5197- AA50

division number below or on
software limit switch

Positioning by division number
Limit: none

(however a check is made
whether  or the
software limit switch
should be approached

12–103

12 Functional Descriptions
12.13.2 Division from the PLC

Preparatory
function

06.93

Rotary axis

G68

Linear axis

Positioning to division
number along shortest
direction of rotation within
360°

–––

Limit: 1 to number of
divisions

ND = Number of Divisions
DRD = Division Reference Dimension

12.13.3

Explanation of indexing function terms

Number of divisions:
The number of divisions specifies the number of divisions (e.g. number of magazine locations)
per absolute dimension. Any integer between 1 and 999 is possible. The number 0 is not
possible!
The number of divisions is defined in NC MD 1104*.
Axis is an indexing axis:
This states that the indexing functions refer to this axis.
This is defined in NC MD 564*.
The axis can be a rotary or a linear axis.
Actual indexing position:
The actual indexing position is the location of the magazine location that has been approached.
Division number:
The division number states for incremental division (G91) the number of divisions by which the
axis must be positioned. Where absolute division is programmed (G90), the division number is
the setpoint indexing position to which the axis is to be positioned.
Division reference dimension:
The division reference dimension defines the reference path to which the number of divisions
refers (see illustration on next page).
Rotary axis:

If the indexing axis is defined as a rotary axis, the reference dimension is 360
degrees.

Linear axis:

The reference dimension corresponds to a linear path which is divided into
divisions.

The division reference dimension can be input by NC MD 1108*. No input need be made for
rotary axes since the dimension is set to 360 degrees internally in the control.

12–104

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06.93

12 Functional Descriptions
12.13.3 Explanation of indexing function terms

Significance of number of divisions and division reference dimension
ND = Number of Divisions
DRD = Division Reference Dimension
ND = 7
DRD = 360 degrees
Input resolution : 10-3
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Rotary axis:

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a

/360.000°

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a
a

DRD

1

7

6

2

ND

5

3

4

ND
DRD
Input resolution

5

6

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a

4

a
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3

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2

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1

5
1000 mm
10-3

DRD

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Illegal
range

=
=
:

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Linear axis:

7

µm

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ND

1.000.000 µm

Indexing function offset
The indexing function offset defined by how many measuring system units the indexing
position ”1” has been offset by the actual value 0.
To calculate the division, the control equates the indexing position 1 with the actual value 0. As
these two points do not coincide in most cases, this reference point can be offset. This is
done with machine data ”Division offset” in which the distance between actual value 0 and
division 1 is defined.

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12 Functional Descriptions
12.13.3 Explanation of indexing function terms

06.93

Example:

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aaaaaaaa

Number of divisions = 6
Rotary axis Division reference dimension= 360 · 103 mdegrees
Division offset= 90000 mdegrees

a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
a
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4

3

1

2

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60°

90°
120°

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240°

6

a
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a

5

ND

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300°

a
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a

a
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0°

180°

This offset becomes active as soon an the machine data has been altered.
Incremental division in the specified direction of rotation: (G91)
The indexing axis moves from the current indexing position by the number of division specified
by the division number. The division number can be larger than the number of divisions.
Absolute division in the specified direction of rotation: (G90)
Rotary axis:

The indexing axis is positioned to the defined division number within 360
degrees. The division number must not be larger than the number of
divisions.

Linear axis:

The indexing axis is positioned to the defined division number.

Divisions along shortest direction of rotation: (G68)
For rotary axes only!
The rotary axis is positioned as for G90 to the defined division number within 360 degrees,
however the division number is approached along the shortest path (time optimized
positioning).
Note:
The listed function behave in the same way as corresponding G functions. However, no G
functions are displayed and none are transmitted to the PLC.
Division counter
Several axis actual values in the indexing grid can be displayed for an indexing axis. The
division counter converts the actual values into indexing positions. An indexing position can be,
for example, an approached location number of a tool magazine or the number of a tooth
space on a gear to be machined.

12–106

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09.95

12.13.4

12 Functional Descriptions
12.13.4 Machine data for the function ”Setup mode division related”

Machine data for the function ”Setup mode division related”

NC MD 1104*:
Name
Significance
Standard value
Input value limit
Reference system
Input resolution
Active

:
:
:
:
:
:
:

Number of divisions (ND)
Number of divisions per reference dimension
0
1 ... 999
----Every 100 ms

NC MD 1108*
Name
Significance
Standard value
Input value limit
Reference system
Input resolution
Active

: Division reference dimension (DRD)
: Defines the reference to which the number of divisions
refers
: 0
: Linear axis
: MS (Machine System)
: units
: Every 100 ms

Note:
The rotary axis has an internal reference dimension of 360 degress according to the input
resolution. No inputs necessary.
When using the functions with chain magazines, a rotary axis may need several revolutions to
match one magazine revolution.
The division reference remains in this case, however, 360 degrees. The rotary axis or chain
magazines can be matched with the variable incremental weighting.
NC MD 1112*:
Name
Significance
Standard value
Input value limit
Reference system
Input resolution
Active

:
:
:
:

Division offset
Relation between actual value= 0 and indexing position 1
0
Linear axis
: +/ - 1 ... 99 999 999
Rotary axis
: +/ - 360 degrees
: MS
: units
: Every 100 ms

NC MD 564*, bit 3
Name
Significance

Standard value
Active

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

: Actual values division related
: The actual value is converted to an indexing position
(if the axis is an indexing axis).
Bit 3 = 0
: No conversion
Bit 3 = 1
: Conversion of actual value to indexing
position
: Bit 3 = 0 (for all axes)
: Every 100 ms

6FC5197- AA50

12–107

12 Functional Descriptions
12.13.4 Machine data for the function ”Setup mode division related”

09.95

NC MD 564* bit 4:
Name
Significance

Standard value
Input value limit
Active

: Indexing axis
: The indexing functions apply to this axis. The axis can be
a rotary or linear axis.
Bit 4 = 0
: Axis is not an indexing axis
Bit 4 = 1
: Axis is an indexing axis
: Bit 4 = 0 (for all axes)
: 1 ... 999
: Every 100 ms

NC MD 5018* bit 4:
Name
Significance
Standard value
Active

: Division from PLC
: Bit 4 = 0
: Indexing process not in setup mode
Bit 4 = 1
: Indexing process also in setup mode
: 0
: Every 100 ms

Notes regarding effects of machine data
If the function is used workpiece related, the machine data are altered during workpiece
machining and in setup mode. This is possible by:
•
•
•

altering the MD from the PLC
altering the MD during configuring (user memory submodule UMS)
altering the MD via CL 800

If the machine data are altered during configuring, this can be carried out without using the
installation mode. They become active immediately after they have been altered without a
warm restart or RESET being necessary.
If the indexing machine data are altered during machining with the indexing function, they
become active after approximately 100 ms!

12–108

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

12.13.5

12 Functional Descriptions
12.13.5 Traversing an indexing axis to the reference point

Traversing an indexing axis to the reference point

If the function is used machine-specifically, the indexing axis can be traversed to an
indexing-specific reference point. The distance between a zero mark and an indexing position
can be defined in MD ”Reference point offset”. The indexing axis does not have to be
traversed through a reference point to an indexing position. The axis is automatically traversed
to an indexing position on the next traversing movement after a reference point approach.
Example:
Linear axis;

ND
DRD

(number of divisions)
(division reference dimension)

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5
200.000 µm
140.000 µm
0

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Reference point
Reference point offset

=
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=

200.000 µm

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µm

2

3

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1

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Illegal
range

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140.000 µm

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NC MD 244* should be preset as follows for machine-specific division:
MD 244*

: Reference point offset
S = Distance between zero mark and an indexing position

If the function is used workpiece related, an indexing axis should be set as described above
in order to arrive at the defined division conditions. If the reference dimension, number of
divisions or the indexing axis are altered during machining, the actual division reference value
is lost.
Note:
The illegal range (indexing position < 1) must no be selected as the reference point.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–109

12 Functional Descriptions
12.13.6 Monitoring

12.13.6

06.93

Monitoring

Monitoring reacts to illegal MD input values for division:
Permissible input values are:
•
•
•

Number of divisions
Reference dimension linear axis
Offset
linear axis
rotary axis

:
:
:
:

1 ... 999
1 ... 99 99 999
+/- 1 ... 99 999 999
+/- 360 degrees

Otherwise alarm 1200* is triggered.
The monitoring function also checks that the number of divisions and the reference dimension
are not equal to 0 (for linear axes) with the indexing axis is selected. Otherwise alarm 1200* is
triggered.
If the axial MD bit ”Software limit switch active” is set, the actual values of the indexing axis
are checked.
The monitoring checks to make sure that the axis is not a rounding axis. Otherwise alarm
1200* is set.

12.13.7

Actual value display

The actual values are displayed as divisions if the option ”Indexing function” is set, the axis is
an indexing axis, the MD bit ”Actual values division related” is set and the special actual
values PRESET offset, axis actual position or workpiece-oriented actual value are selected.
The actual values on the service display cannot be displayed as divisions.

The calculation for linear axes is absolute. The division counter does not return to 1 after
crossing the end value but continues to count.

7

ND=7

2

6

3

4

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5

Illegal
range

Example: rotary axis
ND = Number of Divisions

ND=7

1

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•

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For rotary axes the calculation is modulo ”Number of division”. The division counter
counts from the initial value ”1” to the end value (”Number of divisions”) and returns to
”1” when it moves again.

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•

7

8

Example: linear axis

•

The system does not check whether the linear axis is in the illegal range. Undefined values
are used in the calculation (indexing position < 1 refers to the illegal range).

•

The division counter
– can be read by the NC via the CL 800 (360, when a division-related display has been
set)
– can be read by the PLC
– can be configured (with its own actual value display with division counter)
– cannot be written

12–110

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

99999.123

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CC

aaaaaaaa
aaaaaaaa
aaaaaaaaaaaa
aaaaaaaa
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The division counter display is shown in the following example (example for display
resolution 10 E - 3 mm).
aaaaaaaa
aaaaaaaa
aaaa

•

12 Functional Descriptions
12.13.7 Actual value display

The places after the decimal point are used to check
travel and to display a non-division position

The number of displayed decimal places after the point depends on the set display resolution.
The division counter includes the division offset (MD 1112*) in its calculations. The division
offset shows which actual value corresponds to indexing position 1 (offset=0: actual value=0
corresponds to indexing position 1).
Actual value No.

Actual value identification

0

DRF offset

1

PRESET offset

2

Actual value division related
––––––––
X

––––––––

––––––––

3

Actual offset (TO+ZO)

4

Actual position

X

5

Distance to go

––––––––

6

JOG offset

––––––––

7

Workpiece related actual value

8

Simulation actual value

––––––––

9

Interpolation actual value

––––––––

10

Machine-related actual value with
following error

––––––––

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

––––––––

X

12–111

12 Functional Descriptions
12.13.8 PLC user interface

12.13.8

06.93

PLC user interface

The parameters for the command channel can be set via two interfaces:
a) User interface UI in the permenantly set data block DB 41
b) Any DB or DX set by the user in which the parameters for the function triggered in the NC
are entered.
The user must enter function number 2 in DB 41 for the function ”Indexing function from
PLC”.

12.13.9
•

Conditions for the function ”Setup mode division related”

DRF function
With the DRF function the position of an indexing axis is altered but not the display actual
value.

•

PRESET offset
With PRESET offset, the display actual value of the indexing axis is set to a new value.
The PRESET value, however, cannot be entered division related. It must be entered as
usual as an absolute value or modulo 360 degrees.

•

Handwheel
The handwheel is used to traverse the indexing axis across geometry resolutions in the
same way as the normal axes (i.e. no divisions).

•

Zero offsets, tool offsets
Zero offsets and tool offsets have no effect on an indexing axis.

•

Coupled motion
Prerequisite: Coupled motion is selected and active
1.) Main axis as indexing axis
The coupled motion axes are traversed with the main axis.
2.) Coupled motion axis as indexing axis
The coupled motion axes are not traversed. Travel is aborted at an indexing position or
travel is not activated.

•

Coordinate transformation
Prerequisite: Transformation is selected and active
1.) Fictitious axis as indexing axis
The indexing axis is transformed and traversed in the same way as a real axis.
2.) Real axis as indexing axis
The real axis is not traversed. Travel is aborted at an indexing position or travel is not
activated.

•

Linear axes have no ”Modulo number of divisions”
Ratio as for rotary axes. Their indexing position is always displayed in absolute values,
linear axes cannot approach an indexing position which is < 1!

12–112

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

12 Functional Descriptions
12.13.10 Error messages from the NC to the PLC

12.13.10

Error messages from the NC to the PLC

Indexing from the PLC is via the command channel. If disturbances occur while this function is
being executed, an error message is sent to the user interface.
The error messages are divided into general and function-specific command channel errors.

12.14

Dynamic feedforward control and setpoint smoothing filter

A P feedforward control (MD 312* and MD 465*) and a D feedforward control (MD 1124*/
MD 2449*) with a symmetrizing element to prevent overshoots (MD 392* and
MD 467*) are implemented in the position controller. In addition, a smoothing filter in the
setpoint path can be activated (MD 1272* with option bit MD 1820*, bit 0/MD 486*) to level out
dynamic differences between interpolating axes. (See figure for structure of feedforward
control). Please note the additional calculation time required for this function.

d
dt

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D feedforward control factor
MD 1124*/MD 2449*
d
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MD 312* or MD 465*
d
dt

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Feedforward control factor

Position
setpoint

a
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+

-

MD 1272*/486* MD 392* or 467*
Symmetrizing filter
Setpoint filter

MD 252* or MD 435* ff.
Servo gain factor
Position
actual value

Note:
The parameters for the 1st parameter set are shown in the diagram above. A total of 8 parameter sets are available. Refer to ”Parameter set switchover” function for further details.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–113

12.14.1

Setpoint

Speed

12–114
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12 Functional Descriptions
12.14.1 Feedforward control
10.94

Feedforward control

The FEEDFORWARD CONTROL function

is an option.

12.14.1.1
Corresponding data

NC MD 312*
NC MD 465*
NC MD 1260*
NC MD 1124*
NC MD 392*
NC MD 467*
NC MD 1324*
NC MD 1272*
NC MD 486*
NC MD
P-component feedforward control for axes
P-component feedforward control spindle
P-component feedforward control for rigid tapping
D-component feedforward control axes
Time constant (balancing filter) for feedforward control for axes
Time constant (balancing filter) for feedforward control for spindles
Time constant (balancing filter) for feedforward control for rigid tapping
Setpoint smoothing filter for axes
Setpoint smoothing filter for spindles
For parameter set switchover (see functional description)

12.14.1.2
Functional description

Static feedforward control

The feedforward control can be used to compensate position errors caused by a following
error within a range of 0 to 100 %. The following error is decreased according to the Pcomponent when feedforward control action is applied. A differential component of the control
can also be specified for axes, although this is generally not required. As a result of the static
feedforward control, the axis also travels "harder" into the specified position.

Recommended setting: Feedforward control P-component: 1000 =ˆ 100 %

Dynamic feedforward control

A very high static feedforward control setting may however cause severe overshoots on
acceleration. In this case, the partial setpoints can be passed to the position controller, delayed
by an additional time constant for feedforward control (balancing filter). This PT1 element
compensates the rise time of the speed control loop.

Recommended setting: Feedforward control time constant:
Tfeedf=0.5 . Tn
Tn= Rise time of the speed
control loop

Actual value

n

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

10.94

12 Functional Descriptions
12.14.1 Feedforward control

Setpoint smoothing
A position overshoot may occur even when the dynamic feedforward control setting is correct.
In this case, an additional PT1 element (setpoint smoothing filter) can be used to slightly flatten
the position setpoint ramps or to smooth the setpoint peaks so that the position control has
enough time to correct the setpoint changes.
Note:
From software version 3 of the SINUMERIK 840C onwards, the machine data dialog includes
an optimization menu which allows settings to be optimized on the basis of measuring curves.
See Section MACHINE DATA DIALOG for further details.

12.14.2

Setpoint filter in drive (SW 4 and higher)

In conjunction with 611D feed drives or main spindle drive DSP, it is possible to activate
preliminary filters in the speed setpoint channel to allow utilization of the feedforward control
function and a high servo gain, even with high natural resonance values. This filter is
calculated in the drive and parameterized by means of drive MDs. Low-pass, band-stop and
compensation filters are available.
It may be necessary to adjust the balancing time constant (MD 392*/MD 467*/MD 4657*) in the
control when the preliminary filter function is used. With SW 4 and higher, please note
description of "Parameter set switchover" function.

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The filtering effect can be checked by means of the servo drive start-up application. The filter
functionality is available only for digital drives.

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Differentiator

D feedforward control factor
MD 1124*/ –

+

+

+ +

Speed
setpoint

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–

Setpoint smoothing filter Balancing filter
MD 1272* or 486*
MD 392* or 467*
MD 1324*

Controlled system with
speed controller

P gain
MD 252* or 435* ff.
MD 1320*

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Position
setpoint

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Feedforward control factor
MD 312* or
MD 465*
MD 1260*

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Differentiator

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+

/Filter:/Low pass/Band-stop
MD 1500-1519

NC/SERVO end

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Position actual value

Drive end

Fig. Position controller structure with filters

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–115

12 Functional Descriptions
12.15 Switchover measuring system 1 or 2 (SW 2 and higher)

04.96

12.15

Switchover measuring system 1 or 2 (SW 2 and higher)

12.15.1

Corresponding data

NC MD 200*
NC MD 220*
Spindle MD 400*
Spindle MD 461*
Axial MD 1288*
NC MD 520*
NC MD 521*
NC MD 564*
NC MD 564*
NC MD 1820*

1st measuring system connection
Backlash compensation 1st measuring system
Measuring system connection
Assigned C axis
Torque compensatory controller reset time
bit 1
Sign change actual value
bit 1
Sign change setpoint value
bit 1
Sign change setpoint value
bit 2
Sign change actual value
bit 1
Zero monitoring ON
bit 6
Pulse coder monitoring ON
Signal DB 32 DL k+2 Measuring system 1/2

12.15.2

Feed axes

Two actual value inputs are available for each axis with this function.
To compensate for offsets after switching on the control and before reference point approach,
the function ”Second measuring system” can be implemented to activate an absolute encoder
as the first measuring system (indirectly connected) and a linear scale (directly connected) as
the second measuring system. This means that the absolute actual position of the axis is
known directly after switching on (except for the backlash). After this it is possible to switch
over to the second measuring system (e.g. linear scale).
Reference point approach is always executed with the currently selected measuring system.
The first measuring system always serves as the reference system in the control, it determines
the resolution of the position control. Only the actual values of the selected measuring system
are used for the position control.
It is possible to switch to the second measuring system via the axis-specific PLC control signal
(DB 32, DL k+2). It is possible to switch between the two measuring systems at any time,
axes do not have to be at zero speed to do this.
SPC or HMS measuring circuit modules can be used as measuring circuits for the second
measuring system. It is not possible to connect absolute encoders to the second measuring
system. Linear scales with distance coded reference marks can be connected.
Compensation functions:
•

A parameterized lead screw error compensation is permenantly assigned to the first
measuring system. The actual values of the second measuring system are not
compensated. While the second measuring system is active, the control ensures that the
lead screw error compensation will take effect when the first measuring system is
activated.

•

The quadrant error compensation always uses the actual values of the active measuring
system.

•

Compensation values for the backlash can be set for each measuring system separately
(MD 220*/MD 1288*).

•

Temperature compensations always effect the actual value of the active measuring
system.

12–116

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

12.15.3
•

12 Functional Descriptions
12.15.3 Measuring circuit monitoring and alarm processing

Measuring circuit monitoring and alarm processing

The functions pulse code monitoring and zero monitoring are either active or inactive for
both measuring systems (selection made via MD 1820*, bit 1 and 6).
If an error is detected in one of the two measuring systems, the associated alarm is
triggered (alarm 140* ”Pulse code monitoring”, alarm 144* ”Zero mark monitoring”).
They are acknowledged with the RESET keys.

•

The absolute encoder error alarm 1040* ”Absolute encoder defective” and alarm 1044*
”Battery absolute encoder submodule” are also triggered irrespective of the measuring
system currently active.

•

Measuring circuit monitoring for alarm 132* ”Control loop hardware axis” and alarm 136*
”Contamination measuring system” are only active for the active measuring system. This
makes it possible to change the encoder on the inactive measuring system without having
to carry out a warm restart of the control. If one of these errors still exists when the other
measuring system has been selected, the alarm in question is triggered.

12.15.4

C axes to spindles

For the function C axes to spindles, the second measuring system has a different definition.
Here the first measuring system is the axis measuring system parameterized in MD 400*. The
second measuring system is defined in MD400* via the spindle machine data. Any additional
second measuring system defined in the axis machine data is ignored.
The measuring system parameterized in MD 200* (first) is permanantly assigned to a spindle
with C axis for C axis operation, the second measuring system is used for the spindle
operating modes and must be parameterized with MD 400*. C axis/spindle are assigned in
MD 461*.
Control bit ”Measuring system 1/2” in DB32 can also be used for C axes, however the
switchover tolerance MD 1216* has no effect. If the control signal is kept to ”1”, the mode
controlled measuring circuit switchover spindle C axis measuring system is disabled. This
means that
•

if a reference point approach is executed with the C axis, synchronization is with the
precision of the spindle encoder,

•

the limit frequency of the spindle encoder remains active, i.e. C axis mode with higher
feedrate is possible.

The spindle encoder (MD 400*) is always used in the spindle modes, i.e. the switchover signal
only effects C axis mode.
If different encoders are being used for spindle and C axis mode, please ensure that the
control directions of the axis and spindles are parameterized in the same direction of rotation in
MD 564*, Bit 1 and bit 2 and MD 520*, bit 1 and MD 521*, bit 1. The correct parameterization
cannot be ascertained by the system software from the MD bits. The spindle direction of
rotation can be reversed from the PLC with the interface signal ”Invert MD 3/4”.
For backlash compensation and lead screw error compensation the following applies: if spindle
and C axis encoder are different, backlash compensation and lead screw error compensation
are only active in C axis mode (for first measuring system), if identical encoder definitions have
been entered for the spindle and C axis, backlash compensation and lead screw error
compensations are active in the position control mode M19 (M19 absolute, M19 through
several revoltions) and C axis mode.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–117

12 Functional Descriptions
12.16 Quadrant error compensation (SW 2 and higher)

04.96

12.16

Quadrant error compensation (SW 2 and higher)

12.16.1

Corresponding data

MD 1232*

Compensation value in range 2

1236*

Comensation time constant

1240*

Compensation value in range 4

1244*

Upper limit range 1 (a1)

1248*

Upper limit range 2 (a2)

1252*

Upper limit range 3 (a3)

1256*

Smoothing time constant

MD 1804, bit 6
1804, bit 7

Quadrant error compensation
Adaptation

Technical reasons for quadrant error compensation
If an axis is accelerated from a negative to a positive velocity (or vice versa), it sticks when
passing through zero speed because of the changing friction conditions. This action causes
contour errors with interpolating axes. This action seriously effects machining of circular
contours, where one axis moves at the maximum path velocity whereas the second axis is still
at the quadrant transition point. Measurements on machines have shown that this disturbing
friction moment can be compensated for by applying an additional speed setpoint pulse (with a
high enough amplitude and correct sign).
Other measurements have shown that the compensating amplitude of the friction feedforward
value does not remain constant across the whole acceleration range. Where the acceleration is
higher, feedforward control must be applied with a smaller compensation value than for smaller
acceleration. For this reason, a quadrant error compensation (QEC) with adapted amplitude
has been developed.

12.16.2

Parameterization

Quadrant error compensation is activated axis-specifically via MD 1804*, bit 6. If MD 1804*, bit
7 is set, the adaptation characteristic (see Fig. 1) also becomes active.
The following machine data are available for parameterization:
[0.01 %] 1)

MD 1232*

Compensation value in range 2

[0.1 mV]

MD 1236*

Compensation time constant

[0.1 ms]

MD 1240*

Compensation value in range 4

[0.1 mV]

MD 1244*

Upper limit range 1 (a1)

[100 units MS/s2]

MD 1248*

Upper limit range 2 (a2)

[100 units MS/s2]

MD 1252*

Upper limit range 3 (a3)

[10000 units MS/s2]

[0.01 %] 1)

QEC is the abbreviation for Quadrant Error Compensation

12–118

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

12.16.3

12 Functional Descriptions
12.16.3 Installation

Installation

The compensation value of the QEC essentially depends on the machine configuration.
The easiest way to install QEC is to carry out a circularity test. With a circularity test,
deviations from the programmed radius when a circle is described can be measured and
displayed graphically, most especially at the quadrant transition points. To obtain an optimum
compensation in the whole working range of the QEC, the compensation dependancy on the
acceleration must also be considered. This is done by measuring this dependancy at various
points in the range between acceleration 0 and set maximum acceleration. The characteristic
obtained from these measurement results must then parameterized axis-specifically in machine
data 1232*, 1236*, 1240*, 1248*, and 1252*
See Section 5, MDD, Section File functions, for a description of how to save NQEC data.

_______
1)

100 % in the two compensation values from MD 1232* and 1240* correspond to a speed setpoint of 1V in
analog drives and to 10 % of the maximum speed set in the drive system in digital drives.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–119

12 Functional Descriptions
12.16.3 Installation

12.16.3.1

10.94

Installation without adaptation characteristic

The installation is carried out in two stages. In stage one, the QEC without adaptation
(MD 1804*, bit 6 = 1) is derived.
Two parameters (compensating amplitude and compensation time constant) can be altered.
These two parameters are each increased or decreased until the deviations from the
programmed radius become minimal or have completely disappeared in the circularity test at
the quadrant transition point (figures 2 - 6).
A starting value of a relatively small compensating amplitude
(e.g. MD 1232* = 100) and a time constant of a few position controller cycles
(e.g. MD 1236* = 80) should be defined at the beginning of the measurement.
Changes can most clearly be seen when the circularity test is first carried without QEC
(MD 1804*, bit 6 = 0).

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Figure 2 shows typical quadrant transition points without QEC.

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Counter 2

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Counter 1

III

Figure 2

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Quadrant transition point
IV

Radius deviations at the quadrant transition points without compensation

Setting the compensating amplitude
If the compensating amplitude is too small, the circularity test shows that the radius deviations
from the programmed radius at the quadrant crossover points have insufficient compensation
(see Figure 3).

12–120

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12 Functional Descriptions
12.16.3 Installation

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06.93

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Counter 2

I

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II

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Counter 1

III

IV

Figure 3 Radius deviations at the quadrant crossover points with insufficient compensation

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If the compensating amplitude is too high, the circularity test clearly shows the
overcompensation of the radius deviations at the quadrant crossover points (see Figure 4).

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Counter 2

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Counter 1

III

IV

Figure 4 Compensating amplitude too high

Setting the compensation time constant
If the compensation time constant used in the circularity test is too small, the test shows that
the radius deviation is compensated for a short time at the quadrant transition points but that
larger radius deviations from the programmed radius again occur immediately after (see
Figure 5).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–121

06.93

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12 Functional Descriptions
12.16.3 Installation

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Counter 2

I

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II

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Counter 1

III

IV

Figure 5 Compensation time constant too small

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If the value for the compensation time constant chosen for the circularity test is too high, we
see that the radius deviation at the quadrant transition points is compensated for (it is assumed
that the optimum compensating amplitude has been found), but that after the quadrant
transition point the radius deviation is less that the programmed radius (see Figure 6).

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Counter 2

III

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Counter 1

IV

Figure 6 Compensation time constant too large

If it is not possible to find a uniform compensation time constant for the various radii and
velocities, the average value of the derived time constants is used.
If it has been possible to achieve a good result with these time constants and the constant
compensating amplitude across the whole working range, i.e. for all required radii and
velocities and for positioning, characteristic adaptation (MD 1804*, bit 7) is no longer needed.

12–122

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

06.93

12 Functional Descriptions
12.16.3 Installation

12.16.3.2

Installation with adaptation characteristic

If the compensation is acceleration dependant, a characteristic must be determined in a
second stage.
The required compensation amplitudes for differend radii and velocities are determined, the
effect of the compensating amplitudes checked in a circularity test and the optimum
compensation amplitudes logged.

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The following characteristic is used for the adaptation:

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Max. amplitude MD 1232*

a2
MD 1248*

3

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2

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a1
MD 1244*

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1

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nmin

a3
a'3
MD 1252*

4

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Minimum amplitude MD 1240*

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nmax

Acceleration

Figure 1

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for a < a

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nmax

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A distinction is made between four ranges in the characteristics:

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nmax

for a1 a a2

nmin

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a – a2
a3 – a2

for a2 < a < a3

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1–

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nmax

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n=

for a3 a

The characteristics in Figure 1 are used for the following examples. It is defined by the values
”Maximum compensating amplitude”, ”Minimum compensating amplitude” and the three
acceleration values a3, a2 and a1. Considerably more measured values should be determined
as a control, most importantly there should be a sufficient number of points for high velocities
with small radii. The characteristic values are most easily derived from a graphic
representation.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–123

a
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aaaaaaaaaaaaaaaaaaaaaaaaaaaa
a

12 Functional Descriptions
12.16.3 Installation

12–124

12.93

The acceleration values are derived from | a | = v2/r from the radius and travel velocity. The
acceleration value can easily be varied using the override switch.
Before entering these acceleration values a3, a2 and a1 in machine data 1244*, 1248* and
1252*, it may be necessary to convert to the input format of the machine data ([mm/s2]
[100 units MS/s2] and/or [10000 units MS/s2]).

A monitoring function in the control ensures that incorrect parameterization of the
characteristics for the friction feedforward control are avoided.

The following conditions must be met when entering accelerations a3, a2 and a1 for the
characteristic.
a1 following axis or leading spindle ->
following spindle) since the dynamic performance of the drives is comparable only in such
cases.

aaaa
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aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
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Feedforward
control

Leading drive 1

LD1

M

Position
controller

Interpolator
LD2
LD3

LD5
FDov
k

Setpoint
conditioning
Following
drives

aaaaaaaa
aaaaaaaaaaa
aaaaaaaaaaa
aaaaaaaaaaa
aaaaaaaaaaa
aaaaaaaaaaa
aaaa

LD4

k
LD4
LD5
FDov

Feedforward
control

Compensatory control

Following drives

Position
controller

M

Leading/following drives in a setpoint link with compensatory controller and following drive overlay

12–132

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10.94

12.18.4.2

12 Functional Descriptions
12.18.4 Link types with constant link factor

Actual value link

The setpoint link described above cannot be used in some cases. This applies particularly to
leading and following drives which differ greatly in terms of dynamic response or to leading
drives, such as spindles which are not position-controlled.
With an actual value link, the command variable for the controlled following drive is derived
exclusively from the part actual values of the leading drives and from any overlay of the
following drive. In this case, the dynamic response of the following drive should be
considerably better than that of the leading drive (not vice versa under any circumstances).
In this case, the individual drives are optimally adjusted according to their dynamic
performance.
The following drive always registers disturbing torques on the leading drive as setpoint
changes and follows them accordingly.
Leading axes (electric handwheels, PLC auxiliary axes, hydraulic axes, etc.) which are not
position-controlled may only be operated in an actual-position link; a position measuring
system is always required.

12.18.4.3

Setpoint velocity/actual position link (SW 4 and higher)

General
The "Setpoint velocity/actual position link" is available as an alternative link type K4 with
software version 4 for ELG/synchronous spindle applications. This is an actual position link
(corresponding to the existing link type K2); however, its feedforward control path is supplied
by the setpoints of the leading axes/spindles (instead of by the "less steady" actual values for
link type K2). To ensure that the dynamic response of the leading and following axis(axes) is
effectively matched, an independent "Time constant setpoint velocity link K4" (MD3300* or
2567*) has been introduced as a new feature. When the dynamic response values of the
leading and following axis/axes are identical, the values of the existing "Time constant setpoint
filter" (MD 1272* or 486*) must be applied. With different dynamic response values, the
dynamic response can be matched in relation to the dominant leading axis.

Parameterization
If several leading drives are controlling a following drive by means of link type K4, then it must
be noted that the "Time constant setpoint filter" (K4) is available only once for the entire ELG
grouping, i.e. jointly for all K4 leading drives. For this reason, it is not advisable to link several
leading drives with K4 link to a following drive unless
•

all the K4 leading drives have the same dynamic response from the outset or

•

the dynamic response of all K4 leading drives has been matched by means of the "Time
constant setpoint smoothing" function (MD 1272* or 486*).

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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12 Functional Descriptions
12.18.4 Link types with constant link factor

10.94

For normal operating conditions, it is advisable to operate only one leading axis with K4 link;
this will generally be the least well tuned axis(disturbances in measurement or closed-loop
control) or the axis with the slowest dynamic response (e.g. main spindle).
It must also be noted that a spindle in open-loop control mode which is operating as the
leading spindle will activate the position controller (link type K1) or deactivate it (K2 or K4)
depending on the link type used while a (leading) axis always operates with active position
controller. To ensure that the difference in dynamic response between activated and
deactivated position control is negligible, it is advisable to apply the dynamic feedforward
control function as a matter of principle.
When the dynamic feedforward control function is not used, the time response of the position
control (following error) has - in addition to the intrinsic dynamic response of the drive - a
smoothing action (e.g. KW = 1 corresponds to a smoothing time constant of approximately 60
ms) and must be taken into account when the setpoint filter is set.
The major advantage of the new GI link type is the "more steady" setpoint velocity control.
This GI link type should be applied when the leading and following drives do not have the
same dynamic response.
When the 611D system is used, an additional compensatory controller can be omitted. In
analog drive systems, the I-action component function should be activated to compensate drift
errors. It is still useful to implement dynamic response matching by means of the setpoint
filters which reduces the time required to optimize the controllers involved in the link during
start-up.

Compensatory control
In addition to the setpoint/actual value link, a compensatory controller can be connected into
the system. This controller checks the present actual values of the leading drives and following
drive, making allowance for the present link factors. The deviations (synchronism errors)
calculated in this way are used to generate an additive speed setpoint for the following drive
on which an inverted sign is superimposed.
The link can therefore be maintained in the event of a disturbance (e.g. load disturbance or
failure of a leading drive) and the dynamic response between the leading and following drives
(feedforward control effect) improved. The compensatory controller also causes an indirect
increase in the position control loop gain of the following drive. This generally has a positive
effect on the synchronism.
The compensatory controller can be activated and deactivated only for the whole GI grouping
from the PLC.
When the GI grouping is defined, the compensatory controller can be suppressed for a certain
leading drive by means of the setpoint link without compensatory control (K3). In this case, it is
not the actual values (which may be affected by load disturbances) which are evaluated, but
simulated actual values of the leading drive concerned which are derived from the setpoint.
Disturbances in the leading drive do not therefore have any effect on the compensatory
control.

12–134

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•
•
•

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)
T31/T32 T34

T4 T30

Input selection module (interpolation input): T2/T20
Input switching module: T11, T17/T41/T42
Input evaluation module: T18/T19, T15, T16
Interpolation module: T0, T1, T12/T13, T40/T43
Output evaluation module: T4/T30, T31/T32/T34
Input selection module (weighting input): T25/T26
Output evaluation module: T3/T33
Global IKA module: T1, T5/T6, T7-T10
Compensation limiting module: Axis-spec. MD, interface

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12.18.5

Up to 5 leading axis/spindle paths
Link type K11/K12
Input switching module: LINK ON/OVER/OFF, pos. rel.and 1 overlay path
Input evaluation module: T18/T19,
T15, T16
Interpolation module of IKA SW 4
Output evaluation via numerator/
denominator
Z
N
Limiting module: Following axis/
*LRFFA
*LRFLA
spindle-specific MD, interface

K46

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10.94
12 Functional Descriptions
12.18.5 Curve-gearbox interpolation (CGI) (SW 4 and higher)

Curve-gearbox interpolation (CGI) (SW 4 and higher)

The "Curve-gearbox interpolation" function is available as an option.

General

The curve-gearbox interpolation option allows an IKA curve to be overlaid on a following axis
involved in a gearbox interpolation grouping of the type available to date. The IKA curve (see
IKA description) is stored in the control in the form of a table. This function can be used, for
example, to machine non-circular geometries. A CGI cannot be implemented without the
IKA function.

Functional description

In contrast to the gearbox interpolation (GI link branches) which operates with a constant link
factor (LF), the IKA implements a fully optional curve-gearbox interpolation (IKA link branches)
by means of a tabulated control curve (diagram below).
KGI SW 4

MD, NS

MD, NS

IKA SW 4

IKA calculation sequence

The following can be applied to IKA input quantity A:

Absolute axis setpoint position,
absolute axis actual positions or
R parameters.

12–135

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Leading axis

1st axis

5th axis

12–136
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GI link branches
K1
K2
K3
K4

IKA link branches

K11
K12

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12 Functional Descriptions
12.18.5 Curve-gearbox interpolation (CGI) (SW 4 and higher)
10.94

The R parameter can be either the output quantity of an IKA positioned upstream (cascade) or
any other quantity which is assigned a default value or changed from the process (PLC) or the
part program.

Input A can be additionally weighted by means of T No. 18 or 19. This weighting function can
be used to implement a scaling factor of input quantity A.

A modulo compensation and an offset can be provided or programmed for input A. The zero
offsets and tool offsets available in the system cannot be applied to input A since the input
quantity always refers to the absolute actual value or setpoint of an address. A start position or
a start value of the input quantity can be specified as the ON condition (operating principle
analogous to position-related G402 for GI).

IKA input quantity B (not applicable to CGI) allows the value read from the table

•
to be weighted variably. For this purpose, this input B can be supplied by
– an absolute axis setpoint position or
– an R parameter.

•
If variable weighting is not configured, the calculation is based on a constant, internal
quantity (as specified in IKA T parameter). Weighting = 1

GI/IKA link branches:

Gear ratios

Fixed via link ratio

FA Following Axis

Preselection via
IKA table output

Interconnection options for IKA/GI link branches

Using programming measures with G401, it is possible to configure GI link branches (as with
previous SW versions) as well as non-linear IKA link branches. IKA link branches can be
defined next to GI link branches, the number of branches being limited to 5. The link types
specified for GI branches are K1 to K4 and those for GI/IKA branches K11 (setpoint link) and
K12 (actual value link). Both IKA input quantity A and the IKA output quantity (setpoint for
an axis) are absolute axis positions when programmed with G401. Due to this extension, all G
functions from G400 to G403 are extended by the IKA link branches. It is not possible to
connect input B in these cases (G400 to G403).

The following table gives an overview of possible GI/IKA link structures.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

10.94

Link
type

12 Functional Descriptions
12.18.5 Curve-gearbox interpolation (CGI) (SW 4 and higher)

FA position
GI/IKA link types

Output of link branch is
connected to

input is linked
to

GI link branch with:

K1

Setpoint position link
(and possibly actual
position link via compensatory controller)

Setpoint
position of
leading
address

Setpoint position input
of following address

K2

Actual position and
actual velocity link

Actual
position of
leading
address

Setpoint position input
of following address

K3

Setpoint position link
"simulated leading
address"

Setpoint
position of
leading
address

Setpoint position input
of following address

K4

Actual position and
setpoint velocity link

Actual
position of
leading
address

Setpoint position input
of following address

GI link branch with:

IKA input A
supplied by:

IKA input B supplied by:

K11 Setpoint link

Setpoint
position of
leading
address

Specification of
weighting factor in
G402/3 command
(I, J)

Setpoint position input
of following address

K12 Actual value link

Actual
position of
leading
address

Specification of
weighting factor in
G402/3 command
(I, J)

Setpoint position input
of following address

Link types of GI/IKA link structures

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12 Functional Descriptions
12.18.6 Variable cascading of GI following drives (SW 4 and higher)

12.18.6

12.18.7

Example:

12–138
Setpoint link (K1)

servo gain=0.5
Actual value link (K2/K4)

servo gain=0.5

03.95

Variable cascading of GI following drives (SW 4 and higher)

Note:

The user must always make sure that the ring is never completely closed at any time; the
error message "NC-CPU timeout" (3085) will be output if the ring is closed with software
version 4.

There is no explicit "Monitoring for following axis rings" with separate alarm message and
suppression of the last GI link requested (which would close the ring).

If a GI ring has to be closed, re-sorting can be disabled with MD 5016, bit 7.

Gearbox interpolation chain

A gearbox chain is produced when a following drive acts in turn as the leading drive for
another following drive. In principle, different link structures can be configured within a gearbox
chain. However, it is not meaningful to create a gearbox chain consisting only of setpoint links
since all links can be derived from the first leading drive.

In a gearbox chain with actual value links, the dynamic response of the axes should improve
as the gearbox depth increases (increasing servo gain).

A gearbox chain with a mixture of link structures should be configured only if the individual GI
groupings fulfil the above conditions. Once an actual value link has been inserted in a chain, all
the following links must be of the actual value type.
Actual value link (K2/K4)

LD1----------> FD1/LD2------------->FD2/LD3---------------->FD3

servo gain=0.7
servo gain=0.9

A gearbox chain must never be closed. It is not permissible to create a
feedback to a leading drive already in the chain;
e.g. LDx --> FDy/LDy --> FDx
This type of chain may be defined (see gantry axes), but it must be
ensured that these links are not active simultaneously.

© Siemens AG 1992 All Rights Reserved

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6FC5197- AA50

09.01

12.18.8

12 Functional Descriptions
12.18.8 Following drive overlays

Following drive overlays

When the LINK ON gear link is activated, the following drive follows the movements of the
leading drives according to the link factors entered. At the same time, i.e. when LINK ON is
active, the following drive can be traversed with an additional overlay.
However, the following basically applies: The overlay is included in the calculation only if the
required enabling command from the PLC is present (interface signal ENABLE FD-OVERLAY).
1. Programmable positional offset of the following drive in the AUTOMATIC and MDA
modes
•

Incremental positional offset of the following axis in the part program, e.g. G91 C... F...LF.
When an absolute overlay is programmed with G90, the following axis traverses into the
wrong position. Monitoring is not possible.

•

Overlay of following axis to obtain an absolute offset to one or several leading axes (onthe-fly synchronization)

•

Overlay of following spindle to obtain positional synchronism with drives in operation (onthe-fly synchronization)

2. Manual offset of following axis
•

In the AUT or MDA mode:

Overlay of following axis with handwheel with a
DRF offset.

•

In the JOG and JOG-INC modes:

Overlay of following axis with handwheel or with
directional keys.

•

In the TEACH IN mode:

Depending on mode, overlay of following axis
via directional keys or handwheel.

The overlay is traversed at the velocity programmed in each case.
ELG: With a following axis override, only 75% of the acceleration value are used for the
following axis. The remaining 25% are reserved for possible actual value linkage.
3. On-the-fly synchronization
For some applications (e.g. hobbing, synchronous spindles), the leading and following drives
must not only operate in synchronism, but also at a specific angle in relation to one another.
The term "On-the-fly synchronization" is used to describe the process of switching the link on
and over when the leading and following drives are already running, followed by automatic
positional synchronization of the drives. If NC MD 1848*/526* bit 2 is set, then a block change
is executed only when the drives are synchronized (interface signal SYNCHRONISM FINE).
"On-the-fly synchronization" can be selected via the part program (G403), the interface signal
ON-THE-FLY SYNCHRONIZATION ON or the input display. The function is operative in all
operating modes.
The link is switched on for the drives involved through specification of the synchronous
positions which can be entered in the part program or input display. Synchronization is
implemented as if all drives had started to traverse from the programmed synchronous
positions with the link activated. In other words, at the end of the synchronization process, the
drives are not at the programmed synchronous positions, but merely positionally offset in
relation to one another as determined by the synchronous positions.
A following drive and up to 5 leading drives can be synchronized simultaneously.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.18.8 Following drive overlays

10.94

The overlay path FD is calculated on the basis of the present actual positions and the
specified synchronous positions; this path is then transferred to the following drive as an
incremental overlay path.
FD= (FDsyn - FDact) + KF1*(LD1act - LD1syn) + KF2* (LD2act - LD2syn) +....
The overlay path is traversed as a speed offset with the incremental velocity (NC MD 300*) in
the case of following axes and with the M19 creep speed (NC MD 427*-434*) in the case of
following spindles.
With speeds/velocities which are lower than half the maximum value, the "Shortest path logic"
(maximum overlaid traverse path 0.5 revolutions) is traversed. In this case, half the maximum
velocity is the maximum permissible overlaid velocity.
In the case of speeds/velocities which are higher than half the maximum value, the overlay is
applied "in the slower velocity direction", i.e. overlay path in opposite direction to present
traversing direction, (maximum overlaid traverse path 1 revolution). In this case, half the
maximum velocity is the maximum permissible overlaid velocity.
The leading drives involved can also be simulated drives; in this case, the setpoint positions of
the leading drives are evaluated rather than the actual positions.
Leading drives which are not to be synchronized must be at standstill or decoupled.
Synchronization will not otherwise be successful. It will likewise not be possible to synchronize
the drives if the following drive is traversed simultaneously with overlay by the user or from the
program.
Depending on the setting of NC MD 1848*/526* bit 5 (Block change after synchronization
reached), block changes are disabled until the drives are fully synchronized.
Successful completion of the synchronization process is indicated by the interface signal
SYNCHRONIZATION REACHED.
The synchronization process can be aborted with RESET or LINK OFF; it remains, however,
active after RESET.
FEED DISABLE or override = 0 for the leading axis can abort synchronization. SPINDLE
DISABLE or override = 0 do not have any effect on the following axis.

12.18.9

Influencing the following error

Contour errors resulting from following errors can be reduced by means of the feedforward
control function (option).
The feedforward control permits a compensation component within the 0 % to 100 % range to
be specified via machine data. The feedforward control is effective for all setpoint inputs
(setpoints for actual/setpoint-linked leading drives, following drives, FD overlays) and can be
activated for leading and following drives (see Section "Functional description of feedforward
control" for further details).

12–140

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

12.18.10

12 Functional Descriptions
12.18.10 Block search

Block search

Block search is only meaningful if executed with calculation. The GI commands are in this
case executed as in normal program mode, i.e. the GI status is established as if the system
were operating in normal program mode.
Exception: On-the-fly synchronization is not executed (no traversal of following drive).
A block change is implemented immediately in response to GI commands even when the
signal INTERLOCK LINK ON/OFF is present.
In order to prevent traversal of following drives after LINK ON as a result of leading axis
movements from other channels, the signal INTERLOCK LINK ON should be applied from the
PLC while the block search is in progress. The link does not then become effective until the
target block is reached.
If a block search is carried out when the link is active, the following drive positions in the target
block remain undefined since no axis movements take place. If reference is made to defined
positions of the following drive on completion of the block search, then a G403 (on-the-fly
synchronization) must be executed after the target block.
In the case of other block search modes, problems may occur if it is necessary to enter into
an active link. In such cases, the skipped GI commands must be activated prior to NC start
(for example, via input display).

12.18.11

GI monitors

In the LINK ACTIVE state, GI-specific monitoring routines are activated for the following drive
in addition to the monitoring functions which are normally performed on NC axes/spindles.
These routines are described in detail below.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–141

12 Functional Descriptions
12.18.11 GI monitors

10.94

12.18.11.1 Monitoring for maximum velocity/speed and maximum
acceleration
The velocity/speed of the following drive is limited to a maximum velocity value (MD 280* or
403*-410*) 1). With an unfavourable constellation, the following drive may be influenced by the
leading drives such that it would be forced to exceed this maximum velocity in order to
maintain synchronism. However, since this is not possible, the leading and following drives fall
out of synchronism.
In order to identify and eliminate the risk of this type of disturbance in advance, the velocity of
the following drive is monitored by an additional velocity limit value (prewarning limit) in the
LINK ACTIVE state. When this limit is exceeded, the PLC interface signal VELOCITY/SPEED
WARNING THRESHOLD REACHED is set.
The user is thus able to initiate appropriate measures to reduce the velocity via the PLC. As
an example, the velocity of the leading drives can be reduced via the feed or spindle override.
In view of the reaction time, the velocity warning threshold should not be set too high as this
causes de-synchronization between the leading and following drives.
The following diagram shows the velocity monitoring functions which are available for the
following axis. The monitoring characteristics for following spindles are identical.

nFD Speed setpoint FD [VELO]
or [mm/min.] or [degrees/min.]

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approx. 20 %
approx. 10 %
control reserve

1)
2)

MD 264*

Response of drive error with following
axis (speed setpoint too high)

MD 268*

IPO STOP with LINK OFF (FD)

MD 280*

Maximum velocity FD

MD 1448* Limit value for velocity monitor of
following axis in LINK ACTIVE state.
7/8 MD 1448* (percentage value
referred to maximum veloc. FD)

t [sec.]
Reaction
time
1 signal =
1
NS VELOCITY WARNING
THRESHOLD REACHED

0

The FD velocity has
exceeded the velocity
warning threshold

1) Characteristic without reduction in velocity
2) Possible velocity characteristic when F override is reduced by PLC user program

Diagram showing velocity monitoring functions for following axis

1)

As from SW 4: See functional description for ”Parameter set switchover”

12–142

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.01

12 Functional Descriptions
12.18.11 GI monitors

The velocity warning threshold is input as a percentage value of the maximum velocity (NC
MD 280* or 403*-410*) in NC MD 1448*/494*. 1)
The interface signal VELOCITY/SPEED WARNING THRESHOLD REACHED is automatically
reset when the following drive velocity drops below 7/8 of the warning threshold (hysteresis
characteristic).
The same also applies to following drive acceleration.
The percentage value of the maximum acceleration (MD 276* or 478*-485*) is derived from the
same machine data (NC MD 1448*494*) as the velocity.
In some applications, it is impossible to prevent the following drive from exceeding the
acceleration value specified in MD 276* or 478*-485*. In order to avoid the output of an alarm
in these cases, it is possible to deactivate the acceleration monitor by means of NC machine
data 1848*/526* bit 3 "Suppression of acceleration limitation". The acceleration of the following
drive produced by the leading drive movements is then output directly without limitation or
alarm message.

12.18.11.1.1

Velocity/speed limitation of ELG following axes
(as from SW 6.4)

Functionality to date
By linking the following axis to the leading axes of the ELG grouping, the velocity/acceleration
of the following axis is the sum of the leading velocity/acceleration multiplied by the speed ratio
plus a possible following axis override. Dependent on the parameterization and programming of
the leading axes, the maximum permissible values of the following axis may be exceeded.
When machining the workpiece, the maximum values of the following axis should normally not
be exceeded. As the velocity/acceleration is limited when the maximum velocity is reached, the
position reference of the link would be lost. To make sure that the following axis does not
exceed the maximum velocity, the user has to take appropriate measures as for example a
prior test of the part program.
For reasons of user support, the so-called "warning threshold for nmax and amax" (MD 1448*)
configurable via machine data has been provided for.
If the warning threshold is exceeded, the axis-specific interface signal "velocity/acceleration
threshold warning reached" is set. By means of the interface signal, the value of the channelspecific and/or axis-specific override could be changed as a countermeasure via the PLCprogram such that the actual velocity/acceleration of the following axis is reduced below the
maximum values.
In view of the relatively long reaction time caused by the PLC cycle time, this method can be
used only under certain conditions to solve the above mentioned problem.
Description of the new functionality
In order to achieve a more dynamic behavior of the velocity/acceleration limitation of the
following axis, the leading axis velocity can now be adapted NCK-internally when the warning
threshold for nmax and amax is reached using the new function "Velocity/acceleration limitation
of the following axis".
When this function is active, an acceleration stop is triggered for all enabled axes and spindles
of the mode group as soon as the warning threshold for nmax or amax is exceeded.
Caution: The leading spindle is limited only to one value. A leading spindle is not taken into
account in the velocity limitation control. When starting a 2nd leading axis, this leading axis will
be limited or set to standstill.

1)

As from SW 4: See functional description for ”Parameter set switchover”

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–143

09.01

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12 Functional Descriptions
12.18.11 GI monitors

nFA
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MD 264*
Drive error threshold

MD 268*
max.setpoint (IPO STOP)

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approx.20%

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approx.10% control reserve

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MD 1736*-1764*
Alarm limit velocity:
1st PaSa - 8thPaSa (param. set)

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MD 1448*
Warning threshold
nmax and a max

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7/8 · MD1448*
Hysteresis threshold

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Reaction time

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PLC interface signal:
Vel. warning thresh. reached

internal:
Velocity limitation approached

Characteristic of the velocity setpoint with the characteristic rising above and falling below the warning threshold

In NC channels where axes are traversed which are enabled for velocity/acceleration limitation,
the acceleration in the path is stopped as follows:
Path set velocity = path actual velocity
The acceleration of released spindles is stopped if:
Set speed = actual speed
Due to non-linear movements of the leading axes (circle, Spline, IKA, transformation, etc.), the
velocity of the following axis may increase despite an acceleration stop of the leading axes.
In order to reduce the path velocity, the actual path set velocity is evaluated with a reduction
factor (MD 335 "Minimum reduction factor with velocity limitation following axis warning
threshold"), similar to an override. The channel thus calculates the path set velocity as follows:
Vpath_set=Vpath_set · MD335
In doing so, the interpolation grouping of the axes involved in the path, as well as the active
links, remain unchanged.
If the following axis velocity falls again below the hysteresis threshold, the request for
velocity/acceleration limitation is reset for all axes and spindles of the mode group. The
reduction factor in the NC channels is reset to 100%.
In order to avoid oscillations within the range of the hysteresis threshold and to bridge
machining steps temporarily resulting in an unfavorable velocity/acceleration override, the
increase of the reduction factor can be slowed down by means of MD 336 "Velocity increase
factor".

12–144

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12 Functional Descriptions
12.18.11 GI monitors

aaaa
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nFA

MD 1448*
Warning thresh.max

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Following axis

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09.01

Hysteresis threshold=
7/8 · MD1448*
Tipo

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vLA
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Leading axis MD 336=0

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vset

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MD 336<>0

vset · MD335

Tipo

Vset
Vact
Tipo

Enabling/disabling of axes and spindles for velocity/acceleration limitation
Dependent on the actual machining situation, it may be necessary to enable only certain axes
and spindles of the mode group for velocity/acceleration limitation.
The following G functions of the part program are used for enabling or disabling the
velocity/acceleration limiting function of the axes and spindles.
G405
Meaning:
"Velocity/acceleration limitation at following axis warning threshold nmax/amax
enabled"
Syntax:
G405 {} {}
G404
Meaning:
"Velocity/acceleration limitation at following axis warning threshold nmax/amax
disabled"
Syntax:
G404 {} {}
Remark:
G404 without axis/spindle identifier means that all axes/spindles of the mode
group are blocked
G group:
20
Internal coding: G404=7, G405=8
G functions must be programmed separately in one block.
A maximum of 5 axes and 1 spindle can be programmed in one block. Enabling/disabling the
axes is effected additively, i.e. the status of non-programmed axes/spindles remains
unchanged.
Note:
On ELG chaining, the first leading axis of the chain, and possibly all following axes working in
following axes override mode, must be enabled.
Example:
The chaining of three electronic gearboxes (ELGs) and FA3 is to be limited.
LA1 FA1=LA2 FA2=LA3 FA3
LA1, FA1 and FA2 need to be released to achieve full velocity/acceleration limitation.
Leading axis priorities
Due to the system-dependent dead times, it is not reasonable to reduce the leading axes
classified by priority.
Activating the function
The function "Velocity/acceleration limitation of ELG following axes" is activated axisspecifically via the MD bits 1844*.7 and MD bits 1856*.0.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–145

12 Functional Descriptions
12.18.11 GI monitors

07.97

12.18.11.2 Fine/coarse synchronism
In the LINK ACTIVE state, the interface signal SYNCHRONISM FINE or SYNCHRONISM
COARSE indicates that the present setpoint position and setpoint velocity of the following drive
is within the tolerance window specified by means of machine data.
For this purpose, the deviation of the following axis from its setpoint path is continuously
measured in the LINK ON state and checked against the two tolerance windows
"SYNCHRONISM COARSE" (NC MD 1440*492*) or "SYNCHRONISM FINE" (NC MD
1436*/491*). If the deviation exceeds the permissible tolerance limit, the associated PLC
interface signal is set to 0.
These interface signals make it possible to control the process sequence as a function of the
synchronized state of the following drive from the PLC user program. For example, it is
possible to delay enabling of the hobber feed until the NS SYNCHRONISM signal is present.

nFD (VFD)
nFDa c t
"Synchronism
fine" tolerance
band
"Synchronism
coarse" tolerance band
"Emergency
retraction"
tolerance
window
nFDs e t

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aaaa aaaa

NS SYNCHRONISM FINE

aaaa aaaa
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aaaa aaaa

NS SYNCHRONISM COARSE

aaaa
aaaa
aaaa

t

"Emergency
retraction"
hardware signal

1
0
1
0

aaaaa
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aaaaa

1
0

nFD =

Following drive speed

VFD =

Following drive velocity

Synchronism monitoring in LINK ON state

12–146

© Sie me ns AG 1992 All Right s Re s e rve d

6FC5197- AA50

SINUMERIK 840C (IA)

a
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08.96

•
•

12 Functional Descriptions
12.18.11 GI monitors

12.18.11.5 HW/SW limit switches of following drive

If the following axis traverses beyond an HW or SW limit switch, then an internal limit switch is
simulated for all leading axes depending on the sign of Kü. The effect is the same as if every
leading axis had traversed into contact with an SW limit switch. Accordingly, the channels of
the leading axes (and thus also of the other axes interpolating with the leading axes) are also
stopped. The leading axes can be traversed away from the limit switch (ensure correct
direction of traversal).
If the following axis traverses onto the prelimit switch, then the velocity of the leading axes
which are moving the following axis towards the limit switch is reduced depending on the sign
of Kü (simulated prelimit switch for leading axes).

Leading spindles are stopped (regardless of their rotational direction) as soon as the following
axis reaches a HW/SW limit switch. The spindle cannot be traversed in any direction as long
as the following axis is situated behind a limit switch.

If the leading spindle is being traversed by oscillation or alignment, then the oscillation/
alignment function must be aborted (cancellation of interface signals) once the following axis
has been traversed away from the limit switch before the spindle can be restarted.

The following axis always traverses beyond the limit switches by a few increments because the
following axis stop command cannot be released until the limit switch is reached.

Note:

If a following axis is driven with a leading axis that is moved in follow-up mode using the actual
value link, the following axis cannot be stopped if it overshoots the SW limit switch.

Remedy:

Stop the leading axis (e.g. external conveyor belt)
Deactivate the link via the hardware limit switch

From SW 5.6, the function ”Dyn. SW limit switches for following axes”
can be used if the path velocity is to be reduced and the following axis
must not traverse beyond the software limit switches
(see Sect. Dyn. SW limit switches for following axes).

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

12–147

12 Functional Descriptions
12.18.11 GI monitors

12.93

12.18.11.6 Special features relating to following axes
•

If a following axis cannot execute its traversing motion in the LINK ON state because
certain enabling signals (controller enable, etc.) are missing, then the active leading axes
and leading spindles defined in the GI grouping are also stopped.

•

The link is activated even if the CONTROLLER ENABLE is not set when LINK ON is
selected. The following axis naturally cannot be traversed without a CONTROLLER
ENABLE. Therefore, if the leading drives were to move in the LINK ON state, the GI
monitoring functions would respond.

12.18.11.7 Special features relating to following spindles
•

If a following spindle stops in the LINK ON state because the required enabling signals are
missing, then the leading spindle also stops. Leading axes are not affected.

•

The link is not activated if the CONTROLLER ENABLE is not set when LINK ON is
selected. The signal REQUEST LINK ON is set. In order to activate the link in this case,
another LINK ON request must be programmed after CONTROLLER ENABLE has been
set.

12.18.12

Programming

A basic distinction must be made between two different terms with regard to the configuration
and programming of gearbox interpolations:
•

Configuration of gearbox interpolation (definition of link structure and link type).
The GI grouping - consisting of a maximum of 5 leading drives and one following drive - is
defined by the configuration. The configuration also includes specification of the link type
which determines how each individual leading drive in the grouping is to act on the
following drive. The required signal paths are set up internally, but not activated. The link
factor KF = 0 applies, i.e. a movement by the leading drives does not cause the following
drive to move.

•

Switching gearbox interpolation on, off or over. (LINK ON, LINK OFF).
A gearbox interpolation grouping defined by the configuration can be activated (LINK ON)
or deactivated (LINK OFF).
Through activation of the appropriate G function, it is possible to select LINK ON/LINK OFF
for a specific leading/following drive pair or LINK ON/LINK OFF for all leading drives linked
to a following drive. On-the-fly synchronization of leading/following drives is thus also
possible.

The user must therefore make the following inputs for the purpose of gearbox interpolation:
•
•

Definition of link structure with specification of leading and following drives to be linked
Definition of link type between leading and following drives

•

Link factors KF with numerator I and denominator J

•

FDset = KF * LDset = Numerator I/Denominator J *LDset
Programming of certain positional references between the leading and following drives
(synchronous positions as required).

12–148

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

a
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Erase configuration

LINK ON total not referred to
position

LINK ON total not referred to
position

Selective LINK ON/OVER/OFF not
referred to position

G 402
G 400

On-the-fly synchronization
G 403

Setting of link structure defaults

Enabling of reconfiguration

Enabling of link factor
switchover

Enabling of programmed
synchronous positions

Enable/disable FD overlay

1)
2)

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)
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a

Define configuration

Compensatory controller ON/OFF

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10.94
12 Functional Descriptions
12.18.12 Programming

If a following spindle is programmed, the only possible leading spindle

must also be programmed. If a link motion on the part of the leading

spindle is not desired, then a link factor of "0" must be specified.

The gearbox interpolation can be programmed from various sources and also configured within
specific limits. The possible sources are:

1. G function in part program or via MDA

2. PLC (interface signals)

3. Input display

4. Default setting via machine data

The following table shows an overview of the functionality provided by the individual sources.
Function
Part
program

: Possible

6FC5197- AA50

PLC
Input display
Machine
data

G 401

G 401

G 402

G 400

1)

G 401 2)

: Not possible

Variable synchronous positions cannot be specified via the PLC
Only via definition of link type K3

12–149

12 Functional Descriptions
12.18.12 Programming

12.93

General information about programming
•

When a GI function is programmed, the following block is not read in until the GI request
of the preceding block has been fully executed. The ultimate response of the control
system to block changes can be influenced by means of machine data (NC MD
1848*/526*).

•

Only one G function in one G group may be programmed for each NC block.

•

The gearbox interpolation G functions may be programmed with any permissible NC
function. However, all GI parameters must be inserted at the end of the NC block in the
correct program sequence. G90/G91 may also be inserted into a GI command.
Example:
N10 G91 G01 Z500 F200 G403 G90 X200 I1 J3 Y100 LF

•

The gearbox interpolation is operative within a mode group, but is also a cross-channel
function, i.e. the leading drives may be situated in different channels.

•

The maximum number of possible GI groupings is restricted only by the capacity of the
computer. GI groupings are defined on a drive-specific basis, i.e. every axis/spindle can
theoretically act as a following axis/spindle. The number of possible groupings is
dependent on the required computing capacity (LR/IPO clock cycle, number of
drives/mode groups/channels, etc.)

Configuration of the GI grouping
•

Up to 5 leading drives and one following axis may be included in a GI grouping. The status
of the leading drives is entirely optional, i.e. they can be real or simulated drives, rotary or
linear axes or spindles.

•

The following axis can be a real rotary axis or a real linear axis.

•

Up to 4 leading axes/1 leading spindle may act on a following spindle within a GI grouping.
The leading axes can be real or simulated, rotary or linear axes.

•

In the case of a following spindle, exactly one leading spindle may and must be defined
within the grouping. However, another 4 leading axes may also be defined.

•

Every GI grouping must be defined by means of a separate configuration block in the NC
program.

•

A given axis or spindle can be defined only once as the following drive.

•

There are two configuring options in the case of spindles with C-axis, i.e. to define the
spindle as the following spindle or the C-axis as the following axis.

•

When a configuration is changed by adding or removing a leading drive or selecting
another link type, the entire NC block must be written with all leading drives.

•

The configuration can only be changed after LINK OFF and ERASE CONFIGURATION.

•

When the link factor is re-programmed to KF = 0, no further setpoints are generated for
the following drive although the link remains in the LINK ON state.

•

When a GI grouping is configured, all link factors initially have a default setting of zero.
Only after LINK ON/OVER do the values programmed in the LINK ON command (e.g.
G402...) become valid; setpoints are then generated for the following axis.

•

The gearbox configuration can be changed in any channel of the mode group. The last
instruction given is the active instruction, i.e. there are no priorities.

12–150

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

12 Functional Descriptions
12.18.12 Programming

•

The defined gearbox configuration is maintained in the following events:
– End of block
– End of program
– Change of operating mode
– Warm start
– Power off

•

Reconfiguration of the GI grouping can be prevented by appropriately setting NC MD
1844*/525*.

•

The link between a leading spindle/C-axis and a following drive can be defined in the
configuration via the leading spindle name or by means of the C-axis name. The link is
maintained even during the leading drive change "spindle -> C-axis -> spindle". The
actual value information for the gearbox interpolation is always, however, supplied by the
encoder of the defined leading drive (spindle encoder or C-axis encoder).

Switching the link on and off
•

The LINK ON/OFF command can be issued via the NC part program and the input display
either selectively for individual leading drives or for the entire GI grouping.

•

A LINK ON/OFF command can be issued from the PLC, but only for the entire GI
grouping. The gearbox link can therefore be selected or deselected from the PLC
depending on certain operating states.

•

In order to select LINK ON/LINK OFF for gearbox interpolations from two gearbox
configurations, two NC program blocks in each case must be written.

•

After G400, G402 and G403 have been programmed, block changes can be delayed or
stopped on the basis of the following three signals:
– INTERLOCK LINK ON
– INTERLOCK LINK OFF
– SYNCHRONISM FINE in conjunction with NC MD 1848*/526* bit 2
– SYNCHRONIZATION REACHED with NC MD 1848*/526* bit 5.

•

When LINK ON (G402, G403) is programmed, the block change is inhibited as long as the
interface signal INTERLOCK LINK ON is present. The signal REQUEST LINK ON is set.

•

If the signal INTERLOCK LINK ON is set when LINK ON is selected, the link request is not
cancelled. However, it does not become operative until the signal INTERLOCK LINK ON is
reset.

•

When LINK OFF is programmed, the block change is inhibited as long as the interface
signal INTERLOCK LINK OFF is present. The signal REQUEST LINK OFF is set.

•

If the signal INTERLOCK LINK OFF is set when LINK OFF is selected, the deactivation
request is not cancelled. However, the link is not deactivated until the signal INTERLOCK
LINK OFF is reset.

•

In the LINK ON state (G402, G403), block changes can be inhibited via NC MD
1848*/526* bit 2 until the interface signal SYNCHRONISM FINE is present.

•

While the signal PLC SPINDLE CONTROL is set, block changes are disabled after
selection of synchronous operation.

•

In "On-the-fly synchronization" mode (G403), block changes can be inhibited via NC MD
1848*/526* bit 5 until the interface signal SYNCHRONIZATION REACHED is present.

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12 Functional Descriptions
12.18.12 Programming

10.94

•

NC MD 1852*/527* can be set such that tool length compensation, zero offsets and the
preset/DRF values are calculated into the synchronous position of the following drive. It is
also possible to specify the reference system in which the synchronous positions must be
programmed. (Only for G403, not PLC, IS)

•

After LINK OFF, axis synchronization for the following axis must be executed prior to
absolute programming of the following axis. This synchronization process is activated with
G200.

•

When the CONTROLLER ENABLE command is not available or when the following drive is
in the FOLLOW-UP or PARKING AXIS mode, the leading drive cannot be traversed either.

Link factor
•

The following drive velocity is determined by the magnitude of link factors KF1...KF5 and
the velocities of the leading drives.

•

One or several link factors (KF) can be changed in an NC program block for a gearbox
configuration. Any unspecified link factors remain unchanged.
Link factor KF =

•

Following drive path
I
––––––––––––––––––––= –––
Leading drive path
J

The link factor units for the various drive configurations are as follows; they are
independent of the position control and input resolutions of the drives:
Following drive

Leading drive

Link factor unit

Linear axis

Linear axis

mm/mm

Linear axis

Rotary axis,
spindle

mm/deg

Rotary axis,
spindle

Linear axis

deg/mm

Rotary axis,
spindle

Rotary axis,
spindle

deg/deg

•

The interpolation parameters I and J must be specified in the G function or the input
display. Format: 8 decimal places + point + sign (floating-point representation)
Permissible value range for KF: ±0.00000001 to ±10.000000

•

There is no upward limit on the link factor. For reasons of accuracy, the link factor KF
should be 1, i.e. when the measuring systems of the leading and following drives have
the same resolution, one increment of the leading drive should not correspond to several
increments of the following drive.

•

The link factor must be specified complete with numerator and denominator.

Gearbox chain
•

A gearbox chain should be programmed in the same order as the setpoints are to be
generated afterwards. In other words, the GI grouping at the start of the gearbox chain
must be programmed (G402) first, followed by the GI grouping of which the leading drive
acts as the following drive in the first GI grouping, etc.

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12 Functional Descriptions
12.18.12 Programming

A gearbox chain must not be closed in the active state, i.e. if a chain is defined such that a
following drive at the end is also acting as the leading drive at the start of the chain, then it
is strictly illegal for all links to be active at the same time. The user must take measures
via the PLC, e.g. INTERLOCK LINK ON to ensure that this situation does not arise.
No system monitoring function is provided.
Note:
This function is replaced by the "Variable cascading" function with SW 4 and higher. If a
gearbox chain is incorrectly defined, the error message "NC timeout" is output.

12.18.12.1 Programming via NC part program
Function

G function

Define/erase configuration

G401

Switch link on/off

G402

Switch on link with on-the-fly
synchronization

G403

Switch off link

G400

Axis synchronization

G200

Please refer to the documentation entitled "NC Programming Guide" for further information.

12.18.12.2 Programming via PLC
The gearbox interpolation groupings can be influenced and checked via the interface signals of
DB29(following axes) and DB31(following spindle). ON and OFF commands for the gearbox
link can also be issued via the PLC. However, the PLC cannot be used to change a gearbox
link configuration.

12.18.12.3 Programming via input display
Please refer to the documentation entitled "Operator's Guide" for further information.

12.18.12.4 Default settings via machine data
Machine data can be used to set defaults for the link structures and to disable reconfiguration
and link factor switchover. These functions are particularly important for machines with forcedlinked drives (e.g. gantry or portal machines).
•

NC MD 1456*/495*

Default setting for link structure

•

NC MD 1844*/525* bit0

Axis/spindle may be following axis/spindle

•

NC MD 1844*/525* bit1

Reconfiguration permissible

•

NC MD 1844*/525* bit2

Switchover of link factor permissible

•

NC MD 1844*/525* bit3

Overwriting of synchronous position permissible

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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12 Functional Descriptions
12.18.13 Start-up

12.18.13

10.94

Start-up

Before commencing start-up of the GI grouping, you must complete the start-up procedure
described in the Section headed "Start-up of axis (analog) and spindle".

12.18.13.1 Brief start-up of a GI grouping
•

Declare the desired following axis/spindle as a following drive by setting NC MD 1844*/
525* bit 0.

•

Set the position control sampling time for the following drive and its leading drives to the
same value.

•

In the case of a setpoint link, the same servo gain factor must be set for all drives
involved. Check whether the following error at a given velocity is the same for all drives.

•

In the case of an actual value link, set the servo gain factor of the following drive to a
higher value to increase its dynamic performance.

•

The following error of synchronous spindles can be checked only when the link is activated
(position controllers are then active).

•

Set the following NC MDs so that the GI grouping can be configured and programmed
during start-up:
– NC MD 1844*/525* bit1
Reconfiguration permissible
– NC MD 1844*/525* bit2
Switchover of link factor permissible
– NC MD 1844*/525* bit3
Overwriting of synchronous positions permissible
– Execute a Power On to make the change effective (changes can be saved via the
machine data dialog beforehand)

•

In cases where a following drive overlay (e.g. for on-the-fly synchronization) is required,
you must set the signal ENABLE FOLLOWING AXIS/SPINDLE OVERLAY (DB29/31) to
"1".

•

For the on-the-fly synchronization function, the incremental speed (NC MD 300*) for axes
and the M19 creep speed of the appropriate gear stage (NC MD 427* to 434*) for spindles
must be set to a value other than "0".

The gearbox interpolation grouping is now functional and ready for programming.

12–154

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12.93

12 Functional Descriptions
12.18.13 Start-up

12.18.13.2 Full start-up procedure
Step

Action

Important information

1

Define position control
sampling time

Following drive and
associated leading drives
must generally have the
same position control
sampling times.

2

Set drift compensation
(applies only to analog drives)

Deactivate feedforward
control and link beforehand

3

Carry out general optimization
Servo gain factor must be
of axes and spindles
correct (following error check)

4

Set feedforward control

Check effect of feedforward
control on the following error

5

Match dynamic response of
individual drives

With setpoint links, the
leading and following drives
must have the same dynamic
response (rise time).

6

Set the required machine
data

Initial configuration must be
enabled

7

Optimize the compensatory
controller

Switch on link and FD overlay

8

Calculate the time constants
of the parallel model

Check synchronism error in
service display; deactivate
compensatory controller;
feedforward control must be
fully set

9

Define the GI monitoring
tolerances according to
manufacturer's data

Check in service display (individual spindle/individual axis)
Synchronism error

10

Check the GI programming
functions

Configuration;
Activate/deactivate link;
on-the-fly synchronization

11

Set the interlocks

Interlocks, e.g. set
reconfiguration etc. (NC MD
bits)

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.18.13 Start-up

12.18.13

10.94

Start-up

Before commencing start-up of the GI grouping, you must complete the start-up procedure
described in the Section headed "Start-up of axis (analog) and spindle".

12.18.13.1 Brief start-up of a GI grouping
•

Declare the desired following axis/spindle as a following drive by setting NC MD 1844*/
525* bit 0.

•

Set the position control sampling time for the following drive and its leading drives to the
same value.

•

In the case of a setpoint link, the same servo gain factor must be set for all drives
involved. Check whether the following error at a given velocity is the same for all drives.

•

In the case of an actual value link, set the servo gain factor of the following drive to a
higher value to increase its dynamic performance.

•

The following error of synchronous spindles can be checked only when the link is activated
(position controllers are then active).

•

Set the following NC MDs so that the GI grouping can be configured and programmed
during start-up:
– NC MD 1844*/525* bit1
Reconfiguration permissible
– NC MD 1844*/525* bit2
Switchover of link factor permissible
– NC MD 1844*/525* bit3
Overwriting of synchronous positions permissible
– Execute a Power On to make the change effective (changes can be saved via the
machine data dialog beforehand)

•

In cases where a following drive overlay (e.g. for on-the-fly synchronization) is required,
you must set the signal ENABLE FOLLOWING AXIS/SPINDLE OVERLAY (DB29/31) to
"1".

•

For the on-the-fly synchronization function, the incremental speed (NC MD 300*) for axes
and the M19 creep speed of the appropriate gear stage (NC MD 427* to 434*) for spindles
must be set to a value other than "0".

The gearbox interpolation grouping is now functional and ready for programming.

12–156

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12.93

12 Functional Descriptions
12.18.13 Start-up

12.18.13.2 Full start-up procedure
Step

Action

Important information

1

Define position control
sampling time

Following drive and
associated leading drives
must generally have the
same position control
sampling times.

2

Set drift compensation
(applies only to analog drives)

Deactivate feedforward
control and link beforehand

3

Carry out general optimization
Servo gain factor must be
of axes and spindles
correct (following error check)

4

Set feedforward control

Check effect of feedforward
control on the following error

5

Match dynamic response of
individual drives

With setpoint links, the
leading and following drives
must have the same dynamic
response (rise time).

6

Set the required machine
data

Initial configuration must be
enabled

7

Optimize the compensatory
controller

Switch on link and FD overlay

8

Calculate the time constants
of the parallel model

Check synchronism error in
service display; deactivate
compensatory controller;
feedforward control must be
fully set

9

Define the GI monitoring
tolerances according to
manufacturer's data

Check in service display (individual spindle/individual axis)
Synchronism error

10

Check the GI programming
functions

Configuration;
Activate/deactivate link;
on-the-fly synchronization

11

Set the interlocks

Interlocks, e.g. set
reconfiguration etc. (NC MD
bits)

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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12 Functional Descriptions
12.18.13 Start-up

12.93

Set position control sampling times
The position control sampling times for the following drive and associated leading drives within
a GI grouping must be set to the same value. This sampling time may however vary from
grouping to grouping (provided the groupings are not chained as a gearbox).
By increasing the position control sampling times for non-critical axes (loader axes, drives not
included in the GI grouping), you can release computing capacity which you require to obtain a
short position control sampling time for the GI grouping.

Drift and tacho compensation
•

General
You have various options for compensating non-linearity of the drive or tacho (e.g. drift):
– Drift compensation
– Automatic tacho compensation

•

Setting the drift compensation
The drift can be set either manually via machine data MD 272* or 401* or semiautomatically (for axes only) through selection of the following softkeys (in service display)
Drift comp.
Axis---(with the axes at standstill). The value calculated is then automatically entered in MD 272*.

•

Setting the automatic tacho compensation (for axes only)
This setting can be made only if the drift compensation setting is correct. Select tacho
compensation with NC MD 1804 bit 1. This function is fully automatic, i.e. no further
settings need be made.
The tacho compensation function calculates a direction-dependent compensation value at
constant traversal of the axis; this value can compensate deviations of up to 12 % of the
multgain. The compensation value is injected in parallel to the P feedforward control, i.e.
the tacho compensation function also activates the feedforward control (computing time
requirement!).
If a compensation value cannot be calculated (e.g. axes not traversing constantly, 12 %
limitation, speed less than 1/8 of maximum speed), the last valid value to be calculated is
used. The compensation value is erased when compensation is deselected. Refer to
Section NC machine data, NC MD 1804* bit 1 for further details.

When the link is activated, the currently valid compensation value for the following axis is
frozen. Deviations in synchronism caused by changes to the controlled system can therefore
only be compensated by the I-action component of the compensatory controller.

12–158

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12 Functional Descriptions
12.18.13 Start-up

General optimization of axes and spindles
•

Axes:
You must set all axes in the GI grouping according to the optimization instructions in the
Start-up Guide (section headed "Drive optimization"). It is particularly important that the
set servo gain factor corresponds to the actual servo gain factor occurring on the machine
(check via following error in the service display). Set the acceleration of the following axis
to approximately 20 % higher than that of the leading axis to ensure correct operation. If
link factors of > 1 are expected, then you must raise the following drive acceleration by a
corresponding amount.
You can install a second measuring system for axes. If you wish to do so, set the
appropriate machine data in the MD 1204* to MD 1388* range.
Caution:
If the following axis is an endlessly turning rotary axis, you must not activate your software
limit switches since the axis will otherwise reach the working area limitation as a result of
the modulo motion and come to an abrupt halt in the middle of a cut. If the following axis is
a rotary axis, you must enter the modulo value of the axis in NC MD 344*.

•

Spindle:
Spindles must also be set according to the instructions under section headings GENERAL
RESET and STANDARD START-UP.

Setting the feedforward control

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When the dynamic feedforward control function is active, the part setpoint is multiplied by the
feedforward control factor and applied directly to the speed controller input. The setpoint is
injected at the position controller input via a PT1 element with a delay defined by the time
constant set in the machine data.

Please refer to section heading Functional Description, Feedforward
Control, for a description of how to set the feedforward control.

Matching the dynamic response of the drives
The following drive and all leading drives connected to it in a setpoint link must have the same
dynamic control response. The same dynamic response means that the following errors of all
drives are equal when measured at the same velocity (check required).
•

If the dynamic response of all the drives involved is virtually the same, you should enter
exactly the same values for the servo gain and feedforward control; these should be the
lowest possible value in each case (referred to the axis with the worst dynamic response).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

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12 Functional Descriptions
12.18.13 Start-up

•

10.94

If the drives involved have varying dynamic response characteristics (and if it is not
meaningful to match them by setting the same response values), then you can use a
setpoint filter for the purpose of matching. You can activate the setpoint filter for axes with
NC MD 1820*, bit 0; you must enter the setpoint filter time constant in NC MD 1272* or
486*.

Note:
Please note "Parameter set switchover" function description with SW 4 and higher.
If the individual drives deviate too much in terms of dynamic response (e.g. following axis
and leading spindle) and if a setpoint filter does not produce satisfactory results, then you
must select the actual value link as the link structure.

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•

The dynamic response of axes which interpolate with leading and
following axes must likewise be matched to the other axes involved.

Instructions for setting with feedforward control
•

Set individual axes with servo gain factor, feedforward control factor and symmetrizing time
constant such as to obtain a good response to disturbances and setpoint changes.

•

Calculate substitute time constants of the individual axes according to the formula:
1–V
TSUBS = ––––– + TSYM
Kv
V: Feedforward control factor
TSYM: Symmetrizing time constant

•

Make fine adjustment by changing the setpoint filter time constant when all axes/spindles
are traversing at constant speed until the following error on all axes/spindles is the same.

•

Set the axial setpoint filter (NC MD 1272* or 486*) by entering the difference between the
time constants of this axis/spindle and the slowest axis/spindle in the grouping.

Kvx= value (NC MD 252*, 1320* or 435*ff) * 100
Vx= value (NC MD 312*,1260* or 465*) * 1000
TSYM1= value (NC MD 392*, 1324* or 467*) * 10

12–160

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12.93

•
•
•
•

12 Functional Descriptions
12.18.13 Start-up

Kv1=33.33 s-1

Kv2=33.33s-1

Kv2=25.00s-1

SINUMERIK 840C (IA)

V1=0.66

NC MD 1844*/525*
NC MD 1844*/525*
NC MD 1844*/525*
NC MD 1844*/525*
bit0
bit1
bit2
bit3

TSYM1=5 ms

1-0.66
TSUBS1= –––––––+5 ms=15 ms
33.33
V2=0.66
TSYM2=5 ms

1-0.66
TSUBS2= –––––––+5 ms=15 ms
33.33
V3=0.66
TSYM3=7 ms

1-0.66
TSUBS3= –––––––+7 ms=20.2 ms
25

TX1=20.2 - 15.0=5.2 ms
TX2=20.2 - 15.0=5.2 ms
TX3=20.2 - 20.2=0.0 ms

Setting the GI machine data and the necessary PLC signals

In order to be able to configure a gearbox link via the input display or the NC part program and
to enter the synchronous positions and link factors, you must set the following NC MD bits for
the following drive to "1":
Axis/spindle may be FD/FS
Reconfiguration permissible
Switchover of link factor permissible
Overwriting of positions permissible

For inputs via the input display, you must set NC MD 5006, bit 4 to "0".

As soon as you wish to traverse the following drive with overlay (e.g. for on-the-fly
synchronization), the PLC signal ENABLE FOLLOWING AXIS/SPINDLE OVERLAY (DB29/31)
must be set to "1".

After start-up, the bits must be set in accordance with the machine
philosophy of the manufacturer.

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12 Functional Descriptions
12.18.13 Start-up

10.94

Optimization of the compensatory controller
When it is activated, the compensatory controller basically increases the servo gain factor of
the following drive. However, if the axis or spindle-specific servo gain factor of the following
drive is already set to the maximum value, the following drive starts to oscillate if the
compensatory controller is activated. In this case, the resulting servo gain factor (sum of the
servo gain factors of the axes and compensatory controller) is too high. We therefore
recommend you to follow the procedure described below:
•

Drive start-up for LINK OFF
The leading and following drives are separately parameterized (with the link deactivated)
according to the conventional method. The highest possible servo factors (LD-KVmax and
FD-KVmax) above which the position control loop tends to oscillate and become unstable
must be calculated.

•

Drive start-up for LINK ON (P component)
– The P component of the compensatory controller (NC MD 1420*/487*) operating in
parallel acts as an additional servo gain factor for the following drive (FD-KVCC). The
gain factor FD-KVDrv of the following drive controller must therefore be set to a value
that is lower than the FD-KVmax calculated beforehand. The servo gain factor of the
following drive (FD-KVDrv) must fulfil the following conditions:
FD-KVmax FD-KVDrv(NC MD252*/435*..442*) [0.01/s]+ FD-KVCC(NC MD1420*/487*)
[1/s]
FD-KVmax [FD-KVDrv(NC MD252*/435*..442*)+ 100* FD-KVCC(NC MD1420*/487*)]
[1/s]
– Actual value link with and without feedforward control
When an actual value link with or without feedforward control is used, we recommend
that FD-KVCC always be set to 0 (NC MD 1420*/487* = 0).
– Setpoint link without feedforward control
When a setpoint link without feedforward control is used, it is essential to set the
leading and following drive position control loops such that they both have the same
dynamic response to setpoint changes. If the P component of the compensatory
controller is applied, the following drive must have a better dynamic response, and
therefore a higher maximum servo gain factor (FD-KVmax), than the leading drive.
Effectively, however, the same servo gain factor is set for the following drive as for the
leading drive.
The value of LD-KVmax is calculated first and entered in NC MD 252*/435*..442* of the
leading drive. The same dynamic response to setpoint changes is now set for the
following drive by means of FD-KVDrv (NC MD 252*/435*..442*). The value calculated for
LD-KVmax is entered for this purpose. The differential value up to FD-KVmax is applied
for FD-KVCC.
– Setpoint link with feedforward control
When a setpoint link with feedforward control is used, it is not necessary to set the
leading and following drives such that they both have the same dynamic response to
setpoint changes. It is also not necessary for the following axis to be more dynamic by
setting FD-KVmax > LD-KVmax when the P-component of the compensatory controller
is applied. There is also no need to set the servo gain factors in the leading and
following drive position control loops to the same value.
The dynamic response of the drives is matched by means of setpoint smoothing filters
and feedforward control action. The best possible response of the GI grouping to disturbances and setpoint changes can be obtained by means of 100 % feedforward control
with appropriately set setpoint smoothing and balancing filters (no positional overshoot
during rapid traversal). Please refer to the functional description of "Feedforward
control" for further information about setting setpoint smoothing filters and the
feedforward control function.

_______
1) Please note "Parameter set switchover" function description with SW 4 and higher.

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12 Functional Descriptions
12.18.13 Start-up

The following servo gain factor settings are recommended:
FD-KVDrv(NC MD252*/435*..442*) = 1 1)
FD-KVCC (NC MD1420*/487*) = FD-KVmax -1 1)
Please note, however, that only FD-KVDrv (NC MD252*/435*..442*) remains active in the
LINK OFF state. If the following drive must contribute to the execution of a multidimensional path motion in the LINK OFF state, then FD-KVDrv can be reset to
FD-KVmax from the part program in the LINK OFF state.
•

Drive start-up for LINK ON (I-action component)
The I-action component of the compensatory controller (FD-KICC) is used solely to
compensate for slowly changing disturbance variables (drift, temperature, etc.). It is
parameterized with a unit of 1/s2. The reset time TN of the compensatory controller is thus
calculated as follows:
FD-KVDrv [1/s]+ FD-KVCC [1/s]
TN = ––––––––––––––––––––––––––––––––––––
FD-KICC(NC MD 1424*/488*) [1/s2]

•

Drive start-up for LINK ON (D component)
You should always leave the compensatory controller D component (NC MD 1428*/489*)
set to the value "0". 1)

Notes:
•

The compensatory controller setting can be checked and documented by means of the
analog signal "Positional difference for synchronism" which can be output by the control
via analog outputs on the mixed I/O module.

•

For this purpose, the mixed I/O module must be installed in the NC area.

•

Please refer to the section headed "Drive servo start-up" for details of how to set the
mixed I/O module in order to output the analog signal.

Calculating the time constant for the parallel model
To ensure that the compensatory controller operates correctly, allowance must be made in the
controller for the setpoints generated by the simulated leading axes and the overlaid motion of
the following axis. The purpose of the parallel model is to produce an actual value from this
setpoint.
The parallel model must be set to the position control loop time constant of the following axis.
The time constant is influenced by the servo gain factor and the feedforward control.
The time constant must be entered in NC MD 1432* or 489* and is automatically calculated
when the maximum value 16000 is input. 1)
Owing to the influence exerted by the speed controller, the automatically calculated value must
be checked and re-optimized if required.
Checking the time constant of the parallel model:
•
•
•
•
•

Deactivate compensatory controller
Activate link
Activate FD overlay
Select service display for following axis
Traverse FD in jog

_______
1) Please note "Parameter set switchover" function description with SW 4 and higher.

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12 Functional Descriptions
12.18.13 Start-up

10.94

While the following axis is traversing, the positional difference for synchronism (contour
deviation FD) should be approximately 0, otherwise the time constant needs to be reoptimized.
•

Re-optimizing the time constant of the parallel model:
– Change machine data "Time constant parallel model" manually until the positional
difference for synchronism (see above) has been minimized.

Entering the monitoring threshold values
After optimizing the controllers and setting the feedforward control, you must input the
monitoring threshold values.
Calculate the values for synchronism, emergency retraction, etc. depending on the requisite
degree of accuracy and the safety requirements laid down by the machine manufacturer.
These values can be checked via the PLC interface.
The actual position deviation between the following axes and the leading axes is shown in the
service display of the following axes under synchronism error. The emergency retraction can
also be interrogated as a rapid signal on the mixed I/O module.
•

Machine data
– NC MD 1436* or 490*
– NC MD 1440* or 491*
– NC MD 1444* or 492*

Synchronism fine 1)
Synchronism coarse 1)
Emergency retraction threshold 1)

Measurements are taken in the following drive resolution.
If the two synchronism limits are not reached, then the associated PLC interface signals are
set to "1".
When the emergency retraction threshold is exceeded, a rapid HW signal is released on the
servo level provided the interface signal has enabled the monitoring function. The hardware
signal must be parameterized in NC MD 588*/528*.
The following drive is limited to maximum acceleration and maximum velocity. 1)
In addition, a warning threshold is monitored in both cases, the value of which is defined as a
percentage of the maximum value in NC MD 1448* or 494*. This percentage values applies to
both limits. 1)
If, for example, 50 is entered in MD 276* as the acceleration value, then the NS ACCELERATION WARNING THRESHOLD signal is set when 45 is exceeded in the standard setting,
When faults in the leading drives occur, the following drive switches to controlled follow-up
mode, i.e. traversal with actual values as reference. On expiry of the delay time specified
above, the following drive switches from controlled follow-up to normal follow-up mode.

_______
1) Please note "Parameter set switchover" function description with SW 4 and higher.

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12 Functional Descriptions
12.18.13 Start-up

Effect of the input values in NC MD 1432*/495* (case distinction):
0:

No controlled follow-up;
immediate normal follow-up

1...15000:

Controlled follow-up initially;
switchover to normal follow-up on expiry of delay

15001 and higher:

Controlled follow-up at all times

Definition of "Controlled follow-up of following drive":
The following drive attempts to following the movements executed by the leading drive. In this
case, the leading drive actual values act as the reference variables. The following drive
continues to operate under positional control.
Definition of "Follow-up of following drive":
Behaves in the same way as a normal NC drive, i.e. the drive is braked rapidly during traversal
with the maximum braking current. The state of synchronism cannot be maintained in this
case.
On expiry of a time defined in MD 1224* or 447*, the position control loop is opened. From this
point onwards, only the position actual value is recorded.
Service data of following drives
The service data for the following drives are shown in the standard displays of the NC
axes/spindles.
The following axis service data are identical to those of other NC axes/spindles with the
exception of the "Contour monitoring" service display.
The following applies to the "Contour monitoring" service display:
•

With IS LINK ACTIVE = 0 signal (i.e. LINK OFF)
The current contour deviation for the following axis is displayed. The display in the
"Synchronism error" field remains at 0.

•

With IS LINK ACTIVE = 1 signal:
The contour deviation display remains at 0. In the active link state, the synchronism error
is indicated in the "Synchronism error" field.

The current positional difference between the leading and following axes is entered in the
"Synchronism error" field in the "Individual axes/individual spindles" service display. The
difference is displayed in units (MS).

Checking the GI programming functions
You now need to configure and activate the gearbox grouping. You should also test the "Onthe-fly synchronism" performance of the grouping if necessary. The requisite programming
functions are described in the document entitled "SINUMERIK 840C, Programming Guide".

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12.18.13 Start-up

12.93

Setting the interlocks
To complete the start-up procedure, you now need to set or reset the interlock or enable bits
for certain GI functionalities according to the machine manufacturer's data. The following
settings are available:
•

NC MD 1456*/496*

Default setting of link structure

•

NC MD 1844*/525* bit1

Reconfiguration permissible

•

NC MD 1844*/525* bit2

Switchover of link factor permissible

•

NC MD 1844*/525* bit3

Overwriting of positions permissible

•

NC MD 1844*

LINK_ON after power on

12.18.14

bit4

Special cases of gearbox interpolation

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12.18.14.1 Synchronous spindle
If only the "Synchronous spindle" option is set, then several pairs of
synchronous spindles can be configured. The selected gearbox
interpolation type is subject to the following restriction:
Only one leading spindle can be configured for each following spindle.

The synchronous spindle function is especially important for the "on-the-fly transfer" of the
workpiece from the working spindle. During this process, the workpiece is transferred to the
synchronous spindle (following/counter-spindle) while the main (leading) spindle is rotating. In
this case, the synchronous spindle must be synchronized with the main spindle in terms of
speed and, with shaped workpieces, also in terms of position.
The synchronous spindle is programmed by means of the G400, G401, G402 and G403
commands in conformity with the general programming options for gearbox interpolation.
The interface signal INTERLOCK LINK ON can also be applied in this case to influence the
activation and deactivation of the gearbox link from the PLC.
The following special features must be noted with respect to the "Synchronous spindle"
functionality or following spindles:
POWER ON/Ramp-up/Start-up
•
•
•
•
•
•

The leading and following spindles are always in the spindle mode after POWER ON. LINK
ON cannot be activated after POWER ON in this case (in contrast to axes).
A pulse encoder must be provided for the leading and following spindles.
The spindle drift must be compensated.
The position control loops of the spindles must be set to the same following error for a
setpoint link.
The leading and following spindles are always operated under position control in
synchronous operation.
If a simulated spindle is to act as the leading spindle, NC MD 520*.2 (pulse encoder
installed) and the NS SPEED CONTROLLER ENABLE must be set for the spindle (even
when a pulse encoder is not connected).

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12 Functional Descriptions
12.18.14 Special cases of gearbox interpolation

Selection
•

Before synchronous operation is selected, the CONTROLLER ENABLE signal must be
present for both spindles. If this signal is not present, the reaction is as follows:
– No switchover to synchronous operation takes place
– No alarm is output
– The block changes immediately.

•

After activation of a link, the block changes as a function of NC MD 526*bits 5,2 (block
change with fine synchronism or after synchronization reached).

•

Block changes are interlocked after G402 and G043 as long as the signal INTERLOCK
LINK ON or PLC SPINDLE CONTROL is set.

•

Synchronous operation for the following spindle can be activated even for non-referenced
leading and following spindles (no zero mark sensing). In other words, synchronous
operation can be activated even if the leading and following spindles are friction-locked via
a clamped workpiece after power on. Positional synchronism (G403) is not however
achieved until the leading and following spindles have been synchronized.

Deselection
•

Synchronous operation can be deselected through programming of G400 or through
setting of the LINK OFF interface signal in the PLC for the following spindle.

•

Block changes are interlocked after deselection of synchronous operation as long as the
signal INTERLOCK LINK OFF or PLC SPINDLE CONTROL is set.

•

The following spindle continues to rotate at the current actual speed after deselection of
synchronous operation.

Operating modes
•

When the link is not activated, the following and leading spindles can be traversed in all
operating modes.

•

When the link is activated, the leading spindle can be traversed in the following operating
modes:
– Control mode from NC, PLC, command channel
– Positioning mode from NC, PLC, command channel
– C-axis mode (assignment between leading and following drives is maintained even if
the leading spindle is in C-axis mode and the link then activated).

•

The leading spindle cannot be operated in oscillation mode when the link is active.

•

When the link is active, the following spindle is inhibited with regard to any commands
from the NC, PLC or command channel. In this case, only the controller enabling
command and GI-specific spindle signals have any influence on the following spindle.

•

If a leading spindle is operating in C-axis mode, then it can act as a leading or following
axis in a GI grouping.

•

The leading and following spindles cannot be switched over to C-axis operation when the
link is active. The GI grouping of the synchronous spindle may, however, remain
configured during switchover.

•

When the link is active, the following spindle may only be operated in the mode specified
in the GI configuration (C axis or spindle).

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12 Functional Descriptions
12.18.14 Special cases of gearbox interpolation

10.94

•

The same drive may not be configured as the following drive as a C-axis and a spindle in
two GI groupings at the same time.

•

Synchronous operation is not cancelled when the operating mode is changed or after
RESET.

•

The system limits the speed of the leading spindle to a maximum value which is
determined by the link factor and the spindle limitations of the following spindle (max.
motor speed, max. spindle speed, max. gear stage speed).

•

If an M19 gain switchover is implemented for the drive actuator, the following must be
noted: The position control is active in synchronous mode, i.e. the servo gain factor of the
M19 creep speed is applied as the servo gain factor. However, the actuator is not
switched over to M19 mode in synchronous operation. This M19 servo gain factor is not
however rated for maximum speed. Before you activate the link, therefore, you should
switch over to a gear stage which is identical - with the exception of the servo gain factor
(matched to maximum link speed) - to the gear stage of the actuator, which has not been
switched over.

•

If the leading and following spindles are friction-locked via a clamped workpiece, the speed
controllers of the spindles may be working in opposition to one another. In such cases, the
I-action component of the speed controller must be reduced; the function can also be
activated via interface signals ”Cancel synchronism deviation”.

Interface signals
•

The spindle override is operative only for the leading spindle in synchronous operation.

•

In synchronous operation, the normal spindle interface signals are relevant for the leading
spindle; only the CONTROLLER ENABLE and the extended signals of the following spindle
are relevant for the following spindle and the synchronous operation status.

•

When the SPINDLE DISABLE signal is applied to the leading spindle, then the same signal
is set internally for the following spindle.

•

Synchronous operation is not aborted if the signal SPINDLE DISABLE is set at the following spindle interface or the CONTROLLER ENABLE signal removed. Since, however, the
following spindle is then stationary, the monitoring circuit for emergency retraction or
synchronism responds as soon as the leading spindle rotates and the monitoring threshold
is exceeded.

•

If the signal PLC SPINDLE CONTROL is applied to the following spindle, then the G400,
G402 and G403 commands are also blocked. The last command in each case is executed
after reset of the signal.

•

If the CONTROLLER ENABLE signal for the following spindle is removed after spindle stop
without the link being deactivated at the same time, then a synchronism error caused by
external action (e.g. manual rotation, drift, etc.) will not be compensated when the
CONTROLLER ENABLE signal is applied again.
This may cause loss of the defined allocation between leading and following spindle for
some applications (e.g. polygonal turning). This problem can be remedied by starting "Onthe-fly synchronization" with the appropriate synchronous positions from the PLC interface.

Gear stage
•

Before synchronous operation is selected, the same mechanical gear stage must always
be engaged for the following spindle so that the same position control parameters are
always applied for the following spindle.

•

No request for a gear change may be present when synchronous operation is selected.

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01.99

•

12 Functional Descriptions
12.18.14 Special cases of gearbox interpolation

Gear stage switchover and the transfer of new actual gear stages are not possible in
synchronous operation.

Synchronous spindle in mechanically coupled operation
When a pair of synchronous spindles is operated with clamped workpiece, certain factors
including
•
•
•

the rigidity of the workpiece
the closing force of the chuck and
the stiffness of the drive mechanical components

cause backlash via the workpiece.
These effects can cause shutdown of the drive both at standstill and in dynamic operation.
Dynamic:
During acceleration in mechanically coupled operation, asymmetries in the control loop
concerned may cause very strong torque deviations to develop between the individual
spindles, leading to an imbalance in power distribution, i.e. one drive takes over or carries the
main load.
Static:
When a workpiece is transferred to the following drive, an angular offset may develop between
the leading and following drives as a result of the mechanical closing action of the chuck .
Provided that both drives are coupled via the workpiece,
•
•
•

this offset cannot be corrected or eliminated
the workpiece may be strained by torsional forces or
the workpiece may be damaged by the chuck.

The following procedure is recommended:
Position controller level
Dynamic:
Asymmetry between the control loops involved can be corrected via setpoint filters.
Static:
The angular offset which develops, for example, when the chuck closes, causes straining on
intervention by the position control/compensatory controller. This type of strain can be
prevented by means of the interface signal "Follow up synchronism deviation".
Speed controller level
When SIMODRIVE 611A/D and 1FT drive systems are used, a so-called integrator feedback
can be activated in the speed controller. The feedback function does not lead to integration of
the torques by the I-action component at low speeds.
When main spindle drives are used, it is necessary - depending on prevailing conditions - to
deactivate at least the I-action component of the following axis speed controller, particularly in
static operation.
Note:
With synchronous spindles avoid rigid linking as this may possibly lead to running off of the
spindle/axis during automatically controlled correction.
NC MD 1432*/495*: At the initial setting ”automatically controlled correction” is always selected
(16 seconds).

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12 Functional Descriptions
12.18.14 Special cases of gearbox interpolation

X

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12.93

12.18.14.2 Gantry axes; machines with forced coupling

Several gantry axis pairs can be configured if only the "Gantry axis"
option is set. The selected gearbox interpolation type is subject to the
following restrictions:
– Only one leading axis permitted per following axis
– Fixed coupling ratio of 1:1 or -1:1
– No programming using G commands possible
– Coupling can be defined only via input display or read-in of GIA
data

For gantry axis applications, two mechanically coupled machine axes must be traversed
synchronously by mutually independent axis drives. A gantry milling machine is an example of
a typical application.
Y

Z

X1

Gantry axes

With gantry axes, the two axes should be traversed as one. In addition, only one axis (e.g. X)
must be programmed by the user.

The link can be activated immediately after reference point approach or when absolute
encoders are installed and will then be maintained in all operating modes.

The set configuration is stored. Reconfiguration or, if required, switchover of the link factor can
be inhibited for the appropriate following axis by means of machine data settings.

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12 Functional Descriptions
12.18.14 Special cases of gearbox interpolation

The following interlocks are effective:
•
•
•
•

Inhibition of reconfiguration (axis 1844*)
Inhibition of link factor switchover (axis 1844*)
Inhibition of synchronizing position switchover (axis 1844*)
INTERLOCK LINK OFF (interface signal)

To ensure that the links become active immediately after power on, "LINK ON after POWER
ON" (axis 1844*) must be set for the currently active following axis.
Reference point approach by gantry axes
When a portal machine with gantry axes is switched off, mechanical strains in the portal can
cause misalignment of the axes in relation to one another. A certain sequence must therefore
be followed on restart or when the gantry axes execute their mandatory reference point
approach.
•

Absolute measuring system for both gantry axes

When both gantry axes are equipped with an absolute measuring system as the sole
measuring system, there is no need for special referencing since these measuring systems
report their absolute positions to the control after power on. The axes are therefore
"referenced" immediately after power on.
•

Incremental measuring system for both gantry axes

During referencing (synchronization) of gantry axes, the axes involved are operated alternately
as either the leading or following axis. In other words, only one of the two gantry axes is
referenced initially (the second operates simultaneously as a coupled axis); the other axis is
referenced afterwards (the first axis then operates simultaneously as a coupled axis). Finally,
any dimensional offset is then eliminated by means of the "On-the-fly synchronization"
function.
Caution:
An undesirable feedback loop develops when both GI groupings are active at the same time.
No check is made for this state. This problem can be best avoided by mutually interlocking the
two gantry groupings by means of the INTERLOCK LINK ON signal.
Prerequisites:
Automatic reference point approach is active (NC MD 560*.4 = 1)
Long referencing cams are mounted on portal axis X or X1.
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•
•

Referencing cam

•

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Axis X or X1

EMERGENCY STOP cam

The following GI groupings have been configured via the input display:
– GI grouping 1 Leading axis X1; following axis X; link factor 1:1; link type K1; enter
reference point positions as synchronous positions
– GI grouping 2 Leading axis X; following axis X1; link factor 1:1; link type K1; enter
referencing point positions as synchronous positions

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12 Functional Descriptions
12.18.14 Special cases of gearbox interpolation

10.94

Flowchart for PLC-controlled reference point approach
Activate control
Activate GI grouping 1
Selection ref. point mode
Initiate reference point approach with leading axis X1 (following axis X follows X1)
Reference point reached?
Deactivate GI grouping 1
Activate GI grouping 2
Initiate reference point approach with leading axis X (following axis X1 follows X)
Reference point reached?
Enable following axis overlay
Initiate on-the-fly synchronization for grouping 2
Synchronization reached (following axis)
Disable following axis overlay
Selection "Automatic" mode
END
Note
It is advisable to deactivate the synchro monitors in the PLC program until the gantry axis
reference point approach process is complete.
The ”Set reference dimension via PLC request” function is available with SW 4 and higher.
•

2 measuring systems for each gantry axis

In order to carry out the referencing process when the gantry is unstressed, you can install 2
different measuring systems at the same time for each gantry axis, i.e. an (indirect) SIPOS
absolute system as the 1st measuring system and an incremental (direct) measuring system
as the second.
After power on, the SIPOS systems - as the 1st measuring system - transmit their absolute
values to the control. It must be ensured that the NC MD "Absolute offset valid" (1803*.3) is
set. The absolute positions of the two gantry axes are therefore available to the control. GI
grouping 1 is then linked in (leading axis X1, following axis X). Any dimensional offset between
the two axes is eliminated with the absolute values during the subsequent "on-the-fly
synchronization" process. The incremental, direct system is then activated for referencing
purposes. During referencing, NC MD "Absolute offset valid" (1808*.3) must be reset
(referencing is not otherwise possible). The procedure subsequently applied for reference point
approach is the same as if only incremental measuring systems were in use. Finally, any
existing small dimensional offset can again be eliminated by means of another "on-the-fly
synchronization".
Note:
Please refer to functional description of the SIPOS absolute encoder for further information.

12–172

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SINUMERIK 840C (IA)

12.93

12 Functional Descriptions
12.18.14 Special cases of gearbox interpolation

• Distance-coded reference mark system for each gantry axis
To avoid the need to traverse large distances for reference point approach purposes, it is
possible to use a measuring system with distance-coded reference marks as the sole or as the
second measuring system. This measuring system is referenced after a distance of
approximately 2 cm. The referencing procedure is in this case the same as for normal
incremental measuring systems.
Note:
Please refer to functional description of "Distance-coded measuring system" for further details.
Prerequisite
• As for incremental measuring system for gantry axes
• The 1st measuring system (OB 32, DW k + 2 bit 12) must be activated in OB 20 and the
absolute offset (NC MD 1808*bit 3) of the gantry axes in FB 62.
Flowchart for PLC-controlled reference point approach
Activate control
SIPOS measuring systems send their absolute positions to the control
Activate GI grouping 1
Enable following axis overlay
Initiate on-the-fly synchronization for grouping 1
Synchronous position reached? Deactivate grouping 1
Declare absolute offset (NC MD 1808*3) for the leading and following axes to be invalid via
FB 62.
Select 2nd measuring system for leading and following axes (DB32, DWk + 2 bit 12)
Activate grouping 1
Selection reference point mode
Initiate reference point approach with leading axis X1 (following axis X follows X1)
Reference point reached?
Deactivate grouping 1
Activate grouping 2
Initiate reference point approach with leading axis X (following axis X1 follows X)
Reference point reached?
Enable following axis overlay
Initiate on-the-fly synchronization for grouping 2
Synchronization reached? (following axis)
Disable following axis overlay
Select "Automatic" mode
END

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.18.15 Gearbox interpolation status data

12.18.15

10.94

Gearbox interpolation status data

In the SINUMERIK 840C control system, the currently valid configuration and status data of the
active and inactive GI groupings are stored in the so-called gearbox interpolation (GI) status
data. A memory area is reserved for each axis and spindle because every axis/spindle could
be a following axis/spindle. The memory area is buffered so that the gearbox configurations are
not lost after power off. The data are read after power on and the link activated during ramp-up
(used for gantry axes) provided that the enabling command is present (NC MD 1844*/525*
LINK ON after POWER ON). The GI status data can be erased in general reset mode.
These data lists can be read in or out as %GIA data via the RS 232 C (V.24) interface. Data
can be read in only in start-up mode and read out only when the SINUMERIK is in the reset
state.

LD4 GIA 400...406
LD5 GIA 500...506

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LD1 GIA 100...106
LD2 GIA 200...206
LD3 GIA 300...306
LD4 GIA 400...406
LD5 GIA 500...506

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Spindle 6

GIA 0..5

LD1 GIA 100...106

FD

GIA 0..5

. . . Type 45

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LD3 GIA 300...306

Type 40
Spindle 1

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LD2 GIA 200...206

FD

Type 29
Axis 30

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LD1 GIA 100...106

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GIA 0...5

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FD

...

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Type 0
Axis 1

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12.18.15.1 Format of data list (SW 3)

LD2 GIA 200...206
LD3 GIA 300...306
LD4 GIA 400...406
LD5 GIA 500...506

FD

GIA 0..5

LD1 GIA 100...106
LD2 GIA 200...206
LD3 GIA 300...306
LD4 GIA 400...406
LD5 GIA 500...506

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LD1 GIA 100...109
LD2 GIA 200...209

LD5 GIA 500...509

FD

GIA 0..5.9

FD

LD1 GIA 100...109
LD2 GIA 200...209
LD3 GIA 300...309
LD4 GIA 400...409
LD5 GIA 500...509

GIA 0..5.9

LD1 GIA 100...109
LD2 GIA 200...209
LD3 GIA 300...309
LD4 GIA 400...409
LD5 GIA 500...509

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GIA 0...5.9

FD

Type 45
Spindle 6
GIA 0..5.9

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LD4 GIA 400...409

FD

...

LD1 GIA 100...109
LD2 GIA 200...209

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LD3 GIA 300...309

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Type 40
Spindle 1

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Type 29
Axis 30

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...

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Type 0
Axis 1

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Format of data list (SW 4)

LD3 GIA 300...309
LD4 GIA 400...409
LD5 GIA 500...509

Note:
This data list is merely intended as a back-up file for servicing purposes and must not
therefore be changed by the user.

12–174

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SINUMERIK 840C (IA)

12.93

12 Functional Descriptions
12.18.16 Examples

12.18.16

Examples

12.18.16.1

Overview of application examples

•
•

Hobbing
Inclined infeed axes

12.18.16.2

Hobbing

Interrelated functions in hobbing process
The following diagram shows the configuration of a typical hobbing machine.
The machine comprises five numerically controlled axes and a controlled main spindle.
These are:
•

the rotary motion of the workpiece table (C) and hobber (B),

•

the axial axis (Z) for producing the feed motion over the entire workpiece width,

•

the tangential axis (Y) for shifting the hobber along its axis,

•

the radial axis (X) for the infeed of the cutter to tooth depth,

•

the cutter swivel axis (A) for setting the hobber in relation to the workpiece depending on
the cutter and tooth lead angles.

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The machine can also be equipped with further NC axes to obtain an automatic workpiece and
tool changer.

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+Z

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+A

+B

+Y

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+X

+C

X

=

Radial axis

Y
Z
A

=
=
=

Tangential axis (leading drive 3)
Axial axis (leading drive 2)
Cutter swivel axis

C
B

=
=

Workpiece rotary axis (following drive)
Cutter rotary axis, main spindle (leading drive 1)

Definition of axes on a hobbing machine (example)

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.18.16 Examples

12.93

The hobbing machine functions are interrelated as follows:

B

Z

Y

(LA 1)

(LA 2)

(LA 3)

C
(FA)

The workpiece table axis (C) is the following axis; in this example, it is influenced by three
leading drives.
The following axis setpoint is calculated cyclically by means of the following logic equation:
nc = nb ·

z0
z2

+ vz ·

udz
z2

+vy ·

nc

Speed of workpiece axis (C)

nb

Speed of cutter spindle (B)

z0

Number of hobbing operations

z2

Number of teeth on workpiece

vz

Feed velocity of axial axis (Z)

vy

Feed velocity of tangential axis (Y)

udz

Axial differential constant

udy

Tangential differential constant

udy
z2

The first summand in the above equation determines the speed ratio between the workpiece
table and the cutter and therefore the number of teeth on the workpiece. The second
summand effects the requisite additional rotation of the C-axis for inclined gearing as a
function of the axial feed motion of the cutter to produce the tooth pitch. The third component
also makes allowance for additional rotation of the C-axis which compensates the tangential
motion of the cutter in relation to the workpiece. In this way, the tool can be evenly loaded
over its entire length.
The values z0, z2, udz and udy are dependent on workpiece and tool and are specified by the
NC user or in the part program.
The differential constants udz and udy make allowance for the workpiece tooth pitch and the
geometry of the cutter. The differential constants can be calculated in user-specific cycles.

12–176

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12.93

12 Functional Descriptions
12.18.16 Examples

Example calculations of udz and udy.

degrees

sin °

udz =

· 360

mn *

cos °

udy =

mn

mm

degrees
· 360

mm

*

in which
mn

=

Normal modulus (in mm)

°

=

Angle of incline of gear

°

=

Lead angle of hobber

Configuring the GI grouping via the part program
1st leading axis = Cutter spindle B (setpoint link K1)
2nd leading axis = Axis Z (setpoint link K1)
3rd leading axis = Axis Y (setpoint link K1)
Following axis = Rotary axis C
Define configuration:

G401 B K1 Z K1 Y K1 C

LF

Activate link:
R100=z0

R101=z2

G402

I=R100

B

R102=udz
J=R101

Z

R103=z2
I=R102

R104=udy
J=R103

Y

R105=z2
I=R104

LF
J=R105

C

LF

Please refer to previous page for explanation of abbreviations.

12.18.16.3

Inclined infeed axes

Many users of machines with inclined axes require an NC part program which allows nonperpendicular NC axes to be treated in the same way as perpendicular axes for programming
purposes.
Two different systems of co-ordinates are therefore provided:
•
•

A non-cartesian, real co-ordinate system of machine axes
A cartesian, simulated co-ordinate system

The GI functionality is so universal in design that the above demand can be satisfied.
This option is explained below using the example of a grinding machine with an inclined axis.
The diagram below shows a plain grinding machine with a U axis inclined in relation to the Z1
axis by an angle of 90°- .

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.18.16 Examples

12.93

Two co-ordinate systems are defined:
X/Z

=

Simulated cartesian co-ordinate system
Axes X and Z have no measuring circuit assignment. They are therefore referred
to as "simulated axes". The machine axes U/Z1 are programmed in the cartesian
co-ordinate system.

U/Z1

=

Real, non-cartesian co-ordinate system.
Axes U and Z1 are assigned via hardware measuring circuits. They are referred to
as "real axes".

The real machine axes U and Z1 must be moved in order to traverse the programmed paths in
the X axis.
U

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X

Grinding wheel
Workpiece
Z1 (Z)

Plain grinding machine with inclined U axis

The mathematical relations in this case are as follows:
U=X·

1
–––––
cos

Z1 = X · (–tan )
Solution with GI
Axes X and Z, which form the simulated, cartesian co-ordinate system, are defined as
simulated leading axes for the real machine axes U (following axis 1) and Z1 (following axis 2).
2 gearbox interpolation groupings are therefore required.
Axis Z1 (following axis 2) allows for the path distance traversed by both the simulated X axis
and the simulated Z axis.
U

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X

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U=Xprogr·1/cos
Z1

Z

Xprogr

Z1= Xprogr · (– tan )

Simulated, cartesian co-ordinate system (X, Z) and real, non-cartesian co-ordinate system (U, Z1)

12–178

© Siemens AG 1992 All Rights Reserved

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SINUMERIK 840C (IA)

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Result
new U value

Axis
Name

1
X
(Leading drive)

2
Y
(Leading drive)

3
Z
(Leading drive)

4
Z1 (Following axis)

5
U

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)
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1
U= X · ––––
cos
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Programmed X value

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12.93
12 Functional Descriptions
12.18.16 Examples

Simulated, cartesian
coordinate system

Programmed Z value

Z1= X ·(–tan ) +Z

Result
new Z1 value

Real, non-cartesian
coordinate system

Relationship between the simulated leading axes and the following axes

Example of parameterization of GI grouping machine data:

(Following axis)

=20.5°

GI machine data required:

•
•
•
•
NC MD 18444
NC MD 18444
NC MD 18444
NC MD 18444
bit0 = 1
bit1 = 1
bit2 = 1
bit3 = 1
Axis Z1 may be following axis
Reconfiguration permissible
Switchover of link factor permissible
Overwriting of synchronous positions permissible

•
•
•
•

NC MD 18445
NC MD 18445
NC MD 18435
NC MD 18445

bit0 = 1
bit1 = 1
bit2 = 1
bit3 = 1

Axis U may be following axis
Reconfiguration permissible
Switchover of link factor permissible
Overwriting of synchronous positions permissible

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12 Functional Descriptions
12.18.16 Examples

01.99

Programming the GI groupings via the part program:
GI grouping 1:

1st leading axis
=X
Following axis
=U
Setpoint position link without compensatory controller (for simulation axes,
K3)

Define configuration:

G401

X

Activate link:

@631
G402

R100 K20.5 LF
X I1 J=R100 U

GI grouping 2:

K3

U

LF

LF

1st leading axis
=X
2nd leading axis
=Z
Following axis
= Z1
Setpoint position link without compensatory controller (for simulation axes,
K3)

Define configuration:

G401

X K3

Activate link:

@632
G402

R101 K20.5 LF
X I=-R101 J1 Z

Z

K3

Z1=

LF

I1

J1

Z1=

LF

Measures to be taken after machine is switched on
The real following axes must first approach the reference point. They must then be
synchronized with the simulated leading axes (on-the-fly synchronization).

Notes on application:
For the execution of NC part programs, the solution based on GI for compensating the inclined
axis can be applied provided that the following points are considered:
1. No axis disabling signals may be present for the fictitious axes. The latter must be
declared as simulated axes via machine data MD 200* or the axis actual values will
otherwise be set to zero on reset.
2. The real axes must be prevented from traversing in JOG mode. They may move only on
traversal of the simulated axes. In other words:
Traversal of the X axis in JOG traversal of both real axes (in this case, U and Z1).
Traversal of the Z axis in JOG traversal of the real axis (in this case, Z1).
It must however be possible for the real axes to approach the reference point.
3. Since only the real axes are capable of approaching the reference point, the simulation
axes must be synchronized with them on completion of this approach.

12–180

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09.95

12.19

12 Functional Descriptions
12.19 Interpolation and compensation with tables and temperature compensation

Interpolation and compensation with tables and temperature
compensation

Corresponding data:
•
•
•
•
•
•

IKA data 1 - 3
IKA configuration, IKA curves, IKA compensation points
NC MD 356*
IKA warning limit
NC MD 1148*
IKA/TC velocity
DB32 DRK bit 5
IKA/TC velocity exceeded
DB32 DRK bit 6
IKA warning limit exceeded
The TEMPERATURE COMPENSATION (TC) or INTERPOLATION AND COMPENSATION
WITH TABLES (IKA or IKA Stage 2) option must be installed.

General notes
As a result of the increasing demands placed on machine tools, there is a need for improved
functionality between the machine and measuring system in order to compensate for the
effects of errors. In addition, this level of functionality allows the traversal of an optional
movement overlaid on the programmed geometry.
All the functions are described below.

12.19.1

Options

The following functions are available
•

Temperature compensation (TC)
Scope of functions SW 3

•

Interpolation and compensation with tables (IKA)
Scope of functions SW 3

•

Interpolation and compensation with tables 2 (IKA stage 2)
Scope of functions SW 4

which are available as separate options.
Compensation of errors with TC and IKA
The control system may fail to sense the actual value correctly as a result, for example, of the
following influences:
•
•
•

Temperature (thermal expansion)
Effects of mechanical action between axes (e.g. sag)
Lead screw errors (production tolerances of spindles)

These influences can be compensated as an internal control function by means of TC or IKA.
For this purpose, the machine or measuring system parameters measured by laser are stored
in the control during start-up so that they are available for inclusion in the compensation
calculation. The calculated compensation values are also taken into account by the position
control loop with the result that the axes approach the machine setpoint position selected by
the user.
A method of compensating lead screw errors is already available (see section "Leadscrew
error compensation"), but is limited in terms of application owing to the fixed grid spacing and
the absolute compensation value.

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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12 Functional Descriptions
12.19.1 Options

09.95

Implementation of any geometry or velocity profiles SW 4 and higher with IKA Stage 2
IKA Stage 2 makes it possible to define a fully optional geometry between an input variable
and the associated output variable. For this purpose, the relevant values of the output quantity
are allocated to a number of interpolation points of the input quantity and stored as a table in
the NC. During part program processing, the values from the output quantity table assigned to
the current values of the input quantity are overlaid. Interpolation between two intermediate
points can be linear or cubic.
Input and output quantities can also be preset to influence velocities and R parameters.

12.19.2

Activation

The following options can be activated at the same time:
•
•

Temperature compensation (TK) for compensation of thermal expansion
Interpolation and compensation with tables (IKA), e.g. for compensation of lead screw
errors, sag compensation for telescopic axes

Both options are completely independent of one another. The individual results are added on
an axis-specific basis and produce the absolute traversing path of an axis. If several
interpolations or compensations are to be calculated, then all of them have only one common
value as the input quantity. Within an IPO cycle, therefore, a TC value which may have been
calculated beforehand (within the same IPO cycle) is not taken into account in the IKA value
calculation.
The functions are active in all modes after the reference point approach of the axes involved. If
a referenced axis is re-referenced, then the functions are deactivated after cam approach until
the reference point approach process is complete.
The traversing path resulting from the functions involved is shown in the service display in
position control resolutions.
The resulting traversing path or compensation value (sum of TC and all IKA configurations) is
included as an absolute position error in the actual value path calculation. This value must not
be changed by more than a specific amount within each IPO cycle. This limit is distributed
among several IPO cycles by means of a ramping function.
Machine data "IKA warning limit" and "IKA/TC speed" as well as the interface signals "IKA/TC
speed exceeded" and "IKA warning limit exceeded" only apply to the machine error
compensation area.
Example:
MD 300* = 500 mm/min, IPO cycle = 6ms
max. change in output quantity per IPO cycle = 50 µm.

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The output quantity is traversed with the velocity set in NC MD 1148*.

The traversing path resulting from TC and IKA is not displayed as an
actual value change in the axis positions.

12–182

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

12 Functional Descriptions
12.19.2 Activation

Activation of IKA Stage 2
The option IKA Stage 2 applies from SW 4 and contains the IKA option. With IKA Stage 2 it is
possible not only to implement compensations but also any (non-linear) interpolations.
The options for presetting the input and output quantity have been expanded in IKA Stage 2 for
use with interpolation.
An input can be:
•

Axis setpoint position

•

Axis actual position

•

R parameters

An output can be:
•

Axis setpoint position

•

Axis compensation value

•

R parameters

•

Feed weighting

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Since it is now possible to parameterize R parameters for both input quantities and output
quantities, the user is able to cascade IKA tables (see following diagram).

Input quantity B
(weighting factor)

Output qty=input qty A

a
a

IKA

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Input quantity A

aa
aa

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aaa aaa
aaa

IKA

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Axis setpnt.
position U

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IKA configuration IKA3
with control curve 1

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IKA configuration IKA4
with control curve 2

FM[Z]

(e.g. R100)

Input quantity B (R101)

Axis setpnt.
position X

Example of cascaded IKA link branches

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–183

12 Functional Descriptions
12.19.3 Interlocks and monitoring

12.19.3

09.95

Interlocks and monitoring

Interlocks
In the case of axis-specific interlocks of IKA/TC movements, the current IKA/TC value is
"frozen", it remains applied in static form. In this case, a distinction is made between:
•

Direction-dependent interlocks
– SW limit switch:
After alarm 148* or 152* "SW limit switch" has responded, both normal IPO
movements as well as IKA/TC movements, which lead in a direction away from the
traversing range, are interlocked. In addition, all channels of the mode group assigned
to this axis are aborted.
– HW limit switch

•

Direction-independent interlocks:
– Parking axis
– Axis disable
– Controller disable
– Follow-up mode

All interlocks are cancelled as soon as the cause itself has been eliminated (and not following
a RESET).
If it is necessary to disable the traversing axis from the PLC program or to stop the IKA/TC
movement, then the axial PLC signals "Controller disable", "Follow-up mode", "Axis disable"
and "Parking axis" must be applied.
The axial feed stop and the channel-specific feed stop or override zero can be applied to all
axes in the mode group only via the leading axis or via the channel.
If the axis programmed as the input quantity loses its reference point (e.g. due to parking axis),
then the output quantity is not "frozen", but reduced to zero.
Limit switch monitoring
When IKA/TC is active, the effective machine position of the output quantity axis is always
evaluated when limit switch monitoring is activated:
NC setpoint - IKA/TC value.
The braking ramp is not activated until the SW limit switch is reached so that traversal slightly
beyond the switch (depending on feed) is possible.
When an SW limit switch is reached, alarm 148* "SW limit switch +" or alarm 152* "SW limit
switch -" is always output.
The response of the monitor is dependent on the following factors:
Automatic/MDI mode:
A part program block is always examined prior to traversal for the points at which limit switches
are reached. When the IKA/TI is active, however, it is not possible to identify the path
characteristic in advance. The following situations may occur when this part program is
traversed:
a) With an NC setpoint PNC, a machine position PM is reached during traversal as a function
of compensation (positive IKA/TC motion).

12–184

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

aaaa
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12 Functional Descriptions
12.19.3 Interlocks and monitoring

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09.95

PSW

aaa
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aaa
aaa
aaa

P1

PNC

Path distance to go

aaa
aaa
aaa
aaa

SW limit switch +

aaa
aaa
aaa
aaa

0

PM

IKA value

•

IKA/TC motion in positive direction

•

SW limit switch monitoring prior to traversal knows only PNC and does not therefore
output an alarm

•

Alarm 148* is output during traversal when PSW is reached.

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b) With an NC setpoint PNC, a machine position PM is reached during traversal as a function
of IKA/TC (negative IKA/TC motion).

PM

P1

PSW

aaa
aaa
aaa
aaa
aaa
aaa

aaa
aaa
aaa
aaa
aaa

SW limit switch +

aaa
aaa
aaa
aaa

0

PNC

Compensation
value
Path distance to go

•

IKA/TC motion in negative direction

•

SW limit switch monitoring prior to traversal knows only PNC and therefore outputs
alarm 2065, "Programmed position beyond SW limit switch" even though machine
position PM belonging to this NC setpoint is located in front of the SW limit switch.

With IKA Stage 2, the time when the software limit switch is scanned depends on the axis
setpoint position. Monitoring in the position controller might result in a slight overshoot of the
software limit switch.
Effect of direction-dependent compensation - backlash compensation
When an IKA/TC table is defined with positive and negative output values, the output quantity
axis is moved in various directions. This does not however mean that this reversal of direction
is detected or evaluated by any other direction-dependent IKA compensation (backlash
compensation) which may be present. These types of compensation detect reversals of
direction on the basis of part setpoints at the output of the velocity control.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–185

12 Functional Descriptions
12.19.3 Interlocks and monitoring

09.95

IKA warning limit with axis compensation
When the compensatory/additional values of the output quantity are high, the machine may
make unexpected movements which are only partly limited by the monitoring functions. The
present output value is therefore checked against the limit set in NC MD 356* and, in the case
of limit violation, an axis-specific interface signal of the PLC is set (DB 32, DR0, bit 6). In the
same way, the permissible velocity for the compensation (NC MD 1148*) is checked for
violation. The value is displayed in DB 32, DR k, bit 5. As a result of this signal, the PLC can
then, for example, activate follow-up mode in order to stop the axis.
8 decades with sign can be specified as the maximum permissible setting for the output
quantity compensatory/additional values. With this setting, long traverse distances can be
generated on the machine when the IKA configuration is selected, deselected or changed.
The traversing ranges that occur as a result of temperature, leadscrew error and beam sag
compensation are in the range 0.01 to 0.2 mm.
An IKA warning limit has been provided to ensure that excessive IKA movements are not
caused unintentionally by incorrect inputs (protected by password). When this limit is violated,
the PLC can decide which measures should be taken. The velocity must be as high as
possible in order to minimize contour errors when the IKA executes large-scale
compensatory/additional movements. The axial machine data "IKA/TK velocity" (NC MD 1148*)
is used for this purpose and defines the velocity at which the compensatory/additional
movement is performed.
The output quantity axis completes any compensatory/additional movement it has started, even
if the RESET command is given. HW limit switches, EMERGENCY STOP, etc. interrupt the
additionally required movement.
The effective velocity of a motion results from the input quantity axis velocity, the (in some
cases) subordinate velocity of the output quantity and the required compensatory/additional
motion.
The alarm checks evaluate the speed setpoint which effectively results.

12–186

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

SINUMERIK 840C (IA)

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Reference
point

-x

© Siemens AG 1992 All Rights Reserved

Reference
point

6FC5197- AA50
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-x

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12.19.4

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09.95
12 Functional Descriptions
12.19.4 Temperature compensation TC

Temperature compensation TC

The TEMPERATURE COMPENSATION (TC) function

is available as an option.

With this compensation function, the compensation values applying to the current temperature
are transferred from the PLC to the NC via the command channel. The requisite compensation
values must have been calculated in the PLC beforehand by the machine manufacturer.

12.19.4.1 Types of influence

There are two different types of temperature influence:

Position-dependent influence on actual value

The temperature-related actual-value deviation for an axis can be represented by an error
curve. It can be assumed that the position-dependent expansion develops evenly from one
reference point. It can be approximated by means of a straight line of which the gradient is
determined by the temperature.

Error
(comp. value)

Error curve

ß

+x

Position-independent influence on actual value

The measured axis actual value deviates by an absolute temperature-dependent value which is
not dependent upon the actual axis position. The characteristic of this error curve can likewise
be approximated by a straight line.

Error curve

Error
(comp. value)

Absolute compensation value

+x

12–187

12 Functional Descriptions
12.19.4 Temperature compensation TC

09.95

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The effects of both errors are cumulative and mutually superimposed so that the approximation
with regards to actual value influence is as follows:

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Error curve

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Approximated
error line

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KTC

0

KTCabs
Reference
point

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-x

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ß

Px

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Error
(comp. value)

+x

P0

Please note the following definitions:
KTC

:

Temperature compensation value for axis i at position Px

KTCabs

:

Position-independent TC value for axis i

Px

:

Actual position of axis i

P0

:

Reference position for axis i

tanß

:

Coefficient for position-dependent TC
(depends on temperature and coefficient of linear expansion of machine).
KTC - KTCabs
tanß = ––––––––––––––
Px - P0

Caution:
Reference point P0 must not coincide with the axis zero point.
The approximated error line of the axis is now used by the control for temperature
compensation of this axis.
Since the error line applies only to the current temperature value, the parameters of new error
lines occurring as a result of increases or drops in temperature must be transferred to the NC
again.
Only in this way can it be ensured that varying degrees of thermal expansion are compensated
in the correct way.

12–188

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

12 Functional Descriptions
12.19.4 Temperature compensation TC

12.19.4.2

Functional description

Temperature error compensation can be performed for every axis. The parameters for TC can
only be transferred via the command channel of the PLC to the NC.
The following parameters must be defined and transferred for every axis that is to be
compensated:
•
•
•
•

A position-independent compensation value KTCabs
Reference point P0 for position-dependent compensation
Coefficient tanß of position-dependent compensation
Activation flags of the two compensation modes

The compensation value KTC is calculated internally from these values and the current actual
position. This compensation value is then included in the position control calculation.
The following applies to the sign:
Error KTC = Machine position - Setpoint
i.e. when the KTC is positive, the axis traverses in a negative direction.

12.19.4.3

Data structure

The transfer of data from the PLC to the NC via the command channel is implemented via
function number 9 (entry in DB41).
Data must be transferred separately for each axis. These data are erased after power on which
means that the temperature compensation function is no longer effective.
The contents of the user DB are as follows for each axis:

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DW n

Axis number (1-30)

DW n+2

Bit A: 1 - Position-dependent TC operative
0 - Position-dependent TC inoperative

Activation flags

U A

High

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DW n+1

DL
DR
Bit U: 1 - Position-independent TC operative
Length in words (word 7 in KF)
0 - Position-independent TC inoperative
0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1

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Format of user DB:

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Absolute TC value KTCabs
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Low

High

Coefficient tan ß
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DW n+4

Low

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DW n+5

High

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DW n+6

Reference point P0

DW n+7

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DW n+3

Low

Activation flags:
These flags are used to determine which TC methods are to be applied. Both methods can be
active at the same time.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–189

12 Functional Descriptions
12.19.4 Temperature compensation TC

09.95

Data format of user DB
•

Length in words:

Always value 7 in KF format

•

Axis number:

Values 1 to 30 in KF format

•

Absolute TC value KTCabs: With sign, in units (MS), in KF format
(value range ±1 073 741 823)

•

Coefficient tan ß:

With sign, with significance 2-31 in KF format
(value range -1....+1)

The following table gives an example description of the data format of tan ß
ß

•

tan ß

(tan ß) · (231–1) (dec.)

(tan ß) · (231–1) (hex.)

0

0

0

0000:0000

30

0.577

1 239 850 262

49E6:9D16

45

1

2 147 483 647

7FFF:FFFF

-30

-0.577

-1 239 850 262

B619:62EA

-45

-1

-2 147 483 647

8000:0001

Reference point P0:

With sign, in units (MS), in KF format
(machine reference system, value range ±1 073 741 823)

The values KTCabs, tan ß and P0 can be entered as the result of a floating-point calculation,
followed by a fixed-point format conversion.

12.19.4.4

Activation of function

•

TEMPERATURE COMPENSATION option must be available.

•

Transmission of applicable compensation values via command channel to the NC
(cyclically or as a function of the NC PLC interface). Please refer to Interface Description,
Part 1, Signals, for more detailed description of command channel.

Caution:
Since the compensation values are immediately included in the calculation for the position
control, the surface quality may suffer if an axis is traversing and the change in compensation
value between two transmissions is too large.

12–190

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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09.95

12.19.5

12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

Interpolation and compensation with tables

The INTERPOLATION AND COMPENSATION WITH TABLES

(IKA and IKA stage 2) functions are available as options.

This function can be used to establish dependencies between an input quantity and an
associated output quantity.

Example of application of IKA:

Compensation of a hanging axis (machine-defining IKA)
The position of a (basic) axis can influence the absolute position of another (compensation)
axis without being detected by the measuring system. This influence can be compensated by
the "Interpolation and compensation with tables" function.

Z

-Y

Z

-Y

X

The further the machining head traverses in the negative Y direction, the more the cantilever
arm sags in the negative Z direction.

The Z value (output quantity) must therefore be corrected as a function of the current Y
position (input quantity). For this purpose, correction values for the Z axis are recorded for a
number of interpolation points of the Y axis and stored as a table in the control.

Example of application of IKA Stage 2:

Implementation of geometric profiles and velocities (workpiece-defining IKA)
If a workpiece has a complicated geometric profile (e.g. a cam shaft) which can only be
obtained by complicated, sophisticated DIN programming, the function IKA Stage 2 can be
used to break the profile down into interpolation points and to store the values of these points
in a table.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

12–191

0°

12–192
90°

C
180°

270°

360°
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360°

aaaa
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270°

aaaa
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aaaa
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aaaa
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aaaa
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180°

aaaa
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aaaa
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90°

aaaa
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0°

aaaa
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12 Functional Descriptions
12.19.5 Interpolation and compensation with tables
09.95

In the case of a cam contour, a rotary axis value of the C axis (input quantity) and the
associated X axis value (output quantity) are required for each intermediate point. The output
quantity is added to the programmed X axis position as an offset. Either linear or cubic
interpolation is performed between the intermediate points.

The infeed can be programmed independently of the compensation with IKA Stage 2 in the
part program. The offset values of the output quantity are included in the display system of the
position actual values.

In the same way, the multiplication factor for speed control (output quantity) can be defined for
each rotary axis value (input quantity). This multiplication factor influences the programmed
axis or path feedrate.

Interpolation of C and X (stroke)

X

Intermediate point

C

Speed profile V, depends on C axis position

V

C

Cam profile

V

X

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

09.95

12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

12.19.5.1

Functional description

Possibilities with
•
–
–
–
–
–
–
–
•
–
–
–
–
–
–

IKA
32 IKA configurations
32 IKA curves (SW 3)
16 000 IKA points (from SW 3)
65 535 IKA points (from SW 4)
Scanning in IPO cycle
Control of axis and actual values
Changes to the input and output quantity value are active after Power On or warm restart
Only axes can be defined as the input/output quantities
IKA Stage 2
Easily programmable
Output influences axis setpoint/axis actual value
Output influences channel or axis override
Output influences R parameter (cascading)
Intermediate point interpolation also cubic
Tables can be retroloaded individually and activated for up to 65 535 IKA points

General
For the purpose of interpolation and compensation with tables (IKA), a maximum of 32 mutually
independent IKA configurations can be defined. These IKA configurations can all be operative
at the same time. This type of configuration defines the relationship between an output and
input quantities. Some of the 32 IKA configurations can be used to compensate machine
errors (sag, leadscrew error compensation, etc.) and the remaining configurations to implement
geometric profiles. The manufacturer should therefore reserve a number of IKA configurations
for machine compensation purposes; the others are then available to the user as workpiecedefining and tool-dependent IKA configurations.
A table containing a sequence of curve points is assigned to each IKA configuration. A compensatory/additional value of the output quantity can be entered against every interpolation
point value of the input quantity.
The intermediate points (e.g. actual positions of input quantity) can be entered at variable
distances and with variable compensatory values. If the IKA is to act as a leadscrew error
compensation (LEC), then the same axis is assigned to the input and output quantities.
If the input quantity is located between two interpolation points, then the compensatory/
additional value is calculated from the outer values according to the selected interpolation type
(linear or cubic). Each output value is calculated in an interpolation cycle.
To facilitate handling of IKA data for specific workpieces and tools, it can be stored under a
workpiece. When the workpiece is loaded, the appropriate IKA data are transferred to the NCK
at the same time. A warm start, which must be configured in the PLC, is required to activate
the newly loaded IKA data.
Depending on the scope of the function, the function is activated on a warm restart or
corresponding control functions (softkey/CL800 operation).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

12.19.5.2

09.95

Data structures and data assignment

The functions of IKA and IKA Stage 2 are parameterized by the user via the individual data
types depending on the functions that he wants.
The sum of the data types can be divided into three data areas.
•
•
•

%IKA1
%IKA2
%IKA3

Definition of IKA configuration
Definition of compensation curves (IKA curve)
Definition of compensation points (IKA points)

%IKA1
This data area comprises all the definitions for the 32 possible IKA configurations (IKA1 to
IKA32). In this data area, a parameter block exists for every IKA configuration. This data area
can be partly parameterized by G functions in the part program.
%IKA2
The compensation points for each of the 32 possible compensation curves (IKP1 to IKP32)
can be selected via the start and end pointers and combined to produce the actual control
curve.
%IKA3
This data area represents the sum of all the used and unused compensation points.
The data area range can be defined via the flexible memory configuration. The maximum
configuration consists of 65 535 value pairs, each of which consists of the position of the input
quantity and the associated value of the output quantity.

12.19.5.3

Data access

The data areas %IKA1, %IKA2 und %IKA3 can be read and write-accessed in the following
manner:
•

Via operator panel/machine data dialog

•

Via part program
- with @ 30c/@ 40c

-

with G functionsG410/G411/G412 and

–
–
–

IKA configurations
IKA curve pointers
IKA points

–
–
–

IKA configurations
IKA curve pointers
IKA points

–

IKA configurations

for CGI G400/G401/G402/G403
•

Via MMC/data transfer

–
–
–

IKA configurations
IKA curve pointers
IKA points

•

From PLC via command channel (fct. no. 10 and 11) -

IKA configurations

•

Via OEM applications
You will find a description of this procedure in the OEM documentation for the SINUMERIK
840C: Users Guide and Reference Guide.

12–194

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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09.95

•
-

•

-

•

-

12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

Data access via operator panel/machine data dialog

The IKA data can be edited in machine data dialog input displays. These must be handled in
the same way as the machine data (password protection). The data can be erased only in
start-up mode.

The IKA data input displays are stored in the start-up menu under softkey "IKA data".

The %IKA2 and %IKA3 data are lost

when the control is switched off.

Data back-up

•
Up to SW 4: The IKA data can be backed up using the machine data dialog. The data are
loaded automatically only if the user has copied the data with the file
extension .ika1, .ika2, .ika3 from the data area Start-up into the data area
NC Data.

•
From SW 5: The IKA data concerned can be copied directly under Services.

Data access via part program

1. @ functions

The IKA data can be read or written using @ functions @30c and @40c.

Note:

You will find a detailed description of these @ functions in the Program Guide to SINUMERIK
840C.

All IKA data can be accessed using @30c and @40c.

The following IKA functions cannot be programmed with G functions. If required, these data
can therefore be written in the part program with @40c.

%IKA1, IKA configuration

modulo value from input A
offset input A
max. output value upper limit
min. output value lower limit
max. change of the output value
cubic or linear interpolation
weighting input A (numerator)
weighting input A (denominator)

%IKA2, IKA curves

start pointer
end pointer
calculation of curves

%IKA3, compensation curves

input quantity values
output quantity values

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

09.95

2. Example for calculating compensation curves
( IKA example 1 )
Machining of a contour with IKA
Y[mm]=100+160/3*COS[5/7*X[mm]])
from [X,Y]=[252,46.666] to [0,153.333]
Caution: This example does not take the tool offset

N0001

@40c

N0002
N0003

G0 X300 Y200
R30=0 R31=0

N0005
N0010

@40c
@40c

K7
K7

K1
K2

K0
K30000

N0015
N0020
N0025

@40c
@40c
@40c

K7
K7
K7

K3
K4
K5

K60000
K90000
K120000

N0030
N0035
N0040

@40c
@40c
@40c

K7
K7
K7

K6
K7
K8

K150000
K180000
K210000

N0045
N0050
N0055

@40c
@40c
@40c

K7
K7
K7

K9 K240000
K10 K270000
K11 K300000

N0060
N0065

@40c
@40c

K7
K7

K12
K13

N0070
N0075
N0080

@40c
@40c
@40c

K8
K8
K8

K1
K2
K3

K0
K5000
K8660

N0085
N0090
N0095

@40c
@40c
@40c

K8
K8
K8

K4
K5
K6

K10000
K8660
K5000

N0100
N0105
N0110

@40c
@40c
@40c

K8
K8
K8

K7
K8
K9

K0
K-5000
K-8660

N0115
N0120
N0125
N0130

@40c
@40c
@40c
@40c

K8
K8
K8
K8

K10
K11
K12
K13

N0135

@40c

K5

K1

K1

N0140

@40c

K6

K1

K13

N0145

@40c

K55

K1

N0146 @30c
N0147 @111
K1 K281

R30
R30

K55 K1
K0 K150

K2
K3
K4

K282
K283
K284

K11

K2

K0

into account!
0. Preparation :
- Deactivate IKA 2
- Approach tool change point
- Error ID = 0
1. Structure of the table [ika3 data] :
- Input quantities 1..13 :
Angle 0, 30, ... , 360 degrees
in units of 10**[-3] degrees

K330000
K360000
- output quantities 1..13 :
Sine [0], ... , Sine [360 degrees]
in units of 10**[-4]
SIN=1 -> 10000=10 mm

K-10000
K-8660
K-5000
K0

K-1

2. Start and end pointer [ika2 data] :
- Curve 1 uses points 1...13

- Calculate curve 1
- [a] read error byte [> R30]
- [b] case statement for R30 :
Jump list for R30=1 .. 4 [error]
otherwise continue [R30=0] at N150;
scan [a] is repeated as long as
R30 =-1 or R30=-127

K127 K-146
K-1 K-146

12–196

© Siemens AG 1992 All Rights Reserved

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09.95

12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

3. IKA configuration [ika1 data] :
N0150

@40c

K1

N0155
N0160

@40c
@40c

K40
K43

K2

K1

N0165
N0170

@40c
@40c

K20 K2 K102
K2 K2 K1

Type : Feedrate axis actual value
No. : 1 [=X]
- Definition of the output :

N0175
N0180

@40c
@40c

K33 K2 K101
K3 K2 K2

Type : Feedrate axis set position
No. : 2 [=Y]
- Input B=R20 implemented as scaling

N0181

R20=1000

N0182

@40c

K26

K2

K411

N0183

@40c

K25

K2

K20

N0185
N0190

@40c
@40c

K31
K32

K2
K2

K500000
K-500000

N0195

@40c

K34

K2

K2000

N0200
N0205

@40c
@40c

K18
K19

K2
K2

K5
K7

N0210
N0215

@40c
@40c

K4 K2 K16
K30 K2 K3000

N0220
N0225

@40c
@40c

K16
K15

K2
K2

K1
K1

- IKA 2 uses curve 1
- Activate extended IKA
- Cubic interpolation on
- Definition of input A :

with: R20 = 1000 <-> factor = 1
- Definition of input B :
Type : R parameter channel 1
No.: 20
-

K2
K2

K360000
K-90000

Limitations :
Maximum traversing range + -500 mm

Modification limitation : 2000 units/IPO
cycle with IPO cycle of 16 ms : 7500 mm/min
- Weighting I/O :
Weighting input : 5/7

Weighting output : 16/3000
[note scaling factor R20 !]
[R20=1000 produces 16/3]
- Modulo function and shift :
Weighted input A modulo 360
Shift input by -90 degrees
to obtain a cosine
therefore Y = Y0+16/3 * SIN[5/7*X-90]
= Y0+16/3 * COS[5/7*X]

N0235
@714

G0

X252

N0240
N0241
N0245

@40c K11 K2
G4 X1.8
G1 X0 F1000

4. Approach, activation and machining :
- Approach starting point: 7/5*180=252

Y100
K1

- Activate IKA 2
- Wait until start point is reached
- Machining

@714

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

N0250
@714

@40c

K11

K2

5. Deactivate and retract
- Deactivate IKA 2

K0

G200 Y
N0255 G0 Y200
N0260 X300
N0270 @100 K300

N0281

M00

(error 1)

@100 K300
N0282 M00
@100 K300

(error 2)

N0283 M00 (error 3)
N0285 @30c R31 K56
@100 K300
N0284
N0285

M00 (error 4)
@30c R31 K56

N0300

M02

01.99

- Synchronization of actual value system
- Retract
Jump to end
6. Errors
T55=1: only one pointer <> 0 !
T55=2: End pointer <= start pointer!

K1

T55=3: Input[n+1] <= input[n] !
- Read current point number n [> R31]

K1

T55=4: Gradient > 1 !
- Read current point number n [> R31]
7. End

IKA status displays in T55 and T66
Code
-2
-1
0
1
2
3
4
5

12–198

Text
Running
Requested
Calculated
0 pointer
Start > End
Position point
Gradient point

Significance
Calculation running
Calculation requested
Curve calculated
Start or end pointer is equal to zero
Start pointer is greater than stop pointer
The position of one point is wrong
Gradient of one point is wrong.
The point is then stored in T56.
Both pointers in the table are zero.

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

3. G functions
From IKA Stage 2, an IKA configuration can be programmed in a part program using the
following G functions:
•
•
•

G410
G411
G412

Deactivate IKA link branch
Define/delete IKA configuration
Activate/deactivate IKA link branch

If the IKA function is used in curve gearbox interpolation (CGI), it is parameterized in
•
•
•
•

G400
G401
G402
G403

Switch off GI/IKA link branch(es)
Define/delete GI/IKA configuration
Switch on/over/off GI/IKA link branch(es)
Synchronize GI/IKA link branch(es) in ascending order

This G function can only be used if gearbox interpolation has been installed via the machine
data.
Note:
You will find a detailed description of the G functions listed above in the Programming Guide
for SINUMERIK 840C.

Data access via MMC/data transfer
The IKA data are divided between 3 data files %IKA1, %IKA2, %IKA3. These data can be read
from and written to the hard disk via the RS 232 C (V.24) interface.
Data transfer
VRS 232 C

workpiece

NCK

can be made automatic with the function "Control of data transfer" (DB 37).
The files to be transferred have the following format if output in punched tape format:
•

Output of IKA configuration
%IKA1
Ny
TO = xxxxxxxx
Ny

TO = xxxxxxxx

:

T1=x T2=x T3=x T4=x T15=x T16=x (up to SW 3)
T1=x T2=x T3=x T4=x T15=x T16=x T17=x T18=x
T19=x T20=x T25=x T26=x T31=x T32=x T33=x
T34=x T44=x (SW 4 and higher)

:

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

07.97

Note:

•

-

y=No. of the IKA configuration; max. 2 places
x=Values

-

The data set for an IKA configuration most not be larger than 255 characters.

Output of IKA curves
%IKA2
Ny
T5=x T6=x (up to SW 3)
Ny
:

T5=x T6=x T55=x (SW 4 and higher)

Note:
y=No. of the curve; max. 2 places
x=Values
•

Output of IKA points
%IKA3
Ny

T7=x T8=x

:
Note:
y=No. of the curve point; max. 5 places
x=Values

Data access via PLC (command channel, DB 41)
Transfer of the IKA data from the PLC via the command channel is triggered by function
numbers 10 and 11. The data can be read (fct. no. 10, read IKA data) and written (fct. no. 11,
write IKA data). These functions are triggered in the same way as existing command channel
functions.
Note:

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The parameters of %IKA1, %IKA2, %IKA3, of IKA Stage 2 are thus no longer supported (see
Section Overview of valid IKA data).
For further details about the "Command Channel" function,
please refer to the following documentation:
SINUMERIK 840C,
Interface Description, Part 1
Signals

Extended functionality via communications area (DB 48)
As from SW 6 it is possible to act upon the NCK function ”IKA” from the PLC via the extended
data block DB 48. Different signals are defined for each IKA relation which are used to
activate, deactivate and freeze a particular IKA relation. ”Freeze” means that the last value
output from the IKA relation remains unchanged (”frozen”) until that condition (”IKA frozen”) is
changed. This function makes it possible to start several IKAs simultaneously. Output signals
have also been defined so that the PLC can recognize the status of every IKA. This makes it
possible to respond to a particular status, for example.

12–200

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12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

12.19.5.4 Activating IKA data
%IKA1
The IKA data of %IKA1 are active immediately.
%IKA2 und %IKA3
Changes to %IKA2 and %IKA3 must be activated separately.
Once all the IKA data have been entered in %IKA2 and %IKA3 all the compensation curves
are calculated with the signal "Warm restart". When the data are loaded into the MMC on
Power On, the compensation curves are calculated by the control automatically.
•

From SW4 the individual curves can also be selected and calculated by operating the
softkey "IKA curves".

•

From IKA Stage 2, individual curves can be selected and calculated in the part program
with parameter 55.

Notes:
•

If an error occurs the control outputs an alarm which does not, however, cause a
processing stop. An error scan must be implemented by the user (see example of
calculation of compensation curves).

•

If configuration curves %IKA2 and %IKA3 that are currently active are changed, traversing
errors will occur until they are converted.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

09.01

12.19.5.5 Overview of valid IKA data
Definition of the individual data types:
Data type

Significance

%IKA3 - IKA
comp. points

%IKA2- IKA
curves

%IKA1 - IKA
configuration

12–202

Data No.
within data
type

Data type
for
@30c/40c
or T para.

G fct. for
IKA

G fct. for
CGI

Input quantity value

1
to
65536

7

-

-

Output quantity
value

1
to
65536

8

-

-

Start pointer

1 to 32

5

-

-

End pointer

1 to 32

6

-

-

Activation byte

1 to 32

55

-

-

Control byte 8 bit

1 to 32

0

partly with
G410/G412

partly with
G400/G402/
G403/PLC

Bit0: IKA active

1 to 32

11

partly with
G410/G412

partly with
G400/G402/
G403/PLC

Bit1: IKA direction
dependent

1 to 32

12

-

-

Bit2: IKA negative
direction

1 to 32

13

-

-

Bit3: IKA with comp.
actual values (up to
SW 3)

1 to 32

14

-

-

Only valid
with IKA
Stage 2

x

Bit4: Exp. IKA fct.

1 to 32

40

G411

G401

x

Bit5: Position-dep.
activation dir. dep.

1 to 32

41

G412

G402

x

Bit6: Position-dep.
activation overt. neg.

1 to 32

42

G412

G402

x

Bit 7: Interpolation
cubic

1 to 32

43

-

-

x

Number of control
curve

1 to 38

1

G412

G402

Input A (number)

1 to 32

2

G411

G401

Input A (type)

1 to 32

20

G411

G401

Offset input A

1 to 32

15

G403

Modulo value
input A

1 to 32

16

-

Starting position of
input A

1 to 32

17

G412

G402

x

Weighting input A
(numerator)

1 to 32

18

-

Function not
available

x

-

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.01

12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

Data type

Significance

%IKA1 IKA
configuration

Unit
EGF

EGF
Unit
Value x EGF
IPO

Data No.
within data
type

Data type
for
@30c/40c
or T para.

G fct. for
IKA

G fct. for
CGI

Only valid
with IKA
Stage 2

Weighting input A
(denominator)
Input B (number)

1 to 32

19

-

x

1 to 32

25

G411

Input B (type)

1 to 32

26

G411

Function not
available
Function not
available
Function not
available

Output (number)
Output (type)
Weighting factor
output (numerator)

1 to 32
1 to 32
1 to 32

3
33
4

G411
G411
G412

G401
G401
G402/G403

Weighting factor
output (denominator)

1 to 32

30

G412

G402/G403

x

Max. output value
upper limit (not for
compensation)
Min. output value
lower limit (not for
compensation)
Max. change of
output value (not for
compensation)
Internal status of
IKA (see following
table)
Value actual input A
Table input value

1 to 32

31

-

-

x

1 to 32

32

-

-

x

1 to 32

34

-

-

x

37

-

-

x

1 to 32
1 to 32

21
22

1 to 32
1 to 32
1 to 32

27
35
36

Actual switching
state

1 to 32

37

-

x
x

Value actual input B
Actual output value
Interpolat. point no.

-

x
x

x
x
x
x

Type definition of data type 37 "Internal condition of IKA":
Final conditions of IKA:
0:
IKA deactivated
1:
IKA deactivated
2:
IKA deactivated in plus direction
3:
IKA deactivated in minus direction
Intermediate conditions of IKA during transition to a new final condition:
4:
IKA is deactivated
5:
IKA is activated and deactivated
6:
IKA is switched over
7:
IKA is deactivated position-dependently
8:
IKA is deactivated position-dependently in plus direction
9:
IKA is deactivated position-dependently in minus direction
10:
IKA is switched on and over position-dependently
11:
IKA is switched on and over position-dependently in the plus direction
12:
IKA is switched on and over position-dependently in the minus direction
13:
IKA is switched over position-dependently
14:
IKA is switched over position-dependently in the plus direction
15:
IKA is switched over position-dependently in the minus direction
16:
IKA is stopped

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–203

12–204
T31/T32 T34

*T18 T19 T15 T16
T4 T30

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Input selection module (input quantity A): T2/T20)
Input switching module: T11, T17/T41/T42
Input evaluation module: T18/T19, T15, T16
Interpolation module: T0, T1, T12/T13, T40/T43
Output evaluation module: T4/T30, T31/T32/T34
Input selection module (input quantity B): T25/T26
Output evaluation module: T3/T33
Global IKA module: T1, T5/T6, T7-T10
Compensation limiting module: Axis-spec. MD, interface
Modulo calculation T16

© Siemens AG 1992 All Rights Reserved

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
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Up to 5 leading axis/spindle
Link type K11/K12
paths and 1 overlay path
Input switching module: LINK ON/OVER/OFF, pos. rel.
Input evaluation module: T18/T19,
T15, T16
Interpolation switching module of IKA SW 4
Output evaluation via
numerator/denominator
Z
N
Limiting module: Following axis/
*LRFFA
*LRFLA
spindle-specific MD, interface

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aaaaa
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12.19.5.6

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aaaa
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12 Functional Descriptions
12.19.5 Interpolation and compensation with tables
09.95

IKA calculation sequence
KGI SW 4

MD, NS

K46

MD, NS

IKA SW 4

IKA calculation sequence

The block diagram shows the calculation sequence of the quantities involved in an IKA
configuration.

In the input selection module (1), the preset quantity of input A with respect to input type and
input number is activated.

In the input switching module (2), the position-independent or position-dependent activation or
deactivation of an IKA configuration is performed.

If the IKA configuration is activated, input quantity A is further processed in the global IKA
module (8). First of all, input quantity A is normalized with the weighting factor of input A
(numerator/denominator) in the input weighting module (3). After normalization, the offset and
the modulo calculation are applied. The input value for any offset and the module value must
therefore refer to the normalized input quantity A.

The output quantity is determined in the interpolation module (4). The output quantity is
calculated as a function of the set control curves and various control bits and forwarded to the
output weighting module (5). Multiplication with the input quantity B is performed here. In input
selection module (6), input quantity B is selected in accordance with the input type and
number set. Moreover, further calculation of the output value is possible via the weighting
factors of the output (numerator/denominator) in the output weighting module. The
denominator of the output weighting can also be seen as the weighting of input quantity B.

After output weighting, the output quantity is limited with respect to position and velocity. The
output selection module assigns the output values to the specified output quantity.

SINUMERIK 840C (IA)

6FC5197- AA50

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04.96
12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

If the output is assigned to the compensation value of an axis (446), the output value is limited
only by the compensation limitation module (9). The limitation values are then specified in the
machine data. When the limitation values are reached, this is indicated by the axis-specific
interface signals.

If an IKA configuration is used as curve gear interpolation (CGI) within a gear interpolation
grouping there are restrictions that can be seen from the upper part of the diagram.

The input selection module has been reduced to the option of an axis actual-value or axis
setpoint coupling. Input quantity B no longer has any influence on the magnitude of the output
value because the output quantity weighting is only performed via the numerator (Z) and the
denominator (N) of the gear coupling factor. In a normal IKA configuration, the output value
refers to the position control resolution of the output quantity, in CGI, conversion to the
position control resolution of the input quantity A (leading axis, leading spindle) is performed.

The weighting factor of input A, which has no effect with CGI, also has an effect and must
therefore always be set to 1.

The output selection module is no longer required because the output value is always assigned
to the setpoint of an axis or spindle.

After output weighting, all coupling branches to the setpoint of the following axis/following
spindle are brought together.

The following quantity is limited via the machine data of the gearbox interpolation with respect
to position, velocity and acceleration of the following quantity.

Feedrate override, feedrate stop and feedrate disable do not affect
following axes in the case of IKA links.

If IKA parameters change, the following axes move.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

09.95

12.19.5.7 Meaning of the data types
•

%IKA1, IKA configuration
Every data type can be read or written by defining the relevant type no. The control byte
can be accessed byte by byte or bit by bit.
In the part program. @30C/@40C are used to read and write the data. In the data file they
area addressed via T parameters.
Control byte

Data type: 0

Format: 8 bit

The control byte shows the status of the IKA configuration and defines the various function
types.
Meaning of the individual bits:
IKA active
Bit 0=0:
Bit 0=1:

Data type: 11

Format: 1 bit

Deactivate IKA configuration or IKA relation inactive
Activate IKA configuration or IKA relation active

The bit is automatically set or reset with G functions G410/G412 or G402/G403/G400.
IKA direction dependent
Bit 1=0:
Bit 1=1:

Format: 1 bit

The effect of IKA configuration is not direction dependent
The effect of IKA configuration is direction dependent

IKA negative direction
Bit 2=0:
Bit 2=1:

Data type: 12

Data type: 13

Format: 1 bit

IKA configuration takes effect with a positive direction of input quantity A
IKA configuration takes effect with a negative direction of input quantity A

Bit 3: IKA with compensated actual value (up to SW 3)
Data type: 14
Format: 1 bit
Bit 3=0:
Bit 3=1:

IKA configuration uses the uncompensated actual value
IKA configuration uses the compensated actual value

Correct input value (SW 3 only)
The following effect of the IKA value must be considered. It is explained here using the
example of an axis:
A compensation/additional value (IKA value) calculated by a control curve, here a positive
one, causes the axis to traverse in the negative direction if the axis of the input quantity is
also the axis of the output quantity (e.g. application as leadscrew error compensation
substitute).
Depending on the magnitude of the compensation/additional value, this results in a new
machine position and therefore in a new input quantity. The axis is now in a position for
which another compensation/additional value would be measured/calculated in the curve
measurement/calculation. The difference between this compensation/additional value and
that last calculated depends on the magnitude of the last value and the gradient of the
control curve between these points.
To be able to calculate the new IKA value, it is now necessary to recalculate the last
compensation/additional value for the actual position as the input of the control curve, i.e.
the actual value is approximately compensated. The effective compensation/additional
value is then set iteratively.

12–206

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

The input quantity compensation is controlled via bit 3 of the IKA configuration.
This type of compensation is only possible in SW 3! If the compensation value is too large,
the compensated axis tends to oscillate.
Extended IKA function
Bit 4=0:
Bit 4=1:

Data type: 40

Format: 1 Bit

IKA (limited range of functions!)
IKA Stage 2 active

Note:
The bit is automatically set if the function is programmed via G401 or G411.
Position-related activation direction-dependent
Data type: 41
Format: 1 Bit
Bit 5=0:

The IKA configuration is activated or deactivated direction
independently with position-related activation
The IKA configuration is activated or deactivated direction dependently
with position-related activation

Bit 5=1:

Position-related activation overtravel direction negative
Data type: 42
Format: 1 Bit
Bit 6=0:
Bit 6=1:

The IKA configuration is activated in the positive travel direction
The IKA configuration is activated in the negative travel direction

Note:
If you specify the start position and the required overtravel direction of the G412
instruction, bits 5 + 6 are automatically set. The control also only calculates the
associated start position as a function of the current actual interpolation value of the input
quantity.
Interpolation cubic
Bit 7=0:
Bit 7=1:

Data type: 43

Format: 1 Bit

Linear interpolation between the interpolation values
Cubic interpolation between the interpolation values

P4

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P6

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P3

P5

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K'

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P2

Linear interpolation (IKA and IKA Stage 2)
Cubic interpolation (IKA Stage 2)

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Compensation point

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K (Output quantity values)

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A newly available method of IKA is the cubic interpolation between the interpolation points,
i.e. a constant tangential function is applied at the transition (interpolation) points.
The cubic interpolation method therefore affords a reduction in data.

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P1

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B (Input quantity values)

B

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

09.95

Number of the control curve
Data type: 1
The required control curve can be selected for the IKA configuration with values 1 ... 32.
Input A (number)

Data type: 2

Depending on the input quantity A type, this is either a global axis number or the number
of a global or channel-specific R parameter.
Input A (type)

Data type: 20

The axis type consists of a parameter group and parameter value. For a more detailed
explanation see, for example, Programming Guide for SINUMERIK 840C, Section
Programming cycles under @30c and @40c.
Note:
Input A is automatically preset with G function G411/G401. Display in the machine data
dialog is in plaintext.
Offset input A

Data type: 15

Input format: ±99 999 999

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This is used to implement an offset on the compensation curve on input quantity A.

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Output

Input A

See also: Weighting of inputs depending on input and output types.
Programming with a G function is only possible with G403 in CGI. This offset value is then
not displayed in this parameter.
Modulo value of input A

Data type: 16

Input format: +99 999 999

Defines any modulo value for input quantity A. Compensation curves that repeat cyclically
can be implemented here.
Starting position of input A Data type: 17
Defines the position of input quantity A for which the IKA configuration is to be activated or
deactivated. This value always refers (even for rotary axes) to the absolute actual value.
This value should only be defined via G412.

12–208

© Siemens AG 1992 All Rights Reserved

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SINUMERIK 840C (IA)

09.95

12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

Weighting input A, numerator
Data type: 18

Input format: ±99 999 999

Weighting input A, denominator
Data type: 19

Input format: ±99 999 999

By entering the numerator and denominator, it is possible to stretch and compress a
compensation curve. The offset of the modulo values and the start position of the IKA
configuration then refer to this value.
Input B (number)

Data type: 25

An axis or R parameter no, is set depending on the type of input quantity B. Input B
multiplies the output. Weighting is also possible via the weighting factors of the output.
Input B (type)

Data type: 26

The axis type consists of the parameter group and the parameter value. For a more
detailed explanation see, for example, Programming Guide for SINUMERIK 840C, Section
Programming cycles under @30c and @40c.
Note:
Input A is automatically preset with G function G411/G401. Display in the machine data
dialog is in plaintext.
Output (number)

Data type: 3

Depending on the type of output quantity, either the axis, R parameter or channel no. is
active.
Output (type)

Data type: 33

The axis type consists of the parameter group and the parameter value. For a more
detailed explanation see, for example, Programming Guide for SINUMERIK 840C, Section
Programming cycles under @30c and @40c.
Weighting factor output A, numerator
Data type: 4

Input format: ±99 999 999

Weighting factor output A, denominator
Data type: 30

Input format: ±99 999 999

Any multiplication factor can be generated for the output quantity by entering a numerator
and denominator. Weighting of input B is also possible.
•

%IKA3, IKA compensation points
Input quantity value
The input quantity value determines the compensation point on the basis axis.
Output quantity value
The output quantity value determines the compensation point on the relevant position of
the basis axis.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

04.96

IKA configuration

IKA curves

5

1.

Input quantity value

7

1

End pointer

6

KP

Output quantity value

8

Input quantity

2

Activation byte

55

2.

Output quantity

2

Curve no.

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6

1

Input quantity

2

Output quantity

3

.
.
.

32nd curve

55

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34

Curve no.

.
.
.

3.

3

7
8

KP

Start pointer

5

5.

7

End pointer

6

KP

8

55

6.

7
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8

.
.
.

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7

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1111

Curve no.

1

Input quantity

2

65536

KP

8

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KP

0

.
.
.

Input quantity value

7

Output quantity value

8

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2
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.
.
.

Max. change
of output

8

KP

34

Control byte

2

7

4.

Activation byte

1

8

KP

.
.
.

Output quantity

7

KP

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End pointer

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5

Activation byte

0

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Start pointer

2nd curve

Control byte

Max. change
of output

1st curve

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0

Max. change
of output

32. IKA

%IKA3

Start pointer

Control byte

.
.
.

2. IKA

IKA points

%IKA2

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%IKA1

1. IKA

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12.19.5.8 Links between IKA data areas

1

Curve 1

2

Curve 2

3

Curve 32

34

Note:
The IKA links are processed in descending sequence, i.e. IKA32 first, then IKA31 etc. until
IKA1.
Example:
R00 is the output quantity of IKA12 and the input quantity of IKA11 and IKA13. R00 as result
(output quantity) of the link of IKA12 is therefore included in the same interpolation cycle in
IKA11 as input quantity. In IKA 13, however, R00 is taken into account only in the next
interpolation cycle. With IK13, linking of the R parameter to an axis can result in an
interpolation-cycle and speed-dependent offset.

12–210

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.01

12 Functional Descriptions
12.19.5 Interpolation and compensation with tables

12.19.5.9 Viewing the IKA data during programming
The IKA data can be viewed during programming if the following conditions are fulfilled:
The IKA editor consists of list module displays used for display only, i.e. the input fields are
greyed out.
•
•
•
•
•

The IKA data are to be found under the workpieces (LOCAL/).
The display is only possible "off-line".
Function "new" deactivated, i.e. it is only possible to view existing data.
Function "search" deactivated in the list module display.
Functions "Copy to clipboard" and "Paste from clipboard" deactivated.

The softkey bar has been extended in programming by a new softkey "View IKA data".
Note:
Before pressing the softkey "View IKA data", an IKA file must be selected with the data
selector, otherwise the error message "No data selected" is output.
Saving IKA data
In the MMC area Services, the IKA data are saved in directories such as NC/Data or
LOCAL/ previously selected with the data selector. The selection list for the NC
source (toggle field) is extended by file types IKA1, IKA2 and IKA3, a range can be defined
(from/to) and a PC name can be assigned.
Loading IKA data
The data are loaded from the workpiece by selecting the file with the data selector or via the
job list.

12.19.5.10

Compensation beyond the working area

If the compensation position of an IKA axis lies beyond the working area (i.e. the minimum of
working area limitation or SW limit switch), the axis is stopped, even if the set position still lies
within the working area.
This axis stop may, in some cases, lead to "free grinding in the workpiece". The functional
supplement has been created to ensure a user-configurable, automated reaction.
By means of MD bit 5198.7(=1), the interface signal DB48 DW 9 bit 0 "Compensation position
beyond the working area" is enabled.
Definition: DB48 DW 9 contains signals from NCK to PLC.
The "Compensation position beyond the working area" interface signal is a group signal for all
IKA "compensation" axes. The interface signal is set (=1) if the compensation position of at
least one of these axes lies beyond the software limit switch or the working area limitation.
In addition, the alarm 3265 "IKA output axis not enabled" is output depending on the condition
that the MD bit 5189.5 (suppression of alarm 3265) has not been set.
The interface signal is automatically reset (=0) if the compensation positions of all axes are
again within the working area (e.g. retraction via JOG or compensation change via the basic
axis).
Application example:
By means of this new interface signal the machine manufacturer can configure an emergency
retraction via the rapid inputs. This avoids "free grinding" in the workpiece.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–211

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12 Functional Descriptions
12.20 Extended stop and retract (ESR) (SW 4 and higher)

12.20

NC MD 312 ... 317
NC MD 318 ... 323
NC MD 324
NC MD 325
NC MD 5021
NC MD 5022
NC MD 528*
NC MD 529*
NC MD 530*
NC MD 588*
NC MD 592*
NC MD 596*
NC MD 916*
NC MD 918*
NC MD 920*
NC MD 922*
NC MD 1444*

Drive MD 1612
Drive MD 1613
Drive MD 1631
Drive MD 1632
Drive MD 1633
Drive MD 1634
Drive MD 1635

12–212

09.95

Extended stop and retract (ESR) (SW 4 and higher)

The "Extended stop and retract" function is an option.

Corresponding data

Assignment of outputs of mixed I/O for retraction of a mode group
Assignment of inputs of mixed I/O for retraction of a mode group
Time for interpolator-controlled continuation
Maximum time for interpolator-controlled braking
Bit 0 - bit 5: Neutral position of mixed I/O outputs
Control bits for definition of stopping operation
Signal level inversion of outputs/spindle-specific
Definition of reaction/spindle-specific
Sources for retraction/spindle-specific
Signal level inversion of outputs/axis-specific
Definition of reaction/axis-specific
Sources for retraction/axis-specific
Signal level inversion of outputs/channel-specific
Definition of reaction/channel-specific
Sources for retraction/channel-specific
Effectiveness of inputs for mixed I/O and CSB
Emergency retraction threshold

PLC interface

DB29
for axes
DB31
for spindles
DB10 ... 15 for channels

Drive machine data

Configured switch-off reaction Power On alarms
Configured switch-off reaction Reset alarms
Response voltage generator axis
Voltage range for generator control
Switch-off reaction for generator operation
Response threshold emergency retraction
Minimum speed generator axis

General

•

In order to provide protection for operating personnel, workpiece, tool and machine, it is
possible to configure certain reactions such as the approach to a programmed retraction
position, shutdown of the axes and/or output of hardware signals in response to specific
errors/faults.

•

Mains buffering and drive-autonomous retraction with SIMODRIVE 611D only.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

10.94

12 Functional Descriptions
12.20.1 Functional description

12.20.1

Functional description

The term "Extended stop and retract" refers to the error reactions listed below:
•

Parameterization of error reaction by means of machine data and part program commands

•

Monitoring sources (error identification)

•

Shutdown of machine in order to prevent damage to tool or workpiece wherever possible

•

Separation of tool and workpiece through traversing motions (retractions) initiated in the
event of an error/fault

The 840C system and SW version 4 provides an extended functionality for the retraction
operation. The axes/spindles (drives, motors, encoders, etc.) and the control involved in the
controlled stop and retract process must all be operational: If one of these components fails,
the full scope of the system reaction described below may not be available.
"Extended stop and retract" comprises the following functions:
•
•
•
•

Monitoring sources (error detection)
DC link buffering (generator operation)
Stopping and
Retraction

Both the sources for error detection and the reactions in the form of stop and retraction can be
•
•
•

parameterized via machine data (NC and drive)
controlled via the PLC and/or
programmed by means of G commands.

Both sources and reactions can be
•
•

internal and/or
external.

12.20.2

Parameterization, control and programming

The "Extended stop and retract" function comprises:
1. Parameterization of the operating characteristics via machine data:
•

General machine data:
–
–

•

To enable the new operating characteristics for the stop process
To parameterize the times for extended stopping

Machine data specific to channel/mode group:
–

To assign the mixed I/O modules for the retraction operation in the form of:
- Inputs (external sources) and
- Outputs (external reactions).

–

Application of internal sources:
- Mode group stop
- EMERGENCY STOP
which must initiate a retraction operation.

–

•

Definition of internal reactions to be initiated in the case of a retraction operation:
- Alarm and mode group stop
- Retraction operation as open-loop control function and/or as
- Autonomous drive function

Machine data specific to axis/spindle:
– To assigned the mixed I/O modules for the retraction operation in the form of:
- Outputs (external reactions)

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–213

12 Functional Descriptions
12.20 Extended stop and retract (ESR) (SW 4 and higher)

–

04.96

Application of internal sources:
- Emergency retraction threshold FA/FS,
- 611D DC link voltage threshold, drive MD 1634,
- 611D generator speed threshold, drive MD 1635
which must initiate a retraction operation.

–

•

Definition of internal reactions to be initiated in the case of a retraction operation:
- Alarm and mode group stop
- Retraction operation as open-loop control function and/or as
- Autonomous drive function

Drive parameters for the "Extended stop and retract" function (611D)
–

DC link voltage threshold, drive MD 1631: If the voltage drops below this limit, a
drive defined as the generator axis switches to generator mode.

–

Voltage step, drive MD 1632: This value defines the upper threshold of the twoposition controller for generator operation.

–

DC link voltage threshold, drive MD 1633: If the voltage exceeds this limit value,
the drive switches from generator mode back to normal operation.

–

DC link voltage threshold, drive MD 1634: If the voltage drops below this limit,
emergency retraction measures can be initiated according to user specifications
(via MD or programming).

–

Generator speed threshold, drive MD 1635: If the speed drops below this value,
emergency retraction measures can be initiated according to user specifications
(via MD or programming).

2.) The possibility of controlling the function via the PLC:
•

Channel-specific
–

•

To PLC:
- ESR monitoring is active
- ESR reaction is initiated
Axis/spindle-specific
–

From PLC:
- Activate ESR monitoring
- Disable ESR monitoring
- Enable ESR reaction

–

To PLC:
- ESR monitoring is active
- ESR reaction is initiated
- ESR reaction is programmed
- 611D ZK2 messages

•

If monitoring is switched on from the PLC, it can be switched off from the PLC only.

•

If monitoring is switched off from the PLC, it is switched off for all channels.

12–214

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10.94

12 Functional Descriptions
12.20 Extended stop and retract (ESR) (SW 4 and higher)

3.) The possibility of initiating or reacting via mixed I/O / CSB and high-speed data channel:
•

•

Channel/mode group-specific
–

Inputs for external sources

–

Outputs for external reactions

Axis/spindle-specific

– Outputs for external reactions
4.) The possibility of programming operating characteristics via G commands (please refer to
Programming Guide for exact description):
•

Deactivation:
Deactivate G420 "Extended stop and retract", generally or selectively for axis/axes
and/or spindle.

•

Activation:
Activate G421 monitoring sources and enable reactions.

•

Configuration:
Configure generator mode (G422)
Configure stop operation as open-loop control function (G423)
Configure stop operation as autonomous drive function (G424)
Configure retraction as open-loop control function (G425)
Configure retraction as autonomous drive function (G426)

12.20.3

Monitoring sources (error detection)

Internal sources:
Examples of important internal errors are:
•

ZK1 messages of 611D drive such as open cable, power section failure, etc.

•

NCK alarms such as CPU failure, watchdog, emergency retraction threshold, mode group
stop alarms, etc.

•

PLC alarms such as CPU failure, EMERGENCY STOP, etc.

Details about individual error statuses can be found in the error descriptions.
Error sources which are directly related to the drive are explained in more detail below:
•
•
•
•
•
•

Mains buffering and mains failure detection
DC link overvoltage limitation by means of a pulsed resistor module
DC link undervoltage monitoring
DC link buffering and monitoring of generator minimum speed limit
Communications/control failure
Control/unit detects error/request and specifies "Extended stop and retract" as
autonomous drive function

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–215

12 Functional Descriptions
12.20.4 Mains buffering and mains failure detection 611A/D

10.94

12.20.4

Mains failure detection and mains buffering

12.20.4.1

Mains failure detection

Mains failures can be detected by means of the infeed/regenerative feedback (I/RF) module
when the 611 A/D drive system is used. By using terminal 73 on the I/RF module, it is possible
to utilize the mains monitoring function of the connected actuator as an external source (e.g.
by connecting terminal 73 to the mixed I/O or the CSB).
Under worst-case conditions, mains failure detection takes approximately 120 ms and, in the
best case, only 15 ms.

12.20.4.2

DC link overvoltage limitation (611D)

625 V

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DC link voltage
600V

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The DC link is monitored for the following voltage states (see diagram).

723V Pulse suppression, drives

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710V
695V

676V

648V

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743V Pulse suppression, DC link

Pulsed resistor module
operating range

644V

618V

Voltage level for DC link in 611D

The diagram shows that the pulses of the drives and the DC link are suppressed when the
voltage reaches certain levels. Pulse suppression automatically causes the drives to coast to a
standstill.
If this pulse suppression reaction is not desired, then the user can destroy any excess energy
by using a resistor module. This module operates in the shaded range shown in the diagram
and thus below the critical voltage level.
It must however be ensured that the pulse output of the resistor module is greater than the
I/R output.

12.20.4.3

Mains buffering (611D only)

It is possible to compensate brief dips in the DC link voltage through configuration of drive
machine data and appropriate programming by means of G commands. The possible buffering
period depends on the level of energy stored by the generator used to back up the DC link
and on the amount of energy required to maintain the motions currently being executed
(DC link buffering and monitoring of generator minimum speed limit).

12–216

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

12 Functional Descriptions
12.20.4 Mains buffering and mains failure detection 611A/D

12.20.4.4

DC link undervoltage monitoring in 611D

With the 611D package 2, the user can parameterize a new threshold for DC link voltage
monitoring (drive MD 1634). The DC link voltage monitoring function via drive MD 1604, which
is already available with package 1, is not relevant for the "Extended stop and retract"
function since the drive reacts immediately with cancellation of SIMODRIVE_READY and
DRIVE_READY.
Detection of a drop in the DC link voltage to below the threshold parameterized in drive (611D)
MD 1634 can be used as an internal error source (axis/spindle-specific NC-MD bit) for the
retraction operation. In this way, it is possible to prevent the drive hardware from being shut
down when the DC link voltage drops below the minimum limit (280V) before the workpiece
and tool have been separated.
By setting an NC-MD bit, it is also possible to parameterize for one or several axes
(meaningful for one axis per I/RF range) whether a retraction operation is to be initiated when
the DC link voltage drops below the threshold set in drive MD 1634. If the "Extended stop
and retract" function is parameterized and programmed, this function is then executed if it
has been enabled via the PLC NS signal "Retraction enabled".
Through appropriate parameter settings in NC = MD 529* and 592*, it is possible to program
either the autonomous drive or the open-loop control reaction. It is advisable to program the
autonomous drive reaction if the high dynamic requirements of the drive(s) involved are such
that the energy available is not sufficient to successfully separate the positive connection for
"Extended stop and retract" as an open-loop control function (reaction and execution time
too high). However, this setting has the disadvantage that interpolative retraction and stopping
cannot be implemented.
The DC link can be supplied with additional energy required for "Extended stop and retract"
by means of a parallel, regenerative braking operation:

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See DC link buffering.

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600V/625V

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VDClinkrated

Drive
MD 1634

VDClinkOFF

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ZK2 message:
DC link voltage < drive MD 1634
280V

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SIMODRIVE "OFF"

t

Monitoring of DC link voltage for violation of voltage threshold in drive MD 1634

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–217

12 Functional Descriptions
12.19.5 DC link buffering and monitoring of generator minimum speed limit

10.94

12.20.5

DC link buffering and monitoring of generator minimum
speed limit

12.20.5.1

DC link buffering

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An axis/spindle can buffer the DC link by means of generator-mode braking. This function can
be selected through appropriate parameterization of 611D machine data and activation of
generator operation by programming commands.

ZK2 message:
DC link generator active

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DC link voltage

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600V/625V
Drive MD 1633
Drive MD 1632
Drive MD 1631

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Drive MD 1634

280V

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ZK2 message:
DC link voltage > drive
MD 1634
t

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Actual speed value

n_GEN

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ZK2 message:
Generator speed < drive MD 1635

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Drive MD 1635

t

Generator operation

When the DC link voltage drops below the minimum threshold value set in drive MD 1631, the
axis/spindle concerned switches from position-controlled or speed-controlled operation into an
operating mode controlled by the DC link. When the drive is braked (through input of speed

12–218

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10.94

12 Functional Descriptions
12.19.5 DC link buffering and monitoring of generator minimum speed limit

setpoint zero), energy is fed back to the DC link. This drive measures the DC link voltage
cyclically. If the voltage increases above the values set in drive MD 1631 and 1632, the twoposition controller is deactivated, i.e. the instantaneous actual speed value is input as the
speed setpoint. During active generator operation, the ZK2 message "DC link generator
active" (ZWK_GEN_ACTIVE) is output.
The two-position operating characteristics of the generator is specific to the machine and
application.
If the voltage increases above the value set in drive MD 1633, the axis/spindle switches from
generator mode back to speed-controlled operation unless it was operating in positioncontrolled mode beforehand. In this case, a drive reset is required (power ON/OFF).

12.20.5.2

Monitoring for generator minimum speed limit

In addition to the generator mode operating characteristics for DC link buffering purposes
described above, the actual speed value of the axis/spindle is also monitored in generator
operation for violation of a minimum speed limit which can be parameterized via a 611D MD
(drive MD 1635). When the speed drops below this minimum limit, the ZK2 message
"Generator speed < drive MD 1635" is output.
Analogous to the detection of violation of the DC link minimum voltage value set in drive MD
1634, this signal can also be defined as an internal error source for "Extended stop and
retract":
See DC link undervoltage monitoring in 611D.

12.20.5.3

Communications/control failure

With the 611D package 2, a communications/control failure is detected when the NC sign of
life fails to appear on the drive bus; an autonomous drive ESR is then executed if this reaction
is programmed.

12.20.5.4

840C/611D detects error/request and specifies "Extended
stop and retract" as autonomous drive function

When the combination 840C SW4 and 611D package 2 is available, it is possible to initiate an
autonomous drive ESR when an ESR source is detected even though the control has not yet
failed. It must be noted in this case that the reaction is defined depending on the source in
question.

12.20.6

Stopping

The stop operation can be parameterized and programmed when SW version 4 is installed:
The following are the stop operation sources:
•
•

Mode group stop (as well as all alarms which initiate mode group stop) and
EMERGENCY STOP if parameterized by means of NC MD bit.
All sources for retraction can thus also act as sources for the stop operation.

There are two categories of reaction, i.e.
•
•

as an open-loop control function and
as an autonomous drive function.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.19.6 Stopping

12.20.6.1

09.95

Stopping as open-loop control function

aaaa
aaaa

The time characteristics of this reaction type are shown in the diagram.

T3
1452*
or 495*

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa aaaa
aaaa aaaa

T2(MD)
325

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aaaaaaaaaaa
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aaaaaaaaaaa
aaaaaaaaaaa
aaaaaaaaaaa
aaaaaaaaaaa
aaaaaaaaaaa

T1(MD)
324
Mode group stop

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa

aaaa
aaaa
aaaa
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aaaaaaa
aaaaaaa

n

t

FA/FS

Parameterizable/programmable stop operation as open-loop control function

In the case of mode group stop errors, the following reactions are possible (times T1 to T3 can
be parameterized via MD):
T1 Within time T1:
1.) All
•
•
•

leading axes/spindles
and all axes/spindles which are explicitly requested by means of programming, but
are not leading axes or spindles as well as
axes which interpolate with the leading axes/spindles specified above and all axes
which interpolate with axes/spindles explicitly requested through programming
instructions are controlled as an interpolative function, thus ensuring that the
motion is continued (contour accuracy),

2.) All FA/FS remain linked,
3.) All other axes/spindles not mentioned under 1. and 2. are immediately switched to
follow-up mode.
T2 Within time T2:
1.) All the above drives are braked interpolatively down to 0 as a function of acceleration
2.) All FA/FS remain linked.
These characteristics (T1 + T2) can also be activated for EMERGENCY STOP (via NCMD 5022, bit 0).
T3: Within time T3:
All FA/FS are made to follow as a closed-loop control function (MD 1452*/495*). All other
axes switch to "Follow-up" mode (MD 1224*/447*). On expiry of T3, the FA/FS are also
switched to follow-up mode.
This reaction is generally initiated for linked GI groupings as well as for drives programmed by
means of G functions provided that the machine data for extended stopping and for times T1
and/or T2 have been parameterized.

12–220

© Siemens AG 1992 All Rights Reserved

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09.95

12 Functional Descriptions
12.19.6 Stopping

Existing GI and IKA link branches with simulated leading axes/input quantities are not cancelled
until T2 has expired.
Continued traversal as an interpolative process is desirable to suppress the brief synchronism
deviation (break in speed curve) which occurs on transition to braking mode. It is particularly
important to eliminate this effect during finishing cut processes.
While the traversal motion continues, the positive connection between the tool and workpiece
is separated independently of the stop operation if "Retraction" is programmed and enabled.
Note:
The total time T1 + T2 + T3 should not exceed a maximum value (e.g. 1 second) for safety
reasons. The user is responsible for observing this maximum value.

12.20.6.2

Stopping as autonomous drive function

•

This new, extended autonomous drive stop operation is intended to ensure that the drives
of a previously linked GI grouping can be stopped as simultaneously as possible if this
cannot be implemented in the control system.

•

The function must be enabled via a general machine data NC-MD 5022, bit 1 (extended
stopping) and via a source-related machine data NC-MD 529*/592* (channel-specific or
axis/specific autonomous drive ESR).

The following reaction can be programmed:
•

The speed setpoint currently active when the error occurs continues to be output for time
T1 (diagram: parameterizable/programmable stop operation as open-loop control function).
The purpose of this is to maintain the motion which was being executed before the failure
until the positive connection has been separated or until the retraction operation initiated in
parallel in other drives has been executed. This may be purposeful for all leading/following
drives, or for linked drives, or for drives operating in a grouping.

•

On expiry of time T1, all axes are stopped at the current limit through injection of a zero
setpoint; pulse suppression is initiated as soon as the axes have stopped.

Note:
In contrast to stopping as an open-loop control function, it must be noted that this function
affords nothing more than an autonomous drive reaction, i.e. it is not possible to control an
interpolation grouping of several axes on an interpolative basis nor is it possible to control,
brake or make follow an axis link on a closed-loop control basis.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–221

•
•

•
•
•
•

12–222
NC MD 530* 596*

1 MD byte
for enabling
per channel

NC MD 529* 592*

Axis/spindlespecific interface

Retraction signal
DB 29 - DB 31
1 MD byte
for enabling
per channel

NC MD 918*

1 MD byte
for enabling
per axis/spindle
and channel

0: Reaction is not initiated
1: Reaction is initiated
e.g.: Mode group stop
e.g.: Alarm
e.g.: Internal retraction
•
•

NC MD
528* 588*

1 MD byte
per axis/spindle
and channel

aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa

Channel-specific/
general sources

aaaaa
aaaaa
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aaaaa
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aaaaa
aaaaa
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aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa

1 MD byte
for enabling
per axis/spindle

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aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaaaaaaaaa
aaaaa
aaaaa
aaaaa
aaaaa

Axis/spindlespecific sources

aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa

aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa

Generator minimum
speed limit

aaaaaaaaa
aaaaaaaaa
aaaaaaaaa
aaaaaaaaa
aaaaaaaaa
aaaaaaaaa
aaaaaaaaa
aaaaaaaaa
aaaaaaaaa
aaaaaaaaa
aaaaaaaaa
aaaaaaaaa
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aaaaaaaaa

aaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaa
aaaaa
aaaaa
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aaaaa
aaaaaaaaaaaaaaaaaaaaa
aaaaa
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aaaaa
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aaaaa
aaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaa
aaaa
aaaa
aaaa
aaaaa aaaa
aaaaa aaaa
aaaaa aaaa
aaaaa aaaa
aaaaaaa
aaaaa aaaa
aaaaaaa
aaaaa aaaa
aaaaaaa
aaaaa aaaa
aaaaaaa
aaaaa aaaa
aaaaaaa
aaaaa aaaa
aaaaaaa
aaaaa aaaa
aaaaaaa
aaaaa aaaa
aaaaaaa
aaaaa
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aaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaa aaaaaaaaaaaaaaaa
aaa aaaaaaaaaaaaaaaa
aaaaaaa aaa aaaaaaaaaaaaaaaa
aaaaaaa aaa aaaaaaaaa
aaaaaaa aaa aaaaaaaaa
aaaaaaa aaa aaaaaaaaa
aaaaaaa aaa aaaaaa
aaaaaaa aaa aaaaaa
aaaaaaa aaa aaaaaa
aaaaaaa aaa aaaaaa
aaaa
aaaaaaa aaa aaaaaa
aaaaaaa aaa aaaaaa
aaaa
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aaa
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aaa
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aaa
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aaa
aaa
aaa
aaa
aaa

12.20.7

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aaaaaaaaaaa

aaaaa
aaaaa
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aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa

aaaaa
aaaaa
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aaaaa
aaaaa
aaaaa
aaaaa
aaaaa

12 Functional Descriptions
12.20.7 Retraction
10.94

Retraction

The retraction motion can be parameterized and programmed.

The following diagram shows the possible sources and the associated reactions for the
extended, parameterizable and open-loop controlled retraction without giving the programmable
retraction motions.
External sources

DC link warning threshold

Mode group stop
EMERGENCY
HW input
Emergency retraction
STOP
(1 byte per mode group)
threshold FA
NC MD 920*

Mixed I/O
CSB

NC MD 922*

0: Signal not operative
1: Signal operative

NC MD 916*

Channel-specific
interface DB 10-DB 15

HW output
One byte per mode group

Programmable retraction as open-loop control function

There are two categories of retraction, i.e.

as an open-loop control function and
as an autonomous drive function.

Sources

There are four source areas for the retraction process:

Internal axis/spindle-specific sources,
Internal sources specific to channel/mode group or general sources,
External sources via HW inputs,
Communications failure (autonomous drive sources which initiate generator-mode braking
of the drive).

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

09.95

12 Functional Descriptions
12.19.7 Retraction

The following individual sources are also available:
•

Axis/spindle-specific sources:
-

Retraction threshold FA/FS exceeded
DC link voltage warning threshold
Generator minimum speed limit

Activation of sources:
The user determines which of the possible axis sources initiate a retraction and which do
not in an axis-specific and spindle-specific MD byte NC MD 530* 596*.
•

Sources specific to channel/mode group and general sources:
-

Mode group stop of channel mode group
EMERGENCY STOP

Activation of sources:
The user determines which sources are active and which are not in a channel-specific MD
byte NC-MD 920*.
•

External sources via HW inputs:
A retraction process can be initiated from and external source (provided input is active) by
means of a mode group-specific input byte of the mixed I/O or CSB (can be defined by
means of MD).
Activation of input bits:
An MD byte NC-MD 922* is assigned to each channel; this byte is used to define which
input bits are active and which are not.
A retraction process is initiated if a low-level signal is present at an active input bit of the
mixed I/O, i.e. low-active inputs; 24 V must be applied to the active inputs before the
retraction is enabled.

Note:
Emergency retraction is only applied to axes that are under closed-loop control (i.e. controller
enable must be set).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–223

12 Functional Descriptions
12.20.7 Retraction

12.20.7.1

04.96

Retraction as open-loop control function

The reaction to detected retraction events can be parameterized:
•
•
•
•

Switching of outputs on mixed I/O module
Traversal of an internal retraction with the axes programmed for this purpose
Output of a mode group stop alarm
Output of PLC NS signals.

The following diagram shows the sequence of retraction motions.

aaaa
aaaa

In this diagram, the braking process of the current traversing motion and the acceleration
process of the retraction motion are executed in parallel. In comparison to normal sequences,
there are areas missing in the resulting motion and allowance must be made for these when
the retraction motion is executed. This correction is made independently of the G90 or G91
characteristics of the retraction motion.

aaaa
aaaa

t

aaaa
aaaa

v

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa

Retraction
motion

aaaa
aaaa

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa

Interrupted
traversing motion

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
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aaaaaaa
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aaaaaaa
aaaaaaa
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aaaaaaa
aaaaaaa
aaaaaaa
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aaaaaaa
aaaaaaa

v

aaaa
aaaa

t

aaaaa
aaaaa

aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa

Resulting
motion

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aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa

aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa

v

t

Parameterizable/programmable retraction as open-loop control function

Notes:
•

The open-loop-controlled retraction process must be enabled via NC-MD 529* bit 1 and
NC-MD 592* bit 2 (assignment to source).

•

Up to 5 axes in the interpolation grouping and one further spindle (maximum) as well as up
to 5 endlessly turning rotary axes can be programmed for the internal retraction reaction
which, in the event of an error, execute a specific retraction motion.

•

A retraction is executed only if the pulse enabling command from the PLC was set at the
instant the error occurred. The speed controller enabling command is specified internally
by the system (control to drive). The terminal connections can be provided by the user via
outputs (e.g. of the mixed I/O).

12–224

© Siemens AG 1992 All Rights Reserved

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aaaaaaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaaaaaa

07.97

•

•

•

•

12 Functional Descriptions
12.20.7 Retraction

If the function ”Consider software limit switch with controlled emergency retraction” is
selected, the SW limit switch function has the same effect on emergency retraction as in
the NC channels.
Depending on the setting in machine data 5003, bit 7 ”No deceleration at limit switch”,
either deceleration is performed in the emergency retraction channel or setpoint 0 is
output.
The SW prelimit switch also takes effect. The path velocity in the emergency retraction
channel is set to max. the value of MD 1 ”Velocity behind SW prelimit switch”.
The function ”Consider software limit switch with controlled emergency retraction” is
activated via general machine data MD 5022 bit 5.

Triggering of a retraction as an autonomous drive function (G426) from
the control is prevented as long as a retraction as open-loop control
function (G425) is active or not acknowledged.

Individual reactions:

Axis/spindle-specific reaction

The bit "Retraction active" in set in the standard interface to the PLC for the axis or the
spindle which initiates the retraction process.

Reaction specific to channel/mode group

The bit "Retraction active" is set in the standard interface to the PLC for the channel
which initiates the retraction process.

Set/reset HW outputs

It is possible to define a HW output byte which is switched when retraction takes place.
This byte is selected via MD NC MD 312-317 and the idle state is defined via MD NC MD
5021.

The output bit which must be switched from the idle to the active state in the case of an
error is selected via an axis/spindle/channel-specific MD byte NC-MD 916* 528* 588*
(corresponding to the source).

Mode group reaction:

Possible mode group reactions are:

•
Output of an alarm via MD

•
Initiation of mode group stop via MD

•

Programmed retraction according to part program command:
See Programming Guide

By means of programming measures, it is possible to determine for one/several axes or
one/several spindles whether and how they must execute a retraction. If a retraction condition
is fulfilled and if the appropriate NC-MD bit(s) is (are) set, all programmed retraction motions
are executed when the process has been enabled via the interface signal "Enable retraction"
(safety function). In the event of retraction, grouped axes can be positioned incrementally or
absolutely; endlessly turning rotary axes or spindles can be positioned absolutely.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

12–225

12 Functional Descriptions
12.20.7 Retraction

12.20.7.2

10.94

Retraction as autonomous drive function (611D)

On SW 4 and higher, axes with digital 611D drive systems can perform a retraction
autonomously if the control fails (sign of life detection) or if the DC link voltage drops below a
warning threshold.
The retraction motion is performed by the 611D autonomously. The retraction path and the
velocity can be set in the part program.
From the beginning of the retraction phase, the drive stops its enables autonomously at the
previously valid values. Emergency retraction is only performed if the pulse and interface
signal "enable ESR" were set , i.e. the drive was enabled.
If the control fails, it is enough that the pulse enable is set. In this case the 611D drive system
generates its own servo enable - if it is still functional. (Partial functionality for the "Retraction
with clamped axes").
The external safety logic of a control and drive system combination with drive emergency
retraction must be such that on failure of the control (i.e. PLC stop and NC READY failure) the
drive unit is still able to move (configuration of the relevant machine safety logic).
The drive system has no reference to the NC geometry system. On the NC-side, the unit
system of the motor measuring system is only known if it is used as the position measuring
system.
The retraction path for the drive is set through the SERVO level with the following geometryneutral data:
•
•

Speed setpoint
Travel time/deceleration time for braking

The drive system traverses the programmed "retraction path" with an internal time-controlled
set speed.
The actual "retraction path" travelled in the event of an error depends on the current actual
speed at the time the emergency retraction begins and can deviate slightly from the
programmed value because the drive system does not monitor for the resulting path (no
interpolation).
After this sequence of operations, a zero speed setpoint is specified for the retraction axes
which are then stopped along the current limit (see autonomous drive stop operation).
The retraction motion is defined by programming:
•
•
•

incremental dimension value,
direction of traversal and
speed setpoint (F value)

Notes:
•

The autonomous drive emergency retraction is operative only if the bit "pulse
suppression" is set to "off" in the drive MD 1612 and 1613.

•

When emergency retraction is active, it is not possible parameterize the emergency
retraction. Although the data are transferred to the drive, they are not accepted. No
message is output to the user to indicate this status.

•

See the SINUMERIK 840C Programming Guide for further information on programming.

12–226

© Siemens AG 1992 All Rights Reserved

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09.95

12 Functional Descriptions
12.20.8 Configuration help for generator operation and emergency retraction

12.20.8

Configuration help for generator operation and emergency
retraction

12.20.8.1

Special case voltage failure

Requirements
The generator operation and emergency retraction functions on SINUMERIK 840C require the
following hardware and software:
•

•

Hardware components:
-

SINUMERIK 840C standard hardware

-

SIMODRIVE 611D standard hardware with modified drive control loops of the type
6SN1 118-0DG... or 6SN1 118-0DH...

-

Controlled infeed/regenerative feedback module (16 kW upwards) with suitable pulse
resistance module and possibly additional capacitors for the DC link.

-

Capacitor module (accessory 6FX2 006-1AA00: available as of the beginning of 1995)
to back up the power supply 115-230 V AC for the central unit and operator panel or
alternatively the 24 V DC power supply (available as of the 1st quarter of 1995) and
possibly 24 V DC operator panel (available as of 2nd quarter 1995).

Software components
-

System software SW 4.2

-

Generator operation option

-

Emergency retraction option (includes regenerative operation)

The following points must be noted for configuration:
1. The electronics of the drive controls must be powered from the DC link. With the
infeed/regenerative feedback modules, the connection with the DC link must be made (see
Start-up Guide 611).
2. NC and the operator panel must be backed up by suitable means, e.g.: capacitor module
for 230 V power supply or accumulator for 24 V power supply.
3. The supply to the PLC peripherals must be backed up by the accumulator.
DC link backup/total energy:
The energy available in the DC link of the drive units is calculated as follows in case of power
failure:
E

=

1/2 * C * (UZk2 - Umin2)

=
=
=
=

Energy in watt seconds [Ws]
Total capacity of the DC link in farads [F]
Content of the drive machine data 1634
Lower limit for safe operation taking the motor-specific emf into account, but
always above the switch-off threshold of 280 V

where
E
C
UZk
Umin

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.20.8 Configuration help for generator operation and emergency retraction

09.95

Example:
C
UZk
Umin

=
=
=

6000 µF (see table 16 kW infeed/regenerative feedback module) - 20%
550 Volt (P1634)
350 Volt (assumed)

E

=

1/2 * 4800 µF * ((550 V)2 - (350 V)2) = 432 Ws

This energy is available at load for a time of:
tmin

=

E/Pmax *

=
=
=

backup time in milliseconds [ms]
power in kilowatts [kW]
degree of efficiency of the drive unit = 0.90

where
tmin
Pmax

Example:
E
Pmax

=
=
=

432 Ws
16 kW (see table for 16 kW infeed/regenerative feedback module)
0.90

tmin

=

432 Ws/16 kW * 0.9 = 24.3 ms

in order to initiate the emergency retraction.
The table below shows a summary of the values for different infeed/regenerative feedback
units. Nominal and minimum capacitances have been taken into account. The maximum
possible capacitance (load limit) consists of the sum of the capacitances of the
infeed/regenerative feedback module and the axis/spindle modules plus additional external
capacitors (provided by the customer). The minimum capacitance shown in the table takes
account of a component tolerance of -20% (worst case).
Infeed/regenerative
feedback unit
(power Pmax)
[kW]

Max. possible
capacitance
Cmax [µF]

Energy
content (at
Cmax) [Ws]

Energy
content (at
Cmin) [Ws]

Backup time
tn at Pmax
[ms]

Backup time
tmin at Pmax
[ms]

16

6000

540

432

30.38

24.30

36

20000

1800

1440

45.00

36.00

55

20000

1800

1440

29.46

23.56

80

20000

1800

1440

20.25

16.20

120

20000

1800

1440

13.50

10.80

Note:
In configuring the emergency retraction, a total energy must be calculated to find out if it is
possible to eliminate an additional generator axis/spindle (with an appropriately dimensioned
centrifugal mass).

12–228

© Siemens AG 1992 All Rights Reserved

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09.95

12 Functional Descriptions
12.20.8 Configuration help for generator operation and emergency retraction

Option for programmable emergency retraction
The function is triggered via parameterizable sources.
The response can be drive-autonomous or open-loop controlled.
The possible responses are:
•
•
•

Stopping (time-controlled continuation and braking of the axis/spindles relevant to the
contour)
Retraction (cancellation of the positive connection)
Inversion of fast process outputs (e.g. fast cancellation of clampings).

The source
•
•

Channels (mode group stop, inputs, emerg. OFF)
Axis or spindle (Vdclinkmin, lower speed limit, emergency retraction threshold, ...)

determines the response, i.e. the source is used to decide whether the response is to be an
autonomous function of the drive or a function of the control.
The response can be parameterized via machine data and configured via G functions.
Open-loop controlled stopping and retraction
If open-loop controlled stopping and retraction is to be used, the backup must be designed for
at least five interpolation cycles if an additional generator is not used because all axes can be
run for this time without any change.
Regenerative stopping
From the 5th IPO cycle onward, the set speeds of the configured stopping or retraction
axes/spindles are changed. Make sure that the general control machine data "Time for
interpolation-controlled continuation", NC MD 324 is set to 0. Otherwise this time must be
included additively. This is only useful if the cutting conditions must be kept as constant as
possible as long as the positive connection exists (parallel retraction).
After this time, the braking period begins. The braking behaviour and therefore the
regenerative feedback is determined by the set acceleration ramps for axes and spindles.
As soon as the braking process begins, the energy generated is available for the retraction
motion. The total energy must be calculated to ensure that the kinetic energy of the braking
axis is sufficient to perform retraction.
The total energy also tells you the maximum IPO cycle that can be set to be able to perform
safe retraction.
For example, if an emergency retraction must be possible without regenerative operation in a
16kW unit under maximum load and minimum DC link capacitance, the IPO cycle duration can
theoretically be no greater than 4.86 ms, in which case up to 4 ms can be set.
If necessary, a more powerful NCK CPU can be used to achieve optimum conditions.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–229

12 Functional Descriptions
12.20.8 Configuration help for generator operation and emergency retraction

09.95

Drive-autonomous stopping and retraction
Drive-autonomous stopping and retraction initiated by the NC must be used if a response as a
function of the control (i.e. interpolation) is no longer possible, for example, if a very fast
response is necessary. In this case the drive system responds within one IPO cycle by
outputting a setpoint for the configured axes/spindles. Here too, a distinction is made between
stopping and retraction.
After drive-autonomous stopping and retraction, a Power On reset is necessary.
Note:
If the drive bus between the NC and the drive is interrupted (loss of sign of life) stopping and
retraction can only be performed as an autonomous function of the drive.
However, this does not normally occur in conjunction with a power failure.
Generator operation
Generator operation is for cases where the energy of the DC link is not sufficient for a reliable
retraction (for a time of at least 5 IPO cycles). This function makes use of the kinetic energy of
the spindle or axis and feeds it back into the DC link in an optimum fashion. The DC link
voltage is maintained within the limits parameterized in the drive machine data using a twostep voltage controller (see Start-up Guide Section 12).
The axis/spindle parameterized as the generator measures the DC link voltage in "ms cycles".
The DC link can therefore be backed up within a maximum of 2 ms.
The energy stored in the drive
E =
with
=
=

1/2 * * 2
total mass moment of inertia of the drive
angular velocity at the time of switchover to regenerative operation

is fed back with a degree of efficiency of approx. 90%.
For generator operation, especially on large machines with high-power infeed/regenerative
feedback units (55, 80, 120 kW) it is advisable to use a separate drive with a flywheel that
must only put in the friction losses once it has reached maximum velocity.
Of course, any drive on the machine can be used for this function as long as it is not directly
involved in controlled stopping or retraction.
Axes that are involved in gear couplings must be maintained are not suitable.
Note:
A minimum speed limit of the generator can also be a source of emergency retraction
response. This is useful if short interruptions in the voltage must be backed up in regenerative
operation.
Other comments:
Suitably rated pulse resistance modules must be used to prevent the DC link from becoming
too great when braking begins (stopping and retraction either as a function of the control or as
an autonomous function of the drive) and the drive responding with pulse suppression causing
uncontrolled coasting.

12–230

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

01.99

12 Functional Descriptions
12.20.8 Configuration help for generator operation and emergency retraction

12.20.8.2

Activating autonomous drive emergency retraction in
case of PLC failure or 5 V undervoltage (as from SW 6.3)

No NCK failure, activation only when in operative mode, no run up in the general reset mode
Activating
Clearing for activation of the autonomous drive emergency retraction is implemented according
to the function via the following MD bits:
NC MD

5022

Bit No.
7
Delay of the
NC ready
signal for
1 IPO cycle
in case of
PLC failure
or 5 V
undervoltage

6

5

4

3

2

1

0

in
5 V under- Retraction
voltage case of PLC
failure

5022.4=1

Clearing for activation of the autonomous drive emergency retraction in case
of PLC failure

5022.5=1

Clearing for activation of the autonomous drive emergency retraction in case
of 5 V undervoltage

5022.7=1

Delay of the NC ready signal for 1 IPO cycle in case of PLC failure of 5 V
undervoltage

5022.7=0

No delay of the NC ready signal for 1 IPO cycle in case of PLC failure or 5 V
undervoltage

Default setting of bit is 0.
Reactions
Display of the applicable alarm on (POWER ON), stopping the NCK CPU and execution of the
autonomous drive emergency retraction.
After POWER ON, the NCK instantly runs in normal operational mode instead of the then
startup mode.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–231

12 Functional Descriptions
12.21 Simultaneous axes

09.95

12.21

Simultaneous axes

12.21.1

Corresponding data

•
•
•

NC MD 5004 bit 0,1
SD 564*
DB32 DWk+1 bit 0,1

1st or 2nd handwheel connected
Handwheel pulse evaluation
1st or 2nd handwheel active for the relevant axis

General
Simultaneous axes are axes which can be traversed at a separately programmed velocity
independently of other axes. A total of 5 simultaneous axes can be programmed and traversed
either individually or in addition to up to 5 further interpolative axes in a block of the part
program. Every positioning axis can be programmed and traversed with a separate, axisspecific feed. A block change does not take place until all simultaneous axes and all other
axes programmed in this block have reached their end point.
Only real axes can be used as simultaneous axes. An axis is defined block-by-block as a
positioning axis during programming, i.e. in the next block, it can be traversed interpolatively
again with other axes.

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The feedrate of the simultaneous axes with block end behaviour is weighted with the channelspecific override.

Please refer to the NC Programming Guide for the SINUMERIK 840C for
information regarding programming of the SIMULTANEOUS AXES
function.

12.21.2

Handwheel for simultaneous axes in automatic mode

Simultaneous axes can be traversed by means of the handwheel in automatic mode. This
handwheel overlay is enabled by the G function G27. G27 is a block-related function and
operates on a block-by-block basis.
All axial limitations (SW/HW limit switches, SW prelimit switch, working area limitation) remain
operative when the handwheel overlay function is active.
Handwheel pulses generated are ignored under the following conditions:
•
•
•
•

Override 0%
No handwheel enable from PLC
No feed enable from PLC
Velocity overlay (when v = 0 is reached)

Two different overlays can be programmed:
•

Velocity overlay
The programmed position is reached sooner or later by means of the handwheel overlay,
i.e. the velocity is manually increased or decreased depending on the direction of rotation.
The direction, however, remains unchanged; the velocity can at most be reduced to v = 0.

•

Path overlay
The programmed position can be reached only manually through rotation of the
handwheel. The direction of rotation determines the traversing direction for the
programmed axis. It is possible to traverse in the opposite direction to that which is
programmed, but it is not possible to traverse beyond the end position programmed. Once
the programmed end position has been reached, a block change takes place and the axis
can be traversed by handwheel only by applying a G27 function again. The active block
can be aborted by means of axial deletion of distance to go (@736). The actual value
display of the traversing axes is continuously updated.

12–232

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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12.93
12 Functional Descriptions
12.21.2 Handwheel for simultaneous axes in automatic mode

Please refer to the NC Programming Guide for the SINUMERIK 840C for
information regarding programming of the HANDWHEEL OVERLAY OF
SIMULTANEOUS AXES IN AUTOMATIC MODE function.

Starting up the function

An option bit is not required for the function. It is merely necessary to specify the connected
handwheels in NC MD 5004. The handwheel to be used must then be activated via DB32
DWk+1. It is permissible for both handwheels to be active simultaneously in one block.

The weighting factor (applicable to both handwheels) is defined by setting data 564*.
Setting data 564*
Bit0=1:
1 increment per handwheel pulse
Bit1=1:
10 increments per handwheel pulse
Bit2=1:
100 increments per handwheel pulse
Bit3=1:
1000 increments per handwheel pulse
Bit4=1:
10000 increments per handwheel pulse
Only one weighting bit may be set!

A monitoring function, which is dependent on the display resolution and the handwheel pulse
evaluation, is activated to ensure that the path to be traversed with one handwheel pulse does
not exceed 1 mm and is not less than the input resolution.

Note:

The weighting factor can be displayed via the LEDs of the increment keys on the machine
control panel of the PLC.

Deletion of distance-to-go with simultaneous axes

The command @736 makes it possible to delete the distance to go on an axis-specific basis
within an NC block as a function of a signal change at an external input. The two measuring
inputs of the Central Service Board or the 16 digital inputs of the mixed I/O module (max. 2
permitted per SINUMERIK 840C) can be used as external inputs. When @736 is programmed,
the corresponding input signal is interrogated by the NC cyclically in the interpolation cycle
and, in the case of an active signal level, initiates deletion of distance to go. The input signal
must remain at the active level for at least two IPO cycles.

If several input signals are to act on one axis, then it must be ensured that all inputs are set to
the same input byte of the mixed I/O module.

An incremental axis position, which is programmed after the block with the "Delete distance-togo", refers to the position of the point of interruption defined by the occurrence of the external
signal.

Please refer to the NC Programming Guide for the SINUMERIK 840C for
information regarding programming of the DELETION OF DISTANCE-TOGO WITH SIMULTANEOUS AXES (@736) function.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

12–233

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12 Functional Descriptions
12.22 Software cam (position measuring signals)

12.22

12.22.1

12.22.2

12–234

12.93

Software cam (position measuring signals)

The SOFTWARE CAM (position measuring signals) function is an option
and can only be used on linear axes.

Corresponding data

NC MD 310
Assignment cam output byte to synchr. user INTERF (in preparation)
NC MD 311
Assignment cam output byte to MIXED I/O bytes
SD 7000-7007
Cam positions of cam pairs
DB48 DR0.6
Activate cam/axis assignment
DB48 DR1.6
Cam/axis assignment activated
DB48 DR0.7
Transfer of cam values
DB48 DR1.7
Cam values transferred
DB48 DR1.5
NC changes cam values
DB32 DL121+m
Cam signals of axis
DB32 DL123+m
Cam pair for axis active
Software cam (position measuring signals) option

Functional description

The "software cam" function generates position measuring signals and can be parameterized
via setting and machine data. The setting data contain the axis positions of the individual cams
and organized in a cam value block. The cams are always assigned to the axis in pairs, each
consisting of a positive and a negative cam.

The positive and negative cams simulate an operating cam of infinite length which is activated
at a defined position (cam position) in a certain approach direction when the axis reaches the
cam position.

The status of the cams, the cam signals, are transferred to DB32 DL121+m in the IPO cycle
and/or output additionally via the output bytes of the MIXED I/O (assignment in NC MD 311).

The software cam function is fully operational and can be activated in all operating modes after
the appropriate axes have approached the reference point. It remains active even after RESET
or EMERGENCY STOP.

Cam pair and cam range

A cam pair consists of a positive and a negative cam. The axis range assigned to the positive
cam is greater than its cam position and the axis range assigned to the negative cam smaller
than its cam position.

The axis range assigned to the cam is referred to as the "cam range".

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

12.93

12 Functional Descriptions
12.22.2 Functional description

2nd
NC axis

Cam position
(negative cam)

Machine
zero

Cam position
(positive cam)

1st NC axis

1
Npositive
0
1
Nnegative
0

Cam
range
positive

Cam
range
negative

Negative cam < positive cam

2nd
NC axis

Cam position
(positive cam)

Machine
zero

Cam position
(negative cam)

1st NC axis

1
Npositive
0
1
Nnegative
0

Cam
range
negative

Cam
range
positive

Positive cam < negative cam

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–235

12 Functional Descriptions
12.22.2 Functional description

12.93

Cam values
All cam values are contained in the setting data 7000 to 7007. This range is referred to as the
cam value block and includes the positions of eight cams which are divided into four cam
pairs.
Position negative cam 1

SD 7000

Position positive cam 1

SD 7001

Position negative cam 2

SD 7002

Position positive cam 2

SD 7003

Position negative cam 3

SD 7004

Position positive cam 3

SD 7005

Position negative cam 4

SD 7006

Position positive cam 4

SD 7007

Pair of cams 1

Pair of cams 2
Cam value
block
Pair of cams 3

Pair of cams 4

The cam positions must refer to the relevant machine system, in either metric system or
inches. They are input into the machine-related actual value system. No check is performed to
ensure that the cam positions do not exceed the maximum traversing range.
In axis follow-up mode, the actual positions are used as cam signals. The setpoint is used in
the case of position-controlled axes.
The cam values can be entered in the setting data display "Position measuring signals" or
written and read by means of a @-function. The cam positions can be read in the PLC
program and changed from the PLC program by means of PLC interfaces FB61 and FB62.
The user can monitor write access to the cam value block through appropriate setting of DB48
DR1, bit 5.
The changed cam positions are not activated until a 0/1 signal edge change in the TRANSFER
CAM VALUES signal (DB 48 DR0.7). As an acknowledgement of transfer, the user receives
the CAM VALUES TRANSFERRED signal (DB 48 DR1.7). He must then reset bit DB48
DR0.7.

A

A
TRANSFER CAM VALUES
DB48 DR0.7

1
0

CAM VALUES TRANSFERRED

S

S

1

DB48 DR1.7
0

A -> as a function of PLC program
S -> as a function of system

12–236

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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12.93
12 Functional Descriptions
12.22.2 Functional description

Assignment between cam pairs and axes

The cam pairs are assigned via the NC/PLC interface to specific axes as follows:

DB32 DW123
Bit No. 11 10

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

9
8
1st axis

127
2nd axis

131

.
..
3rd axis

239
30th axis

Bit 11

Bit 10

Bit 9

Bit 8

0
0
0
0
"Cam pairs" function inactive

0
0
0
1
Cam pair 1 active

0
0
1
0
Cam pair 2 active

0
1
0
0
Cam pair 3 active

1
0
0
0
Cam pair 4 active
Function

The changed cam assignments are not transferred to the NC until a 0/1 signal edge change in
the ACTIVATE CAM/AXIS ASSIGNMENT signal (DB 48 DR0.6). As an acknowledgement of
transfer, the user receives the CAM/AXIS ASSIGNMENT ACTIVATED signal (DB 48 DR1.6).
He must then reset the signal DB48 DR0.6.

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12 Functional Descriptions
12.22.2 Functional description

07.97

A

A
ACTIVATE CAM/AXIS
ASSIGNMENT DB48 DR0.6

1
0

CAM/AXIS ASSIGNMENT ACTIVATED
= DB48 DR1.6

S

S

1
0

A -> as a function of PLC program
S -> as a function of system

Notes:
•
•
•
•

A cam pair can be only ever be assigned to one NC axis at a time.
Several pairs of cams can be activated for one axis.
Cam signals are not output until the axes have been referenced.
Cams must not be activated until axes have been referenced.

Output of cam signals
The cam signals are transferred in the IPO cycle to the axis-specific interface DB32
DW121+m, bits 8 to 15.

12–238

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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12.93
12 Functional Descriptions
12.22.2 Functional description

Signals from axis

15

DL
121

DL
125

DL
237

1 or 2

SINUMERIK 840C (IA)

14

© Siemens AG 1992 All Rights Reserved

13

12

Byte no.

6FC5197- AA50

11

10

9

8

Bit No.

Axis1

Axis1

DR
121

Axis2

Axis2

DR
125

:
:

Axis30
7

6

5

4

3

2

1

0

Cam
4+
Cam
4–
Cam
3+
Cam
3–
Cam
2+
Cam
2–
Cam
1+
Cam
1–

Cam
4+
Cam
4–
Cam
3+
Cam
3–
Cam
2+
Cam
2–
Cam
1+
Cam
1–

Cam
4+
Cam
4–
Cam
3+
Cam
3–
Cam
2+
Cam
2–
Cam
1+
Cam
1–

Axis30

DR
237

The user can also output the cam signals in the IPO cycle via a digital output byte of the
MIXED I/O. The cam signals are assigned to a MIXED I/O output byte via NC MD 311.

MIXED I/O

Byte No.

Bit No.

7

6

5

4

3

2

1

0

Cam
4+
Cam
4–
Cam
3+
Cam
3–
Cam
2+
Cam
2–
Cam
1+
Cam
1–

12–239

12 Functional Descriptions
12.23 Actual-value system for workpiece

12.93

12.23

Actual-value system for workpiece

12.23.1

Corresponding data

•
•
•
•
•

SD 5001 bit 0
NC MD 5153 bit1
NC MD 140*
NC MD 142*
NC MD 548*, 550*, 552*

(Actual-value system for workpiece)
(Reset position 6th G group)
(Basic setting 6th G group)
(Basic setting of tool offset block)
(Address name)

The "Actual-value system for workpiece" function is a grinding function; it can, however, also
be used for other technologies.
General
The function is parameterized via setting and machine data. When the function is active, the
zero offsets (ZOs) selected in the program and the tool offset block (TO) are retained even after program end (M02/M30) or in the reset state. The variable basic setting of the ZOs (G54 G57) and the active TO (D number 1 - D819) after M02/M30 is meaningful only in an actualvalue system for workpieces.

12.23.2

Reference systems

It is possible to select between a machine-related and a workpiece-related actual-value display
for grinding processes.
In the machine-related actual-value system, no account is taken of any ZOs or TOs in the display of axis actual values. The displayed position values refer to the machine reference point
or to the control zero (see diagram, M corresponds to the machine reference point).
In contrast, when a ZO (G53 - G59) or TO (D0 - D819) is selected in a workpiece-related
actual-value system (designated as W1 or W2 in the diagram), the display immediately takes
account of offset and compensation values. With an active ZO (G54), the display for X and Y
changes from X = 500 to 250 (Pxw1) and Y = 100 to 250 (Pyw1).

12–240

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

12 Functional Descriptions
12.23.2 Reference systems

PXW2

YM

YW2

400

W2

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

aaaa
aaaa
aaaa
aaaa
aaaaaaaa
aaaaa
aaaaa
aaaaa
aaaaa

(-400)
XW2

PYW2
YW1

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

(-300)

G55

P

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

XM

(250)

aaaa
aaaa
aaaa
aaaa
aaaa
aaaaa
aaaaa
aaaaa
aaaaa

-150

900

PYW1

aaaa
aaaa
aaaa
aaaa

500

250

G54

aaaa
aaaa
aaaa
aaaa
aaaa

aaaa
aaaa
aaaa
aaaa
aaaa

M

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

aaaa
aaaa
aaaa
aaaa
aaaa

100

XW1

W1

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

PXW1
(250)

M - Machine reference point (coordinates: XM and YM)
W1 - Workpiece reference point (coordinates: XW1 and YW1)
W2 - Workpiece reference point (coordinates: XW2 and YW2)
Diagram showing reference systems

12.23.3

Functional description

The "Actual-value system for workpiece" function can be parameterized via setting and
machine data. The function is activated with SD 5001 bit 0 = 1.
The actual-value system for workpiece function has the following features:
•

The basic setting of the valid ZOs (G54 - G57) and TOs (D0 - 819) after power on are
defined in MD 140* and 142* on a channel-specific basis.

•

After NC start, MD 110*, 112* and D0 are selected as standard. If MD 5153.1 = 1, then
the last selected ZO group, TO and level remain active even after NC start.

•

The actual values for all axes of the active channel are displayed according to the sum of
all ZOs and the active TO.

•

In this case, the reference system-based display of axis positions is implemented such that
the actual values of all axes are displayed independently of any programmed axis motion
after the ZO or TO has been changed. This also applies to the "Workpiece-related reading
of actual values" function (@ 360).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–241

12 Functional Descriptions
12.23.3 Functional description

12.93

•

At the end of a program (or after reset), the last active ZO group (G54 - G57) and
TO (D0 - D819) are retained. The actual-value display is merely adjusted by the
programmable offsets (G58 and G59).

•

When the function is deactivated (SD 5001, bit 0 = 0), all actual values displays are
updated according to actual-value representation for the machine.

12.23.4

Example of function

For reasons of simplicity, this example refers only to two axes of the 1st channel. In the
example, the X axis is the abscissa and the Y axis the ordinate (see MD 1100, 5480, 5500 and
5520).
Default settings:
SD

5001.0 = 1

; "Actual-value display for workpiece" function active

NC MD 5153.1 = 0

; After NC start, reset position ZO from MD 1120 = G54 and TO
= D0 active.

NC MD 1100

= 17

; Plane G17 (X abscissa and Y ordinate) has been selected in the
1st channel to define the reference for tool offsets during
machining.

NC MD 5480

= 0000 ; (address name X abscissa)

NC MD 5500

= 0001 ; (address name Y ordinate)

NC MD 5520

= 0010 ; (address name Z co-ordinate), the plane names of the co-ordinate
system are assigned to the axes listed above in the 1st channel.

Zero offset

G54
(coarse)

G54 (fine) G55
(coarse)

G55 (fine) G56
(coarse)

G56 (fine)

X axis

-54.0

0

-0.55

-55.0

0

0

Y axis

-54.0

0

-0.55

-55.0

0

0

Table: ZO data referring to example

Active TO = D3 (type = 1, a tool with 2 length compensations and tool nose radius
compensation)
L1 Geometry

P2=-90

L2 Geometry

P3=-180

L1 Wear

P5=-9

L2 Wear

P6=-18

L1 Basis

P8=-1

L2 Basis

P8=-2

Note regarding tool compensation:
L1 always refers to the ordinate and L2 to the abscissa of the co-ordinate system. The
assignment between the TO and the axes can be changed in the NC program by means of
plane selection.

12–242

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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12.93

12.24

12.24.1

•

12.24.2

12 Functional Descriptions
12.24 Travel to fixed stop

Travel to fixed stop

The "Travel to fixed stop" function is available as an option.

Corresponding data

NC MD 1804*

•
NC MD 1284*
Clamping tolerance for travel to fixed stop

•
NC MD 1280*
Following error excess value threshold for travel to fixed stop

•
NC MD 1144*
Switchover current setpoint

•
SD
Clamping torque for travel to fixed stop

•
Travel to fixed stop option

•
DB 32 DL x+2
bit 0
Acknowledgement for travel to fixed stop signal

•
DB32
bit 1
Acknowledgement for travel to fixed stop reached signal

•
DB 32 DL x+2 bit 2
Sensor signal for travel to fixed stop reached signal

•
DB 32 DR x
bit 6
Travel to fixed stop active

•
DB 32 DR x
bit 7
Fixed stop reached

DL x+2

SINUMERIK 840C (IA)

bit 3
Clamping tolerance monitoring active

bit 4
Sensor signal PLC for travel to fixed stop

bit 5
Axis can travel to fixed stop

320*

Note:

The axis position can be monitored in the "Fixed stop reached" state by means of NC MD
1804* bit 3 "Clamping tolerance monitoring active" and NC MD 1284* "Clamping tolerance".

Functional description

The "Travel to fixed stop" function allows defined forces to be generated for the purpose of
clamping workpieces, tools, etc. The function can be used for both axes and spindles.

It can be selected and deselected via G commands G221/G220 or the command channel.

The fixed stop must be situated between the start and target positions of the axis/spindle when
the function is selected or deselected.

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

12–243

12 Functional Descriptions
12.24.2 Functional description

12.93

The operating principle is explained below on the basis of an example (showing sleeve being
pressed onto workpiece).
Actual position after
"Travel to fixed stop"

Progr.
end position

"Start travel
to fixed stop"
position

Start position

Selection
The axis traverses at the programmed velocity towards to the programmed position,
commencing at the start position. The axis behaves like a normal NC axis during this process.
The current limitation on the actuator is now activated.
As soon as the axis presses against the mechanical fixed stop (workpiece), the control on the
drive will attempt to increase the torque by raising the current setpoint. This, however, has
already been limited to a specific value beforehand (NC MD 1144*, Switchover current
setpoint).
The "Fixed stop reached" state can be detected by two different methods, depending on the
setting in NC MD 1804*.3 "Sensor signal PLC for travel to fixed stop".
NC MD 1804*.3 = 1

External sensor sends "Fixed stop reached" signal to NC via the PLC.

NC MD 1804*.3 = 0

The "Fixed stop reached" state is established when the following error
has exceeded the value set in NC MD 1280* "Following error threshold
for travel to fixed stop".

Once the "Fixed stop reached" state has been detected by the NC, the distance to go is
deleted and the axis switched to follow-up mode.
If the programmed end position is reached before the "Fixed stop reached" state is detected,
the alarm "Fixed stop not reached" is output.
The NC performs a block change, but leaves a setpoint applied to the drive actuator so that
the clamping torque is effective.
The clamping torque can be changed while "Fixed stop" is active via programming G222 axis
> P... or through a direct input in the SE data display "Travel to fixed stop".

12–244

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

12 Functional Descriptions
12.24.2 Functional description

Deselection
The NC detects that the function has been deselected through the programming of G220. In
this case, the interface signals "Travel to fixed stop active" and "Fixed stop reached" are
reset.
The axis switches to position control.
If a traversing motion is programmed in the deselection block, it must be noted that the end
position of the axis deviates slightly from the programmed position. The setpoint and actual
positions can be made to coincide through renewed programming of the axis.
Notes:
As soon the "Travel to fixed stop" function has been activated for an axis/spindle, the
axis/spindle can not be included in any interpolation grouping (2D/3D interpolation, ELG,
synchronous spindle, etc.) until the function has been deselected again.

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Spindles must be switched to C-axis mode before the function is selected; they are treated in
the same way as rotary axes by the NC.

12.24.3

CAUTION
The "Travel to fixed stop" function remains active even after RESET.
It is not deactivated on the drive side until an EMERGENCY STOP
command is issued. It must be ensured the no dangerous machine
situations can occur after the function has been deactivated by
EMERGENCY STOP.

Travel to fixed stop with analog drives

The following drive actuators can be used in conjunction with the "Travel to fixed stop"
function:
•

SIMODRIVE 611A feed drives for axes. No particular hardware or software versions of this
system are required in this case.

•

SIMODRIVE 611A MSD or SIMODRIVE 660 for spindles. Please note: It must be possible
to deactivate the actuator alarm F11 (Speed controller at limit) in these actuators.

12.24.4

Travel to fixed stop with fixed clamping torque
(torque limitation via terminal 96)

This function can be implemented for
•
•

axes in combination with the SIMODRIVE 611A drive actuator and for
spindles with actuators of type SIMODRIVE 611A MSD or SIMODRIVE 660.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–245

12 Functional Descriptions
12.24.4 Travel to fixed stop with fixed clamping torque (torque limitation via terminal 96)

12.24.4.1

12.93

SIMODRIVE 611A

In this system, a fixed current limitation is specified via a resistor circuit (or via R12) in the
drive actuator. This current limit is then addressed by the control via a PLC output (which acts
on terminal 96 of the actuator) as soon as the function is activated. It can thus be ensured that
a fixed clamping torque is available at the axis.
Setpoints can be input via terminals 56/14 or 24/20.
Hardware connections:

Simodrive 611A

NC

Drive

Iset

Actuator

14

M

T

aaa
aaa

Speed
setpoint

aaa
aaa

56

Current
controller
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa

Speed
Current
controller setpoint
limitation

aaaa
aaaa
aaaa

Position
actual
value

P

Iact
20
24

PLC
96

Sensor
(option)

Functional sequence with analog drives
The NC detects selection of function G221 (via G function or command channel) during block
processing and informs the PLC that the function has been selected via the interface signal
TRAVEL TO FIXED STOP ACTIVE.
The PLC must then activate the current limitation in the actuator (terminal 96) and transmit an
edge signal ACKNOWLEDGEMENT TRAVEL TO FIXED STOP ACTIVE to the NC.
The axis then approaches the target position at the programmed velocity.
As soon as the axis reaches the fixed stop, the following error increases. As a result of the
increase in the following error above the threshold set in NC MD 1280* or owing to the input
signal of a sensor (which is passed on to the PLC-NC interface), the control detects that the
fixed stop has been reached.

12–246

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

12 Functional Descriptions
12.24.4 Travel to fixed stop with fixed clamping torque (torque limitation via terminal 96)

The NC setpoint interface then outputs a voltage value according to the setting in NC MD
1144* Switchover current setpoint; however, the current limitation in the actuator becomes
operative as a result of the activation of terminal 96.
The NC outputs the interface signal FIXED STOP REACHED to the PLC.
The NC consequently deletes the remaining distance to go and switches the axis to follow-up
mode.
The PLC sends an edge signal ACKNOWLEDGEMENT FIXED STOP REACHED to the NC.
A block change is then performed. The current setpoint, and thus also the clamping torque,
remain applied.

12.24.4.2 SIMODRIVE 611A MSD or SIMODRIVE 660
With these systems, a torque limitation is entered in a free gear stage in the actuator. When
the function is selected, the PLC activates the free gear stage, thus making the torque
limitation operative. Setpoints must be input via terminals 56/14.
Hardware connections:
611A MSD, 660

NC

PLC
Outputs

Input

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

56
14

Speed
setpoint 1

24
8

Speed
setpoint 2

117
118
119

Gear
stage
changeover

E1 C-axis operation
E5 Torque-controlled
operation

Sensor signal
for "Fixed stop
reached"

6FC5197- AA50

1
2

8

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Measuring
circuit

Po 39
1st torque
limitation
.
.
.

optional

12–247

12 Functional Descriptions
12.24.4 Travel to fixed stop with fixed clamping torque (torque limitation via terminal 96)

12.93

Functional sequence
The control must switch the spindle to C-axis operation before the function is selected. It does
this by activating terminal E1 (C-axis operation) of the drive actuator.
The NC detects selection of function G221 (via G function or command channel) during block
processing and informs the PLC that the function has been selected via the interface signal
TRAVEL TO FIXED STOP ACTIVE.
The PLC then activates the free gear stage, in which the torque limitation is operative, via
terminals 117, 118 and 119 and outputs the interface signal ACKNOWLEDGEMENT TRAVEL
TO FIXED STOP ACTIVE to the NC.
The rotary axis then starts to traverse at the programmed velocity.
As soon as the C axis has reached the fixed stop, the following error increases. As a result of
the increase in the following error above the threshold set in NC MD 1280* or owing to the
input signal of a sensor (which is passed on to the PLC-NC interface), the control detects that
the fixed stop has been reached.
The NC setpoint interface then begins to output the current setpoint (NC MD 1144*).
The NC outputs the interface signal FIXED STOP REACHED to the PLC.
The PLC then activates terminal E5 of the actuator, thus effecting a switchover from speedcontrolled to torque-controlled operation. After a time period of > 80 ms, the PLC switches off
the torque limitation (by selecting the preceding gear stage).
In addition, the PLC also sends an edge signal ACKNOWLEDGEMENT FIXED STOP
REACHED to the NC.
The NC subsequently deletes the remaining distance to go and switches the axis to the ”travel
to fixed stop active” status.
The axis setpoint output now outputs the current setpoint in accordance with the specified
torque (SD 320*).
A block change is then performed. The current setpoint, and thus also the clamping torque,
remain applied.

12.24.5

Travel to fixed stop with programmable clamping torque
(switchover of drive actuator to current-controlled operation)

This function can be implemented for
•
•

axes in combination with the SIMODRIVE 611A drive actuator and for
spindles with actuators of type SIMODRIVE 611A MSD or SIMODRIVE 660.

12.24.5.1

SIMODRIVE 611A

In this case, the drive actuator is switched to current-controlled operation by the PLC as soon
as the fixed stop is reached. When terminal 22 is activated, the voltage level applied to
terminals 20/24 is no longer applied as the speed setpoint, but as the current setpoint. In this
way, a variable clamping torque can be specified.
Setpoints must be input via terminals 24/20.

12–248

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

12.93

12 Functional Descriptions
12.24.5 Travel to fixed stop with programmable clamping torque

Hardware connections:

NC

Speed
setpoint

Speed
controller

Current
setpoint
limitation

Current
controller

aaaa
aaaa

M

aaaa
aaaa
aaaa

Actuator

14
24

aaa
aaa
aaa

56
aaaaaa
aaaaaa
aaaaaa
aaaaaa
aaaaaa
aaaaaa
aaaaaa

Position
actual
value

T

P

Iact

PLC

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa

20

22 Changeover
sp./curr.

96

Sensor
(optional)

Functional sequence
The NC detects selection of function G221 (via G function or command channel) during block
processing and informs the PLC that the function has been selected via the interface signal
TRAVEL TO FIXED STOP ACTIVE.
The PLC must then activate the current limitation in the actuator (terminal 96) and transmit an
edge signal ACKNOWLEDGEMENT TRAVEL TO FIXED STOP ACTIVE to the NC.
The axis then approaches the target position at the programmed velocity.
As soon as the axis reaches the fixed stop, the following error increases. As a result of the
increase in the following error above the threshold set in NC MD 1280* or owing to the input
signal of a sensor (which is passed on to the PLC-NC interface), the control detects that the
fixed stop has been reached.
The NC setpoint interface then begins to output the current setpoint defined in NC MD 1144*.
The NC outputs the interface signal FIXED STOP REACHED to the PLC.
The PLC then activates terminal 22 of the actuator, thus effecting a switchover from speedcontrolled to current-controlled operation. After a time period of > 10 ms, the PLC switches off
the current limitation (terminal 96). In addition, the PLC also sends an edge signal
ACKNOWLEDGEMENT FIXED STOP REACHED to the NC.
The NC subsequently deletes the remaining distance to go and switches the axis to follow-up
mode.
The axis setpoint output now outputs the current setpoint in accordance with the specified
torque (SD 320*).
A block change is then performed. The current setpoint, and thus also the clamping torque,
remain applied.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–249

12 Functional Descriptions
12.24.5 Travel to fixed stop with programmable clamping torque

12.24.5.2

12.93

SIMODRIVE 611A MSD or SIMODRIVE 660

With these systems, the drive is switched over from torque-limited operation to torquecontrolled operation after the fixed stop is reached. In this way, a torque of any desired value
(0.1 to 99.9% of max. torque) can be specified via the setpoint interface.
Setpoints must be input via terminals 56/14.
Hardware connections:
611 MSD, 660

NC

PLC

56
14

Speed
setpoint 1

24
8

Speed
setpoint 2

117
118
119

Gear stage
changeover

E1 C-axis operation

Outputs

E1 Torque-controlled
operation

Input

Sensor signal for
"Fixed stop reached"
(optional)

1
2

8

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Measuring
circuit

Po 39
1st torque
limitation
.
.
.

Functional sequence
The control must switch the spindle to C-axis operation before the function is selected. It does
this by activating terminal E1 (C-axis operation) of the drive actuator.
The NC detects selection of function G221 (via G function or command channel) during block
processing and informs the PLC that the function has been selected via the interface signal
TRAVEL TO FIXED STOP ACTIVE.
The PLC then activates the free gear stage, in which the torque limitation is operative, via
terminals 117, 118 and 119 and outputs the interface signal ACKNOWLEDGEMENT TRAVEL
TO FIXED STOP ACTIVE to the NC.
The rotary axis then starts to traverse at the programmed velocity.
As soon as the C axis has reached the fixed stop, the following error increases. As a result of
the increase in the following error above the threshold set in NC MD 1280* or owing to the
input signal of a sensor (which is passed on to the PLC-NC interface), the control detects that
the fixed stop has been reached.

12–250

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12.93

12 Functional Descriptions
12.24.5 Travel to fixed stop with programmable clamping torque

The NC setpoint interface then begins to output the current setpoint defined in NC MD 1144*.
The NC outputs the interface signal FIXED STOP REACHED to the PLC.
The PLC then activates terminal E5 of the actuator, thus effecting a switchover from speedcontrolled to torque-controlled operation. After a time period of > 80 ms, the PLC switches off
the torque limitation (by selecting the preceding gear stage). In addition, the PLC also sends
an edge signal ACKNOWLEDGEMENT FIXED STOP REACHED to the NC.
The NC subsequently deletes the remaining distance to go and switches the C-axis to followup mode.
The C-axis setpoint output now outputs the current setpoint in accordance with the specified
torque (SD 320*).
A block change is then performed. The current setpoint, and thus also the clamping torque,
remain applied.

12.24.6

Deselection of the function

The NC detects that the function has been deselected on the basis of G220 and inputs a "0"
current setpoint, i.e. it no longer specifies a clamping torque.
It resets the interface signals TRAVEL TO FIXED STOP ACTIVE and FIXED STOP REACHED,
cancels follow-up mode and the read-in enable command.
The PLC must then switch the drive to speed-controlled operation. In addition, any current
limitation which may still be applied must be deactivated (terminal 96 with SIMODRIVE 611A,
gear stage selection with SIMODRIVE 611A MSD or 660).
If a traversing motion is programmed in the deselection block, then the motion will be
executed.
The NC issues the read-in enable command again and performs a block change.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.24.7 Diagrams for selection/deselection of travel to fixed stop

12.93

12.24.7

Diagrams for selection/deselection of travel to fixed stop

12.24.7.1

Selection of travel to fixed stop (fixed stop is reached)
ANALOG
Travel to fixed stop selection

(Fixed stop is reached)

G221 select
block

1

NFAFAKT
VIL --> PLC

2

PLCOUT 96
PLC --> drive

3

QFAFAKT
VIL <-- PLC

4

FANSCHLAG
Servo --> PLC

5

NFFESTANER
VIL --> PLC

6

Speed setpoint
VIL --> Servo

7

8

PLCOUT_22
current-contr. operation

9

Distance-to-go

10

Speed-controlled
operation

11

Block change

12

13

acc. to term. 96

Curr. setpoint = clamping torque

15

VRED_FFA

12–252

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DAC

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12.93

12.24.7.2

12 Functional Descriptions
12.24.7 Diagrams for selection/deselection of travel to fixed stop

Selection of travel to fixed stop (fixed stop is not reached)
Timing of travel to fixed stop selection
1

NFAFAKT
VIL --> PLC

2

PLCOUT 96

3

QFAFAKT

4

FANSCHLAG

5

NFFESTANER

6

Speed setpoint

7

PLCOUT_22

8

QFFESTANER

9

Distance-to-go

10
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G221 select
block

Target position

Speed-controlled
operation

11

Block change

12

Current setpoint
VIL --> Servo

13

14

Current setpoint
DAC

15

VRED_FFA

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.24.7 Diagrams for selection/deselection of travel to fixed stop

12.24.7.3

12.93

Deselection of travel to fixed stop
Timing of travel to fixed stop deselection

G220

1

VRED_FFA
VIL --> Servo

15

Current setpoint
VIL --> Servo

13

Current setpoint
DAC

14

NFAFAKT

2

NFFESTANER

6

Speed-controlled
operation

11

Axis compensation
servo --> block
preparation

17

Speed setpoint

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Block change

7
Path in deselection
block optional

12

PLCOUT_96

3

PLCOUT_22

8

18

QFESTANER

12–254

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12.93

12 Functional Descriptions
12.24.7 Diagrams for selection/deselection of travel to fixed stop

12.24.7.4

Meaning of signals

1.

G220

Deselection block for travel to fixed stop

1.

G221

Selection block for travel to fixed stop

2.

NFAFAKT

Interface signal "Travel to fixed stop" active

3.

PLCOUT 96

PLC output which is connected to term. 96 (611 FD) or
gear stage changeover (611 MSD, 660). The MSD have
1-3 terminals available for gear stage changeover.

4.

QFAFAKT

PLC acknowledgement for the interface signal "Travel to
fixed stop active"

5.

FANSCHLAG

Servo signal to VIL: "Fixed stop reached".

6.

NFESTANER

Interface signal "Fixed stop reached

7.

Speed setpoint

8.

PLCOUT 22

PLC output for switchover to current-controlled operation.
This output is connected to term. 22 (611).

9.

QFESTANER

PLC acknowledgement for interface signal "Fixed stop
reached"

10.

Distance-to-go

Initiation of deletion of distance-to-go

11.

Speed-controlled
operation

Separate position control loop and switch the axis
internally to follow-up mode (principle of operation as for
spindle mode).

12.

Block change

A block change is initiated on termination of "Travel to
fixed stop" function.

13.

Current setpoint

Current setpoint transfer between VIL and servo

14.

Current setpoint DAC

Current setpoint output via measuring circuit

15.

VRED_FFA

The "Travel to fixed stop active" signal informs the servo
that "Travel to fixed stop" is active

16.

S_FANSCHLAG

Sensor signal "Fixed stop reached" from VIL: to servo

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–255

12 Functional Descriptions
12.24.7 Diagrams for selection/deselection of travel to fixed stop

12.24.7.5

12.93

Travel to fixed stop with digital drives
(SIMODRIVE 611D MSD/FDD)

The functional sequence for digital drives is basically the same as that for analog drives.
However, digital drives do not have external terminal wiring or any resistor circuitry in the drive.
The handling of PLC signals is also simpler in digital drive systems.
Functional sequence
The NC detects selection of function G221 (via G function or command channel) during block
processing and informs the PLC that the function has been selected via the interface signal
TRAVEL TO FIXED STOP ACTIVE. At the same time, the current limitation is activated at a
value corresponding to that set in NC MD 1144* (switchover current setpoint).
The axis then approaches the target position at the programmed velocity.
As soon as the axis has reached the fixed stop, the following error increases. As a result of
the increase in the following error above the threshold set in NC MD 1280* or owing to the
input signal of a sensor (which is passed on to the PLC-NC interface), the control detects that
the fixed stop has been reached.
The NC setpoint interface then specifies a clamping torque according to the programmed (P...)
or the value set in SD 320*.
The NC outputs the interface signal FIXED STOP REACHED to the PLC.
The NC subsequently deletes the remaining distance-to-go and switches the axis to the ”travel
to fixed stop active” status.
A block change is then performed. The current setpoint, and thus also the clamping torque,
remain applied.
Note:
Spindles must be switched to C-axis mode before the travel to fixed stop function is selected.

12–256

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12.93

SINUMERIK 840C (IA)

12 Functional Descriptions
12.24.7 Diagrams for selection/deselection of travel to fixed stop

Diagram of 611D

MD
1280*

Following error
0

P value
SD 320

MD
1144*

Motor current

0

G221

Travel to fixed stop active

Fixed stop
reached

Block change

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

12–257

12 Functional Descriptions
12.25 Flexible memory configuration (SW 4 and higher)

12.25

Flexible memory configuration (SW 4 and higher)

12.25.1

Corresponding data

04.96

Machine data
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•

NC MD
NC MD
NC MD
NC MD
NC MD
NC MD
NC MD
NC MD
NC MD
NC MD
NC MD
NC MD
NC MD
NC MD

60000
60001
60002
60003
60004
60005
60006
60007
60008
60009
60010
60011
6100*
6200*

Size of UMS memory
Size of part program memory
Number of IKA points
Memory for drive software for MSD
Memory for drive software for FDD
Number of tools
Number of TO parameters per tool
Number of channel-specific R parameters
Number of central R parameters
Unassigned residual memory, D-RAM
Unassigned residual memory, S-RAM
NC module memory configuration
Number of block buffers in block memory in channels 1 to 6
Number of axis-specific measured values for the "Extended measurement"
function
NC MD 60013 Memory for real axes (as from SW 5)
NC MD 61020 Memory for ”Extended overstore” (as from SW 5)
to 61025

General
The "Flexible memory configuration" function allows the user to influence the memory page
allocation for:
•

User data
–
–
–
–
–
–
–

•

Part program data
UMS data
IKA data
R parameters
TO data
Data for real axes
Data for extended overstore

Drive software
In the case of analog drive systems, the memory space reserved for digital drive software
can be used to store user data.

•

Number of axis-specific measured values:
For the "Extended measurement" function.

•

Number of block buffers in block memory:
Depending on the capacity utilization of individual channels, it is possible to define on a
channel-specific basis the maximum permissible number of part program blocks which may
be pre-decoded during processing.

12–258

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04.96

12 Functional Descriptions
12.25.1 Corresponding data

With the new functionality of the flexible memory configuration, the user is now in a position to
configure the memory such that it is ideally suited to the field of application of his machine
tool; this functionality is available for every HW variant of the NC-CPU. The following
characteristics can be optionally defined:
•
•
•
•
•
•

Part program memory > 1 MB
UMS memory > 512 KB
Number of IKA points > 16000
Number of measured values (axis-specific) > 0
Memory for real axes
Memory for extended overstore.

Furthermore, when the customer upgrades his system by replacing the 386 NC-CPU module
with a 486 SW NC-CPU module (which must feature an integrated 611D connection if he
wishes to connect a digital drive), he can decide whether he needs memory space for the
drive software. If he does not intend to connect a digital drive, this memory space can be
utilized for user data.
The same degree of freedom applies to the number of tools and R parameters to be used, i.e.
customers who require fewer tools, but use a large number of R parameters (or vice versa),
can determine the amount of memory space required for these data to suit his particular
application.
When NC machine tools are used, one or two channels are often used as machining channels
while the remaining channels are used "only" for auxiliary functions. By increasing the number
of block buffers in the block memory in the machining channels, it is possible to make these
channels "faster", i.e. it is possible to set the number of part program blocks which can be
pre-decoded during processing of a long traversing block. These pre-decoded blocks can then
be inserted in the processing sequence in the IPO cycle if required.

12.25.2

System features, boundary conditions

Compatibility
1024 KB = 1 MB (NC module with 4 MB memory) or 3072 KB = 3 MB (with 8 MB memory
configuration) are available for the data of the UMS, IKA, part programs and drive and for the
measured-value data. In addition to this storage, approximately 40 KB of memory are available
for the block buffers which are stored on a channel-specific basis, i.e. an additional 240 KB
memory capacity. Approximately 1/5 MB of memory is available for configuration purposes.
The drive software for digital drives occupies a total of 388 KB (194 KB for MSD and 194 KB
for FDD).
Users with a SINUMERIK 840C and SW version 1-3 who utilize the maximum data quantities
for the UMS, part program and IKA data and thus require a total of 1.75 MB (1 MB part
program data , 512 KB UMS data and 256 KB IKA data), must take into account that the
memory capacity is restricted to 1 MB in the case of NC modules with 4 MB storage.
When the software is upgraded from SW version 4 to the next higher version, it may be
impossible to transfer the "old" NCMEMCFG data. If, for example, the size of a block buffer
has increased and the total memory capacity available with the old SW version has been used
up, then the memory space available would no longer be sufficient. In this case, the only
possible solution is to reduce the user data area (e.g. decrease part program memory).
MD 13 (= number of TO parameters) has the same meaning as MD 60006. To ensure that
these MDs remain consistent, the contents of MD 60006 is copied over into MD 13 of the
NCK during control power-up. In this way, it can be ensured, for example, that cycles which
may evaluate MD 13 are processed correctly.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.25.3 Functional description

12.25.3

04.96

Functional description

Assignment of data to memory areas
The data are stored partly in the static RAM and partly in the dynamic RAM. Now that the
"Flexible memory configuration" function has been introduced, the assignment of data to
SRAM/DRAM memory space is as follows:
Data type

Memory area

•
•
•
•
•
•
•
•

UMS data
Part programs
IKA data
Measured value data
Drive SW
Block buffers
Real axes
Extended overstore

•
•

R parameters
TO data

12.25.4

DRAM with approx. 1/5 MB

SRAM with 64 KB

Memory configuration on control power-up

The memory is configured when:
•
•
•

Control is switched off
Forced booting of NCK
Selection of "Reconfig. memory" SK in MDD!

The memory configuration data are stored in a similar way, for example, to the ASM file, on
the disk in the Siemens or user branch in directory NC/data in the TEA1 file NCMEMCFG.
The data are stored in punch tape format in the same way as, for example, the standard MDs.
N60000 = 64*)
N60001 = 176*)
N60002 = 4000
N60003 = 0
N60004 = 0
N60005 = 819
N60006 = 10
N60007 = 700
N60008 = 600
N60009 = 0
N60010 = 0
N60011 = 0
N60013 = 15

N61000 = 23
N61001 = 23
N61002 = 23
N61003 = 23
N61004 = 23
N61005 = 23
N61020 = 1
N61021 = 1
N61022 = 0
to61025

N62000 = 0
N62001 = 0
N62002 = 0
N62003 = 0
:
:
:
N62028 = 0
N62029 = 0

The default setting of MD 60009 to 60011 is zero because it is not possible to make allowance
for the memory configuration of the various NC modules in this case.
The Siemens values for the memory configuration allow for the size of the Siemens ASM file
and define a standard memory configuration which is based on the NC module with 4MB
storage capacity and assumes that no digital drives are connected:
_______
*)

MD 60000 and 60001 are weighted by the factor 4 KB (= 4096). Internal values of 64 and 176 therefore
correspond to 256 KB and 704 KB respectively.

12–260

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04.96

12 Functional Descriptions
12.25.4 Memory configuration on control power-up

DRAM:
704 KB
64 KB
256 KB
approx. 40 KB

=

for part program memory
for IKA data (corresponds to 4000 IKA points)
for UMS
for block buffers for one channel (corresponds to 23 block buffers per
channel)
for buffering of measured values (new "Extended measurement"
function)
for extended overstore in 2 channels
for drive SW (MSD)
for drive SW (FDD)
for additional real axes
Total memory requirements

=

for R parameters (corresponds to 700 channel-spec. and 600 central R
parameters)
for TO data (corresponds to 819 tools with 10 parameters)
Total memory requirements

0 KB
approx.100 KB
0 KB
0 KB
0 KB
1364 KB
SRAM:
19 KB
32 KB
51 KB

The values entered in the Siemens NCMEMCFG file guarantee that the control starts during
the initial start-up phase and can be operated.
If a 386 NC-CPU module is replaced by a 486 SX NC-CPU module, it is advisable to use the
same memory configuration in the new module.
The initial start-up procedure is as follows:
The rotary switch on the CSB module is set to start-up position and the control switched on.
The control reaches cyclic operation within the start-up mode. The data contained in file
NCMEMCFG are transferred to the NC-MD during power-up.
The currently valid memory configuration can now be examined in an MDD display. This
display is selected by means of softkeys Data area/Start-up/Machine data/NC-MD/ETC
key/Memory configuration. The user data can be displayed in the appropriate memory areas
by means of softkeys DRAM data or SRAM data. "Online" data can be read, but not written.
If an attempt is made to change online data, the message "No input authorization" is output.

© Siemens AG 1992 All Rights Reserved
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Edit

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Program.

Type

Services

Length

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NCMEMCFG

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Name

aaaaaaaaa
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aaaaaaaaa

Parameter

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Machine

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12 Functional Descriptions
12.25.4 Memory configuration on control power-up
08.96

The user can now configure the NC memory according to his requirements by following the
procedure described below:

Select softkey "File functions" to call display 1:
Diagnosis

04:45

Start-up/Machine data/Standard data
Type

TEA1

TEA1

Start-up/Machine data/Standard data

Date

Preset

Fig. 1

Select softkey "Preset" to copy file NCMEMCFG over into the user data area (file name
remains unchanged!).

By selecting softkey "Edit", you can now call the NCMEMCFG file in the user area in order to
edit it and to change the configuration values according to your requirements. Changes may
only be made in General reset mode. By selecting the edit function, you call displays 2, 3
and 4.

The MDD performs a plausibility check on the entered data. If a value which is lower/higher
than the minimum/maximum permissible limit is entered, the error message "Values only
from ... to ..." is output.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

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aa
aa

DRAM
data

•
•

SINUMERIK 840C (IA)

Number of block buffers per channel
61000
Channel 1
61001
Channel 2
61002
Channel 3
61003
Channel 4
61004
Channel 5
61005
Channel 6
Free remaining memory - DRAM data:
Free remaining memory - SRAM data:

© Siemens AG 1992 All Rights Reserved

General configuration
60000
Size of UMS memory
60001
Size of part program memory
60002
Number of IKA points
60003
Load MSD drive software
60004
Load FDD drive software
60014
Memory for MSD/FDD drive software
60013
Number of real axes

SRAM
data

6FC5197- AA50

256 KB
704 KB
200
yes
yes
384 kB
15

23
23
23
23
23
23
29 772 bytes
13 552 bytes

at 16 B
0 KB
0 KB

16 KB

at 1588 B
at 1588 B
at 1588 B
at 1588 B
at 1588 B
at 1588 B

Reconfig.
memory

aaaaa
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DRAM memory configuration
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Services

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Program.

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Parameter

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Machine

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aaaaaaaaaaaaaaaa

07.97
12 Functional Descriptions
12.25.4 Memory configuration on control power-up

Diagnosis

Start-up/Machine data/NC MD/Memory configuration
ncmemcfg

Find

Copy
spindle
Insert
spindle
Copy
axis

Insert
axis

File
functions

Fig. 2

To ensure that this plausibility check works, the MDD fetches various information such as
memory requirements for one block buffer (may vary depending on SW version installed)
size of configurable DRAM memory, etc.

from the NC when display 2 is selected.

This information is required in order to calculate the free remaining memory and to monitor the
values entered in displays 2, 3 and 4.

12–263

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DRAM
data

12–264
Axis 29
Axis 30

Parameter

SRAM
data
0
0

Free remaining memory - DRAM data:
Free remaining memory - SRAM data:

SRAM
data

Program.

Free remaining memory - DRAM data:
Free remaining memory - SRAM data:
Services

General data II
60005
Number of tools
60006
Number of parameters per tool
60007
No. of chan.-specific R parameters
60008
Number central R parameters

819
10
700
600

at 4 B
at 4 B

0 bytes

Reconfig.
memory

SRAM memory configuration

at 4 B
at 4 B
at 4 B
at 4 B

29 772 bytes
13 552 bytes

Changes of the SRAM memory configuration require execution of
"Format user data"!

Reconfig.
memory

© Siemens AG 1992 All Rights Reserved

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:
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at 4 B
at 4 B
at 4 B
at 4 B

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DRAM memory configuration

aaaa
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:
:
:
:

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Machine
0
0
0
0

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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaa

Number of meas. value buffers
62000
Axis 1
62001
Axis 2
62002
Axis 3
62003
Axis 4

aaaa
aaaa
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aaaaaaa

DRAM
data

aaaa
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Services

aaaa
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62028
62029

Program.

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:
:
:
:

Parameter

aaaa
aaaa
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aaaa
aaaa

aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaa
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Machine

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12 Functional Descriptions
12.25.4 Memory configuration on control power-up
07.97

Diagnosis

Start-up/machine data/NC MD/memory configuration
ncmemcfg

Find

File
functions

Fig. 3

Diagnosis

Start-up/machine data/NC MD/memory configuration

ncmemcfg

Find

Note:

File
functions

Fig. 4

SINUMERIK 840C (IA)

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07.97

12 Functional Descriptions
12.25.4 Memory configuration on control power-up

The set configuration is activated through selection of softkey "Reconfig. memory". The
activation command is rejected if
•

the NC is not in general reset mode. In this case, the dialog box "Only possible in reset"
appears which is acknowledged with "ok". The user can switch to general reset mode and
select softkey "Reconfig. memory" again (the set data are not lost when the user
switches to general reset mode).

•

the set configuration would require more memory than is actually available. The dialog box
"Insufficient memory space" then appears which is acknowledged with "ok". The user
can correct his memory configuration.

The softkey "Reconfig. memory" initiates an NCK reset and the NCK system program and, in
some cases, the customer UMS are re-booted. If it is detected that the memory required
exceeds the actual memory available (in particular, when the real size of the UMS is taken into
account) when the MD are checked again, then no UMS boot operation takes place and the
dialog box "UMS too large UMS not loaded" is displayed.
The NC updates the "online" machine data 60009, 60010, and 60011 at this point in time.
If the number of R parameters or TO parameters has been changed, then "Format user
data" must be executed in general reset mode.
If the user does not wish a UMS load operation, then he must set MD 60000 to zero. The
entry "UMS 512" in the file "Master control/Config." has no meaning with SW version 4 and
higher.
NC machine data:
MD 60009 to 60011 are not evaluated by the NC and are used only for display purposes.
The machine data in the "Start-up/Data" directory can be read out as usual via the computer
link or V24 or read in to the control. When the user reads in the new MD, however, he must
remember that these MD, which can also be examined online with the aid of MDD, need not
necessarily have anything to do with the actual memory configuration. The memory
configuration is determined solely by the file NCMEMCFG on the disk.
The file NCMEMCFG can be read in and out via the V24 by means of the MMC services. By
selecting the softkey sequence Services/Data output, the user can call the display in which
all accessible directories are displayed. He can then call the NC/DATA directory by moving the
cursor and selecting the input key. This directory contains the NCMEMCFG file.
Loading the drive SW up to SW 5:
The default setting of "0" for MD 60003 and 60004 means that no memory capacity is
reserved for the drive SW during initial start-up after the system has been upgraded with
SW 4. When digital drives are started up, however, memory space must be reserved explicitly
for the drive software.
A default setting of "0" offers the following advantages when the system is upgraded:
•

If a module with 386 CPU is installed, then the user does not need to change the MD
mentioned above. With a default setting of "1", the user would be forced to reconfigure
the memory.

•

If a module with 486 CPU is installed, but no digital drives connected, then the MD
mentioned above remain unchanged.

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12 Functional Descriptions
12.25.4 Memory configuration on control power-up

•

07.97

If a module with 486 CPU is installed and digital drives are connected, the MD mentioned
above must be set to "1".

Loading the drive software as from SW 6
General notes:
Up to SW 5 the drive software (MSD and FDD) is loaded from the MMC hard disk into the
NCK user memory in its entirety while the control powers up and is then transferred to the
drive when the drive powers up. For this, the use must make 192 Kbytes of NCK memory
available per package.
As from SW 6 this memory is not large enough for the drive software. There are two ways of
loading the drive software.
1. Increase the size of the NCK user memory for MSD/FDD
Advantage:
Fast loading of the drive software
Disadvantage:
Larger user memory requirement
2. Retroload the drive software from the hard disk in packages
Advantage:
No additional user memory requirement
Disadvantage:
Longer power-up times
The available memory is set via NC-MD 60016. The drive software memory requirement can
be increased from 288 Kbytes to 384 Kbytes for more recent software versions. If less
memory is made available than is needed for the drive software, the missing software is
retroloaded from the hard disk, thus increasing the time which the control takes to power up.

No.

Number of drive
packages

Memory required

Corr. to
MD 60014

Power-up time
increased

1

1 (MSD or FDD)

192 K

2

yes

2

1 (MSD or FDD)

288 K

3

no

3

2 (MSD or FDD)

192 K

2

yes, considerably

4

2 (MSD or FDD)

384 K

4

yes

5

2 (MSD or FDD)

576 K

6

no

Lines 1 and 4 give settings that are compatible with 840C SW 3 and 5. They result in a (slight)
increase in the power-up time without requiring more user memory.
Lines 2 and 5 show the recommended settings for 840C SW 6. Here, more user memory is
required but power-up is quickest with these settings.
Line 3 shows a setting that requires less user memory than SW 3-5. However, here the powerup time of the control has increased considerably.

12–266

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10.94

12 Functional Descriptions
12.25.4 Memory configuration on control power-up

Loading the UMS
Now that the "Flexible memory configuration" function has been introduced, the user can
prevent loading of the UMS by setting NC-MD 60000 in file NCMEMCFG to zero.
With previous SW versions, the UMS analysis is initiated after UMS loading; this analysis
function outputs alarm 91 "ID number in UMS header incorrect" if it detects an error in the
UMS. This check function is not performed if UMS loading has been disabled (MD 60000 =
0). There are two causes of errors which may be detected in the UMS header:
•

A faulty UMS has been loaded.

•

The user intended to load a UMS (MD 60000 not equal to zero), but the memory reserved
for this purpose is smaller than the UMS to be loaded. In such cases, no UMS loading
takes place (zeros are set in the memory).

The alarm text "ID number in UMS header incorrect" is changed to "UMS not valid" so
that it is applicable to both these different error causes.
Restriction relating to R parameters
Channel-specific R parameters must be assigned numbers within the range used to date
[0.699] for compatibility reasons which means that there cannot be more than 700 channelspecific R parameters. However, a smaller number of these parameters can be selected. This
restriction does not apply to central R parameters (number range used to date [700, 1299]). It
is permissible to program more than 1299 central R parameters.
However, if the selected number of R parameters is lower than the default setting (700
channel-specific and 600 central R parameters) or if the R parameter setting is set to zero, the
Siemens standard cycles cannot be processed (see Programming Guide).
With this increase in the number of central R parameters, these new R parameters can be
used in part programs (e.g. X = R3000). If the same part program is processed on another
control which has a different configuration of the R parameter memory and does not contain
this R3000 parameter, processing of the part program is interrupted and the alarm "General
programming error" output.
Block buffer
The selected number of block buffers determines the maximum number of part program blocks
which can be pre-decoded during processing. This number may have a direct effect on the
block change times. In the case of part programs with a large number of blocks and short axis
traversing paths (and high feedrate), it is meaningful to set a large number of block buffers. In
contrast, it is not meaningful to select a large number of block buffers for part programs with
long axis traversing paths (and low feedrate), particularly as timing problems relating to
"Refresh" occur when a large number of block buffers is programmed. Refresh of a block
buffer takes approximately 2 ms with the NC module with 80386 CPU 20 MHz and the
standard M configuration. The entire SSV is refreshed when single blocks are processed, i.e.
when 600 block buffers are programmed, there is a 1.2 second delay before the next single
block can be processed.
When a SINUMERIK 840C system or a SW upgrade is purchased, the number of channels for
a specific machine tool has already been decided, i.e. this is the maximum number of channels
which can be used on this machine tool. At least 21 block buffers must be reserved for each
of these channels. The Siemens configuration file NCMEMCFG works on the assumption that
all 6 channels will be activated, i.e. that 23 block buffers are assigned to each of the 6
channels. The user can set the number of block buffers for unused channels to zero and thus
gain approximately 76 KB memory for each channel.

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12 Functional Descriptions
12.25.4 Memory configuration on control power-up

08.96

However, the block buffer number may be set to zero only for those channels which will never
be activated for the machine tool in question. It is not possible for the NC-SW to perform a
check during power-up of the number of defined channels or of the number of block buffers
defined in these channels by the user since a valid MD block may not be available at the time
the test is carried out.
However, if an existing channel (MD 100*) is programmed as having 0 block buffers, alarm 50
"Not enough memory for block buffer" (as from SW 5: Error in flexible memory
configuration) is output during power-up on transition to cyclic operation.
Extended overstore
As from SW5.5, the function "Extended overstore" is enabled in the "Flexible memory
configuration". The file can be edited via the MDD menu tree Startup/Machine data/NC
machine data/ETC/flex. memory conf.
The function can be switched on or off in the channel-specific toggle field "Data for extended
overstore". No memory is reserved, if the function is switched over for a channel, for which no
block buffers have been defined.
As a default, the function is switched on for channels 1 and 2 and switched off for channels 3
to 6.
Memory for real axes
If the user defines more than 15 axes (default value), the system reserves a memory space of
approx. 16 KB per axis. The memory is enabled via the machine data "Memory for real axes"
(MD 60013), which is stored in the "ncmemcfg" file. This file can be edited via the MDD menu
tree Machine data/NC machine data/ETC/flex. memory conf. If the user has defined more
real axes than memory is available, alarm 71 is displayed. The number of axes, for which
memory is available, is indicated ot the SERVO on transmission of the axis-independent data.
Dialog box messages
Description of error reactions
Errors which are indicated by MMC:
•

Dialog box "Standard memory configuration error in configuration file" is output if the
NC detects that the memory cannot be configured with the values entered in the memory
configuration MD.

•

Dialog box "UMS too large UMS not loaded" is output if the user attempts to load a
UMS (MD 60000 not set to zero) which is too large for the memory space available (i.e.
value in MD 60000 is lower than actual UMS size).

•

Dialog box "Only possible in reset" is output if an attempt is made to reconfigure the NC
memory by means of softkey "Reconfig. memory" when the NC is not in general reset
mode.

•

Dialog box "Insufficient memory space" is output if softkey "Reconfig. memory" is
selected and the free remaining memory is negative.

•

Dialog text "Values only from ... to ..." is output in the MDD display if an attempt is made
to enter a value which is not within the permissible [minimum, maximum] value range.

•

Dialog text "No input authorization" appears in the MDD display it an attempt is made to
change machine data in file NCMEMCFG in the Siemens branch or online.

12–268

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04.96

•

12 Functional Descriptions
12.26 BERO interface (SW 4 and higher)

For switched-off channels, the interactive message "No memory available for function"
is output for the number of "Extended overstore". Selection from PLC is rejected with the
error number 144.

12.26 BERO interface (SW 4 and higher)
BERO encoders can now be connected to the 611D and to the PCA measuring circuit. The
user can select in machine data which signal is to act as the trigger for zero mark
synchronization.
Axis:
MD 1820*, bit 2
MD 1820*, bit 4

"Ext. zero mark 1st MS"
"Ext. zero mark 2nd MS"

Spindle:
MD 522*, bit 0

"Ext. zero mark"

The actual value system is updated in response to the switching edge of the BERO signal. The
switching edge depends on the rotation of direction of the encoder:
Position direction of rotation: Positive switching edge
Negative direction of rotation: Negative switching edge
The following have been introduced to provide switching hysteresis compensation:
MD 3096* - 3124* "Zero mark compensation positive" (axis),
MD 2416* - 2433* "Zero mark compensation positive" (spindle) and
MD 3128* - 3156* "Zero mark compensation negative" (axis),
MD 2434* - 2441* "Zero mark compensation negative" (spindle).
These MD are stored in the parameter set group "Ratios", i.e. they can be set per gear speed.
They are activated only when the extended parameter set switchover function is selected.
No check is performed to ascertain whether the external hardware (BERO and cabling)
required for external zero mark hardware is present or operational (e.g. open cable).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.27 Parameter set switchover

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Parameter set switchover

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12.27

10.94

The Parameter set switchover function
is as option (SW 4 and higher).

The parameter set switchover function allows parameters of various NC control areas (position
control, actual value detection) or of the drive to be switched over simultaneously and with
minimum delay.

12.27.1

Parameter set switchover (up to SW 3)

Axis parameter sets (NCK/SERVO)
Two parameter sets (PaSe) are available for the position control area in feed axes.
Axis parameter
1stPaSe 2ndPaSe

Parameter
Servo gain factor

MD
252* 1320*

Feed forward control factor

312*

1260*

Time const. symm. filter

392*

1324*

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The switchover is executed implicitly when G functions for thread functions (G33, G34, G35,
G36, G63) are selected. There is no way in which the user can directly initiate the switchover
process.
Part program

1

2

SERVO

NCK
axis

PLC

Actual parameter set

SERVO
axis

parameter set

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"Thread"

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Nxx G

Setpoint parameter set
DB 29, DR K+122, bit 0-2

DB 29, DR K+120, bit 0-2

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611D FDD

Actual parameter set

Drive
parameter set

Gear stages/parameter set switchover for axes with 840 C and SW 3

12–270

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10.94

12 Functional Descriptions
12.27.1 Parameter set switchover (up to SW 3)

Spindle parameter sets (NCK/SERVO)
8 parameter sets have been provided to date for spindles. A mechanical gear stage is
generally linked to these parameter sets, but is not a mandatory requirement.
Gear-stage-depend. parameters

Effective in: SERVO /
NCK

1stPaSe 2ndPaSe 3rdPaSe 4thPaSe 5thPaSe 6thPaSe 7thPaSe 8thPaSe

Parameter

MD

Maximum speed

403*

404*

405*

406*

407*

408*

409*

410*

Minimum speed

411*

412*

413*

414*

415*

416*

417*

418*

Accel. time pos. const.
w/o position controller

419*

420*

421*

422*

423*

424*

425*

426*

Creep speed

427*

428*

429*

430*

431*

432*

433*

434*

Servo gain factor

435*

436*

437*

438*

439*

440*

441*

442*

Accel. time pos. const.
with position controller

478*

479*

480*

481*

482*

483*

484*

485*

(PaSe=parameter set)

The switchover is implemented by means of the "Actual gear stage" control bits in the
cyclical, spindle-specific PLC interface (DB 31, DR K + 1, bits 0 - 2), i.e. the user can directly
select the active parameters via the PLC program.
In addition, the user also has an automatic gear stage selection function at his disposal which
works in the following way:
Speed ranges are defined by means of MD 403* - 410* and MD 411* - 418*. When a speed is
programmed by means of an S value, a setpoint gear stage (SGS) is output to the PLC which
is capable of evaluating it. After execution of the gear change, the setpoint gear stage can be
acknowledged through setting of the actual gear stage (AGS) and cancellation of the "Change
gear" signal (DB 31, DR K, bit 7).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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04.96

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12 Functional Descriptions
12.27.1 Parameter set switchover (up to SW 3)

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Part program

a)

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Setpoint gear stage

b)

PLC

DB 31, DR K+0, bit 0-2

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M43
M3 S1000

b)

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DB 31, DR K+1, bit 0-2

Actual gear stage

NCK

NCK
Spindle
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parameter set

Actual gear stage

SERVO
Spindle

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SERVO
parameter set

Setpoint parameter set

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DB 31, DR K+74, bit 0-2
MD 522*, bit 4

Drive
parameter set

DB 31, DR K+72, bit 0-2

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611D MSD

Actual parameter set

a)

Spindle gear stage selection through user M function to PLC (M43 in example)

b)

Gear stage selection through programming of S value (semi-automatic)

FDD parameter sets (611D)
There is no selection of parameter sets available for feed drives. The PLC control and status
signals (DB 29, DW K + 122, bits 0 - 2; DB 29, DW K + 120, bits 0 - 2) have no effect, but
are still transferred.

MSD parameter sets (611D)
A selection of eight parameter sets is available for a main spindle drive via the PLC control
signals DB31, DW K + 74, bits 0 - 2. The active parameter set is displayed via status signals
DB 31, DW K + 72, bits 0 - 2. The MSD parameter set and NCK gear stages can be linked by
means of bit 4 in MD 522*. If the bit is reset, then the MSD parameter set is switched over
with the NCK actual gear stage. In this case, control bits DW K + 74 have no effect.
NC MD 522 *. 4 is active only with 523 *. 0 ”Extended parameter set switchover”.

12–272

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10.94

12 Functional Descriptions
12.27.2 Parameter set switchover with SW 4 and higher (option)

12.27.2

Parameter set switchover with SW 4 and higher (option)

The parameters to be switched over are divided into 3 parameter groups (PaGr) in the control.
The individual parameter groups are switched over independently of one another. Each
parameter group contains 8 identically formatted parameter sets (PaSe). A specific parameter
set within a PaGr can be selected by specifying a parameter set number (PaSNo) from the
PLC.
Owing to the grouping of parameters according to type and the fact that they can be switched
over independently, the system is highly flexible in terms of configuration and adaptation of the
control to the mechanical features, dynamic response and geometry of the machine
The extended parameter set switchover must be enabled explicitly via MD 1828*, bit 0 (axes)
or MD 523*, bit 0 (spindles).
The switchover mechanisms for axes and spindles available to date which are described above
remain fully functional.

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The automatisms used to date (Spindle: Switchover via S program commands; axis:
Switchover through G program commands) remain operative even when the extended
parameter set switchover is enabled. They are, however, converted to the new parameter
groups, i.e. where previously all parameters were switched over with the gear change, a
switchover request (new setpoint gear stage = new parameter set numbers) is now set for all
parameter groups which contain these parameters.
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PLC

Part program

FByy

N10 Hyy 



SGS

MD "1828*, 523*, bit 0"

DB 31, DR K+0, bit 0-2

MD 522*, bit 4

Parameter set

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DB 31, DR K+1, bit 0-2

UND

acc. to
SW 1-3

AGS

PaGr "PCtr" actual

NCK
PaGr "R" actual

PCtr

Parameter groups (PaGR):

SERVO

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acc. to
SW 1-3

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Parameter set

MD 522*, bit 4

Position controller (PCtr)
Ratios (R)
Traversing range (TR) (not P3)
Drive (Drv)

R
PaGr "Drv" setpoint

611D

PaG4 "Drv" actual

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Drv

Note: MD 522*, bit 4 for spindles only

Extended parameter set switchover with H function and PLC FB (SW 4 and higher)

© Siemens AG 1992 All Rights Reserved
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12 Functional Descriptions
12.27.2 Parameter set switchover with SW 4 and higher (option)

07.97

"Position control" parameter group
The structure of the "Position control" parameter group is identical for axes and spindles.
This parameter group contains the parameters "Servo gain (Kv) factor", "Feedforward control
factor" and "Time constant symmetrizing filter" which were previously switched over for axes
by means of thread functions. With software versions up to SW 3, switchover from parameter
set number 1 to parameter set number 2 is implemented automatically for the thread function.
This functionality is not affected by selection of the extended parameter set switchover.
The parameters in the "Position control (PCtr)" group are listed below. When the extended
parameter set switchover function is selected via MD bits, all the parameters in this group can
be switched over.
Axis
"Position controller" group
1stPaSe 2ndPaSe 3rdPaSe 4thPaSe 5thPaSe 6thPaSe 7thPaSe 8thPaSe

Parameter

MD

Servo gain (Kv) factor

252*

1320*

1220*

1308*

1312*

1316*

1328*

1332*

Speed feedfor. contr. factor

312*

1260*

1140*

1184*

1188*

1192*

1196*

1392*

D comp. feedfor. ctrl factor

1124*

1156*

1160*

1164*

1168*

1172*

1176*

1180*

Time const. symm. filter

392*

1324*

1460*

1464*

1468*

1472*

1476*

1480*

Time const. setpoint filter

1272*

1484*

1488*

1492*

1496*

1500*

1504*

1508*

SERVO maximum speed

256*

1512*

1516*

1520*

1524*

1528*

1532*

1536*

Exact stop limit "coarse"

204*

1540*

1544*

1548*

1552*

1556*

1560*

1564*

Exact stop limit "fine"

208*

1568*

1572*

1576*

1580*

1584*

1588*

1592*

Zero speed control

212*

1596*

1600*

1604*

1608*

1612*

1616*

1620*

Electr. weight comp.

1292*

3188*

3192*

3196*

3200*

3204*

3208*

3212*

Kv factor AGR

1420*

1624*

1628*

1632*

1636*

1640*

1644*

1648*

I component AGR

1424*

1652*

1656*

1660*

1664*

1668*

1672*

1676*

D component AGR

1428*

1680*

1684*

1688*

1692*

1696*

1700*

1704*

Time const. parallel model

1432*

1708*

1712*

1716*

1720*

1724*

1728*

1732*

Time const. setp. filter
K4 link branch

3300*

3304*

3308*

3312*

3316*

3320*

3324*

3328*

Synchronism "coarse"

1440*

3244*

3248*

3252*

3256*

3260*

3264*

3268*

Synchronism "fine

1436*

3216*

3220*

3224*

3228*

3232*

3236*

3240*

Alarm lim. velocity

1736*

1740*

1744*

1748*

1752*

1756*

1760*

1764*

Alarm lim. acceleration

1768*

1772*

1776*

1780*

1784*

1788*

1792*

1796*

Emerg. retract. threshold

1444*

3272*

3276*

3280*

3284*

3288*

3292*

3296*

Jerk (as from SW 6)

3332*

3336*

3340*

3344*

3348*

3352*

3356*

3360*

Acceleration
(as from SW 6)

276*

3364*

3368*

3372*

3376*

3380*

3384*

3388*

Maximum velocity
(as from SW 6)

280*

3392*

3396*

3400*

3404*

3408*

3412*

3416*

12–274

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.01

12 Functional Descriptions
12.27.2 Parameter set switchover with SW 4 and higher (option)

Spindle
"Position controller" group
1stPaSe 2ndPaSe 3rdPaSe 4thPaSe 5thPaSe 6thPaSe 7thPaSe 8thPaSe

Parameter

MD

Servo gain (Kv) factor

435*

436*

437*

438*

439*

440*

441*

442*

Speed feedfor. contr. factor

465*

2442*

2443*

2444*

2445*

2446*

2447*

2448*

D comp. feedfor. ctrl factor

2449*

2450*

2451*

2452*

2453*

2454*

2455*

2456*

Time const. symm. filter

467*

2457*

2458*

2459*

2460*

2461*

2462*

2463*

Time const. setpoint filter

486*

2464*

2465*

2466*

2467*

2468*

2469*

2470*

SERVO maximum speed

403*

404*

405*

406*

407*

408*

409*

410*

Accel. time const. w. PCtr

478*

479*

480*

481*

482*

483*

484*

485*

Accel. adapt. limit

2471*

2472*

2473*

2474*

2475*

2476*

2477*

2478*

Accel. adapt. factor

2479*

2480*

2481*

2482*

2483*

2484*

2485*

2486*

Exact stop limit "fine"

443*

2487*

2488*

2489*

2490*

2491*

2492*

2493*

Kv factor AGR

487*

2494*

2495*

2496*

2497*

2498*

2499*

2500*

I component AGR

488*

2501*

2502*

2503*

2504*

2505*

2506*

2507*

D component AGR

489*

2508*

2509*

2510*

2511*

2512*

2513*

2514*

Time const. parallel model

490*

2515*

2516*

2517*

2518*

2519*

2520*

2521*

Time const. setp. filter
K4 link branch

2567*

2568*

2569*

2570*

2571*

2572*

2573*

2574*

Synchronism "coarse"

492*

2553*

2554*

2555*

2556*

2557*

2558*

2559*

Synchronism "fine

491*

2546*

2547*

2548*

2549*

2550*

2551*

2552*

Alarm lim. velocity

2522*

2523*

2524*

2525*

2526*

2527*

2528*

2529*

Alarm lim. acceleration

2530*

2531*

2532*

2533*

2534*

2535*

2536*

2537*

Emerg. retract. threshold

493*

2560*

2561*

2562*

2563*

2564*

2565*

2566*

Accel. time const. w/o PCtr

419*

420*

421*

422*

423*

424*

425*

426*

Minimum speed

411*

412*

413*

414*

415*

416*

417*

418*

Creep speed M19

427*

428*

429*

430*

431*

432*

433*

434*

Parameter set update in channels (as from SW 6.1):
The machine data for velocity, acceleration and jerk (parameter-dependent from SW 6) are
calculated during block processing in automatic mode. The blocks are processed prior to the
traversing movement. When switching over a parameter set, the new parameter set will not be
activated for the pre-calculated blocks (for the machine data mentioned). Therefore, a @714
must be provided for in the program or an NC Stop/NC Start is required for switching over
these data.
The NC Start/Stop can be triggered automatically by the NC. This function must be selected
for each channel via the machine data:

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–275

12 Functional Descriptions
12.27.2 Parameter set switchover with SW 4 and higher (option)

"Ratio"

10.94

parameter group

The "Ratio (R)" parameter group contains the following parameters:
Axis
1stPaSe 2ndPaSe 3rdPaSe 4thPaSe 5thPaSe 6thPaSe 7thPaSe 8thPaSe

Parameter

MD

Number of teeth, motor

3032*

3036*

3040*

3044*

3048*

3052*

3056*

3060*

Number of teeth, spindle

3064*

3068*

3072*

3076*

3080*

3084*

3088*

3092*

Zero mark compensation +

3096*

3100*

3104*

3108*

3112*

3116*

3120*

3124*

Zero mark compensation -

3128*

3132*

3136*

3140*

3144*

3148*

3152*

3156*

Backlash compensation

220*

3160*

3164*

3168*

3172*

3176*

3180*

3184*

This parameter set acts only on the first measuring system (mounting on motor side), i.e. a
variable gear ratio may be required. The second measuring system in normally a direct
measuring system (mounting on load side). Between this measuring system and the
movements to be measured, there is normally a fixed gear ratio which can be taken into
account, as with previous software versions, by means of pulse/path evaluation.
Spindle
1stPaSe 2ndPaSe 3rdPaSe 4thPaSe 5thPaSe 6thPaSe 7thPaSe 8thPaSe

Parameter

MD

Number of teeth, motor

2400*

2401*

2402*

2403*

2404*

2405*

2406*

2407*

Number of teeth, spindle

2408*

2409*

2410*

2411*

2412*

2413*

2414*

2415*

Zero mark compensation +

2416*

2417*

2418*

2419*

2430*

2431*

2432*

2433*

Zero mark compensation -

2434*

2435*

2436*

2437*

2438*

2439*

2440*

2441*

If the function "Extended parameter set switchover" is not active, then the following value
settings are fixed, i.e. the values given above are irrelevant:
Axis:

3032*
3064*
3096*
3128*
3160*

...
...
...
...
...

3060*
3092*
3124*
3156*
3184*

=
=
=
=
=

1 (Number of teeth, motor)
1 (Number of teeth, spindle)
0 (Zero mark compensation +)
0 (Zero mark compensation -)
MD 220* (backlash compensation)
The backlash compensation value of the 1st parameter set is
activated in all parameter sets.

Spindle:

2400*
2408*
2416*
2434*

...
...
...
...

2407*
2415*
2433*
2441*

=
=
=
=

1 (Number of teeth, motor)
1 (Number of teeth, spindle)
0 (Zero mark compensation +)
0 (Zero mark compensation -)

12–276

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

12 Functional Descriptions
12.27.2 Parameter set switchover with SW 4 and higher (option)

•

The function is disabled for measuring systems with distance-coded zero marks, i.e. a
gear ratio other than 1:1 must not be set for such axes. Incorrect MD settings generate the
alarm "Parameterization error NC-MD" and service alarm 312.

•

In the case of axes, the gear ratio acts on the actual values from the 1st measuring
system.

•

In the case of spindles/C axes, different gear ratios can be set for both operating modes,
even if only one encoder is defined. When the operating mode is switched over, the gear
ratio is automatically adapted.

•

When the gear ratio changes after a parameter set switchover, the signal "Axis
referenced" or "Spindle synchronized" is reset (Note: A check is made to ascertain
whether the individual values for "Number of teeth, motor" and "Number of teeth, spindle"
are the same, i.e. internally, a gear ratio of 1:1 is not the same as a ratio of 2:2. This only
applies to the treatment of status signal "Axis referenced"/"Spindle synchronized" and has
no effect on actual value evaluation).
The status signals are also reset when the backlash compensation value is changed (by
means of parameter set switchover or MD change).

Drive parameter group
With SIMODRIVE 611A systems, parameter sets are switched over by means of terminals
which can be switched externally. The parameter sets (speed controller parameters, filter
settings, current and power limits, etc.) can be specified directly via the PLC-NCK interface
with SIMODRIVE 611D systems.
The switchover of a parameter set from a certain parameter group can be initiated, for
example, from the part program by means of an auxiliary function. This function is detected by
the PLC which subsequently passes the parameter set number to the NCK interface and
activates it.

12.27.3

Switchover

Switchover between parameter sets is implemented via the PLC interface:
Axis:

Parameter group "Position control"
:DB 32, DW K+123, bits 0, 1, 2
Parameter group "Ratio"
:DB 32, DW K+123, bits 3, 4, 5
Parameter group "Drive 611D"
:DB 29, DW K+122, bits 0-1, 2

Spindle: Parameter group "Position control"
:DB 31, DW K+51, bits 0-1, 2
Parameter group "Ratio"
:DB 31, DW K+51, bits 3-4, 5
Parameter group "Drive 611D"
:DB 31, DW K+74, bits 0-1, 2
To ensure that switchover for the spindle is implemented by means of these interface signals,
MD 522*, bit 4 "Switch over parameter groups separately" must be set. In this case, the
interface signals for the actual gear stage (DB 31, DW K + 1, bits 0 - 2) are without meaning.
The display of the actual gear stage in the service display continues to be updated according
to the interface signals, but does not otherwise have any effect.
If the MD bit is not set, then the PLC signals for the actual gear stage are used.
In the case of spindles/C axes, the switchover behaviour of the spindle and the C axis is
influenced by MD bit 522*, bit 4, "Switch over parameter groups separately". "Separate
switchover" is a fixed setting for normal axes. It is possible to influence C axes via the spindle
MD bit such that all parameter groups ("Position controller", "Ratio" and "Drive) are switched
over together via the interface of the "Position controller" parameter group.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–277

12 Functional Descriptions
12.27.3 Switchover

10.94

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In addition to variable increment evaluation, a gear ratio can be activated additionally via
parameters "Number of teeth, motor" and "Number of teeth, spindle". This is necessary when
gear ratios change as a result of gear changes (with indirect actual value sensing).

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R

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n2

n1

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n1

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n2

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zs

R

M

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xt

xs

xg

Gear ratios, numbers of teeth, paths

The gear ratio specifies the speed ratio between the drive and output ends:
n1
zs
R = ––– = –––
n2
zm
n1
n2
zs
zm

= Drive speed
= Output speed
= Output (spindle) number of teeth
= Drive (spindle) number of teeth

The ratio between the numbers of teeth (can be directly entered in new machine data) is
always inversely proportional to the ratio between the speeds.
The path on the workpiece side is thus calculated as follows:
xt = xs * h
or
xt = xg * h *
xt
xs
xg
h

zm
–––
zs

=Workpiece path
=Spindle path
=Motor path
=Spindle pitch

12–278

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

10.94

12.27.4

12 Functional Descriptions
12.27.4 Diagnosis

Diagnosis

The currently effective parameter sets in the various parameter groups are displayed in the NC
service display for axes/spindles in the individual displays.
Structure of service displays:
Service Axes Individual display

Axis:

Following error
Absolute actual value
Absolute setpoint
Abs. compensation value
Speed setpoint
Part actual value
Part setpoint
Contour deviation
Synchronism error
Parameter set position control
Parameter set ratio
Service number

(0.01 %)

Service Spindle Individual display

Spindle:

Speed setpoint
Progr. speed setpoint
Current speed setpoint
Actual speed value
Position setpoint
Actual position value
Following error
Synchronism error
Override
Current gear stage
Parameter set position control
Parameter set ratio
Service number

1

1

(0.01 %)
(rev/min)
(rev/min)
(rev/min)
(degrees)
(degrees)

(%)

The current parameter set numbers of the two parameter groups "Position control" and
"Ratio" are output in the services displays "Axis individual" and "Spindle individual". The
following applies to spindles: When the extended parameter set swithover function and "Switch
over parameter groups together" setting (MD 522*, bit 4 = 0) are selected, the "Actual gear
stage" display is irrelevant; parameter group switchover is executed entirely via the interface
for the "Position controller" parameter group.
When a gear ratio is incorrectly parameterized, the alarm "Parameterization error NC-MD" is
generated and the associated new service number is output in the service display:
312 =

Incorrect gear ratio entered for a parameter set (number of teeth, motor or spindle
= 0).
Gear ratio other than 1:1 specified for an axis with distance-coded measuring system.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–279

12 Functional Descriptions
12.27.5 Operator inputs

12.27.5

10.94

Operator inputs

The operator inputs the machine data for the parameter sets under DIAGNOSIS/STARTUP/MACHINE DATA/NCK-MACHINE DATA/AXIS or SPINDLE where the new MD are arranged
under the existing parameter set data.

12.27.6

Power ON, system start, power OFF, restart

During control power-up, the values from the 1st parameter set remain active until the PLC
interface has been supplied with valid values.
Subsequent inputs of parameter sets are unaffected by channel reset, mode group reset and
restart operations.
NCK power ON/OFF invalidates these settings, the values of the 1st parameter set are
activated again.
The selected parameter set number for the parameter group "Drive" remains valid even when
the digital drive is switched off, i.e. when the drive is switched on again, it receives the same,
cyclically transmitted PaSNo.

12.27.7

Compatibility

If the "Extended parameter set switchover" function is not activated in MD 1828*, bit 0 (axis)
or MD 523*, bit 0 (spindle), then the old functionality (prior to SW 4) regarding traversing limits,
tapping, gear stage switchover and drives parameters is applicable. The associated MD of the
extended parameter sets are not activated.
The following boundary conditions apply when this function is activated:
Spindle:
Software version 4 is compatible with previous versions in terms of spindle gear stage
switchover functionality. Parameters which could not be switched over with SW versions up to
and including SW 3 must be set to the appropriate value of the first parameter set when SW
version 4 is installed.
Axis:
The operating principle of the "Tapping without compensating chuck" function is compatible to
that applied in SW 3. Parameters in the 2nd set of parameter group "Position control" which
cannot be switched over with SW version 3 must be set to the same values as those in the 1st
set of this parameter group.
Drive:
If a drive is assigned more than once, then the parameter set number of the currently active
axis/spindle, which also supplies the setpoint, is valid in each case. The current parameter set
remains valid provided no controller enabling command is applied.

12–280

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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12.28.1

•
•
•

12.28.2

NC

SINUMERIK 840C (IA)

Reserved

DB 3

611D

Fixed area for activation bits/status bits

© Siemens AG 1992 All Rights Reserved
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The "High-speed data channels" function
is an option (SW 4 and higher).

e.g. 100
e.g. 110
.
.
.

6FC5197- AA50

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12.28

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10.94
12 Functional Descriptions
12.28 High-speed data channels

High-speed data channels

Corresponding data

Option 6FC5 150-0AS40-0AA0
Data block DB2 (configuring DB)
Data block DB 3 (data transmission areas)

Functional description

With the "High-speed data channels" function, signals from SIMODRIVE 611D SERVO digital
drives as well as signals from an NCK I/O module are exchanged cyclically with the PLC user
program.

With SW versions up to and including SW 3, analog values are read in via analog modules in
the PLC area.
NC PLC link RAM

DB 2

Fixed area for configuration of DB 3

PLC

Fixed area for maximum of 32 pointers to data
transfer areas

DW 100 1st data transfer area (high-speed channel)
DW 110 2nd data transfer area (high-speed channel)

Functional structure of high-speed data channels

12–281

12 Functional Descriptions
12.28.2 Functional description

07.97

•

It is possible to define in the PLC user program which data are to be transferred via a
maximum of 32 high-speed data channels.

•

The minimum updating rate of these high-speed channels is identical to the set
interpolation cycle (in NC), but can be set to a high multiple of the interpolation cycle for
each individual channel in order to minimize unnecessary operating time loading of the NC.

•

The user has the option of processing the updating rate in an interrupt- or time-controlled
DB (DB 3) in the PLC.

•

A special "configuring channel" is provided to allow the high-speed data channels to be
configured (DB 2) in terms of the type and direction of the data to be transferred during
operation.

•

Configuring measures can be taken to determine whether values should always be
updated or whether they should be updated only after the last value to be entered in the
high-speed channel has been read by the partner (NC or PLC) (channel operation with
acknowledgement). As from SW 4, several data channels can be controlled simultaneously
(”Synchronous data channels”).

•

New configurations or re-configurations of this type are not processed in the interpolation
cycle, but in the 40 ms reference.

•

Only one high-speed channel can ever be configured via the configuring channel.

•

On successful completion of the configuration, the data channels can be activated
individually or jointly. All activated data channels become active immediately (i.e. in the
next IPO cycle at the latest) and simultaneously.

•

Each individual high-speed data channel is capable of transferring a maximum of one 32bit value (the data length is specific to data group and data type). Since the processor is
not capable of writing/reading 32-bit data to/from the link RAM with one single access
operation, access must be co-ordinated between the NC and PLC by means of
semaphores in order to prevent incorrect data from being read. These semaphores are
used by the PLC only when 32-bit values are transferred by means of a high-speed
channel, but not for 8-bit or 16-bit data (in order to save program run times). The PLC user
should always use semaphores in order to guarantee programming consistency on the
PLC side and to eliminate programming errors in the user program. The assignment
between semaphores and high-speed data channels is 0:1, i.e. semaphore 0 controls the
data exchange via the 1st high-speed channel, semaphore 31 controls the data exchange
via the 32nd high-speed channel and so on. The log for configuration and use of the highspeed data channels is established and is not assisted by function macros provided by
Siemens. It is the particular responsibility of the PLC user to make sure that semaphores
are always used.

•

Since the NC interpolation cycle is not synchronized with PLC processing blocks, it cannot
be guaranteed that values read in a PLC processing block, which have been supplied by
several channels, all originate from the same IPO cycle.

12–282

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10.94

12.28.3

12 Functional Descriptions
12.28.3 Configuration

Configuration

In order to avoid complicated programming involving pointers and lengthy run times in the PLC
user program, the configuring channel and data transfer areas are stored in different data
blocks: A "Configuring DB" with 32 DW (DB2) and "High-speed data channels" with 256 (DB
3) are set up in the link RAM; these blocks act as the communications link between the NC
and PLC.
Configuring channel in DB 2
Block of 11 DW in DB 2 by means of which one data transfer area in each case can be set in
DB 3 (unambiguous definition of data to be transferred). Regardless of how many transfer
areas are present in DB 3, there is only on configuring channel in DB2; several data transfer
areas must be configured one after another.
Contents of DB 3:
•

Data transfer areas
A data transfer area is an element of the interface DB 3 which allows certain data to be
exchanged between the NC and PLC. The type and meaning of the data are defined in the
configuration.

•

High-speed data channels
A high-speed channel is a certain type of data transfer area; its format and processing
mode can be specified. The length of a high-speed data channel is dependent on the type
of data to be transferred. These channels are accessed directly by the PLC user program,
thus allowing the cycle time (e.g. access to an alarm OB) of the updating function to be
controlled by the user. The maximum data exchange rate between the NC and this
interface corresponds to the interpolation cycle.

•

Function identifier
Designation for a certain type of data transmission. The "High-speed data channels" are
defined here.

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12 Functional Descriptions
12.28.4 Format of interface data blocks

12.28.4

10.94

Format of interface data blocks
DB 2 configuring DB
15

14

13

12

Byte No.

DL 0

11

10

9

8

3

2

1

0

Bit No.
7

6

with
acknowldg.

Read/
write

5

4
Operating mode

STROBE

DR 0

E, r r o r c o d e f r o m N C

DL 1

Job No. from PLC

DR 1

No. of data transfer area

DL 2

NC updating rate

DR 2

Function identifier

DL 3

Configuring parameter 1 LOW

DR 3

Configuring parameter 1 HIGH

DL 4

Configuring parameter 2 LOW

DR 4

Configuring parameter 2 HIGH

DL 5

Configuring parameter 3 LOW

DR 5

Configuring parameter 3 HIGH

DL 6

Configuring parameter 4 LOW

DR 6

Configuring parameter 4 HIGH

DL 7

Reserved

DR 7

Reserved

.
..
DL 10

Reserved

DR 10

Reserved

12–284

.
..

.
..

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SINUMERIK 840C (IA)

04.96

12 Functional Descriptions
12.28.4 Format of interface data blocks

DL 0 bit 8 "Strobe":
Strobe for activation of configuring channel. Set by PLC user and reset by NCK
after acceptance (or rejection with error code) of configuration.
DL 0 bit 14 "Read/write":
Definition of transmission direction: 0 = PLC reads, 1 = PLC writes.
DL0

bit 15 "With acknowledgement":
If this bit is set, the writer (NCK or PLC) may not enter a new value until the last
value to be entered has been fetched by the reader (PLC or NCK). When a highspeed data channel is operated "with acknowledgement", no semaphores are
required to ensure consistent data transmission; control bit "new value" in the
data transfer area (see DB 3) performs the requisite synchronization.

DR 0
Error code

Error code of NC:
Description

80H

Function identifier incorrect

40H

Configuring parameter 1 incorrect

41H

Configuring parameter 2 incorrect

42H

Configuring parameter 3 incorrect

43H

Configuring parameter 4 incorrect

20H

No. of data transfer area incorrect/pointer to data transfer area incorrect

10H

Write not permissible

11H

Impermissible operating mode in DL 0

01H

Too many data channels configured

02H

Option not activated

03H

Wrong update rate

If a fault occurs, the configuration is rejected. The corresponding data transfer area is no
longer processed by the NC, until there is a reconfiguration.
DL 1

"Job number":
Since the configuration for a number of data transfer areas is defined via one
channel only and consecutively for the areas concerned, there is no longer any
assignment between the currently supplied data and their meaning in the
interface DB 3. The user must manage this correlation himself outside the
interface DB 3. To facilitate diagnosis, the PLC user can assign a job number
when he configures a data transfer area; if the configuration is successful, this
number is signalled back by the NC in the appropriate data transfer area in DB 3.

DR 1

"No. of data transfer area":
The data transfer areas are numbered consecutively, starting with 1, in the
interface DB3.

DL 2

"Updating rate":
The rate at which this channel is processed by the NC, i.e. after how many IPO
cycles, can be set here. 1 means that the channel is processed in every IPO
cycle.

DR 2

"Function identifier" (for a description see Section "Overview of function
identifiers and configuring data (DB 2, DR 2 ... DR 6)"

DL 3

DRG configuring parameters 1 .. 4 (for a description see Section "Overview of
function identifiers and configuring data (DB 2, DR 2 ... DR 6)"

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12 Functional Descriptions
12.28.4 Format of interface data blocks

07.97

DB 3 data transfer areas
DB 3 data transfer areas
15

14

13

12

Byte No.

DR 0
DL 1
DR 1
DL 2
DR 2
DL 3
DR 3

10

9

8

3

2

1

0

Bit No.
7

DL 0

11

6

5

4

Activation bits from PLC
Data
Data
Data
Data
Data
channel 6
channel 5
channel 4
channel 3
channel 2
Activation bits from PLC
Data
Data
Data
Data
Data
Data
Data
channel 16 channel 15 channel 14 channel 13 channel 12 channel 11 channel 10
Activation bits from PLC
Data
Data
Data
Data
Data
Data
Data
channel 24 channel 23 channel 22 channel 21 channel 20 channel 19 channel 18
Activation bits from PLC
Data
Data
Data
Data
Data
Data
Data
channel 32 channel 31 channel 30 channel 29 channel 28 channel 27 channel 26
S t a t u s b i t s f r o m NC " D a t a c h a n n e l c o n f i g u r a t i o n v a l i d "
Data
Data
Data
Data
Data
Data
Data
channel 8
channel 7
channel 6
channel 5
channel 4
channel 3
channel 2
S t a t u s b i t s f r o m NC " D a t a c h a n n e l c o n f i g u r a t i o n v a l i d "
Data
Data
Data
Data
Data
Data
Data
channel 16 channel 15 channel 14 channel 13 channel 12 channel 11 channel 10
S t a t u s b i t s f r o m NC " D a t a c h a n n e l c o n f i g u r a t i o n v a l i d "
Data
Data
Data
Data
Data
Data
Data
channel 24 channel 23 channel 22 channel 21 channel 20 channel 19 channel 18
S t a t u s b i t s f r o m NC " D a t a c h a n n e l c o n f i g u r a t i o n v a l i d "
Data
Data
Data
Data
Data
Data
Data
channel 32 channel 31 channel 30 channel 29 channel 28 channel 27 channel 26
Data
channel 8

Data
channel 7

DW 4
.
..

Reserved

DW 13
DL 14
DR 14
..
.
DL 29

Reserved

.
..

..
.

DR 29
DL 30
DR 30
DL x

to
of
to
of

data
data
data
data

Data
channel 9
Data
channel 17
Data
channel 25
Data
channel 1
Data
channel 9
Data
channel 17
Data
channel 25

.
..

Pointer to data area 1
( = N o. o f d a t a w o r d ) (DW "X")
Pointer to data area 2
( = N o. o f d a t a w o r d )

Pointer
( = N o.
Pointer
( = N o.

Data
channel 1

..
.

a r e a 31
word)
a r e a 32
word)

Job No. (acknowledgement from NC)
Control bits

DR x
DL
x+1
DR
x+1
DL
x+2
DR
x+2
DR 12

Error in NC Error in NC
data write
data read
operation
operation

Synchronous "New value"
data
write NC
channel
data

Bit 7

Bit 6

Bit 5

Bit 15

Bit 14

Bit 13

Bit 23

Bit 22

Bit 21

Bit 31

Bit 30

Res.

Res.

VALUE
Bit 4
Bit 3
VALUE
Bit 12
Bit 11
VALUE
Bit 20
Bit 19
VALUE

Bit 29
Bit 28
Synchronous data channels
Res.

Res.

Bit 27
Res.

"New value"
read NC
data

Bit 2

Bit 1

Bit 0

Bit 10

Bit 9

Bit 8

Bit 18

Bit 17

Bit 16

Bit 26

Bit 25
"New value"

Res.

write NC
data

Bit 24
"New value"
read NC
data

x = Data transfer area nos. 1 to 32 via pointers (DW 14 to 29)

12–286

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07.97

12 Functional Descriptions
12.28.4 Format of interface data blocks

Activation bits (PLC NC):
Each of the 32 bits represents a data transfer area, bit 0 = data transfer area 1. Data transfer
areas which have already been configured can be activated (bit x = 1) or deactivated (bit x =
0) with this signal. The activation signals are evaluated in every IPO cycle by the NC. Any
attempt to activate incorrectly configured areas is ignored without comment by the NC. The
NC indicates which data transfer areas are correctly configured in status bits (DL 2 to DR 3)
(bit 1 = 1 means: The data transfer area is correctly configured and can be activated).
Format of a data transfer area of "High-speed data channel type":
Job No. (acknowledgement from NC)

DL

Control bits

DR x

Value (bits 0 - 7)

DL x+1

Value (bits 8 - 15)

DR x+1

Value (bits 16 - 23)

DL x+2

Value (bits 24 - 31)

DR x+2

Control bits:
Error in NC
data write
operation

Error in NC
data read
operation

Synchronous New value for New value for
data
NCK data NCK data read
channel
write

Error in NC data write/read operation
Set by NC if it has not been possible to read/write a value. Possible causes:
•
•

Permissible value range exceeded.
Drive not ready

New value for NC data read:
Indicates that the date value has been newly entered by the NCK. If the data transfer area has
been configured "with acknowledgement", then the NC enters data here only if this bit is not
set. "New value for NC data read" must in this case be reset by the PLC user after the data
have been ready so that the "writer" can enter new values again.
New value for NC data write:
Indicates that the data value has been newly entered by the PLC user. The NC accepts data
only if this bit is set. "New value for NC data write" must be set by the PLC user after the data
have been written so that the NC can read the new values.

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12 Functional Descriptions
12.28.5 Configuration of a high-speed data channel

12.28.5

07.97

Configuration of a high-speed data channel

Step 1:

Reset activation signal in DB 3.

Step 2:

Divide up DB 3 appropriately for all data transfer areas used. Program pointers for
the data transfer areas accordingly.

Step 3:

Enter job number in configuring channel, enter number of data transfer area, enter
function identifier and configuring parameters, set bits for read/write operations and
acknowledgement bit if appropriate. Set strobe.

Step 4:

Wait for NC to reset strobe.

Step 5:

Evaluate any error message from NC.

Step 6:

If no error message is output, the high-speed data channel can now be activated
(enter value to be written, if any, beforehand).

12.28.6

Fast synchronous data channel

With the function ”Synchronous data channel” it is possible to access several NCK data
(access via several ”fast data channels”) ”simultaneously” (i.e. all data refer to one IPO
cycle). Synchronous data channels are always operated ”with acknowledgment”, irrespective
of their configuration (DB 2 DL 0 bit 7).
The way the data channel is configured has not changed. The activation bits (DB 3 DW 0-1)
must be set.
Setting the data-channel-specific bit ”Synchronous data channel” (DB 3, DRx, bit 2) makes the
data channel a ”synchronous data channel”. The data channel is then no longer controlled via
the data-channel-specific bits ”New values, read NC data” and ”New values, write NC data”
(DB3, DRx, bit 0 and bit1) but via the synchronous data channel bits ”New values, read NC
data” and ”New values, write NC data” (DB3, DR12, bit 0 and bit 1). As all the synchronous
data channels are controlled by these bits, all data channels are activated simultaneously.
With a synchronous ”Read NC data” the PLC requests the data from the NCK by resetting bit
”New values, read NC data” (DB3, DR12, bit 0). Once the NCK has read all data it signals this
to the PLC by setting this bit.
With a synchronous ”Write NC data” the PLC initiates writing by setting bit ”New values,
write NC data” (DB3, DR12, bit 1). Once the NCK has written all data this is signaled to the
PLC by resetting this bit.
Notes:
•

The function ”Synchronous data channel” is only available for function identifiers 02
(digital I/O in NCK) and 03 (NCK data). With function identifier 01 (drive data and servo
data) bit ”Synchronous data channel” is ignored.

•

Synchronous data channels can be converted to ”normal” data channels at any time by
resetting bit ”Synchronous data channel”. They are then operated with or without
acknowledgment depending on the configuration.

•

The data-channel-specific bits ”New values, read NC data” and ”New values, write NC
data” (DB3, DRx, bit 0 and bit 1) are not processed by the NC when synchronous data
channels are set (i.e. the status of these bits is irrelevant).

12–288

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10.94

12.28.7

12 Functional Descriptions
12.28.7 Use of a high-speed data channel

Use of a high-speed data channel

Case 1:

Write with acknowledgement,
configure high-speed data channel,
cyclical from now on:
If "New value for NC data write" is not set, enter value to be written, set "New
value for NC data write".

Case 2:

Write without acknowledgement,
configure high-speed data channel,
cyclical from now on:
Set semaphores, enter value to be written, set "New value for NC data write,
enable semaphores.
Caution:
The signal "New value" must be set for the NC even though the data channel is
operating without acknowledgement. The NC reads data only if new data have
been entered in order to eliminate unnecessary link RAM access operations by the
NCK (operating time).

Case 3:

Read with acknowledgement,
configure high-speed data channel,
cyclical from now on:
If "New value for NC data read" is set, read value, reset "New value for NC data
read".

Case 4:

Read without acknowledgement,
configure high-speed data channel,
cyclical from now on:
If "New value for NC data read" is set, set semaphores, read value, reset "New
value for NC data read".
Enable semaphores.
Note:
"New value for NC data read" need not be evaluated at this point.

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12 Functional Descriptions
12.28.8 Overview of function identifiers and configuring parameters (DB 2, DR 2 ... DR 6)

12.28.8

07.97

Overview of function identifiers and configuring parameters
(DB 2, DR 2 ... DR 6)

Permissible function identifiers and associated configuring parameters:
Function
identifier

Explanation

Max. permissible
number

Parameter 1

Parameter 2

Parameter 3

Parameter 4

01

Drive data

32

Data group
21H

Data type

Signal
number

Axis/spindle
number

01

Servo data

32

Data group
26H

Data type

Signal
number

Axis/spindle
number

02

Digital I/O in
NCK

32

0

Data
designation

0

0

03 (SW 5 and
higher)

NCK data

32

0

Signal
number

Axis No.

Channel/IKA No.

Explanation of drive data:
Function
identifier

Explanation

Max. permissible
number

Parameter 1

Parameter 2

Parameter 3

Parameter 4

01

Drive data

32

Data group
21H

Data type

Signal
number

Axis/spindle
number

Data group

21H

Data type

0 - 7 (parameter set number)

Signal number

0 -19999 (possible inputs: see table below)

Axis/spindle/drive number

Addressing types:
a) With drive number
0:
1–15:
b) With axis/spindle number
100H – 127H:
128H – 131H:

12–290

0 – 0FH:
Global
Drive 1 to 15
100H – 131H
Axis 0 - 39
(0 - 29 possible)
Spindle 40 - 49
(40 - 45 possible,
spindle 1 - 6)

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SINUMERIK 840C (IA)

04.96

12 Functional Descriptions
12.28.8 Overview of function identifiers and configuring parameters (DB 2, DR 2 ... DR 6)

Signal
number

Meaning

Data format

Unit

Attribute

11009

Capacity utilization

U (Unsigned 16 Bit)

7FFFH=100%

Read

11010

Torque setpoint

S (Signed 16 Bit)

4000H=100%
Drive MD 1725

Read

11011

Active power

S (Signed 16 Bit)

0.01 KW (=10 W)

Read

11012

Smoothed current actual
value (iq)

S (Signed 16 Bit)

4000 H =100%
Drive MD 1107

Read

11013

Motor speed actual value

SL (Signed Long 32
Bit)

400000 H =100%
Drive MD 1401

Read

Explanation of servo data:
Function
identifier

Explanation

Max. permissible
number

Parameter 1

Parameter 2

Parameter 3

Parameter 4

01

Servo data

32

Data group
21H

Data type

Signal
number

Axis/spindle
number

Data group

26H

Data type

0

Signal number

0 -1000 (possible inputs: see table below)

Axis/spindle/drive number

Addressing types:
• Axis/spindle number 100H – 127H: Axis
100H – 127H
Axis 0 - 39
(0- 29 possible)
128H – 131H:
Spindle 40 - 49
(40 - 45 possible,
spindle 1 - 6)

Signal
number

Data
format 1)

Meaning

Unit

Attribute

AXIS/SPINDLE

Read

1

Following error

SL

UMS

2

Absolute position setpoint

SL

UMS

Read
Read
3)

Read
Read

3

Speed setpoint

SL

0.01 % of max. load speed

4

Part actual value (active)

SL

0.01 % of max. load speed 3)

_______
1)
2)

Data format
SL.. Signed Long (32 bit)
Unit UMS ... Units Machine system
(0, 1) RPM ... Revolutions / minute, load-related
0.1 rpm when MD bit 520* bit 3 =1
1 rpm when MD bit 520* bit 3 = 0

3)

Load speed: 400000H corresponds to 0.01% of the max. load speed

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12 Functional Descriptions
12.28.8 Overview of function identifiers and configuring parameters (DB 2, DR 2 ... DR 6)

Signal
number

Meaning

Data
format 1)

09.95

Unit

Attribute

5

Part setpoint

SL

0.01 % of max. load speed 3)

Read

6

Synchronism deviation

SL

UMS

Read

7

Angular offset (mech.
coupling)

SL

UMS

Read

8

Absolute position actual
value (without modulo
compensation)

SL

UMS

Read

9

Part actual value 1st
measuring system

SL

0.01 % of max. load speed 3)

Read

10

Part actual value 2nd
measuring system

SL

0.01 % of max. load speed 3)

Read

AXIS
100

Contour deviation

SL

UMS

Read

101

Abs. compensation value

SL

UMS

Read

SPINDLE
200

Current speed setpoint
(before ramp generator)

SL

(0.1) RPM

Read

201

Speed setpoint (ramp
generator output)

SL

(0.1) RPM

Read

202

Speed actual value

SL

(0.1) RPM

Read

Explanation of digital I/O in NCK:
Function
identifier

Explanation

Max. permissible
number

Parameter 1

Parameter 2

Parameter 3

Parameter 4

01

Digital I/O in
NCK

32

Data group
21H

Data type

Signal
number

Axis/spindle
number

The digital I/O peripherals (e.g. 6 digital inputs of Central Service Board or maximum 2 mixed
I/O modules with 2 input and output bytes each) can also be used to a limited extent in the
NCK area.
The status of these inputs/outputs can be read from the PLC by means of the high-speed data
channels. However, the outputs cannot be written from the PLC!

_______
1)
2)

Data format
SL.. Signed Long (32 bit)
Unit UMS ... Units Machine system
(0, 1) RPM ... Revolutions / minute, load-related
0.1 rpm when MD bit 520* bit 3 =1
1 rpm when MD bit 520* bit 3 = 0

3)

Load speed: 400000H corresponds to 0.01% of the max. load speed

12–292

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09.95

12 Functional Descriptions
12.28.8 Overview of function identifiers and configuring parameters (DB 2, DR 2 ... DR 6)

The data to be read are selected via configuring parameter 2. The following table shows the
available data options:
Configuring
parameter 2

Addressed data

10

Outputs of mixed I/O modules in NCK (4 bytes)

111

Inputs of first mixed I/O module in NCK (2 bytes)

112

Inputs of second mixed I/O module in NCK (2 bytes)

180

Inputs of Central Service Board (6 bits)

90

Special signals from NC to PLC

190

Special signals from PLC to NC (Note: The PLC can only write these data!)

Special signals; NC PLC
The user specifies in NC-MD 312-317 the location to which the NC should signal that an
emergency retraction has been initiated by a channel or axis, i.e. whether the NC outputs this
status information to a mixed I/O module or supplies it in the form of a special signal for the
PLC (MD 312-317 must then be set to a value between 91 and 94).
Special signals: PLC NC
The user also specifies in NC-MD 318-323 the location from which the NC accepts the
command to initiate emergency retraction (a value of between 91 and 94 indicates the special
signals from the PLC should be accepted).
Initialization/power-up/reaction to errors
The contents of the two data blocks DB2 and DB3 are erased by the NC software after NCK
power ON. The NC also erases all 32 semaphores in the link RAM to the PLC during powerup. The high-speed data channels do not remain active after mains on/off since the data in the
NC are stored in the dynamic RAM. In addition, the NC-internal pointers must be re-calculated
after every power-up since, for example, changes to internal address lists may have occurred
as a result of the cancellation of axes by means of a power ON operation. The PLC user
program must re-configure the high-speed data channels after every link bus reset (i.e. also
after NCK power ON initiated by means of operator input or PLC cold restart). Since the PLC
generally executes a warm restart rather than a cold restart, it must be noted that the user
program operates with incorrect values (0) for a maximum of one cycle after a power ON
operation. The contents of the two data blocks are erased before the NC and PLC system
software is synchronized. Since the configuration of the high-speed data channels involves
several cycles, it must be not be defined in OB20.
It is advisable to use OB20 to divide up the high-speed data channels (see also application
example).
In the case of failure of the PLC sign-of-life monitoring function (alarm 43 "PLC-CPU not
ready"), the NC stops writing values into the link RAM. In the case of drive failure, drive data
read via the high-speed data channel are invalid (error identifier in data channel). The PLC can
detect a drive failure by monitoring the "Drive ready" signal. When the drive is connected
(again), the read drive data become valid again (NC resets error bit on next transmission of
data).

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12 Functional Descriptions
12.28.8 Overview of function identifiers and configuring parameters (DB 2, DR 2 ... DR 6)

07.97

Explanation of NCK data (SW 5 and higher)
Function
identifier

Explanation

Max. permissible
number

Parameter 1

Parameter 2

Parameter 3

Parameter 4

03 (SW 5 and
higher)

NCK data

32

0

Signal
number

Axis number

Channel/IKA
number

Signal
number

Name of the NCK signal

Axis no.

Unit 1)

Channel/
IKA no.

1

Axial feedrate

1 - 30

2(exp - 1)
GEO*U/SP

2

Path feedrate

--

2(exp - 17)
GEO*U/SP

3

Path distance-to-go

--

2(exp - 1) GEO*U

4

IKA input quantity A (type 21)

--

--

5

IKA input quantity B (type 27)

--

--

6

IKA output quantity (type 35)

--

--

7

IKA compensation value

1 - 30

LR

8

IKA intermediate point number (type 35)

--

--

9

IKA table input A (type 22)

--

--

10

Axis setpoint

1 - 30

LR

11

Number of predecoded blocks

--

--

12

CPU use

--

--

Configuration in PLC DB 2 is performed with the function identifier 03 and configuration
parameter 1=0.
This reading process can be executed either with or without acknowledgement. Operation
with acknowledgement means the next value is read only when the communication partner has
read the value.
In operation without acknowledgement, the values to be entered are refreshed in the timebase
as configured in DB2 in the parameter "Refresh rate".

_______
1)

Unit

GEO... geometry resolution
U... Unit
SP... Scan period
LR... Position control resolution

2)

The data CPU use is displayed with double precision.

12–294

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12 Functional Descriptions
12.28.8 Overview of function identifiers and configuring parameters (DB 2, DR 2 ... DR 6)

Example:
Parameterization of DB 2 for reading without acknowledgement of the signal path feedrate
(signal No. = 2) in the 3rd channel is as follows:
Byte no.

Content

Meaning

DL 0

0x01

DR 0

--

DL 1

0x13

Job number of PLC

DR 1

0x01

No. of the data transfer area

DL 2

0x10

Refresh rate NC

DR 2

0x03

Function ID of the service function

DL 3

0x00

Configuration parameter 1 LOW

DR 3

0x00

Configuration parameter 1 HIGH

DL 4

0x02

Configuration parameter 2 LOW = Signal No.

DR 4

0x00

Configuration parameter 2 HIGH = Signal No.

DL 5

0x00

Configuration parameter 3 LOW = Axis No.

DR 5

0x00

Configuration parameter 3 HIGH = Axis No.

DL 6

0x03

Configuration parameter 4 LOW = Channel/IKA No.

DR 6

0x00

Configuration parameter 4 HIGH = Channel/IKA No.

Operation without acknowledgement/reading/set strobe
Error code from NC (output parameter)

Writing these signals from the PLC is not permitted. If an attempt is made to perform a write
access, the error code 41 "Configuration parameter 2 incorrect" is indicated in DB 2 DR 0.

Examples for "Servo Trace" or high-speed data channel
The following abbreviations are used:
MW = Measured value, i.e. the measured value that can be read off in the trace curve or the
data transfer range of the "high-speed data channel" received on the PLC side.
RW = Real value, i.e. the measured value converted into the physical quantity. Usually, this
physical quantity has the same unit as in the part program, e.g. mm/min for the feedrate. This
unit is indicated in square brackets.
IT=Interpolation cycle [ms]
EF=Input resolution, corresponds to MD 5002.4-7
LF=Position controller resolution, corresponds to MD 18000.0-3

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12 Functional Descriptions
12.28.8 Overview of function identifiers and configuring parameters (DB 2, DR 2 ... DR 6)

04.96

Axial feed:
Formula for servo trace:
Formula for high-speed data channel:

RW=MW*120000*LF/IT [mm/min]
RW=MW*60000*LF/IT [mm/min]

Example: G91 G94 F1000 Z10 X10
In servo trace:
Read-off
MW= 1885
in Z axis
with
LF = 0.5*10-4 [mm] in Z axis
and
IT = 16 [ms]
results in
RW = 1885*120000*(0.5*10-4)/16 [mm/min]
i.e.
RW = 707 [mm/min]
The same feedrate results in the X axis. Both together have therefore a path feedrate of SQRT
( 7072 + 7072 ) = 1000 [mm/min] as programmed.
Note: "Channel/IKA no." is not relevant in the servo trace screen!
Path feedrate:
Formula for servo trace:
Formula for high-speed data channel:

RW=MW*60000*EF/IT [mm/min]
RW=MW*30000*EF/IT [mm/min]

Example: G91 G94 F1000 Z10 X10
In servo trace:
Read-off
MW= 266.5
with
EF = 10-3 [mm]
and
IT = 16 [ms]
results in
RW = 266.5*60000*(10-3)/16 [mm/min]
i.e.
RW = 999 [mm/min]
Distance to go on path:
Formula for servo trace:
Formula for high-speed data channel:

RW=MW*EF [mm]
RW=MW*EF/2 [mm]

IKA input quantity value A:
Important:

The IKA No. selected in the servo trace screen must be larger by 1 than the
desired IKA No (applies for SW 5.1 and 5.2).

If the input quantity is a position, the following applies:
Formula for servo trace
Formula for high-speed data channel:

RW=MW*EF [mm]
RW=MW*EF/2 [mm]

If the input quantity is an R parameter, the following applies:
Formula for servo trace
Formula for high-speed data channel:

RW=MW
RW=MW/2

IKA input quantity value B:
Important:

The IKA No. selected in the servo trace screen must be larger by 1 than the
desired IKA No (applies for SW 5.1 and 5.2).

If the input quantity is a position, the following applies:
Formula for servo trace
Formula for high-speed data channel:

RW=MW*EF [mm]
RW=MW*EF/2 [mm]

If the input quantity is an R parameter, the following applies:
Formula for servo trace
Formula for high-speed data channel:

12–296

RW=MW
RW=MW/2

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12 Functional Descriptions
12.28.8 Overview of function identifiers and configuring parameters (DB 2, DR 2 ... DR 6)

IKA output quantity value:
Important:
The IKA No. selected in the servo trace screen must be larger by 1 than the
desired IKA No (applies for SW 5.1 and 5.2).
If the output quantity is a position, the following applies:
Formula for servo trace
Formula for high-speed data channel:

RW=MW*EF [mm]
RW=MW*EF/2 [mm]

If the output quantity is an R parameter, the following applies:
Formula for servo trace
Formula for high-speed data channel:

RW=MW
RW=MW/2

Absolute compensation value (IKA + TK):
Caution:

A relevant value is generated only if "Axis compensation value" has been selected
in the IKA configuration screen under "Type output quantity".

Formula for servo trace
Formula for high-speed data channel:
Current compensation point:

RW=MW
RW=MW*LF

[Dimension as indicated]
[mm]

SINUMERIK 840C T/M

Formula for servo trace
Formula for high-speed data channel:

RW=MW
RW=MW/2

The output compensation point is the smaller one of the two including the current position.
IKA table input A:
Formula for servo trace
Formula for high-speed data channel:

RW=MW*LF [mm]
RW=MW*LF*2 [mm]

Axis setpoint value:
Formula for servo trace

RW=MW*2*EF/LF [mm]

Formula for high-speed data channel:

The value is incorrectly
converted internally.
ERROR!!!
Example: EF=10E-3mm LF=0.5*10E-4mm
setpoint value = 20 mm,
value in servo trace = 2mm!!!
RW=MW*EF/2 [mm]

Number of predecoded blocks:
Formula for servo trace
Formula for high-speed data channel:

RW=MW
RW=MW

CPU utilization:
Formula for servo trace
Formula for high-speed data channel:

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

RW=MW
RW=MW/2

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[Dimension as indicated]
[%]

12–297

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12 Functional Descriptions
12.29 Extension of inprocess measurement (SW 4 and higher)

12.29

12.29.1

12–298

01.99

Extension of inprocess measurement (SW 4 and higher)

The "Extended inprocess measurement" function

is an option.

Extended measurement (as from SW 6)

General

The new ”extended in-process measurement” function allows for the simultaneous processing
of any number of measured values on a maximum of 5 axes and for sequential recording and
storing in the R parameter field.

For detailed information about the programming syntax please refer to the SINUMERIK 840C
documentation: Programming Guide, section 8.19.5 Extended measurement (G720/G72/G722).

Functional description

The following functions are available for extended in-process measurement:

1. Measurements only within the programmed traversing movement of the measuring block:
G720:
Measurement is stopped when the programmed number of measurements has been
completed. The programmed traversing movement is discontinued through internal delete
distance-to-go and a block change is executed.

Example:
N100 G91 C1=90 F3 G720 MT=1 MF=-1 X1=Z1=Y MS=1099 MS=1199
MS=1299 MA=100

G721:
The programmed traverse path is traveled independent of measuring. At the end of the
programmed traversing movement measuring is discontinued even if the programmed
number of measurements has not been completed and a block change is executed.

Example:
N100 G91 C1=90 F3 G721 MT=1 MF=1 X1=Z1=Y MS=1099 MS=1199
MS=1299 MA=100

2. Measurements parallel to traversing movements across block limits

G722:
A traversing movement may be but must not be programmed within the measuring block.
A block change will follow either immediately or at the end of the programmed traversing
movement. Measuring is stopped when the programmed number of measurements has
been completed. This has no influence on traversing movements.

Example:
N100 G91 C1=90 F3 G722 MT=1 MF=-1 X1=Z1=Y MS=1099 MS=1199
MS=1299 MA=100 N110 G91 C1=90 F3

or

N100 G722 MT=1 MF=-1 X1=Z1=Y MS=1099 MS=1199 MS=1299 MA=100
N110 G91 C1=90 F3
N120 G91 C1=-90 F3

© Siemens AG 1992 All Rights Reserved

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01.99

12 Functional Descriptions
12.29.1 Functional description

Measuring block parameter:
MT = Measuring sensor input
Depending on the hardware, inputs 1 or 2 can be measuring sensor inputs. Sensor input one 1
is effective on all measuring circuit hardware (detailed description in section 12.29.2, Hardware
- secondary conditions for measuring).
Example:
MT=1
MT=2
MT=R

Activation of measuring sensor input 1
Activation of measuring sensor input 2
Activation of the measuring sensor input which is stored in the R parameter
under its number

MF=Measuring system edge
The measuring system edge specifies on which edge of the measuring sensor signal the
measured value of the axes should be recorded.
Example:
MF=1
MF=-1
MF=2
MF=-2
MF=R

Measured value recording at positive edge
Measured value recording at negative edge (effective with all measuring
circuit hardware
Measured value recording of each edge change beginning with the first
positive edge
Measured value recording of each edge change beginning with the first
negative edge
Measured value recording depending on the contents of the R parameter

Measuring axes
Measured values can be recorded simultaneously for a maximum of 5 axes. Axis programming
can be carried out directly or indirectly.
Example:
X1=Y1=Z1=C1=C2=
@441 

Measuring axes are the specified axes
Measuring axis is the axis specified by a global axis

MS=Start parameter
The start parameter is the R parameter as from which measuring data are stored for the
respective axis. At least one start parameter has to be specified. With multiple
measuring axes and one start parameter the control automatically recalculates the
other start parameters according to the number of measured values. Individual start
parameters can also be specified for each measuring axis. The 1st programmed start
parameter must therefore be assigned to the 1st measuring axis, the 2nd programmed start
parameter to the 2nd measuring axis etc.
The number of actual measurements is entered in the R parameter specified by the start
parameter. The measured values are then listed in ascending order in the following R
parameters.
Example:
MS=1099
MS=R

Start parameter is the R parameter R1099
Start parameter is the R parameter the number of which is recorded in the
specified R parameter

Structure of the R parameter field
R
R
R
R

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

Number of actual measurements
1st measured value
2nd measured value
. .
. .
last measured value

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12 Functional Descriptions
12.29.1 Functional description

01.99

MA=No. of measured values
The number of measured values indicates the number of measurements to be recorded for a
complete measuring sequence. The required number of R parameters per measuring axis is
derived from the number of measured values:
Required R parameters per measuring axis = number of measured values +1 (see also
MS = Start parameter)
Measured values:
The measured values refer to the respective axis-specific position control resolution of the
assigned measuring axis with regards to their unit.
Linear axes:
For linear axes, the absolute actual value of the axis is stored as a measured value in the R
parameters.
Rotary axes:
For rotary axes, the absolute actual value of modulo 360 degrees is stored as measured value
in the R parameters.
Measuring cut off frequency:
One measured value can be recorded for every position controller cycle (in [ms]). The inverse
value of the position controller cycle (in [kHz])is therefore the limit frequency which still
ensures a safe measured value recording.
Measured value buffer:
Since the recording of measured values is executed in the position controller cycle and since
measured value data can only be transferred to the R parameters in the interpolation cycle, it
is therefore necessary for each measuring axis to have its own measured value buffer
available (MD 6200*, see the functional description: flexible memory management). The
number of measured value memory locations per measuring axis should be at least the same
as the ratio of interpolation cycle to position controller cycle.
Example:
Interpolation cycle
=8 ms
Position controller cycle =2 ms
No. of meas. value memory locations per meas. axis=

Interpol. cycle [ms]
8 ms
=4
=
Pos. contr. cycle [ms]
2 ms

Repeated measuring
Since measuring with G722 is carried out parallel to other part program processing (traversing
blocks) the situation could arise that further measuring with G720, G721 or G722 is requested
before the measuring initiated by the G722 block has ended. Differentiate between the
following two cases.
Case 1: An axis already programmed in the G722 block is reprogrammed. The measuring
initiated in the G722 block for the axis in question is then interrupted without error
message. The axis will become measuring axis within the new measuring block.

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Case 2: An axis not yet programmed in the G722 block is programmed. The measuring
process initiated in the G722 block continues irrespectively.

For detailed information about programming, please refer to the
documentation "840C Programming Guide".

12–300

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01.99

12.29.2

12 Functional Descriptions
12.29.2 General hardware conditions for "Extended measurement"

General hardware conditions for "Extended measurement"

"Extended measurement" G720/1 can be programmed for every measuring circuit variant:
•
•
•
•

Standard measuring circuit with SPC 6FC5 111 0BA0.-0AA0,
Standard measuring circuit with PCA 6FC5 111 0BA0.-0AA0,
HMS measuring circuit 6FC5 111 0BA..-0AA0 and
SIMODRIVE 611D modules with indirect/direct measuring channel.

The variation in hardware properties gives rise to the following boundary conditions which must
be noted when the function is programmed to avoid output of RESET alarms.
SPC(214) and HMS measuring circuit (6FX1121-4BA02, 6FX1121-4BA01):
•

Only one probe input can be active, the negative signal edge is always evaluated.
"Extended measurement" G720/1 can be performed only with the first probe input, the
second probe input is ignored. (This restriction does not apply to "Inprocess
measurement" 720 with which both probes can be activated alternately, but is necessary
for the extended function to ensure an unambiguous assignment of probe inputs, even for
SIMODRIVE 611D mixed operation).

•

Response to probe "bouncing":
In the case of multiple edges (probe "bouncing") within one position controller cycle, the
measured value is read from the measuring circuit belonging to the last edge.

•

When programming the measuring edge, switch S4 on the CSB module must be taken into
account. Depending on switch S4, this module can invert the signal of the probe.

PCA measuring circuit (successor to SPC214, 6FX1121-4BA03):
•

Only one measuring probe can be active. The PCA measuring circuit can react in the
position controller cycle to the following edge sequences: "rising/rising", "falling/falling" or
"alternately rising/falling falling/rising".
In contrast to the SPC measuring circuit, evaluation of the second probe input is supported
as an alternative for the PCA (measuring probe inputs can be switched over).
Only one measuring edge per position controller cycle can be sensed (either positive or
negative). For alternating measuring edges, therefore, the PCA measuring circuit module is
reprogrammed internally (software function) to the next probe edge in the next position
controller cycle after every new measured value is received. When "alternating measuring
edges" is programmed, the user must ensure that the measuring frequency is smaller than
the position control frequency.

•

Response to probe "bouncing":
In the case of multiple edges (probe "bouncing") within one position controller cycle, the
measured value belonging to the first edge is always read out.

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12 Functional Descriptions
12.29.2 General hardware conditions for "Extended measurement"

10.94

SIMODRIVE 611D:
•

611D measuring circuits can evaluate both measuring probes alternatively; they can also
react to the following signal edge sequences: "rising/rising", "falling/falling" or "alternately
rising/falling".
In this case, the minimum permissible time interval between two measured values
corresponds to one position controller cycle, i.e. if values are measured at short intervals,
measured data will be lost. Within this position control cycle, one rising edge and one
falling edge of each probe can be evaluated.

•

Response to probe "bouncing":
In the case of multiple edges (probe "bouncing") within one position controller cycle, the
measured value belonging to the first edge is always read out.

Mixed operation:
If various measuring circuit variants are used, then the following applies to the available
measuring functionality:
Measuring functionality
as for

Measuring circuit variants used
SPC/HMS

PCA

SIMODRIVE 611D

SPC/HMS

–

PCA

SIMODRIVE 611D

PCA

SPC/HMS

–

SIMODRIVE 611D

SPC/HMS

SPC/HMS

PCA

–

SPC/HMS

Measuring circuit switchover:
Any attempt to switch over the active measuring system (switchover of first/second measuring
system by PLC signal DB 32, DL k + 2, bit ) while measurement is in progress likewise leads
to abortion of the G720/G721 block with output of a RESET alarm.
Reactions to disturbances/errors relating to "Extended measurement"
Through evaluation of the actual number of measured values in the start address for the R
parameter field of each axis involved, a part program cycle can detect in the case of abortion
or at a block end whether the measurement (actual number = programmed number) was
complete in each axis.
The decoding function detects the following G720/G721 programming errors:
•

Specification of non-existent R parameter ranges

•

Specification of overlapping R parameter ranges (in the same block)

•

Specification of non-existent axes

•

Programmed number of measured value = number of measurements to be taken *
number of axes in a G720/G721 block does not fit into the available R parameter range

•

Incomplete data

Alarm 3006 "Incorrect block structure" is output in response to one of the above errors.

12–302

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10.94

12 Functional Descriptions
12.29.2 General hardware conditions for ”Extended measurement”

No check is made to ascertain whether R parameters which are also required by other
functions are being overwritten. Which R parameters within the available parameter range are
used is left to the discretion of the user.
If the programmed G720/G721 variant (probe selection, edge selection, etc.) is not supported
by the measuring circuit hardware, the axis-specific RESET alarm 1076* "Hardware
measurement" is output.
The following steps can be taken to avoid this problem:
•

When taking measurements with the second probe (MT = 2), program PCA and/or 611D
axes only.

•

In mixed operation 611D/PCA with SPC/HMS, program "first probe input" (MT = 1) and
"negative edge" (MF = 1) only.

Alarm 1076* is also output if the active measuring system is switched over when
measurements are in progress.

© Siemens AG 1992 All Rights Reserved
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12 Functional Descriptions
12.30 Master/slave for drives, SW 4.4 and higher, option

12.30

09.95

Master/slave for drives, SW 4.4 and higher, option

The function master/slave for drives consists of the options:
•
•

Master/slave basic package (speed setpoint coupling without torque compensation)
Master/slave torque compensation control (master/slave operation)

The master/slave basic package and the torque compensation control is described below. The
torque compensation control function is based on the basic package.

12.30.1

Corresponding data

Data for the basic package
NC MD 523*
NC MD 1336*
NC MD 1812*

Bit 4
Bit 7

NC MD 2700*
Interface
Interface
Alarm
Alarm
Alarm
Alarm

DB 31
DB 32
1012*
1056*
2019*
2086*

Additional data for torque compensation control
NC MD 1288*
NC MD 1340*
NC MD 1384*
NC MD 1812*

Bit 5
Bit 6

NC MD 2701*
NC MD 2702*
NC-MD 2703*
NC-MD 2704*

General notes
"Master/slave operation" is required for the following applications to which different principles
apply:
•

For power gain:
In this case, two or more drives are securely coupled to an output shaft mechanically (e.g.
to the main machining spindle). This application is defined when a machine is planned and
cannot be changed during operation or only with difficulty. Master/slave operation remains
unchanged during the entire operating time of the machine (power-on functionality).

•

For supporting a mechanical coupling:
To support the control in the "temporary mechanical coupling" of two (or more) drives,
e.g. synchronous spindle operation during a parting operation or mechanical coupling of
two normally independent machine tables by means of bolts, clamps and the like. This
application is activated and deactivated during operation and is only active while there is a
"mechanical coupling" (on-line functionality).

12–304

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09.95

12.30.2

12 Functional Descriptions
12.30.2 Difference to synchronous spindle/GI

Difference to synchronous spindle/GI

Unlike the synchronous spindle or GI, master/slave operation is no substitute for a mechanical
link but can only support torque distribution where a mechanical coupling exists. Master/slave
operation is not advisable where there is no fixed mechanical coupling because then there can
be no torque distribution over a common mechanical link.
While master/slave operation can provide a speed and/or torque coupling of several drives, GI
and synchronous spindle operation are used to implement positional coupling of several drives.
The functions GI and synchronous spindle provide a position reference between the leading
and the following drives and monitor it. Without compensation controllers, the leading and
following axes involved are each responsible for executing motions that do not violate the
contour.
If master/slave operation is activated (leading axis LA = master, following axis FA = slave),
the position reference between the leading and the following axes is lost if they are not
mechanically coupled.
There is no position difference control, only coupling at the speed/torque level.

12.30.3

Function description

The control structure of master/slave operation is shown in the following diagram: the speed
setpoint Nset of the master is output directly to the slave. For clarity's sake, only one slave is
shown. If there are several slave drives they all receive the speed setpoint of the master.
Cascading (where a master in speed setpoint coupling is itself a slave) is not permissible. Any
existing position control of the slaves is automatically deactivated. When the speed setpoint of
the master is transferred, internal normalization to the same load speed is performed. This
makes different motor speeds of master and slave possible.
In addition, it is possible to use a torque compensation controller for better torque distribution
(especially during acceleration). However, this requires a SIMODRIVE 611D because with
analog drives, the torque setpoints are not available in the position control.
The outputs and inputs of the torque compensation controller can be connected as required. In
the simplest case, as shown in the diagram, the torque setpoints of the master and slave are
used as input variables (if there are several slaves: star-shaped configuration) and the output is
injected with reversed polarity as an additional speed setpoint to the master and to the slave.
If there are several slave drives it is possible to use the torque setpoint of a further slave as
an input instead of the master torque setpoint. This slave is then the master of the torque
compensation control (chain structure).

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.30.3 Function description

09.95

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The output can now be injected either only to the slave or only to the master of the torque
compensation control (see switch in the diagram).
Position controller, master

Speed controller, master

aaaa
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Tersi

TM1

Tx

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Kp, Ki

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Nact

Kv

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Xact

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Torque compensation
control,
slave

Kp, Ki

MD 1812*, bit 7
or MD 523* bit 7

Mechanical
coupling

Speed controller, slave
Nact

Tersi

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MD 1812*/523* bit 5

Vr, Tr

MD 1344* or
MD 2702*

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MD 1812*/523* bit 6

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Weigth compensation
MD 1292*, 3188* ff

Tx

TM2

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MD 1384*, 1288*
or
MD 2703*, 2704*

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Nset

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Xset

Weight compensation
MD 1292*, 3188* ff

Structure of master/slave with torque compensation control

Static pretensioning torques can be set on the master and the slave with electrical weight
compensation (MD 1292*, MD3188*) of the parameter set. This torque is not eliminated by the
torque compensation controller. There is no equivalent machine data for spindles.
Setting the speed control parameters
The installation of the speed control loop described in Section 9.1.3 is performed separately
for the master and the slave drives. If all drives are mechanically coupled all the time, the
drives not involved must be disabled, e.g. via terminal 663. These drives then also rotate as
inertial masses. If the mechanical coupling is made via a wormgear it might be advisable to
operate all axes not involved by actual-value coupling via an ELG grouping.
The speed control gains that can be achieved are adapted via the ratios of the moments of
inertia.
Example:
Master/slave grouping with three drives
Drive 1:
Drive 2:
Drive 3:

Jto=
Jto=
Jto=

50 · 10-4 kgm2; KP=
100 · 10-4 kgm2; KP=
200 · 10-4 kgm2; KP=

6 Nms/rad, TN=10ms; KP/Jto=1200
10 Nms/rad, TN=10ms; KP/Jto=1000
20 Nms/rad, TN=10ms; KP/Jto=1000

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The smallest factor KP/Jto now determines the further adaptation of the speed control gain.
rive 1:

Drive 2:
Drive 3:

12–306

KP
=50 · 10-4kgm2 · 1000=5 Nms/rad
Jto min
KPnew=10 Nms/rad
KPnew=20 Nms/rad
KPnew=Jto ·

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

09.95

12 Functional Descriptions
12.30.3 Function description

Parameterization with the NC machine data
The slave is parameterized via the NC machine data. This is only a short list with a few notes
relevant to the function:
Basic package
MD axis/MD spindle
MD 1336*/2700*
MD 1812*, bit 4/*523* bit 4:
MD 1812*, bit 7/*523* bit 7:
Additional MDs for torque compensation control
MD axis/MD spindle
MD 1340*/2701*
MD 1344*/2702*
MD 1384*/2703*
MD 1288*/2704*
MD 1812*, bit 5/*523* bit 5:
MD 1812*, bit 6/*523* bit 6:
With MD 1344*/2702*, the input quantities of the torque compensation control are weighted to
permit a parameterizable torque distribution over both drives.
The most uniform torque distribution even during acceleration is obtained if the torque
compensation controller does not have to intervene in the command behaviour. If identical
motors are used with identical drive parameterization and they all have to output the identical
torque, the standard parameterization of 500‰ is the best setting. This is also recommended
where master/slave operation gives the best results.
If the motors are different, the user can decide whether both motors are to output the same
torque or whether the torques are to be distributed according to the moments of inertia or
rated torques. Distribution according to the moments of inertia of the motors is recommended
with the aim of achieving the same ramp-up time for both drives.
The standard parameterization of 500‰ results in a distribution according to values in drive
machine data 1725 (normalization of the torque setpoint interface) for both axes. For another
distribution, the MD 1344*/2702* must be calculated according to the following formula:
NC MD 1344*/2702* =

Mdesiredslave
–––––––––––––––––––––––––––––––––––––––––
· 1000‰
MD1725slave
Mdesiredslave+Mdesiredmaster *
–––––––––––––
MD1725master

Mdesired is the ideal torque distribution between master and slave.
The torque compensation control can be connected as required via MD 1340*/2701* and
1812*/523*. If MD 1336* and 1340* are set differently it is possible to implement a chained
multi-slave structure. However, it is up to the user to make sensible parameterization. In the
system software a check is only made that the drive in question can provide its torque setpoint
(SIMODRIVE 611D).
The control output parameterized in bits 5 and 6 of the axial MD 1812* acts either on the
master or the slave. With the default setting 0 in these bits, the switches in the diagram are
open.
With bit 7 in MD 1812*/523*, it is possible to take account of different ways of connecting the
slave drive to the common output without having to change the polarity of the control and the
direction of travel of each axis. All the relevant signs of the slave are inverted.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.30.4 Activating/deactivating the master/slave torque compensation control

12.30.4

09.95

Activating/deactivating the master/slave torque
compensation control

Master/slave operation is activated and deactivated via the PLC signals in the DB32 or DB31
of the slave in question. In this way, it is possible to achieve both power-on functionality and
switchability using the PLC user program.
Alternatively, it is possible to configure slave operation to take effect straight after power-on
with bit 4 of MD 1812*/523*. This setting is only intended for the power gain application
described above. This mode can only be deactivated by reparameterization of the bits followed
by Power Off.
The feedback signal "Slave operation active" is placed in status word DB31/DB32 for spindle
or axis. A traverse command for a slave axis causes an alarm. After deactivation of slave
operation, it is possible to traverse the axis again (in the part program: matching the actual
position with G200).
With the exception of the function generator operation on the SIMODRIVE 611D, the slave
follows all motions of the master drive with speed coupling. For the master, it is therefore still
possible to select all modes. The switchover to slave mode via the PLC signal is only
possible in certain modes. These are the main modes:
•
•
•
•

Control mode
(C)-axis mode
(C)-axis mode with GI
Synchronous spindle following mode

Switchover is not allowed in:
•
•
•
•

Oscillating mode
Positioning mode (M19)
Function generator mode
During motion to a fixed stop.

In the last modes, a request for slave operation by the PLC signal is ignored. The request is
ignored and the status bit "Slave operation active" is not set.
In the opposite case, the same procedure is followed, i.e. the mode master/slave first selected
is retained. A function generator start is rejected. A request to travel to fixed stop and a mode
change of the slave to reciprocation or position mode causes alarm 1056* and 2086*.
A mode change to spindle/C-axis mode is permissible, the user must make sure that the
various machine data and PLC control signals are active.
If traversing to a fixed stop is selected in the master, it is necessary to ensure that the torque
compensation controller sets the torque of the slave such that it maintains the parameterized
torque ratio with the master statically, but that the slave is able to output much higher torques
dynamically. However, this is only possible if the output of the torque compensation controller
is set to the output of the slave (Bit 5 in MD 1812*/523*=1).
If a GI coupling of the two axes exists in addition to master/slave operation, synchronism
monitoring remains active. The position reference can thus be checked by the user. The same
applies to synchronous spindle operation. If correctly configured, switchover between following
axis/following spindle operation and slave operation is performed smoothly until the
synchronism error is eliminated.
If master/slave torque compensation control is active, the compensation controller must be
deactivated because synchronism deviations cannot be eliminated. An integral-action in the
compensation controller would then drift away and cause synchronism errors when the gear
coupling is reactivated (master/slave deactivation).

12–308

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09.95

12 Functional Descriptions
12.30.4 Activating/deactivating the master/slave torque compensation control

For the master, function generator operation is also permitted in the SERVO and in the
SIMODRIVE 611D (start-up functions). Measurement of the position control loop (SERVO) is
made with the speed and torque coupling active. With measurement functions in the
SIMODRIVE 611D (speed and current control loop), however, only the torque compensation
controller is active. Its output must therefore be connected to the slave (bit 5 of MD
1812*/523* = 1), if measurement is performed with offset > 0.
As an alternative to the start-up functions, it is possible to deactivate the slave operation as
well and configure a GI actual-value coupling instead. The function generator operation is also
permitted for GI leading axes.

12.30.5

Response in the event of an error

In error states (alarms with request for "correction") in the master and/or slave, both drives
must be deactivated together otherwise one of them might attempt to output all the required
torque by itself. In this case, distortion or torsion in the workpiece would be avoidable. The
drives are shut down via SERVO-internal communication in the IPO cycle.
The way in which deactivation is performed can be determined by the user using the familiar
delay times:
If torqueless operation is to be activated immediately, the "OFF delay for servo enable"
(MD 156) and "Delay servo enable" (MD 1224*) must be set to 0. The global MD 156 only
applies if the axial MD 1224* is 0 and must therefore be set to 0. In this case, the servo
enables of the drive are cancelled immediately. To prevent the drive performing regenerative
braking, the drive machine data 1404 must be set to 0. The axis then coasts to rest.
If active braking is only to begin after a certain delay (with the torque of the still intact slaves or
of the master), this time must be parameterized to be the same for all slaves and for the
master in MD 1224*. It is up to the user to do this.
On spindles there is an option of braking the speed setpoint via a ramp and then disabling the
controller. Here too, the user must parameterize identically for all spindles of a master/slave
grouping.
Note:
"Extended stopping and retracting" (ESR), if programmed, cannot be taken into account for
the reason described above as soon as one axis of a master/slave grouping fails. The following
table shows an overview of the alarm responses:
1.) Normal functionality without
ESR

2.) ESR active for master and
slave

Master:

Immediate initiation of follow-up
control with the parameterized
stopping times

Immediate initiation of follow-up
control with the parameterized
stopping times

Slave:

Immediate initiation of follow-up
control with the parameterized
stopping times

Immediate initiation of follow-up
control with the parameterized
stopping times

Other axis in the mode
group:

Immediate initiation of follow-up
control with the parameterized
stopping times

Master + slave: configured
ESR, master/slave is retained.

Error occurs:

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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12 Functional Descriptions
12.30.5 Response in the event of an error

09.95

So that all axes of a master/slave grouping exit the follow-up control at the same time, they
must be reset internally at the same moment. For this reason, all axes of a master/slave
grouping must be defined in the same mode group.
Incorrect parameterization of the master/slave torque compensation control causes the alarm
1012*/2019* "Parameterization error NC-MD" and the service number 330.
Change from SW 5, position-controlled follow-up in the event of an error
SW 5 gives the user the option of setting bit 3 in MD 1812* (or 523* for spindles) to initiate
switchover to position-controlled follow-up for following axes (FA) in the event of an error. This
function must not be used if the master is also the leading axis for the slave because this
creates an unstable control loop.

Error occurred
during:

1.) Normal
functionality
without ESR

2.) ESR not
active, axes are
FA and MD
1812*, bit 3=1

3.a) ESR active,
axes are not FA
or MD 1812*,
bit 3 = 0

3.b) ESR active,
axes are FA and
MD 1812*,
bit 3=1

Master

Immediate
Transition to
initiation of follow- controlled followup with
up
parameterized
stopping times

Immediate
Transition to
initiation of follow- controlled followup with
up
parameterized
stopping times

Slave

Immediate
Transition to
initiation of follow- controlled followup with
up
parameterized
stopping times

Immediate
Transition to
initiation of follow- controlled followup with
up
parameterized
stopping times

Other axes in
mode group

Immediate
Transition to
initiation of follow- controlled followup with
up
parameterized
stopping times

Master + slave:
Configured ESR,
no transition to
controlled followup, master/slave
remains intact

Master + slave:
Configured ESR,
no transition to
controlled followup, master/slave
remains intact

The axis for which the error occurred must always be followed up immediately.

12–310

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03.95

12.30.6

12 Functional Descriptions
12.30.6 Effects on existing functions

Effects on existing functions

Master/slave operation does not cause any function restrictions in the master except for the
alarm handling described in the previous section. For the slave, the following changes must be
taken into account because speed/torque coupling is used instead of NC-controlled motion
setpoints:
•

Zero-speed and contour monitoring are deactivated.

•

The PLC status information traverse command +/- is not updated.

•

In the NC service display, only the absolute actual position, the speed setpoint (0.01%)
and the partial actual value need be correctly updated. If the slave drive is a GI following
axis or a following spindle the error synchronism is also updated. Other information such
as the following error are modelled or generated from the NC setpoint that is not relevant
to the real motion of the axis/spindle.

•

In slave operation, no compensations should be active. The individual effects are:
– Quadrant error compensation: the correction value from the master is transferred to
the slave via the speed setpoint coupling. The compensation value of the slave is not
used.
– Tacho compensation: the tacho compensation is deactivated internally.
– Leadscrew error compensation, interpolatory compensation with absolute values: This
actual value is still corrected but not used for control.
– Backlash compensation corrects the actual value in accordance with the setpoint from
the NCK and is therefore automatically inactive. Depending on the traverse motion of
the master, the actual position is therefore incorrect by the amount of the backlash.
After the backlash compensation has been written, the interface signal "Reference
point reached" is cleared.
– Semi-automatic drift compensation: In slave operation, the drift is always calculated
with respect to 0. This function must not be activated by the user during slave
operation.

•

A mode change might possibly not be performed (see Section ”Activation/Deactivation”).

•

The ramp function generator rapid stop function from the PLC in the slave is ignored in the
speed setpoint. The ramp function generator rapid stop function from PLC in the master
causes rapid stop of the slaves via the speed setpoint coupling. The PLC signal in the
Master of the torque compensation controller, MD 1340*/2701* is decisive for deactivation of the torque compensation controller. This might be another slave in a chain configuration (see Section ”Function description”). It is therefore advisable to activate the ramp
function generator rapid stop signal from the PLC (DB29, DB31) for all axes/spindles of a
master/slave grouping simultaneously.

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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12 Functional Descriptions
12.31 Dynamic SW limit switches for following axes

08.96

12.31

Dynamic SW limit switches for following axes

12.31.1

Corresponding data

•
•
•
•
•
•
•

MD 560*, bit 1
MD 560*, bit 5
MD 3932*
MD 3936*
DB32 DR[K], bit 3
DB32 DR[K+1], bit 2
DB10 ... 15, DR0. bit 0

Dyn. SW limit switches for following axes
Software limit switches active
Deadtime compensation for dyn. SW limit switches
Minimum reduction factor for dyn. SW limit switches
Axis is in reduction range
Dynamic SW limit switch monitoring passive
Path speed of channel not reduced

General
•

Behaviour of following axis without monitoring
If a gear interpolation is active in the SINUMERIK 840C, then the software limit switch for
the following axis is monitored only when the actual position is exceeded. If the following
axis crosses the limit switch, a servo alarm (148* to 152*) is output and the axis grouping
braked. In this case, the axis travels a long distance passed the limit switch depending on
its speed.

•

Behaviour of following axis with monitoring
The purpose of the function is to monitor the position of the following axis continuously
and, if required, to reduce the path speed of the channels in the mode group such that the
following axis travels only a short distance past the switch. The axis grouping is not
separated.

12.31.2
•

Description of function

Sequence
The SW limit switches for following axes are monitored only if
–
–
–
–
–
–
–

MD 560*, bit 1 = 1 "Dyn. SW limit switches for following axes"
MD 560*, bit 5 = 1 "Software limit switches active"
Axis is referenced
Axis is following axis when gear interpolation is active
C axis in C axis mode, not spindle mode
PLC signal to axis, bit 2 = 0: "Dynamic SW limit switch monitoring passive"
PLC signal to channel, bit 0 = 0: "Path speed of channel not reduced"

The axis-specific PLC signal "Dynamic SW limit switch monitoring passive" allows the user
to switch the monitoring function on and off. The signal to channel "Path speed of channel
not reduced" determines whether the path speed of the channel is reduced.
•

Reduction range
A braking path is calculated for each following axis from the max. velocity Vmax and the
max. acceleration Amax in the machine data. This braking path represents an area in front
of the software limit switches that is referred to as "reduction range" below. The reduction
range is always re-calculated after the machine data have been changed.
Reduction range (Vmax * Vmax) / 2 * Amax

12–312

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08.96

12 Functional Descriptions
12.31.2 Description of function

The reduction range represents a safety area. As soon as the following axis is positioned
in the reduction range, the path speed of the channels is reduced. Since the speed set for
the following axis in the next IPO cycle is not known, the path speed of the channels must
be restricted by means of the reduction range for safety reasons.
•

Deadtime compensation
The setpoint position of the following axis is checked in every IPO cycle to establish
whether it is within the reduction range. The system is designed such that several IPO
cycles elapse before changes to the setpoints of a leading axis are output to the setpoint
controller of the following axis. To compensate this deadtime, the setpoint position is
corrected by the predicted path. The deadtime and thus also the compensation value are
dependent on the gear interpolation link type. The deadtime is 2 IPO cycles for the
setpoint link. A deadtime of 5.5 IPO cycles is recommended for the actual value link.

•

Calculation of reduction factor

Vperm =

aaaaa
aaaaa
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aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa

aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa

The distance between the deadtime-compensated setpoint position and the active
limitations is calculated. The active limitations are the innermost limit values as defined by
the working field boundary and the selected SW limit switch. If the distance d is smaller
than the reduction range, the braking operation must be initiated. For this purpose, a
permissible velocity value Vperm calculated from the distance to the SW limit switch and
the max. acceleration value Amax.
2 * d * Amax

A reduction factor is calculated from Vperm and Vmax and transmitted to the mode group
channels. In a similar way to an override, the reduction factor is included in the path
velocity calculation in all mode group channels.
Reduction factor= Vperm / Vmax * 100

aaaa
aaaa
aaaa

Diagram showing reduction range in front of a limit switch:

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

V

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

Vmax

Vperm

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

Limit
switch

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

Corrected
setpoint
position

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa

Setpoint position

aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa
aaaaaaaaaa

aaaa
aaaa
aaaa
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aaaa
aaaa

Reduction range
Position

12–313

12 Functional Descriptions
12.31.2 Description of function

08.96

It is possible to define for each individual channel whether or not its path speed must be
reduced by means of the PLC signal to channel "Do not reduce channel".
If a following axis is positioned within the reduction range, then the appropriate interface
signal: "Axis is in reduction range" is set. The PLC can transmit a message in response to
the output signals.
The display of the reduction factor and feed override * reduction factor can be configured
on the NC workstation WS800A. The reduced path feed of the channels is displayed in the
AUTOMATIC basic screen.
The minimum limit of the reduction factor corresponds to the value in MD 3936*. The SW
limit switch is approached with this minimum reduction factor. If the switch is reached, the
channels are braked at the max. acceleration rate and the reset alarm 148*/152* "SW limit
switch plus/minus" is output. The machining operation is halted. The axis is now positioned
behind the limit switch. The axis grouping remains intact.
MD 3936* "Minimum reduction factor" makes it possible to limit the distance traversed by
the axis passed the SW limit switch. 1 % corresponds to 100.
The following start-up procedure is recommended:
–
–
–

•

Set "Min. reduction factor" to 1 %
Traverse following axis at max. speed with monitoring of SW limit switch active
If the distance by which the axis traverses past the SW limit switch is too large, then
the reduction factor must be decreased.

Retraction
Retraction is possible only in the direction opposite to traversing. On the return path up to
the SW limit switch, the minimum reduction factor stored in MD 3936* is applied. From this
point onwards, the reduction factor is calculated in exactly the same way as for travel
towards to the SW limit switch, i.e. the reduction range is also effective when the axis is
moving away from the limit switch.

•

Movements near the SW limit switch
The reduction factor always causes a reduction in the path speed when the following axis
is within the reduction range, even if it has not crossed the SW limit switch.

•

G33 thread cutting
If the following axis enters the reduction range during thread cutting, then the spindle
speed is braked causing a dynamic lead error. The alarm "Stop during thread cutting" is
output.

12–314

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07.97

12 Functional Descriptions
12.32 Collision monitoring (as from SW 6)

12.32

Collision monitoring (as from SW 6)

12.32.1

General description

The ”Collision monitoring” function prevents collision of moving and stationary parts of the
machine.
A protection zone (abbreviation SR) can be defined for a machine part requiring protection.
The distance between protection zones is calculated in IPO cycles. If two protection zones
come close, the axes involved are braked to zero speed.
For technical reasons, it is impossible to guarantee that the distance between the protection
zones is equal to 0 mm when the axes are stopped. The where will necessarily be a small
overlap between the protection zones (less than 1 mm). We therefore recommend that you do
not dimension the protection zones exactly round the machine parts but allow a safety zone of
approximately 1-2 mm.

12.32.2

Defining a protection zone

The protection zones in collision monitoring are defined as cuboids. Starting from a machine
reference point M for stationary of F for moving protection zones, the protection zone
reference point P1 is defined. The protection zone coordinate system with its coordinates X, Y,
and Z which is parallel with the axes of the machine coordinate system is in the protection
zone reference point P1.
The dimensions of the protection zone must be specified as sections on the positive
coordinates X, Y and Z of the protection zone coordinate system.
In the event of an error, alarm 111 ”Error in collision monitoring data” is output with the code:
04=protection zone dimensions missing
or
05=negative protection zone dimensions.

Definition of a moving protection zone
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M

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Protection zone

F

Y

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a
a

Z

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FP vector
(protection zone reference point vector)

Sn P1

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

Dimension vector

X

12–315

12 Functional Descriptions
12.32.2 Defining a protection zone

07.97

It is also possible to define protection zones in two dimensions.
Two-dimensional protection zones that must be monitored mutually, must be defined in the
same plane.
In the event of an error, alarm 111 ”Error in collision monitoring data” is output with the code
96=protection zones not defined in the same plane.
In the 3rd coordinate, the dimension of two-dimensional protection zones is assumed to be +/infinite.
Protection-zone-specific machine data
FPI vector (protection zone reference point vector)
X coordinate:
MD 3812*
Y coordinate:
MD 3816*
Z coordinate:
MD 3820*
Dimension vector
X coordinate:
Y coordinate:
Z coordinate:

12.32.3

MD 3824*
MD 3838*
MD 3832*

Activation of collision monitoring of a protection zone

Collision monitoring is activated for each individual protection zone in machine data 3876*
”Protection zone exists”.
Because of the specific machine geometry, it might be necessary to model the geometric
space that a machine part requiring protection occupies more precisely than is possible with a
single protection zone.
To achieve a better approximation of the protection zone to the geometry of the machine part,
it is possible to define several protection zones that describe the machine part section by
section.
Because mutual monitoring of these spaces is not necessary, it can be deactivated for each
protection zone in machine data 3880*-38921* ”No monitoring with reference to SR”. It is
necessary to deactivate monitoring in the machine data of both protection zones.
In the event of an error alarm 111 ”Error in collision monitoring data” is output with code
03=Error in monitoring reference.
No monitoring with reference to SR
Protection zone exists: MD 3876*.0
Do not monitor protection zone
SR1-SR8:
MD 3880*.0-7
SR9-SR16:
MD 3884*.0-7
SR17-SR24:
MD 3888*.0-7
SR25-SR32:
MD 3892*.0-7

12–316

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07.97

12.32.4

12 Functional Descriptions
12.32.4 The motion axes of a protection zone

The motion axes of a protection zone

If a protection zone is to be able to follow a moving machine part, e.g. a tool slide, the real
machine axes that move the machine part must assigned to the protection zone. These axes
are the motion axes of the protection zone.
The axes must exist and be in the same mode group.
In the event of an error, alarm 111 ”Error in collision monitoring data” is output with the code
01=motion axis does not exist
or
02=motion axis not in the same mode group.
Protection-zone-specific machine data
X coordinate:
MD 3800*
Y coordinate:
MD 3804*
Z coordinate:
MD 3808*

12.32.5

Machine coordinate systems

To permit mutual monitoring of protection zones that are in different machine coordinate
systems within a machine tool, the two coordinate systems must be transformed into a
common coordinate system (monitoring coordinate system). The common coordinate system
can be any machine coordinate system.
(Collision monitoring only works with the machine coordinate systems that are not rotated with
respect to one another but only translated and/or mirrored.)
Each protection zone must therefore be assigned to a machine coordinate system by machine
data.
Protection-zone-specific machine data
Machine coordinate system: MD 3840*
General machine data
Offset vector 2nd machine coordinate system
X coordinate:
MD 337
Y coordinate:
MD 338
Z coordinate:
MD 339
Mirroring vector 2nd machine coordinate system
(X, Y, Z):
gen. MD 5026, 0-2
Offset vector 3rd machine coordinate system
X coordinate:
MD 340
Y coordinate:
MD 341
Z coordinate:
MD 342
Mirroring vector 3rd machine coordinate system
(X, Y, Z):
gen. MD 5027, 0-2

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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12 Functional Descriptions
12.32.5 Machine coordinate systems

07.97

Offset vector 4th machine coordinate system
X coordinate:
MD 343
Y coordinate:
MD 344
Z coordinate:
MD 345
Mirroring vector 4th machine coordinate system
(X, Y, Z):
gen. MD 5028, 0-2

12.32.6

Adaptation of the protection zone to the active tool

The size of protection zone can automatically be adapted to the active tool of an NC channel.
If the tool tip P protrudes out of the protection zone defined in the machine data the protection
zone is adapted in accordance with the tool offset data. If is adapted in such a way that the
protection zone is enlarged on the basis of the basic dimensions defined in the machine data
such that tool nose P is on the boundary of the protection zone.
With the general machine data MD 300* ”TO allowance” it is possible to enlarge the protection
zone till further. The tool offset allowance is calculated into all the coordinates in which the tool
offset value is not equal.

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Adapting the protection zone
to the active tool with tool offset allowance

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P

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TO allowance MD 300

F

TO allowance MD 300

12–318

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X

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P1

Adapted protection zone

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Y

Basic dimension

© Siemens AG 1992 All Rights Reserved

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07.97

12 Functional Descriptions
12.32.6 Adaptation of the protection zone to the active tool

The axes in which the tool offset in the NC channel is calculated and that of the protection
zone coordinate that is to be adapted to it are assigned to one another in the axis-specific
machine data MD 3938*.
Gen. machine data
TO allowance:

MD 300

Axis-specific machine data
Coord. assignment:
MD 3948*

12.32.7

Activating machine space adaptation

Because the active tool offset is defined within an NC channel, but a protection zone cannot
be assigned permanently to an NC channel, this assignment must be made to depend on the
machining situation using a G function.
G181 S
The protection zone designator S and the  must be programmed
immediately after the G function.
The G function is modal so that changes in the D number are automatically calculated.
To achieve collision monitoring without any delay in protection zone adaptation to the tool
offset values, all relevant data must be specified in the part program block on tool change.
Example:
N100 T D G180
Each channel can change the assignment of the channel to the protection zone and therefore
protection zone adaptation at any time.
The tool offset number D0, Program end and RESET all have no effect on protection zone
adaptation. Protection zone adaptation is only deactivated by the G function:
G180 S
The protection zone designator S and the  must be programmed
immediately after the G function.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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12 Functional Descriptions
12.32.8 Reduction zone of a protection zone

12.32.8

07.97

Reduction zone of a protection zone

Each coordinate of a protection zone that is assigned a motion axis has a reduction zone in
this coordinate. The reduction zone is the distance around the protection zone within which it
is only possible to traverse with a speed proportional to the distance from the protection zone.
The size of the reduction zone is equal to the maximum braking distance of the motion axis of
the coordinate.

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Reduction zone of protection zone
Reduction zone

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Max. braking distance in X

Protection zone

Machine part

Max. braking distance in Z

X

Z

For each motion axis for which a reduction factor of less than 100% results, this is displayed in
the axis-specific interface.
Formulas
Calculation of the max. braking distance of an axis
Max. velocity of the motion axis Vmax in m/s
Max. acceleration of the motion axis amax in m/s2

12–320

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07.97

12 Functional Descriptions
12.32.8 Reduction zone of a protection zone

Calculation of the number of acceleration steps to brake from Vmax to 0 using amax:
m=

vmax
amax

mremainder=

; Integer component of the division
vmax
amax

; Remainder of the division

Calculation of the max. braking distance
m·(m–1)
· amax+mremainder · amax · m
2

Sbrake_max=

Axis-specific interface
Axis in reduction in reduction zone:

12.32.9

DB32, DR k, bit 3

Reduction factor

The reduction factor is an internal override value which is added to the set path velocity of all
channels of the mode group in which the motion axes of the protection zone are located.
It is calculated as a percentage representing the proportion of the distance between two
protection zones.
Formulas
Calculation of the reduction factor of the protection zone S1 with respect to a second
protection zone S2:

Re dfacS1 =

SS1S2
Sbrake_maxS1+Sbrake_maxS2

· 100%

with SS1S2=distance between the two protection zones S1 and S2
Minimum reduction factor
If two protection zones collide the result is a reduction of 0%. This would prevent retraction
from this situation. The axis-specific machine data ”Minimum reduction factor” can be used to
set a lower limit for the reduction factor. It is then possible to retract the protection zones at
the resulting velocity.
In the event of a collision the protection zone boundary is crossed with the velocity resulting
from the minimum reduction factor. For this reason, the minimum reduction factor which
depends on the maximum velocity of the axis must be selected to be as small as possible
( 1%).
Axis-specific machine data
Minimum reduction factor:

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

MD 3936*

6FC5197- AA50

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12 Functional Descriptions
12.32.10 Dead-time compensation

12.32.10

07.97

Dead-time compensation

Because of the internal structure of the software, dead-time compensation must be performed
for all motion axes functioning as ELG following axes. The dead time to be compensated is
specified in the axis-specific machine data.
Dead times:
ELG following axes with setpoint coupling:
ELG following axes with actual value coupling:
Axis-specific machine data
Dead-time compensation value:

12.32.11

2 IPO cycles
5.5 IPO cycles

MD 3932*

Protection zone collision

Because the internal traverse enable for the motion axes involved can only be canceled with a
protection zone distance of zero, it is possible that the two protection zones might overlap as
the result of a collision. The overlap is larger:
•

the larger the IPO sampling time

•

the larger the maximum velocity

•

the larger the maximum reduction factor

•

the smaller the acceleration

•

the smaller the maximum jerk

It is therefore advisable not to fit the protection zones exactly round the machine parts to be
protected.
By selecting appropriate values for the above parameters, especially the minimum reduction
factor, it is advisable to achieve an overlap of less than 1 mm in any case.
Formulas
Calculation of jerk r, acceleration a and velocity v with respect to the path per IPO cycle.

r

mm
TIPO3

=r

a

mm
TIPO2

=a

m
s2

·

TIPO2 [ms]
1000

v

mm
TIPO

=v

m
min

·

TIPO [ms]
60

12–322

m
s3

·

TIPO3 [ms]
106

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

07.97

12.32.12

12 Functional Descriptions
12.32.12 Collision alarms

Collision alarms

When two protection zones collide, the axis-specific alarm ”Protection zone collision
plus/minus” is output for all the motion axes of the protection zones specifying the direction.
After that, traversal of the motion axes in the direction of the collision is disabled until the axisspecific collision alarms have been acknowledged (retract from protection zones).
To retract in the opposite direction it is possible to traverse with the velocity resulting from the
set velocity and the minimum reduction factor.
The collision of protection zones is displayed for each protection zone in the PLC interface
DB48.
Axis-specific alarms
Protection zone collision plus:
Protection zone collision minus:

Alarm 1368*
Alarm 1372*

PLC interface
Protection zone collision:

DB48, DW5 and DW7, bit 0 - bit 15

12.32.13

Deselection of collision of monitoring of a protection zone

Via PLC interface DB48 it is possible to deactivate monitoring of a protection zone. For safety
reasons, the interface signal is LOW active.
PLC interface
Collision monitoring OFF:

DB48, DW4 and DW6, bits 0 - bit 15 in each case.

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

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12 Functional Descriptions
12.32.14 Example on a double-slide turning machine

12.32.14

01.99

Example on a double-slide turning machine

On the example of a double-slide turning machine, let us look at the configuration of collision
monitoring with a total of five protection zones.
The input resolution is: 10-3 mm
The safety distance of a protection zone around the machine part is defined as 2 mm.
Slide 1 is moved through axes X1 (=1st axis) and Z1 (=2nd axis).
Slide 2 is moved through axes X2 (=3rd axis) and Z2 (=4th axis).
Slide 1 machines in front of, slide 2 behind the turning center. This results in two coordinate
systems with the respective machine zeros M1 and M2 (M1=M2).

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60

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SR4

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The X coordinate of the 2nd machine coordinate system is mirrored with respect to the X
coordinate of the 1st machine coordinate system.

340

SR5

X2

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50

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F

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Diameter 320

Z1=Z2

Slide 1

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F

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SR1

Diameter 330

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M1=M2

325

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250

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Chuck

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Diameter 330

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Slide 2

325

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50

340

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60

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SR3

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X1

SR2

The collision machine data resulting from the dimensions in the example are listed on the
following pages.

12–324

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07.97

•

12 Functional Descriptions
12.32.14 Example on a double-slide turning machine

Protection zone 1: Spindle chuck

Protection zone data VALUES
Motion axes
X coordinate:
Y coordinate:
Z coordinate:

MD 38000 = 0
MD 38040 = 0
MD 38080 = 0

FP1 vector
X coordinate:
Y coordinate:
Z coordinate:

MD 38120 = -162
MD 38160 = 0
MD 38200 = -2

Dimension vector
X coordinate:
Y coordinate:
Z coordinate:

MD 38240 = 324
MD 38280 = 0
MD 38320 = 254

Machine coordinate system
Number:
MD 38400 = 1
Protection zone data BITS
Protection zone exists
SR exist.:
MD 38760.0 = 1
Monitoring reference OFF
SR 1 - 8:
MD 38800.0-7 = 00000000
SR 9 - 16:
MD 38840.0-7 = 00000000
SR 17 - 20:
MD 38880.0-7 = 00000000
SR 21 - 32:
MD 38920.0-7 = 00000000

•

Protection zone 2: Slide 1

Protection zone data VALUES
Motion axes
X coordinate:
Y coordinate:
Z coordinate:

MD 38001 = X1
MD 38041 = 0
MD 38081 = Z1

FP1 vector
X coordinate:
Y coordinate:
Z coordinate:

MD 38121 = 113
MD 38161 = 0
MD 38201 = 28

Dimension vector
X coordinate:
Y coordinate:
Z coordinate:

MD 38241 = 329
MD 38281 = 0
MD 38321 = 344

Machine coordinate system
Number:
MD 38401 = 1

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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12 Functional Descriptions
12.32.14 Example on a double-slide turning machine

07.97

Protection zone data BITS
Protection zone exists
SR exist.:
MD 38761.0 = 1
Monitoring reference OFF
SR 1 - 8:
MD 38801.0-7 = 00000100
SR 9 - 16:
MD 38841.0-7 = 00000000
SR 17 - 20:
MD 38881.0-7 = 00000000
SR 21 - 32:
MD 38921.0-7 = 00000000

Protection zone 3: Turret of slide 1
Protection zone data VALUES
Motion axes
X coordinate:
Y coordinate:
Z coordinate:

MD 38002 = X1
MD 38042 = 0
MD 38082 = Z1

FP1 vector
X coordinate:
Y coordinate:
Z coordinate:

MD 38122 = -32
MD 38162 = 0
MD 38202 = -332

Dimension vector
X coordinate:
Y coordinate:
Z coordinate:

MD 38242 = 64
MD 38282 = 0
MD 38322 = 334

Machine coordinate system
Number:
MD 38402 = 1
Protection zone data BITS
Protection zone exists
SR exist.:
MD 38762.0 = 1
Monitoring reference OFF
SR 1 - 8:
MD 38802.0-7 = 00000010
SR 9 - 16:
MD 38842.0-7 = 00000000
SR 17 - 20:
MD 38882.0-7 = 00000000
SR 21 - 32:
MD 38922.0-7 = 00000000

12–326

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07.97

12 Functional Descriptions
12.32.14 Example on a double-slide turning machine

Protection zone 4: Slide 2
Protection zone data VALUES
Motion axes
X coordinate:
Y coordinate:
Z coordinate:

MD 38003 = X2
MD 38043 = 0
MD 38083 = Z2

FP1 vector
X coordinate:
Y coordinate:
Z coordinate:

MD 38123 = 113
MD 38163 = 0
MD 38203 = 28

Dimension vector
X coordinate:
Y coordinate:
Z coordinate:

MD 38243 = 329
MD 38283 = 0
MD 38323 = 344

Machine coordinate system
Number:
MD 38403 = 2
Protection zone data BITS
Protection zone exists
SR exist.:
MD 38763.0 = 1
Monitoring reference OFF
SR 1 - 8:
MD 38803.0-7 = 00010000
SR 9 - 16:
MD 38843.0-7 = 00000000
SR 17 - 20:
MD 38883.0-7 = 00000000
SR 21 - 32:
MD 38923.0-7 = 00000000

Protection zone 5: Turret of slide 2
Protection zone data VALUES
Motion axes
X coordinate:
Y coordinate:
Z coordinate:

MD 38004 = X2
MD 38044 = MD 38084 = Z2

FP1 vector
X coordinate:
Y coordinate:
Z coordinate:

MD 38124 = -32
MD 38164 = 0
MD 38204 = -332

Dimension vector
X coordinate:
Y coordinate:
Z coordinate:

MD 38244 = 64
MD 38284 = 0
MD 38324 = 334

Machine coordinate system
Number:
MD 38404 = 2

© Siemens AG 1992 All Rights Reserved
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6FC5197- AA50

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12 Functional Descriptions
12.32.14 Example on a double-slide turning machine

07.97

Protection zone data BITS
Protection zone exists
SR exist.:
MD 38764.0 = 1
Monitoring reference OFF
SR 1 - 8:
MD 38804.0-7 = 00001000
SR 9 - 16:
MD 38844.0-7 = 00000000
SR 17 - 20:
MD 38884.0-7 = 00000000
SR 21 - 32:
MD 38924.0-7 = 00000000
Machine coordinate system
Machine coord. systems VALUES
Offset vector 2nd machine coordinate system
X coordinate:
MD 337 = 0
Y coordinate:
MD 338 = 0
Z coordinate:
MD 339 = 0
Machine coord. systems BITS
Mirroring vector 2nd mach. coord. system
(X,Y,Z):
MD5026.0 - 2 = 001
Axis-specific data
Coord. assignment of mach. data
1st axis
MD 39480 = Abscissa
2nd axis
MD 39481 = Applicate
3rd axis
MD 39482 = Abscissa
4th axis
MD 39483 = Applicate

12–328

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01.99

12 Functional Descriptions
12.32.15 Collision monitoring (as from SW 6.3)

12.32.15

Collision monitoring (as from SW 6.3)

12.32.15.1

Additive protection zone adjustment via setting data

The additive protection zone adjustment is activated by the MD 3876* bit 1 specific to
protection zones.
In order to be able to adjust a protection zone to dynamically changing machine geometries,
the main dimensions of a protection zone (MD 3812*, 3814*, 3816*) are adjustable via instantly
effective setting data bits.
There are two setting data bits per protection zone coordinate, one for each coordinate
direction. The setting date is added to the main dimension of the protection zone and
consequently enlarges the protection zone for the respective coordinate direction.
Consideration of the ”additive protection zone adjustment” takes place before the ”automatic
protection zone adjustment to the active tool” (as from SW 6.1). If the current tool assigned to
the protection zone still projects from the protection zone after the additive protection zone
adjustment, then this adjustment is implemented automatically. If after the additive protection
zone adjustment the tool is within the protection zone, no further adjustment incurs.
The values for the coordinates of the additive protection zone adjustment are to be entered in
the setting data bit 800*, 804*, 808*, 812*, 816* and 820*.
Setting data specific to the protection zone can be written with @411.

12.32.15.2

Collision monitoring without reduction zone

The implemented safety concept will influence the entire mode group of the motion axes of the
two protection zones by way of reduction factor of the collision monitoring on the approach to
these two protection zones.
If two protection zones are positioned next to one another in such a way that their distance
from one another is smaller than their deceleration distance then this will influence the
traversing velocity of the entire mode group. In certain instances, this may be undesirable, e.g.
if the corresponding machine parts (second slide, quill, steady) are to be ”parked” only
temporarily to provide sufficient space around the workpiece during a machining situation. To
switch off protection zone monitoring in this case is not a satisfactory solution since collision
monitoring should be active during the entire machining period.
With the function ”Collision monitoring without reduction zone”, each protection zone can be
individually extracted from the reduction factor calculation, i.e. its deceleration range with
regard to collision monitoring will turn towards 0.
However, this will have the result that only from the moment of collision of two protection
zones, for which this function is active, the respective mode groups will be influenced. The
axes will then be brought to zero speed via set value 0 instead of via the configured maximum
accelerations.
The function is selected via the PLC interface DB 48, DW 74 and 76.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

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X

12–330
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Y
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F

R

Length 1

R
Tool offset
allowance
MD 300

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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

12.32.15.3

aaaa
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12 Functional Descriptions
12.32.15 Collision monitoring (as from SW 6.3)
01.99

Automatic protection zone adjustment for tool types > =
20 (as from SW 6.3)

The automatic protection zone adjustment function for the active tool is extended to tool
types > = 20.
The automatic protection zone adjustment is activated not only up to the tool tip but it now
also encompasses the tool in all of its dimensions.

Adjustment of the protection zone to the active tool
for tool types > = 20

F

P1

Adjusted protection zone

Main dimension

The ”protection zone adjustment active” signal is set in the PLC interface DB 48, DW 75 and
DW 77 when the protection zone dimensions are set larger than those specified in the
machine data. Protection zone adjustment may have been implemented via automatic
protection zone adjustment to the active tool (G181 and D number) and/or via the protection
zone specific setting data for the additive protection zone adjustment. Differentiation is not
possible at the PLC interface.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

08.96

12 Functional Descriptions
12.33 Description of function of current and speed setpoint filters

12.33

Description of function of current and speed setpoint filters

12.33.1

Introduction

Owing to the complexity of setpoint filter applications, it is not possible to describe their scope
of application in general terms at this point. The following section does, however, specify the
criteria for selecting and parameterizing such filters.
We would recommend our drive system training courses to those interested in understanding
the full range of possible applications for setpoint filters on mechanically critical machines.
Note
The sequence of operations for this function is described in Sections 9.1 and 9.2 in this
documentation.
General application criteria
Filters are used
•

to smooth the response curve

•

to dampen mechanical resonance and

•

to symmetrize axes with different dynamic response characteristics, especially in the case
of interpolating axes.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–331

aaa
aaa
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aaa
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Ust–d

Fig. 12-1

12–332
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Filter 1

URST

T

S
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n–act

aaa
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Filter 3

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Filter 4

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aaaa
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Torque- to-crosscurrent conversion
aaaaaa
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Integrator
feedback

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Filter 2

611D:
Speed feedforward
control setpoint

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Filter 1

&

i–set

MSD field control
FDD field setpoint =0
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aaaaaa
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Speed
setpoint filter

aaaa
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n–set

Current setpoint limitation

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aaa
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Function generator
for FFT analysis
(current controller)

aaa
aaa
aaa
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aaa
aaa
aaa
aaa
aaa

Speed actual value
monitoring
torque setpoint
limitation = 0

aaaa
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Function generator
for FFT analysis
(speed controller)

aaa
aaa
aaa

aaa
aaa
aaa
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aaa
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Iq

aaaa
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aaaa
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aaaaaaaaaaaa
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12 Functional Descriptions
12.33.1 Introduction
08.96

Speed control loop

Speed
setpoint limitation

Speed controller
reset time

Speed
controller P gain

611D:
Weight compensation/
feedforward control torque

Torque setpoint
limitation

Torque setpoint
limitation

611D:
Filters 1-4 in current
controller

Current setpoint filter

Filter 2

iq–set

Current control
loop

Id

Ust–q

Udq

R

M

ENC

Overview of speed and current control loops

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

aaaa
aaaa
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aaaa

n–act

Fig. 12-2

SINUMERIK 840C (IA)
aaa
aaa
aaa
aaa
aaa
aaa
aaa
aaa

© Siemens AG 1992 All Rights Reserved
Filter 2

6FC5197- AA50

aaaaaaa
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aaaaaaaaa aaaaaaa
aaaaaaaaa aaaaaaa
aaaaaaaaa aaaaaaa
aaaaaaaaa aaaaaaa
aaaaaaaaa aaaaaaa
aaaaaaaaa aaaaaaa
aaaaaaaaa aaaaaaa
aaaaaaaaa aaaaaaa
aaaaaaaaa
aaaaaaaaa aaa aaa
aaaaaaaaa aaa aaa
aaaaaaaaa aaa aaa
aaaaaaaaa aaa aaa
aaaaaaaaa aaa aaa
aaaaaaaaa aaa aaa
aaaaaaaaa aaa aaa
aaaaaaaaa aaa aaa
aaaaaaaaa aaa aaa
aaaaaaaaa aaa aaa
aaa aaa
aaa aaa
aaa aaa

Filter 3

aaaaaa
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Filter 4

aaaaaaaaaaa
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Torque- to-crosscurrent conversion

aaa
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Setup mode
MD 1239
aaaaaaaaa
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MD 1725
MD 1230
MD 1233
MD 1235
MD 1237
MD 1145

aaaa
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aaaaaaaaaaaaaa
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Integrator feedback
MD 1421

MD 1521

MD 1504
Setup mode:
MD 1420

aaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaa
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aaaaaaaaaaaaaa

PT2/bandstop
MD 1500
.
.
.

Speed
controller
P gain

&

aaaaaaaaaaaa
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n–set

aaaaaaaaa
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aaaa
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aaaaaa
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Speed actual value monitoring
n–act > MD 1147
torque setpoint limitation = 0

aaaa
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aaa
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PT2:
MD 1206
MD 1207
Bandstop:
MD 1216
MD 1217
MD 1218

aaaa
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aaaaaa
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aaaaaa
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Function generator
for FFT analysis

aaaa
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aaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaa

PT2:
MD 1204
MD 1205
Bandstop:
MD 1213
MD 1214
MD 1215

PT2:
MD 1208
MD 1209
Bandstop:
MD 1219
MD 1220
MD 1221

aaaaaaaaaaaaaaaa
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aaaaaaaaaaaa
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MD 1409
MD 1413
MD 1410
MD 1411
MD 1412

aaaaaaaaaaaaaaaaa
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08.96
12 Functional Descriptions
12.33.1 Introduction

Speed control loop

Speed setpoint filter

611D
2nd speed setpoint
filter with low-pass
and bandstop
611D:
Speed setpoint
feedforward control
Speed setpoint limitation

Speed controller
reset time

MD 1407
MD 1413
MD 1408
MD 1411
MD 1412

611D:
Weight compensation/
feedforward control torque

Torque setpoint limitation
Torque setpoint
monitoring
MD 1605

n–act < MD 1606

Alarm: 300608 axis %1,
drive %2
Speed controller output
limited

Current setpoint filter

MD 1200
MD 1201

Filter

4321

0:=Low-pass

Bit

3210

1:=Bandstop

611D:
Filters 1-4 in current
controller

iq–set

Overview of speed control loop

12–333

aaaa
aaaa
aaaa
aaaa

aaa
aaa
aaa
aaa
aaaa
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aaaa
aaaa
a,b

d,q

Fig. 12-3

12–334
RST

aaaa aaaa
aaaa aaaa
aaaa aaaa

aaaa
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aaaa
aaaa

IS

aaa
aaa
aaa
aaa

Ust–d
aaa
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aaa
aaa
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aaa

aaaaaaaaa
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aaaa
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aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaa

n–set

Current
setpoint
limitation

T

S

aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa
aaaaaaaaaaaaaa

aaaaaaaaa
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aaaaaaaaaa
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MD 1104
MD 1105
MD 1103
MD 1238

aaa
aaa
aaa

URST
aaaa
aaaa
aaaa
aaaa
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aaa
aaa
aaa
aaa
aaa
aaa

aaaaaa
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PT2:
MD 1202
MD 1203
Bandstop:
MD 1211
MD 1212
MD 1213

aaa
aaa
aaa

aaa
aaa
aaa

aaa
aaa
aaa
aaa
aaa
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Iq

aaa
aaa
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aaaa
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n–act

aaaa
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aaaa
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aaaa

12 Functional Descriptions
12.33.1 Introduction
08.96

iq–set

Filter 1

Function
generator for
FFT analysis
(current
controller)

MSD field control
FDD field setpoint =0

Field controller
MD 1120
MD 1121

Id

Ust–q

Udq

R

IR

M

a,b

ENC

Overview of current control loop

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

08.96

12.33.1.1

12 Functional Descriptions
12.33.1 Introduction

Fourier analysis

The integrated Fourier analysis function provides you with a particularly effective tool for
optimizing the speed controller. It allows you to assess the speed control settings and the
mechanical properties of the machine.
To reach the Fourier analysis (frequency response method), please select Startup Drive
servo startup Startup function .
The frequency response method supplies exact and reproducible results even with very low
test signal amplitudes. You can adapt the measurement parameters to the individual
application.
The results of the Fourier analysis are displayed in a Bode diagram. A Bode diagram consists
of two graphs, i.e. the amplitude response curve and the phase response curve.
The phase is at 0 in the lower frequency range. It rotates to negative phase angles as the
frequency increases. If the phase angle exceeds I180°I, the graph representation is reversed,
i.e. it jumps from –180° to180° or from 180° to–180°.

12.33.1.2

Measurement range (bandwidth), measurement time

The bandwidth is calculated as follows on the SINUMERIK 840C/611D:
1
Max. bandwidth =
2 x speed controller clock cycle
The bandwidths are as follows depending on the speed controller clock cycle:
•

Clock cycle= 62.5µs

Bandwidth = 8 kHz.

•

Clock cycle= 125µs

Bandwidth = 4 kHz.

•

Clock cycle= 250µs

Bandwidth = 2 kHz.

•

Clock cycle= 500µs

Bandwidth = 1 kHz.

Owing to the short measurement times, traversing distances of a few mm are sufficient for the
required response measurement. The measurement time is calculated as follows:

512 x No. of averaging operations
Measurement time[s] =

+ settling time
Bandwidth [Hz]

The measurement time is 6.5 seconds with 20 averaging operations. With an offset of 5
rev/min, a traversing range of less than 0.55 revolutions is required for the measurement.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–335

12 Functional Descriptions
12.33.1 Introduction

12.33.1.3

08.96

Measurement procedure

In order to optimize a cascaded closed-loop control structure (current, speed, position control
loops), it is necessary to start with the innermost (lowest level) control loop, i.e. the current
control loop. This is set optimally by means of operator command "Calculate controller data"
and need not be optimized again by the user.
The speed controller is also preset by means of command Calculate controller data. This is
a rough setting for the motor under no-load conditions and does not take account of
mechanical components mounted on the motor.
Amplitude and offset settings
All measurements are carried out during the execution of an offset motion of a few
(approximately 1 - 10) revolutions per minute on which a test signal amplitude (noise) of one to
three revolutions is superimposed. The offset should always be greater (factor 2- 3) than the
amplitude. At very low values, backlash or static friction may result in different results to those
measured at higher traversing speeds. Very high amplitude values falsify the measurement
results or may result in damage to mechanical components.
If you obtain very noisy results, you should increase the number of averaging operations or the
amplitude. The accuracy increases in proportion to the selected number of averaging
operations.

12.33.2

Optimization of speed controller

The following rules apply to optimization of the speed controller:
•

The amplitude must equal 0 dB over the widest possible fundamental frequency range.
The fundamental frequency range is the operating range up to the controller stability limit.

•

Increase the P gain if the amplitude does not reach the 0 dB line.

•

Decrease the P gain if the amplitude rises above the 0 dB line.

•

A few dB above the ideal setting (max. 1 - 3 dB) are permissible.

The reference values for the speed controller frequency response can be defined as follows:
•

Fundamental frequency range
Approx. 200 Hz – 300 Hz

•

Controller stability limit
– 3dB attenuation in amplitude
– 180° phase crossover
Typical values for 611D without built-on mechanical components are:
Speed controller:
T = 62.5µs approx. 0.9 kHz
T = 125µs approx. 0.5 kHz

12–336

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

08.96

12.33.2.1
MD 1001:
MD 1004:
MD 1406:
MD 1407:
MD 1408:
MD 1409:
MD 1410:
MD 1411:
MD 1412:
MD 1413:
MD 1414:
MD 1415:
MD 1416:
MD 1421:
MD 1665:

12.33.2.2

12 Functional Descriptions
12.33.2 Optimization of speed controller

Machine data
Speed controller clock cycle
Configuration control structure
Speed controller type
P gain speed controller
P gain upper adaptation speed
Reset time speed controller
Reset time upper adaptation speed
Lower adaptation speed
Upper adaptation speed
Select adaptation speed controller
Natural frequency reference model speed
Damping reference model speed
Symmetrizing reference model speed
Time constant integrator feedback
Long-time factor IPO/NCONT cycle for ramp generator

Optimization of proportional gain of speed controller

The proportional gain is optimized as the first step in optimizing the speed controller. For this
purpose, MD 1409: Reset time speed controller is set to 500 ms, effectively deactivating the
integral-action component. The proportional component is then incremented until resonance
points in the system are reached (motor begins to whistle). The P gain which is determined by
this method must then be multiplied by a factor of 0.5. The product is then the start value for
the first frequency response measurement.

12.33.2.3

Optimization of integral-action component (reset time) of
speed controller

After the proportional gain has been determined, the reset time of the speed controller is
decreased until the amplitude response begins to rise above the 0 dB line. An increase over
the line of 3 dB is generally permitted. A value of < 20 ms is the target guide value for the
reset time.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–337

12 Functional Descriptions
12.33.3 Current setpoint filter

12.33.3

08.96

Current setpoint filter

Current setpoint filters (low-pass or bandstop) are used to adapt the speed controller to the
machinery to be controlled.
The amplitude of the speed controller frequency response should remain at 0 dB over the
entire fundamental frequency range.
Note
The frequency response analysis of the current controller does not include the current
setpoint filters. The effects of the filters can be detected only in the frequency response of the
speed controller.
The following measures should be taken when filters are used.
•

Record reference frequency response of speed control loop

•

Determine points of resonance according to:
No. of resonance points
– Individual pronounced resonance points
– Resonance bundles
Position of resonance points
– Fundamental frequency range
– Controller stability limit
– Frequency range above controller stability limit
Properties
– Distribution of resonance (dependent on traversing speed or direction)
– Mechanical resonance or excessively high controller settings
– Reflected resonance
– Amplitude and phase margins

Note
•

Reduce resonance caused by excessively high controller setting by adjusting controller
parameters.

•

Use filters only in the case of purely mechanical resonance. If it is possible to attribute
resonance to specific mechanical components of the machine (load vibration, coupling,
etc.), modifications to the machine construction should also be considered.

12–338

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

08.96

12.33.3.1
MD 1200:
MD 1201:
MD 1202:
MD 1203:
MD 1204:
MD 1205:
MD 1206:
MD 1207:
MD 1208:
MD 1209:
MD 1210:
MD 1211:
MD 1212:
MD 1213:
MD 1214:
MD 1215:
MD 1216:
MD 1217:
MD 1218:
MD 1219:
MD 1220:
MD 1221:

12 Functional Descriptions
12.33.3 Current setpoint filter

Machine data
Number of current setpoint filters
Type of current setpoint filter
Natural frequency current setpoint filter 1
Damping current setpoint filter 1
Natural frequency current setpoint filter 2
Damping current setpoint filter 2
Natural frequency current setpoint filter 3
Damping current setpoint filter 3
Natural frequency current setpoint filter 4
Damping current setpoint filter 4
Blocking frequency current setpoint filter 1
Bandwidth current setpoint filter 1
Blocking frequency current setpoint filter 1
Counter bandwidth current setpint filter 2
Bandwidth current setpoint filter 2
Blocking frequency current setpoint filter 2
Counter bandwidth current setpint filter 3
Bandwidth current setpoint filter 3
Blocking frequency current setpoint filter 3
Counter bandwidth current setpint filter 4
Bandwidth current setpoint filter 4
Blocking frequency current setpoint filter 4

MD 1201: Type of current setpoint filter
1st filter

2nd filter

3rd filter

4th filter

Bit 0

Low-pass (see MD 1202/1203)

1

Bandstop (see MD 1210/1211/1212)

0

Low-pass (see MD 1204/1205)

1

Bandstop (see MD 1213/1214/1215)

0

Low-pass (see MD 1206/1207)

1

Bandstop (see MD 1216/1217/1218)

0

Low-pass (see MD 1208/1209)

1

Bandstop (see MD 1219/1220/1221)

Bit 1

Bit 2

Bit 3

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

0

6FC5197- AA50

12–339

12 Functional Descriptions
12.33.3 Current setpoint filter

08.96

Possible filter combinations
Filter 4

Filter 3

Filter 2

Filter 1

MD 1201

PT2

PT2

PT2

PT2 = 0

0000

PT2

PT2

PT2

BS = 1

0001

PT2

PT2

BS

PT2

0010

PT2

PT2

BS

BS

0011

PT2

BS

PT2

PT2

0100

PT2

BS

PT2

BS

0101

PT2

BS

BS

PT2

0110

PT2

BS

BS

BS

0111

BS

PT2

PT2

PT2

1000

BS

PT2

PT2

BS

1001

BS

PT2

BS

PT2

1010

BS

PT2

BS

BS

1011

BS

BS

PT2

PT2

1101

BS

BS

PT2

BS

1101

BS

BS

BS

PT2

1110

BS

BS

BS

BS

1111

Note
Filter 1 is configured as a low-pass filter as standard.

12.33.3.2

Scope of application of low pass as current setpoint filter

Low-pass filters must be dimensioned such that resonance is kept reliably low while the filter
effect on the fundamental frequency range is minimized.
Filter in the case of resonance in the fundamental frequency range
Resonance in the fundamental frequency range can normally be restricted by means of control
parameters.

Note
Smoothing filters have a negative phase rotation (low-pass generally, bandstop for f < fs, fs
= blocking frequency). This phase rotation can reduce the stability margin of the fundamental
frequency range.
When a filter is used, therefore, the objective must be to obtain the optimum from
•
•

desired damping action and
minimum possible filter effects on the fundamental frequency range.

12–340

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

Phase
angle

-180

Fig. 12-4

SINUMERIK 840C (IA)
102

© Siemens AG 1992 All Rights Reserved

log f [Hz]

6FC5197- AA50

-10

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3
0
-3

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10

-90

0.5
0.2

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log f [Hz]

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102

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-30

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Magnitude
[dB]

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aaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

aaaa
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–
–

0

aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
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aaaaaaa

08.96
12 Functional Descriptions
12.33.3 Current setpoint filter

Filter in the case of resonance at and above the controller stability limit

Low-pass
With resonance bundle
Distribution of resonance phenomena (dependent on traversing direction, speed)

Low-pass as current setpoint filter

A low-pass filter is the better solution in cases where a peak occurs in the amplitude response
that is not linked to a fixed frequency, but wanders under different conditions. With a low-pass
filter, the signal above the entered natural frequency is damped. Reduced damping results in
less phase rotation below the natural frequency and thus to a greater phase margin.

Amplitude response
0.2
0.5
1.0

-20

103

Phase response

180

90

1.0

103

Low-pass behaviour at natural frequency of 1000 Hz
and variation in damping of 0.2, 0.5 and 1.0

12–341

12 Functional Descriptions
12.33.3 Current setpoint filter

12.33.3.3

08.96

Scope of application of bandstops as current setpoint filter

Bandstop filters must be dimensioned such that resonance is kept reliably low while the filter
effect on the fundamental frequency range is minimized.
Filter in the case of resonance in the fundamental frequency range
Resonance in the fundamental frequency range can normally be restricted by means of control
parameters.
Filter in the case of resonance at and above the controller stability limit
Bandstop as current setpoint filter
Bandstops generally provide improved damping with the same phase rotation.
–

Suitable in cases of pronounced mechanical resonance (peaks), no distribution of
resonance phenomena.

–

Blocking filters at frequencies above the controller stability limit may eliminate interference
resonance in the fundamental frequency range.

A bandstop is used when a narrow, pointed peak exceeds the 0 dB line in the amplitude
response at a fixed frequency (above the fundamental frequency range of the speed
controller). This causes a clearly audible whistling noise in the drive train.
Depending on requirements, the bandstop can be set in two configurations.
•

•

Simple bandstop with
Blocking frequency:

MD 1210 (filter 1), MD 1213 (filter 2), MD 1216 (filter 3),
MD 1219 (filter 4)

Bandwidth:

MD 1211, MD 1214, MD 1217, MD 1220

Bandstop with adjustable damping of amplitude response plus counter
bandwidth:
MD 1212, MD 1215, MD 1518, MD 1512

Note
The bandstop frequency of a current setpoint filter must be lower than the Shannon frequency
(parameterization error). The bandstop frequency for filter 1 (MD 1210), filter 2 (MD 1213),
filter 3 (MD 1216) and filter 4 (MD 1219) must be lower than the reciprocal of two current
controller clock cycles.
1
MD 1210, MD 1213, MD 1216, MD 1219 <
2 x MD 1000

12–342

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

Phase
angle

0

-90

-180

Fig. 12-5

SINUMERIK 840C (IA)
102

© Siemens AG 1992 All Rights Reserved

log f [Hz]

log f [Hz]

6FC5197- AA50

aaaa
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aaaa

-10

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102

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aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

Magnitude
[dB]

aaaa
aaaa
aaaa
aaaa

aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa

10

3
0
-3

aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa

aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
aaaaa
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aaaaa
aaaaa
aaaaa
aaaaa
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aaaaa
aaaaa

08.96
12 Functional Descriptions
12.33.3 Current setpoint filter

Examples of frequency responses

Amplitude response
100 Hz

1000 Hz
500 Hz

-20

-30

103

180

Phase response

90

100 Hz

1000 Hz
500 Hz

103

Frequency response of undamped bandstop with blocking frequency of 1000 Hz
and bandwidth variations of 100 Hz, 500 Hz and 1000 Hz.
The bandwidth is the difference between two frequencies with amplitude
attenuation of 3 dB.

12–343

Phase
angle

Fig. 12-6

12–344
102

-90

102

log f [Hz]

500 Hz

log f [Hz]

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3
0
-3

500 Hz

aaaa
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-30

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-10

-20

aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa

Magnitude
[dB]

aaaa
aaaa
aaaa
aaaa
aaaa

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

aaaa
aaaa
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12 Functional Descriptions
12.33.3 Current setpoint filter
08.96

Amplitude response

10

1000 Hz

1000 Hz
2000 Hz

103

180

90

0

-180

2000 Hz

103

Frequency response of undamped bandstop with a bandwidth of 500 Hz and
blocking frequency variations of 500 Hz, 1000 Hz and 2000 Hz.

© Siemens AG 1992 All Rights Reserved

SINUMERIK 840C (IA)

6FC5197- AA50

Phase
angle

0

-90

-180

Fig. 12-7

SINUMERIK 840C (IA)
102

© Siemens AG 1992 All Rights Reserved

log f [Hz]

6FC5197- AA50

aaaa
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log f [Hz]

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102

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-30

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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

Magnitude
[dB]

aaaa
aaaa
aaaa
aaaa

aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

aaaaaaaa
aaaaaaaa
aaaaaaaa
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08.96
12 Functional Descriptions
12.33.3 Current setpoint filter

Amplitude response

10

3
0
-3

-10

250

150

-20
0

103

Phase response

180

90

150

250

0
103

Bandstop performance with bandwidth of 500 Hz, blocking frequency of 1000 Hz
and variation in counter bandwidth of 0, 150 and 250 Hz.

12–345

12 Functional Descriptions
12.33.3 Current setpoint filter

08.96

Example of bandstop filter application
The example below explains the basic procedure for applying one or several current setpoint
filters.
Peaks have been measured at 900 Hz and 1200 Hz.
Bandstop filters must be used to dampen both resonant frequencies. The speed controller can
then be set more finely to improve the inadequate dynamic response of the drive.
•

Default settings
Filter 1 (activated as standard)
Low pass with fe
2000 Hz and
d
0.7
Reduction of amplitude response well above the fundamental frequency range,
minimization of effects of torque control loop on speed control loop.

•

Filters 2 and 3 must be parameterized as the bandstop.
MD 1200:
Number of current setpoint filters = 3
MD 1201:
Type of current setpoint filter = 6

•

Enter frequency.
Filter 2:
MD 1213:
Blocking frequency current setpoint filter 2 = 900 Hz
Filter 3:
MD 1216:
Blocking frequency current setpoint filter 3 = 1200 Hz

•

Enter bandwidth.
Half the measured resonant frequency is recommended as a guide value for the bandwidth
to be entered.
Filter 2:
MD 1213/2 = 900 Hz/ 2 = 450 Hz
MD 1214:
Bandwidth current setpoint filter 1 = 450 Hz
Filter 2:
MD 1216/2 = 1200 Hz/ 2 = 600 Hz
MD 1217:
Bandwidth current setpoint filter 2 = 600 Hz

•

Enter counter bandwidth
Filter 2:
MD 1215:
Counter bandwidth current setpoint filter 1 = 0.0 (default)
Filter 3:
MD 1218:
Counter bandwidth current setpoint filter 2 = 0.0 (default)

After the filters have been activated, the speed control loop is measured again. The
measurement result indicates whether and to what extent the resonance has been dampened
as a result of the filters. If the signals are now below the 0 dB line, the speed controller
parameters can be adjusted again.
If the measurement results are unsatisfactory, an attempt can be made to improve the effect of
the filters by varying the filter bandwidth (filter 2 MD 1214, filter 3 MD 1217).
Criteria for filter setting:
•
•

Minimum additive phase rotation as a result of "Bandwidth" parameter. Filter effects on
fundamental frequency range are thus minimized.
Maximum damping effect as a result of pole point compensation (reduce amplitude peak to
between 0 and approximately +3 dB).

12–346

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

08.96

12 Functional Descriptions
12.33.4 Speed-dependent current setpoint filter

12.33.4

Speed-dependent current setpoint filter

A speed-dependent current setpoint filter (torque setpoint smoothing) allows the user to reduce
the speed ripple at higher speeds (MSD + FDD).

12.33.4.1

Machine data

MD 1245:
MD 1246:

Threshold speed-dependent torque setpoint smoothing
Hysteresis speed-dependent torque setpoint smoothing

12.33.4.2

Description

If the threshold value is set to 0, then the filter remains active as a low-pass over the entire
speed range. When other values are set, the settings in
MD 1245:
MD 1246:

Threshold speed-dependent torque setpoint smoothing and
Hysteresis speed-dependent torque setpoint smoothing

are used to calculate two switchover speeds:
nupper

=

nthreshold + nhysteresis

=

MD 1245 + MD 1246

nlower

=

nthreshold – nhysteresis

=

MD 1245 – MD 1246

The low-pass function is activated then the absolute actual speed value exceeds the value
nupper (InactI nupper). Vice versa, the low-pass function is deactivated when the absolute
actual speed value drops below nlower (InactI < nlower).
If the hysteresis is set to zero, then the two switchover speeds are identical.
Note

aaaa
aaaa
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aaaa

Low pass

Bypass

aaaa
aaaa
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aaaaa
aaaaa
aaaaa

Bypass
Filter type
(2nd current setpoint filter)

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aaaaaaa

aaaaaaa
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aaaa

The speed threshold is effective only when filter 2 is configured as a low pass. This machine
data has no effect on the closed-loop control.

aaaa
aaaa
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aaaa
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aaaa
aaaa

Speed n

MD 1246

aaaa
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nupper

aaaa
aaaa
aaaa
aaaa
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nthreshold

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

MD 1245

Fig. 12-8

aaaa
aaaa
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aaaa
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aaaa

nlower

MD 1246

Threshold of speed-dependent torque setpoint smoothing

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–347

12 Functional Descriptions
12.33.5 Speed setpoint filter

12.33.5

08.96

Speed setpoint filter

Speed setpoint filters are used to dampen mechanical resonant frequencies in the position
control loop. Bandstops and low passes (PT2/PT1) can both be used as speed setpoint filters.
The tasks of the filter are as follows:
•
•

Adapt the position controller to machinery to be controlled (e.g. table resonance)
Symmetrize different axis dynamic responses in the case of interpolating axes.

Note
The frequency response analysis of the speed controller includes the filters.
The structure of the position control loop must be taken into account when the speed setpoint
filter is dimensioned.
• Position control to direct measuring system, i.e. load resonance directly in control loop.
• Position control to motor measuring system, i.e. load resonance only indirectly via motor to
control loop.

12.33.5.1
MD 1500:
MD 1501:
MD 1502:
MD 1503:
MD 1506:
MD 1507:
MD 1508:
MD 1509:
MD 1514:
MD 1515:
MD 1516:
MD 1517:
MD 1518:
MD 1519:
MD 1520:
MD 1521:

Machine data
Number of speed setpoint filters
Type of speed setpoint filter
Time constant speed setpoint filter 1
Time constant speed setpoint filter 2
Natural frequency speed setpoint filter 1
Damping speed setpoint filter 1
Natural frequency speed setpoint filter 2
Damping speed setpoint filter 2
Blocking frequency speed setpoint filter 1
Bandwidth speed setpoint filter 1
Bandwidth counter speed setpoint filter 1
Type speed setpoint filter
Bandwidth speed setpoint filter 2
Bandwidth counter speed setpoint filter 2
Natural frequency bandstop speed setpoint filter 1
Natural frequency bandstop speed setpoint filter 2

MD 1501: Type speed setpoint filter

1st filter
Low pass/
bandstop

PT2/PT1
with low
pass

12–348

2nd filter

Bit 1

1st filter

Bit 8

2nd filter

0

Low pass (see MD 1502/1506/1507)

1

Bandstop (see MD 1514/1515/1516)

0

Low pass (see MD 1502/1508/1509)

1

Bandstop (see MD 1517/1518/1519)

0

PT2 low pass (see MD 1506/1507)

1

PT1 low pass (see MD 1502)

0

PT2 low pass (see MD 1508/1509)

1

PT1 low pass (see MD 1503)

Bit 0

Bit 9

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

08.96

12 Functional Descriptions
12.33.5 Speed setpoint filter

Speed setpoint filter combinations
Filter 2

Filter 1

MD 1501

PT1

PT1

300

PT1

PT2

200

PT1

BS

201

PT2

PT1

100

PT2

PT2

000

PT2

BS

001

BS

PT1

102

BS

PT2

002

BS

BS

003

12.33.5.2

Bandstops and low passes as speed setpoint filter

Bandstop
Depending on requirements, the "Bandstop" function can be set in three configurations:
• Simple bandstop. MD 1514/MD 1517 and MD 1515/MD 1518.
• Bandstop with adjustable damping of amplitude response plus MD 1516/MD 1519.
• Bandstop with adjustable damping of amplitude response and increase/decrease in
amplitude response above blocking frequency plus MD 1520/MD 1519.
Note
The sampling frequency of the control (MD 1001) sets an upper limit to the blocking frequency
input (parameterization error).
1

1
=

MD 1001 = Tsampl =

62.5 µs
125.0 µs

2 x MD 1001

MD 1514 <

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aaaaaaaa

2 x Tsampl

aaaa
aaaa
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aaaa

MD 1514 <

8000 Hz
4000 Hz

Low pass
In the case of rigid mechanical components, the kv (servo gain) factor and dynamic response
of the subordinate speed control loop (incl. filter time constants and position controller
deadtimes) are indirectly proportional for the purpose of optimizing the position control loop.
If the kv (servo gain) factor setting is limited to lower values due to elastic mechanical
components (table frequencies), it is possible to use the filter time constant (as a component
of the subordinate dynamic response) as an additional degree of freedom to the servo gain
factor to dampen resonance without impairing the dynamic response of the position controller.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–349

12 Functional Descriptions
12.33.5 Speed setpoint filter

08.96

1
kvmax =
2(Ters,n + Tn,w,gl + Ttot,LR + Tabt,LR)

Ters,n
Tn,w,gl
Ttot,LR
Tabt,LR
LR

=
=
=
=
=

Equivalent time of closed speed control loop
Equivalent time of speed setpoint filter
Deadtime position/speed control loop (1 x TLR)
Sampling of position actual value (0.5 x TLR)
Position controller

Another application for the low-pass function as a speed setpoint filter is the interpolation of
speed setpoint steps. The speed setpoints are output by the NC in the position controller clock
cycle. This can be set to a much higher value than the speed controller clock cycle.
Note
Speed setpoint filters can be used in interpolating axis groupings to compensate the different
dynamic responses in the speed control loops of individual axes.
The total equivalent time constant (= equivalent time constant of speed control loop +
equivalent time constant of speed setpoint filter) must be set such that it is the same for all
mutually interpolating axes.
The input of damping values close the minimum input limit causes overshoots in the time
range up to a factor of 2. This effect is raised to a power in the case of 2 configured lowpass filters with the same setting parameters. These filters still have a linear response in lowlevel signal operation. In high-level signal operation, the filter states may be limited in some
cases by the maximum numerical formats (as defined by the processor register width). The
filter characteristic becomes non-linear for a brief period. Overshoots or unstable reactions do
not occur.

12–350

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Phase
angle

0

-90

-180

Fig. 12-9
102

SINUMERIK 840C (IA)
102

© Siemens AG 1992 All Rights Reserved

log f [Hz]

6FC5197- AA50
aaaa
aaaa
aaaa
aaaa
aaaa

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

log f [Hz]

aaaa
aaaa
aaaa
aaaa
aaaa

-30

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

Magnitude
[dB]

aaaa
aaaa
aaaa
aaaa

aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa
aaaa

fz
DZ
fbz = 2 x Dz x fz
Dn
fbn = 2 x Dz x fn
fn = MD 1520(%) x fz

aaaa
aaaa
aaaa
aaaa

aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa

aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa
aaaaaaa

08.96
12 Functional Descriptions
12.33.5 Speed setpoint filter

Example of speed setpoint bandstop
: Blocking frequency
MD 1514/MD 1517
: Damping numerator
: Bandwidth numerator MD 1515/MD 1518
: Damping denominator
: Bandwidth denominator
MD 1516/MD 1519
: Bandstop natural frequency
MD 1520/MD 1521

10

Amplitude response

3
0
-3

1414

-10

1000

-20

707

103

Phase response

180

90

1414

1414
1000

707

707
103

Frequency response of general bandstop with blocking frequency fz = 1000 Hz,
bandwidth fBn = 500 Hz, counter bandwidth fBz = 0 Hz and variation in natural
frequency fn = 707, 1000 and 1414 Hz.

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12 Functional Descriptions
12.34 Actual value passive monitoring axis (as from SW 6.3)

01.99

12.34

Actual value passive monitoring axis (as from SW 6.3)

12.34.1

General

Special technological demands require the actual value of a measuring circuit at the same time
in several axes. This entails that a measuring circuit is read out for the second time from a
passive monitoring axis. For this reason, passive monitoring axes have the same drive
measuring module numbers.

12.34.2

Parameterization

NC machine data 1832* bit 1 activates the release of the measuring circuit for multiple
assignment (bit 2 in the 2nd measuring system) in the 1st measuring system. Bit 3 defines in
the 1st measuring system the axis as principal axis or as actual value passive monitoring axis
(bit 4 in the 2nd measuring system). If bit 3 or 4 is set on an axis, then the following
restrictions apply to that measuring system.

12.34.3

Restrictions

Principal axis:
Actual value passive monitoring axis:

No functional restrictions
Referencing, ”in-process measuring”,
”extended measuring” and EnDat absolute
encoder are not permitted.

Remedy for actual value passive monitoring axis:

Referencing is achieved by setting a
reference dimension (set actual value).
The actual value is read from the principal
axis, e.g. over high-speed PLC data
channel.
Use of the measuring function directly on
the principal axis.

12.34.4

Alarm messages

The following alarm messages may occur in this context:
Alarm message 1080*
Alarm message 1076*
Alarm message 1012*

12–352

”Hardware referencing on passive
monitoring axis” by invalid use of
referencing
”Hardware measuring” by invalid use of
measuring
”Parameterization error NC MD” by more
than one parameterized principal axis per
measuring circuit

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01.99

12.34.5

12 Functional Descriptions
12.34.5 Parameterization examples

Parameterization examples

Example 1, incremental encoder:
The 2nd measuring system of the 4th and the 1st measuring system of the 3rd axis monitor
the measuring circuit of the 1st measuring system of the 1st axis.
1st axis:

Principal axis (monitored axis)
1st measuring system released for monitoring
no absolute encoder

MD 18320.3=0
MD 18320.1=1
MD 18080.0=0

3rd axis:

Monitoring axis
1st measuring system released for monitoring
no absolute encoder

MD 18322.3=1
MD 18322.1=1
MD 18082.0=0

4th axis:

Monitoring axis
2nd measuring system released for monitoring
no absolute encoder

MD 18323.4=1
MD 18323.2=1
MD 18083.0=0

Example 2, EnDat absolute encoder
The 2nd measuring system of the 3rd axis monitors the measuring circuit of the 1st measuring
system of the 2nd axis. There, an EnDat absolute encoder is connected.
2nd axis:

Principal axis (monitored axis)
1st measuring system released for monitoring
EnDat encoder

MD 18321.3=0
MD 18321.1=1
MD 18080.0=1

3rd axis:

Monitoring axis
2nd measuring system released for monitoring
no EnDat encoder

MD 18322.4=1
MD 18322.2=1
MD 18082.0=0

Note on EnDat encoders:
Only the incremental encoder part may be used for the monitoring axis.

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12 Functional Descriptions
12.35 Uninterruptible power supply (UPS) (as from SW 6.3) (Express shutdown)

12.35

01.99

Uninterruptible power supply (UPS) (as from SW 6.3)
(Express shutdown)

General
When the 840 C control is not purposely, i.e. properly ramped down but instead just turned off,
general problems can occur in the operating system. E.g. opened data files may not be closed
properly leading to inventory data inconsistencies. In a worst case scenario, the file system of
the hard disk could become inconsistent during a momentary write access to the hard disk.
The danger in such cases is that the MMC may not be able to boot at the next POWER ON.
With the help of a standard UPS (approx. 300 W) it is possible to switch off or ramp down
(express shutdown) the NC in a controlled manner.
Express shutdown function diagram

UPS signals
”Power failure”
Input X 121 5/6

NCK
UPS

CSB
I/O

MMC

MD 5030
Bit 0 - bit 7

Message
to USP
”Data saved”
Output

PLC
basic
program

X121 24/25

Bit 6
I/O

I code
express
shutdown

Bit 7
FY 22
PLC
user
program

FX 73/74

Configuration of the express shutdown
Configuration options as follows:
Connection via special I/O on the central service board (CSB)
Connection via PLC inputs/outputs

12–354

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01.99

12 Functional Descriptions
12.35 Uninterruptible power supply (UPS) (as from SW 6.3) (Express shutdown)

Interfaces
The PLC user program has available the UPS signals in FY 22 bit 6 and bit 7. The signal
”Power failure” (FY 22 bit 6=1) in the PLC user program can cause an ”Express shutdown”
on the MMC.
After implementing ”Express shutdown”, the signal ”Data saved” (flag byte 22 bit 7=1) can
be set in the PLC user program. This signal then travels via the NCK to the CSB output X121
5/6 (see the following example).
Activating ”Power failure” signal
The CSB module has a choice of 24 V inputs, from 0 to 7. These signals are activated in the
MD 5030 bits 0 to 7. When using the X121 pin 24/25 the signal ”Power failure” must be
released via MD 5030 bit 5.
Note:
The CSB inputs may also be used for other functions. But there is no monitoring of multiple
assignment on the NC part. This must be considered during configuration.
Information on the CSB can be found in section 2.3.6.2 Interface description, Part 2;
Connector requirements.
”Data saved” signal to UPS
The ”Data saved” signal can be applied to the CSB output plug X 121 as floating contact
assembly on pin 5 and pin 6.
Connection of UPS via CSB
Prerequisite for this functionality is a CSB module with order number 6FC5 114-0AA02-0AA2.
On earlier releases of the CSB module, alarm 3113 (”Error by access to mixed I/O or CSB”)
was activated when a bit was set simultaneous in the NC MD 5030. The UPS message signals
for ”Power failure” (X121 24/25) and ”Data saved” (X121 5/6) are connected to the X121 plug
of the CSB module itself.
For more details see section Cable distributor CSB in the Interface description, Part 2.
Connection of UPS via PLC I/O
The UPS message signal ”Power failure” is sent via a user specified and selectable PLC input
to the PLC user program.
For further procedure see section ”Express shutdown”.
Express shutdown
Initiation of the ”Express shutdown” is carried out from the PLC user program. To do so, the
user must adequately feed the FX 73 module and send an I code data package to the MMC.
When all of the applications signed on in the ”Express shutdown” have acknowledged, the
system generates an acknowledgements package to the PLC. See the following example.

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12 Functional Descriptions
12.35 Uninterruptible power supply (UPS) (as from SW 6.3) (Express shutdown)

01.99

Example ”Express shutdown”
Notes
1. A detailed description of the I codes as well as the FX73/74 is contained in the Win-OEM
document.
Only the I code 042F (Express shutdown) is currently implemented for the FlexOS control.
The use of the FX73 and FX74 is limited to this one function.
2. Acknowledgement bytes (3x FY)
The error numbers are contained in the Win-OEM document (FX73/74).
The following setting up applies:
1st byte

Error bit
x.0
If the bit is ”0”, then the other two bytes are valid.
To start with, evaluation of this bit (Error Yes/No) in the user program
will suffice.
2nd byte Coupling error (while accessing the mailbox)
3rd byte User error (incorrect parameterization, incorrect user data, etc.)

3. Express shutdown
Described in the Win-OEM documentation.
Take note of the fact that (contrary to the description) the low and the high byte are to be
swapped on the I code and the control flag!
4. OEM information bit (FX74 OEM-EMPF)
The PLC MD 137 is monitored for a valid input only by the system (<25 / >254).
Permitted are according to the Win-OEM documentation (FX74) FW 25 ... 198.
If another FW is entered (e.g. 220) there will be no error message.
”Express shutdown” is implemented, the I code, however, will not be acknowledged!

Structure of the user data blocks for the OEM-SEND (FX73)
DW x

Length of package
Format: KF
(ideally reserve with 10 i.e. length: 10 DW).
The FX does no explicitly check the package length. A value of > 1 and < 30
must be entered.

DW x+1

Task sender
"0201H" - PLC

Format: KH

DW x+2

Task receiver
"0319" - mailbox MMC

Format: KH

DW x+3

Task data structure
always enter ”1”

Format: KH

DW x+4

Task number
"5F02H"

Format: KH

DW x+5

I code
"2F04H" (express shutdown)

Format: KH

DW x+6

Control flag
"0090H"

Format: KH

12–356

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01.99

12 Functional Descriptions
12.35 Uninterruptible power supply (UPS) (as from SW 6.3) (Express shutdown)

Structure of target data block (MMC feedback)
DW x

Package length
"4"

Format: KF

DW x+1

Task sender
"0319H"

Format: KH

DW x+2

Task receiver
"0201H"

Format: KH

DW x+3

Task data structure
"1"

Format: KH

DW x+4

Task number
"0"

Format: KH

DW x+5

I code
"2F04H"

Format: KH

DW x+6

Control flag
"0094H"

Format: KH

Parameterization of FX73 and FX74
FX73
DBTY

---

Module type (DB/DX)
Variable assignment: FW240

Format: KC

DBNR

---

Module no.
Format: KF
Variable assignment: FW242
If the variable is assigned, ”0” must be entered here.

DWNR

---

No. of 1st DW of user data blocks
Variable assignment: FW244

Format: KF

QTTG

---

Acknowledgement of FX
Indication of 1st FY (a total of 3 bytes)
Variable assignment: FW246

Format: KF

DBTY

---

Module type (DB/DX)
Variable assignment: FW240

Format: KC

DBNR

---

Module no.
Format: KF
Variable assignment: FW 242
If the variable is assigned, ”0” must be entered here.

DWNR

---

No. of the 1st DW of user data blocks
Variable assignment: FW244

OEMN

---

No. of mailbox containing the information.
Corresponds to signals of the OEM information bit (PLC MD 137)
Thus: ”0” or ”1”
Format: KF
Variable assignment: FW246

QTTG

---

Acknowledgement of the FX
Indication of 1st FY (a total of 3 bytes)
Variable assignment: FW248

FX74

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6FC5197- AA50

Format: KF

Format: KF

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12 Functional Descriptions
12.35 Uninterruptible power supply (UPS) (as from SW 6.3) (Express shutdown)

01.99

Example: PLC program for the initiation of an ”Express shutdown”
A

DB255

User DB

L
T

KF 10
DW 10

Package length

L
T

KH 0201
DW 11

Sender (PLC)

L
T

KH 0319
DW 12

Receiver (MBX)

L
T

KH 001
DW 13

Task data structure

L
T

KH 5F02
DW 14

Task number

L
T

KH 2F04
DW 15

I code

L
T

KH 0090
DW 16

Control flag

BA

FX73
OEM-SEND
KC DB
KF 255
KF 10
KF 192

DBTY
DBNR
DWNR
QTTG
.
.
.

BA
DBTY
DBNR
DWNR
OEMN
QTTG

Scanning of the OEM information bit (PLC-MD 137).
Only once bit ”0” or ”1” has been set, then data
(acknowledgement) are present in the mailbox.
In this dependency the FX74 is called up.
FX74
OEM-EMPF
KC DB
KF 255
KF 20
KF 0
KF 195

Data received:
(as acknowledgement, ”Express shutdown” implemented, the I code is returned)
DB 255
DW20
DW21
DW22
DW23
DW24
DW25
DW26

12–358

KH =
KH =
KH =
KH =
KH =
KH =
KH =

0004
0319
0201
0001
0000
2F04
0094

Package length
Sender (MBX)
Receiver (PLC)
Task data structure
Task number
I code
Control flag

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01.99

12 Functional Descriptions
12.36 Inch/metric switchover function (as from SW 6.3)

12.36

Inch/metric switchover function (as from SW 6.3)

12.36.1

General

Use the softkey function to switch the measuring system from inch to metric and vice versa.
The function ”Inch/metric switchover” has two features:
1: Inch/metric switchover function
2: Metric/inch switchover function

12.36.2

Functional description

•

The conversion can be configured by the user.

•

Manual readjustment of the calculated data is possible.

•

No password is required for the switchover.

•

A password is required for the conversion since the machine data dialog (MDD) must be
started.

12.36.3

System data

When switching over the measuring system, all measurements in length will automatically be
converted into the new measuring system. This includes:
Zero offsets
Tool offsets P2-P9
Working area limitation
Dry run feedrate
Scale center
Protection zone
Position switching signals
Preset
DRF

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6FC5197- AA50

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12 Functional Descriptions
12.36.4 Inch/metric switchover function

12.36.4

01.99

Inch/metric switchover function

Regarding NCK under section Parameter, Setting data there is a softkey reading ”Inch/metric
switchover” which, when pressed, sends an I code to the MMC application Services which
then fades in the following sub-dialog window (as a safety confirmation) if the corresponding
files exist (necessary to load to the NCK). If in fact the files do not exist, an error message is
generated advising that the files must first be created in the MDD (machine data dialog).

Fig.: Switchover function

Here in the sub-dialog, the user can switch back and forth between the inch and metric
setting. The display shows the current setting and indicates the new setting. The text for the
output fields can be configured by the user (see section Configurability of the switchover). The
dialog can be stopped by pressing the Recall key.
The following actions are executed when the user presses the softkey ”OK”:
1. The converted data files the names of which are listed in the configuration file (CONFIG)
are sent to the NCK via data transfer.
2. After a successfully completed loading process the services send the I code as task to the
NCK which then converts the TOA and ZOA data according to a specified calculation
method. The conversion can be controlled via a parameter value and the direction of
conversion in the configuration data file.
3. When the NCK has completed the conversion of the TOA and ZOA data, the services
activate a ”Power ON reset” signal provided that this function was defined in the
configuration.
The switchover is activated by the NCK via an I code and ends with the acknowledgement of
this I code except for when it is followed by a required Power ON. Since it cannot be permitted
that machine data are changed during a given process, it is necessary that the NCK makes
certain that the I code is sent only in a specific status of all channels and that this status be
continued until the end of the switchover function.

12–360

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01.99

12.36.5

12 Functional Descriptions
12.36.5 Inch/metric conversion function

Inch/metric conversion function

When the data required for loading the switchover do not yet exist, the user must change to
the MMC application MDD to initiate the conversion process. The initiation of the conversion
process is described below.
Select the display using the softkeys for Diagnosis, Machine data, File functions.

Fig.: Conversion function in the MDD

Pay attention to the following during the conversion process:
•

Select a data block with the data selector from the user branch.

•

Only offline data can be used, other data are rejected by an error message. If there are no
offline data linked, first save online data in a file of their own.

•

Rounding errors may occur through multiple conversions i.e. when converted from
”metric” to ”inch” and then back from ”inch” to ”metric”.

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12 Functional Descriptions
12.36.5 Inch/metric conversion function

01.99

When the softkey ”Conversion start” is pressed another sub-dialog appears denoting the
conversion direction.

Fig.: Sub-dialog in the MDD

Sequence for the softkey function ”Conversion start” on ”OK” in detail:
1. Copying the data from the source machine data block (source data objects as selected
above) to the data block of the target file whereby only the data TEA1, TEA2 and TEA4
are considered. The TEA3 and IKA data are not copied.
2. Checking with user if the inch/metric data (target data) are already available.
3. Only the machine data valid for the respective zone are filtered out from the target file,
converted and stored in the destination file. The target file again contains the complete
data. A target file is created for each zone.
4. The machine data to be converted can be configured by the user according to a list
5. Automatic identification of the conversion direction (inch to metric or vice versa) is carried
out via the reference date (MD can be configured). Rejection of the process results if data
are not complete. Therefore, only complete data blocks are accepted.
Source and target name are automatically recorded in the ”CONFIG” file. These data recorded
in the ”CONFIG” file are loaded to the NCK when the softkey ”Switchover function” (see NC
parameter) is pressed.
The machine data – further optimized online and manually – can be stored in the target files
(converted data) via the already present functionality ”Save on disk”. The user is responsible
for selecting the correct data block.

12–362

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01.99

12.36.6

12 Functional Descriptions
12.36.6 Deleting the conversion data

Deleting the conversion data

The machine data (destination files) previously created during the conversion can be deleted
with the help of the softkey ”Delete”. The selection of the objects to be deleted (inch/metric) is
made with the data selector.

12.36.7

Error handling

Some basic errors are detected not only before the conversion but also before the switchover
by a syntax analysis of the configuration file (CONFIG) and indicated on the user interface. A
master control event box is then shown in which the faulty line number (if the error can be
attributed to a line) and an explanatory error text is then read out. A list of all possible errors
that can arise during reading in of the configuration file is listed in the appendix.
The configuration file is interpreted during conversion and switchover while the list of
descriptions is only necessary during conversion.
A syntax test is carried out in the list of descriptions and incurring errors are signalled to the
user interface.
The following is an example of an error that can incur when in TEA1 the entry ”n” for general
machine data has been omitted. The log file shows the error as follows:

...
Error 5: Format error in data list
Line 2 file/mmc.001/user.005/mdas.140/list.142
Unexpectedly found: <>
Expected would be at this point:
Handling type (n, a, s, k, ...)

When an error incurs, the values in the target files have already been partially converted, but
due to this error the entire data block becomes useless.
The last line in the log file tells if the conversion was successful. Example of a conversion free
from errors:
...
Updating target file XXX

Example of a faulty conversion:
...
32 errors -- target file XXX NOT updated

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12 Functional Descriptions
12.36.7 Error handling

01.99

The entry XXX in the log file is the name of the target file i.e. the name of the destination data
block.

Check of the last line
for errors

12.36.8

Configurability of the conversion

The user can control the conversion via the ASCII lists. There is a central configuration file
(CONFIG) and a common list of descriptions file (LIST) for all groups (TEA1, TEA2, TEA4).
The selection of the configuration file and the list of descriptions is carried out via the softkeys
Diagnosis, PC data, Conversion data.

Fig.: Configuration file (CONFIG)

The line ”FILES=” is written by the internal conversion routine i.e. the name of the source file
and the name of the target file are recorded there. These files are required for the switchover.

12–364

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01.99

12 Functional Descriptions
12.36.8 Configurability of the conversion

Structure, syntax and the meaning of key words in the file CONFIG1) as follows:
Syntax: Parameter=value
Parameter

[//Comment]2)

Value (entry example)

DESCRIPTION ”Long text name”

Max.
number
76

Meaning
Full name of switchover
function3). This text appears in
the MMC dialog box for the
conversion function in the MDD.

REFERENCE

TEA1:5002.4

The reference date helps to
decide which mode is set.
The groups TEA1, TEA2 and
TEA4 are permitted. Each
machine date of these groups
can be selected except for the
channel specific TEA4 data. The
selection of a bit is optional. Only
bit 0 to 7 can be selected.
Selection of a bit group (e.g.
5002.4-7) is not possible.
Specification of a decimal digit
(e.g. 3840/2) is not possible. The
bit specification must follow the
number without blank space.

MODES

XY

1 per
mode

Definition of the code letters for
the modes. In the form of code
letters, capital letters are exactly
one character long and separated
by commas.
Presently at least 2, at maximum
2 modes possible
The calculation is also defined
here: from X Y. By reversing the
conversion direction this line must
be changed accordingly, i.e. Y X
The arrow ( ) signifies the
conversion direction.

NAMES

X:"Name X", "Y:"Name Y"

19

Status texts.
Definition of a text for each mode.
These text lines appear in the
MMC dialog box for the
conversion function in the MDD.

1)

The format is line-related, column-free, tabs can be used instead of blanks.

2)
3)

Comments: They are valid from the double slash // until the end of the line.
Text constants: with double quotation marks ”...” are optional.

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12 Functional Descriptions
12.36.8 Configurability of the conversion

01.99

Max.
number

Parameter

Value (entry example)

VALUES

X:2, Y:5

FILES

X:"FILES_X", Y:"FILES_Y"

File name (name of machine data
block) which refers to the
respective status (e.g. the
METRIC file for metric etc.). A
maximum of 7 characters are
permitted. The reserved names
such as BOOT, STANDARD
STANDD_M, etc. must not be
used. The line with the code word
FILES is also written. Here, the
source name and the target name
from the MDD are stored.

TOA_ZOA

X:#, Y:#

This parameter is transmitted
directly to the NCK (in I code).
Here, parameter # means: #=0
Do not carry out conversion on
the NCK side.
#=1
Metric conversion of TOA and
ZOA data on the NCK side
#=2
Inch conversion of TOA and ZOA
data on the NCK side
Default setting=M:1, I:2

One
assignment per
mode

Meaning
Assignment of the reference date
values.
The reference date value must be
defined for each mode by which
this mode should be recognized.
Only decimal values are allowed.
For bits only values 0 and 1 are
permitted.

The following settings are also
possible: M:1:, I:1, or M:2, I:2 and
M:0, I:0
POWERON

#

Power On Reset
Then the parameter # means:
#=0:
No reset
#=1:
Reset
The parameter is valid in both
statuses
Default setting=1

Remark:
The indicated parameters are mandatory parameters except for the parameters TOA_ZOA
and POWERON. The order of entry as in the table above is applicable.

12–366

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

01.99

12.36.9

12 Functional Descriptions
12.36.9 List of descriptions

List of descriptions

This file describes the conversion. The syntax used and described as follows has been kept in
terms as general as possible to also allow other conversions, i.e. it is the responsibility of the
user to change the file in such a way that the most different conversion algorithms can be
implemented.
Various types of machine data are grouped in sections which are introduced under a heading
as known from the 840C-MDD list block:
TEA1
TEA1
TEA4
TEA2
IKA1
IKA2
IKA3

n
a
k
n
ibz
ifk
ipk

for general machine data
for axis-specific NC machine data
for channel-specific cycles machine data
for PLC machine data
for IKA configuration
for IKA configuration
for IKA points

Under the list of descriptions, only the above-mentioned types of data are permissible and
valid for conversion. At least one section has to be quoted with a machine data. The sequence
of the sections is immaterial. Comments can be added to the file (introduced by a double slash
= //) then the rest of the line is ignored right to the end of the line. By entering space lines the
list can be structured. Blank spaces are also possible.
There are basically two types of conversion instructions:
•

Direct assignment
A fixed value is specified for each of the two modes and entered into the machine data.
The type of the value has to suit the type of data of the machine data.
Always indicate both values.
The value of the original data record is normally checked to avoid errors.
A string of bits is started with 0b...

•

Linear formula
The new value is calculated from the old value.
The formula can also be used in reverse, however, it must not contain a decimal fraction
as factor and offset.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–367

12 Functional Descriptions
12.36.9 List of descriptions

09.01

Example of a list of descriptions file LIST:
// Conversion of 03.99
// first
TEA1 n
5002.4-7
I=0b1101
M=0b0100
3969.0
I=1
M=0
1
I=M · 0.3937+0.01
3
I=M · 0.3937+0.01
6
I=M · 0.3937+0.01
7
I=M · 0.3937+0.01
9
I=M · 0.3937+0.01
10
M=I · 2.94 – 0.01
// now the axis-specific machine data
TEA1 a
18000.4-7 I=0b1101
M=0b0100
2240
I=M · 0.3937+0.01
// now the channel-specific cycles machine data
TEA4 k
5
I=M · 25.4
400
I=7.2
M=3.1
// End of file
The conversion list acts like a filter which is placed between the target file and the source file
filtering out all machine data listed in the list. These data are converted according to the
conversion regulations installed in the list. All machine data from each area not contained in
the list are taken over unchanged (i.e. 1 to 1) from the source file to the target file.
Special treatment of machine data
In general, in the case of axis-specific and channel-specific machine data, only the specific
base number has to be quoted since the internal loop automatically increases the respective
number for the data. This will lead to the state that conversion is valid for all data. However,
this is not always wanted under certain circumstances. A remedial measure would be the
following circumvention.
a) Example of a special treatment in the case of axis-specific machine data:
// Conversion
//
// Special treatment of one axis (e.g. 2nd axis)
TEA1 a
2800
I=M · 0.3937
// Special treatment of 2nd axis
2801
M=I · 10
// continue as normal from here ...
2802
I=M · 0.3937
// End of file
By explicitly quoting the data for the 2nd axis, conversion of the 2nd axis is different from all
other axis. It follows that data for the 3rd axis must also be quoted in the list otherwise
conversion is carried out as e.g. in the case of the 2nd axis.

12–368

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

01.99

12 Functional Descriptions
12.36.9 List of descriptions

b) Example of a special treatment in the case of axis-specific machine data:
// Conversion
//
// Special treatment of one axis (e.g. 2nd axis)
TEA1 n
// !!!TRICK 17!!!
2800
I=M · 0.3937
2801
M=I · 10
2802
I=M · 0.3937
// End of file
Section ”TEA1 n” (marked as TRICK) in example b) prevents the internal loop from being
executed, therefore allowing the conversion of each machine data individually.

General notes
•

What will not be converted
Tool offsets P10-P32
Cycle data (e.g. measuring cycles)
IKA data
GI data
Inc-Var

•

Rounding errors when converting
Most data to be converted are in FLP10 format and have to be converted into FXP4
format. Then data have to be converted using factor 25.4 or 1/25.4 with the following
conversion into the original FLP10 format. This may lead to rounding errors which will
become greater if more conversions are carried out.

•

Overflows when converting
Overflows can incur when converting data e.g. work area limitation 9,999.9999 inch
253,999.974 mm. Input limit is 99,999.999 mm. Alarm is given and the maximum value is
stored, i.e. when next converting from the metric system to inch the work area limitation
would be at 3937.0078 inch and – apart from rounding errors – would remain there even
after further conversions.

•

Tool offsets in the case of rotary axes
All tool offsets are converted. The user must himself ensure that tool offsets for rotary
axes are reconverted into ”degrees”.

© Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197- AA50

12–369

12 Functional Descriptions
12.36.9 List of descriptions

•

01.99

Power failure during conversion
After restarting conversion is continued without conversion errors or alarm messages from
the point where the interruption occurred.

•

Locking during switch-over
Before initiating the conversion ensure that the control is in the reset mode and remain
there during the conversion process (NC start disable, feed stop and spindle stop).

•

Upward compatibility
It must be ensured that new or enlarged setting data, machine data etc. can be included
for conversion purposes.

•

Checking for conversions not carried out
Checks must be carried out by the user whether a metric program runs on a metric
machine (starting cycle).

•

Graphic simulation
There is no checking of the consistency of machine data, setting data and the simulating
program.

END OF SECTION

12–370

© Siemens AG 1992 All Rights Reserved

6FC5197- AA50

SINUMERIK 840C (IA)

13

Index
Section
A
Absolute encoder
ENDAT
SIPOS
Actual value system, for workpiece
Alarm processing
Axis
Axis traversing
C axis operation
Drift compensation
Drive optimization
Drive service displays
Gantry axes
Inclined infeed axes
Installation
Speed setpoint matching
Tacho compensation
Parameter set switchover
Reference point approach
Rotary axis
Endlessly rotating
Simultaneous axes
Axis converter
Programming
Axis-specific resolutions

12.11
12.11.2
12.11.1
12.23
12.15.3
10.4.3
12.7.2.4
10.4.2
10.4.1
4.3
12.18.14.2
12.18.16.3
10.4
10.4.1.2
10.4.1.2
12.27
10.4.4
12.2
12.3
12.21
12.17.2
12.17.2.2
10.2

B
BACKUP
BEDCONF
BERO
BERO interface

4.6
4.4.3
10.3
12.26

C
C axis operation
Clamping torque
Fixed
Programmable
Color definition tables
Color mapping lists
Color settings
Compensation
Following error compensation
Leadscrew error compensation
Quadrant error compensation (QEC)
Temperature compensation
with tables (IKA)
Configuration changes
Configuration file BEDCONF
Configuration file KONFIG
Configuration mixed I/O



Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197–jAA50

12.7.2.4
12.24.4
12.24.5
4.4.4
4.4.5
4.4.6
12.8
12.1
12.16
12.19.4
12.19.5
5.9
4.4.3
4.4.2
9.4

13–1

09.95
09.01

Page
Control loop
Current control loop
Position control loop
Speed control loop
Coordinate transformation
Interface signals, NC-PLC
Operation
Programming
Transformation data set
Transformation parameters
Curve-gearbox interpolation
Block search
Following drive overlays
Following error
Gantry axes
Gearbox interpolation chain
Monitors
Programming
Start-up
Status data
Synchronous spindle
Variable cascading
Cycles
Cycles machine data
Cycles machine data dialog (as from SW 3)

Section
9.2.1
9.2.5
9.2.3
12.6
12.6.6
12.6.7
12.6.7
12.6.3
12.6.4
12.18.5
12.18.10
12.18.8
12.18.9
12.18.14.2
12.18.7
12.18.11
12.18.12
12.18.13
12.18.15
12.18.14.1
12.18.6
4.4.7
6.13
5.5

D
Data channels, high-speed
Configuration
Data blocks
Use
Data backup
Diagnoses
MMC area
PLC
Distance coded reference marks
Drift compensation
Drive configuration, machine data dialog
Drive machine data, machine data dialog
Drive optimization
Drives
Drive servo start-up application
Current control loop
Function generator
Position control loop
Speed control loop
Following drive
Leading drive
Machine data (FDD/MSD as from SW 4)
Diagnosis/service MD (FDD/MSD as from SW 3)
Feedforward drive MD (SW 3)
Main spindle drive MD (SW 3)
Master slave
Parameter set switchover
Setpoint smoothing filter
Dwell

13–2



Siemens AG 2001

12.28
12.28.3
12.28.4
12.28.6
11
4
3.5
10.4.5
10.4.2
5.4
5.4
10.4.1
9
9.2.1
9.3
9.2.5
9.2.3
12.18.2.1
12.18.2.1
7.3
7.4
7.2
7.1
12.30
12.27
12.14.2
12.4

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

09.95
09.01

Page

Section

E
Encoders
Absolute encoders
ENDAT
SIPOS
ENDAT
ESR
DC link overvoltage limitation
DC link undervoltage monitoring
Mains buffering
Mains failure detection
Retraction
as autonomous drive function
as open-loop control function
Stop
as autonomous drive function
as open-loop control function
Extended stop and retraction (ESR)
DC link overvoltage limitation
DC link undervoltage monitoring
Mains buffering
Mains failure detection
Retraction
as autonomous drive function
as open-loop control function
Stop
as autonomous drive function
as open-loop control function
Extension of in-process measurement
General hardware conditions

12.11
12.11.2
12.11.1
12.11.2
12.20
12.20.4.2
12.20.4.4
12.20.4.3
12.20.4.1
12.20.7
12.20.7.2
12.20.7.1
12.20.6
12.20.6.2
12.20.6.1
12.20
12.20.4.2
12.20.4.4
12.20.4.3
12.20.4.1
12.20.7
12.20.7.2
12.20.7.1
12.20.6
12.20.6.2
12.20.6.1
12.29
12.29.2

F
Feedforward control
File functions
Function generator
Functional test

12.14.1
5.8
9.3
1.5

G
Gantry axes
Gear interpolation
Actual value link
Following drive
Leading drive
Setpoint link
Setpoint velocity/actual position link
General reset

12.18.14.2
12.18
12.18.4.2
12.18.2.1
12.18.2.1
12.18.4.1
12.18.4.3
2.4

H
Hobbing



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SINUMERIK 840C (IA)

12.18.16.2

6FC5197–jAA50

13–3

09.95
09.01

Page

Section

I
IKA data
In-process measurement, extension
General hardware conditions
Indexing function from the PLC
Installation
Axis
Distance-coded reference marks
Drift compensation
Drive optimization
Reference point approach
Speed setpoint matching
Tacho compensation
Traversing axes
Drive servo installation application
Current control loop
Function generator
Position control loop
Speed control loop
Flowchart (as from SW 3)
Flowchart (up to SW 2)
PLC
Timeout analysis
Spindle
Open-loop control mode
Oscillation mode
Positioning mode
Standard start-up
Installation checklist
Interpolation and compensation with tables (IKA)

5.6
12.29
12.29.2
12.13
10.4
10.4.5
10.4.2
10.4.1
10.4.4
10.4.1.2
10.4.1.2
10.4.3
9
9.2.1
9.3
9.2.5
9.2.3
2.2
2.10
3
3.5.5
10.5
10.5.1
10.5.2
10.5.3
2
1.4
12.19.5

L
Leadscrew error compensation (LEC)
Link
Actual position link
Actual value link
Setpoint link
Setpoint velocity link

12.1
12.18.4.3
12.18.4.3
12.18.4.2
12.18.4.1
12.18.4.3

M
Machine data (MD)
Axis-specific MD (1)
Axis-specific MD (2)
Channel-specific MD
Cycle machine data
Drive machine data (FDD/MSD as from SW 4)
Diagnosis/service MD (FDD/MSD as from SW 3)
Feedforward drive MD (SW 3)
Main spindle drive MD (SW 3)
Flexible memory configuration
General MD
Machine data bits
Multi-channel display
NC machine data

13–4



Siemens AG 2001

6.4
6.7
6.3
6.13
7.3
7.4
7.2
7.1
6.10
6.2
6.6
6.8
6.1

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

09.95
09.01

Page
Parameter set switchover
PLC machine data
PLC MD for function blocks
PLC MD for the operating system
PLC MD for the user
PLC machine data bits
PLC MD bits for function blocks
PLC MD bits for the operating system
PLC MD bits for the user
Spindle-specific MD
Machine data dialog
Configuration changes
Procedure
Drive configuration
Drive machine data
File functions
IKA data
NC configuration
Master/slave for drives
Difference to synchronous spindle/GI
Effects
Response to error
Switch on/off
Measurement, extension in-process
General hardware conditions
Memory configuration, flexible
Start-up of the control
MMC area Diagnosis
Color definition tables
Color mapping lists
Color settings
Configuration file
Cycles
NC service
Password
PC data

Section
6.9
8
8.3
8.2
8.4
8.6
8.5
8.7
6.5
5
5.9
5.4
5.4
5.8
5.6
5.2
12.30
12.30.2
12.20.6
12.30.5
12.30.4
12.29.2
12.29.2
12.25
12.25.4
4
4.4.4
4.4.5
4.4.6
4.4.3
4.4.7
4.2
4.1.1
4.4

N
NC machine data
Configuring (MDD)
Cycle machine data
PLC configuration
PLC machine data
NC machine data
Axis-specific machine data 1
Axis-specific machine data 2
Channel-specific machine data
Flexible memory configuration
General machine data
Machine data bits
Multi-channel display
Parameter set switchover
Safety Integrated (SI) machine data
Spindle-specific machine data
NC service
NC setting data



Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

6FC5197–jAA50

5.2.2
5.10
5.5
5.3
5.3.2
6.1
6.4
6.7
6.3
6.10
6.2
6.6
6.8
6.9
6.11
6.5
4.2
6.12

13–5

09.95
09.01

Page

Section

P
Parameter set switchover
Axes
Compatibility
Diagnosis
Drive
Operation
Position control
Ratio
Restart
Spindles
Switch off
Switch on
Switchover
System start-up
Password
Path dimension from PLC
PC data
PLC configuration, machine data dialog
PLC diagnosis
PLC machine data
PLC machine data, machine data dialog
Printing, screen hardcopies
Programming
Axis converter
Coordinate transformation
Curve-gearbox interpolation
Spindle converter

12.27
12.27.1
12.27.7
12.27.4
12.27.1
12.27.5
12.27.2
12.27.2
12.27.6
12.27.1
12.27.6
12.27.6
12.27.3
12.27.6
4.1.1
12.12
4.4
5.3.1
3.5
8
5.3.2
4.1.3
12.17.2.2
12.6.7
12.18.12
12.17.3.2

Q
Quadrant error compensation (QEC)
Neural QEC
Parameterization
Standard QEC
Start-up

12.16
9.5.4
12.16.2
9.5.3
12.16.3

R
Reference point approach
Retraction
Rotary axis
Endlessly rotating
Rotary axis function

10.4.4
12.20.7
12.2
12.3
12.2

S
Safety Integrated (SI) machine data
SI drive machine data
SI NC machine data
Screen hardcopies, printing
Servo trace
Setpoint smoothing filter
in drive
Simultaneous axes

13–6



Siemens AG 2001

7.5
6.11
4.1.3
9.6
12.14
12.14.2
12.21

All Rights Reserved 6FC5197–jAA50
SINUMERIK 840C (IA)

09.95
09.01

Page
SIPOS
Software cam
Speed setpoint matching
Spindle
Drive service displays
Leadscrew error compensation (LEC)
Parameter set switchover
Position-controlled
Spindle converter
Start-up
Synchronous spindle
Spindle converter
Interfaces
Programming
Spindle functions
C axis operation
Open-loop control mode
Oscillation mode
Positioning mode
Stopping
Switchover measuring system 1 or 2

Section
12.11.1
12.22
10.4.1.2
4.3
12.1
12.27.1
12.9
12.17.3
10.5
12.18.14.1
12.17.3
12.17.3.3
12.17.3.2
12.7
12.7.2.4
12.7.2.1
12.7.2.2
12.7.2.3
12.20.6
12.15

T
Tacho compensation
Temperature compensation (TC)
Test
Functional test
Voltage test
Thread cutting
Following error compensation
Multiple thread
Position controlled spindle
Timeout analysis
Travel to fixed stop
Analog drives
Deselection
Digital drives
Fixed clamping torque
Programmable clamping torque
Selection
Traversing axes

10.4.1.2
12.19.4
1.5
1.5
12.8
12.8.1
12.9
3.5.5
12.24
12.24.3
12.24.7.3
12.24.7.5
12.24.4
12.24.5
12.24.7.1
10.4.3

U
User displays

5.7

V
Visual inspection
Voltage test

1.2
1.5

W
Warm restart



Siemens AG 2001 All Rights Reserved
SINUMERIK 840C (IA)

12.5

6FC5197–jAA50

13–7

Siemens AG
A&S MC BMS
P.O. Box 31 80
D-91050 Erlangen
Federal Republic of Germany
Tel. +49 - 180 / 5050 - 222 [Hotline]
Fax +49 - 9131 / 98 - 2176
email: motioncontrol.docu@erlf.siemens.de

Suggestions
Corrections
For Publication/Manual:
SINUMERIK 840C
SIMODRIVE 611-D
Installation Instructions
Service Documentation
Installation Guide

From:

Order No.:
Edition:

6FC5197-6AA50-0BP2
09.2001

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Overview of SINUMERIK 840C Documentation / OEM Version for Windows
User/Manufacturer/
Service Documentation

General Documentation

SINUMERIK

SINUMERIK
840C

840C

Brochure

Catalog NC 36

User Documentation

SINUMERIK

SINUMERIK

SINUMERIK

Accessories

ACR 20/
805SM/840C

840C

Catalog NC Z

Link to SINEC L2--DP with Module
-- IM328--N, Slave
-- IM329--N, Master and Slave

Diagnostics Guide

User Documentation

SINUMERIK

SINUMERIK
840C

SINUMERIK

840C

Operator’s Guide
-- OEM Version
Windows
-- Standard

840/840C/
880/
880 GA2

SINUMERIK
840/840C/
850/880/
880 GA2

Cycles,
User’s Guide
Graphic Programming System Programming
Guide
-- Drilling/Boring and Milling
Parts 1 + 2
-- Turning Parts 1 + 2
-- On DOS PC
-- Environment Description 840C

Programming
Guide

SINUMERIK
840C

Measuring Cycles
Version 20
User’s Guide

SINUMERIK
840C

User’s Guide
Simulation Milling
and Turning

Manufacturer Documentation

SINUMERIK
840C

SINUMERIK

SINUMERIK

840/840C/
880/
880 GA2

840/840C/
880/
880 GA2

SINUMERIK
840C

SINUMERIK
840C

SINUMERIK
840C

840/880

Interface:
-- Signals
-- Connection
Conditions

PLC 135 WB/WB2d/WD
Quick Reference,
Planning
S5--HLL

Function Block
Packages
Function Macros

SINUMERIK
WS 800A
-- CL 800
Cycle Language
-- User’s Guide

840C

Alarm Dialog
for PC
OEM Version
for Windows

SINUMERIK

SINUMERIK

SINUMERIK
SIMODRIVE

840/840C/
880/
880 GA2

840/840C/
880/
880 GA2

Safety
Integrated

Computer Link
-- Message Frame
Description
-- General
Description

Description of
Functions
SINUMERIK
Safety Integrated

Computer Link
-- SINT
-- SIN PS 231
-- SIN PS 315

Electronic Documentation
SINUMERIK
SIMODRIVE
840C
611D
DOC ON CD

User’s Guide
OEM Version
for Windows

Service Documentation

Manufacturer Documentation

SINUMERIK

Planning Guide
Graphic
Programming System

SINUMERIK
SIMODRIVE
840C
611D

SINUMERIK
840/840C/
850/880/
880 GA2

Installation Guide
Measuring Cycles
-- Instructions
Version 20
-- Lists
Start--up Guide
-- Difference
Description Windows

SINUMERIK
840C

Spare Parts
List



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