07387102

Industrial Electric Drives Linear Motion Service Mobile
Hydraulics and Controls Assembly Technologies Pneumatics Automation Hydraulics
Rexroth PNC 1070 073 871

Edition 02
Description of Functions
Function description, V7.3

II Bosch Rexroth AG Electric Drives PNC 1070 073 871 / 02
and Controls
Title Rexroth PNC

Description of Functions
Type of Documentation Function description
Document Typecode DOK-PNC***-NC*FUNCTION-FK02-EN-P
Purpose of Documentation This manual contains information on the following:

D basic steps required for system start-up and
D the available functions of the PNC.
Record of Revisions Description Release Notes

Date
DOK-PNC***-NC*FUNCTION-FK01-EN-P 04.2002 Gltig ab V6.x
DOK-PNC***-NC*FUNCTION-FK02-EN-P 05.2003 Gltig ab V7.3
Copyright E Bosch Rexroth AG, 2002 2003

Copying this document, giving it to others and the use or
communication of the contents thereof without express authority, are
forbidden. Offenders are liable for the payment of damages. All rights
are reserved in the event of the grant of a patent or the registration
of a utility model or design (DIN 341).
Validity The specified data is for product description purposes only and
may not be deemed to be guaranteed unless expressly confirmed
in the contract. All rights are reserved with respect to the content
of this documentation and the availability of the product.
Published by Bosch Rexroth AG

Postfach 11 62
D-64701 Erbach
Berliner Strae 25
D-64711 Erbach
Tel.: +49 (0) 60 62/78-0
Fax: +49 (0) 60 62/78-4 28
Abt.: BRC/ESM11 (WE)
1070 073 871 / 02 PNC Electric Drives Bosch Rexroth AG III
and Controls
Contents
Contents
Page
1 Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . 11
1.1 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3 Safety markings on products . . . . . . . . . . . . . . . . . . . . . . . . 13
1.4 Safety instructions in this manual . . . . . . . . . . . . . . . . . . . 14
1.5 Safety instructions for the described product . . . . . . . . 15
1.6 Documentation, software release and trademarks . . . . 17
2 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.1 Direct automatic execution . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.1.1 The PC control panel is used as a file server . . . . . . . . . . 32
3.1.2 Any remote Windows computer is used as a file server: . 33
3.2 Default state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.2.1 Assigning and activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.3 Inch/metric switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.3.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.3.2 Unit of measure switching . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
3.4 Rotary axis speed scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
3.4.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
3.5 Adjusting circle radiuses . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
3.5.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
4 Drives (axes, spindles) . . . . . . . . . . . . . . . . . . . 41

4.1 Linear axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.1.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.2 Rotary axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.2.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.3 Modulo axis (endless axis) . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.3.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.4 Linear modulo axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.4.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.5 Hirth axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.5.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.6 Gantry axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.6.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
4.6.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422
4.6.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
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4.7 Approaching the reference point . . . . . . . . . . . . . . . . . . . . 424

4.7.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427
4.7.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
4.8 Drive-controlled interpolation . . . . . . . . . . . . . . . . . . . . . . . 431
4.8.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
4.8.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
4.8.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
4.9 Axis transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
4.9.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
4.9.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
4.9.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
4.10 Spindle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
4.10.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
4.11 Spindle/C axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
4.11.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
4.11.2 Switching over from spindle mode to C axis mode. . . . . . 456
4.11.3 Switching over from C axis mode to spindle mode. . . . . . 457
4.12 Spindle/turret axis with motor encoder . . . . . . . . . . . . . . . 458
4.12.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
4.12.2 Synchronization after control unit start-up . . . . . . . . . . . . . 462
4.12.3 Determining the turret axis reference point . . . . . . . . . . . . 463
4.12.4 Examples: Changing between spindle mode and turret mode . . . .
463
4.13 Gear range switching with Spindle idling . . . . . . . . . . . 465
4.13.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
4.13.2 Activating/deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
4.14 Functions for SERCOS handling . . . . . . . . . . . . . . . . . . . . . 467
4.14.1 SERCOS initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467
4.14.2 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
4.14.3 Automatic parameter download . . . . . . . . . . . . . . . . . . . . . . 470
4.14.4 Changing parameters in the drive via SERCOS monitor . 473
4.14.5 Logging the transmitted SERCOS parameters . . . . . . . . . 474
4.14.6 Logging of SERCOS timing . . . . . . . . . . . . . . . . . . . . . . . . . 475
4.14.7 Downloading SERCOS files in phase 3 on demand only 476
5 Coordinate systems . . . . . . . . . . . . . . . . . . . . . . 51
5.1 Basics and overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1.1 Axis and coordinate names . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1.2 Physical and logical axes . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.2 Coordinate identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.2.1 Pseudo coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.2.2 Working range coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.3 Coordinate systems of the control unit . . . . . . . . . . . . . . . 59
5.3.1 MCS machine coordinate system . . . . . . . . . . . . . . . . . . . . 510
5.3.2 ACS axis coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . 511
5.3.3 BCS basis workpiece coordinate system . . . . . . . . . . . . . . 511
5.3.4 PCS program coordinate system . . . . . . . . . . . . . . . . . . . . . 514
5.3.5 TCS tool coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . 514
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5.4 NC functions for defining coordinate systems . . . . . . . . 515

5.4.1 Shifting the machine zero point (axis zero shift) . . . . . . . . 516
5.4.2 Axis transformation: ACS <> BCS . . . . . . . . . . . . . . . . . . . 516
5.4.3 Shifting the workpiece zero point . . . . . . . . . . . . . . . . . . . . . 517
5.4.4 Functions for manipulating the programmed contour . . . . 521
5.5 Eulerian angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522
5.6 Shifts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
5.6.1 Axis zero shifts (Gx53-Gx59) . . . . . . . . . . . . . . . . . . . . . . . . 530
5.6.2 Structure of axis zero shift tables . . . . . . . . . . . . . . . . . . . . . 534
5.6.3 Activating axis ZS table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
5.6.4 External axis zero shift (G160, G260, G360) . . . . . . . . . . . 539
5.6.5 G138 workpiece position compensation . . . . . . . . . . . . . . . 541
5.6.6 G168 an G268 program coordinate shift . . . . . . . . . . . . . . 541
5.6.7 G60 programmed contour shift . . . . . . . . . . . . . . . . . . . . . . . 541
5.6.8 G352...G359 inclined plane . . . . . . . . . . . . . . . . . . . . . . . . . 542
5.6.9 Structure of inclined plane tables . . . . . . . . . . . . . . . . . . . 545
5.6.10 Activating inclined plane tables . . . . . . . . . . . . . . . . . . . . . 546
5.6.11 Assigning shifts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547
5.6.12 Activating shifts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
5.6.13 Deactivating shifts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550
5.7 Working range coordinate programming . . . . . . . . . . . . . 551
5.7.1 Position of the tool tip (TCP) . . . . . . . . . . . . . . . . . . . . . . . . . 553
5.7.2 Tool orientation (vector and tensor) . . . . . . . . . . . . . . . . . . . 554
5.7.3 Orientation movement of the tool . . . . . . . . . . . . . . . . . . . . . 562
5.7.4 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
5.7.5 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
5.7.6 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
5.8 Axis transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
5.8.1 5 axis transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580
5.8.2 6 axis transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590
5.8.3 Polar coordinate transformation/end face machining . . . . 5103
6 Precision / Dynamics . . . . . . . . . . . . . . . . . . . . . 61
6.1 Maximum axis step change . . . . . . . . . . . . . . . . . . . . . . . . . 61
6.1.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
6.1.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
6.1.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
6.2 Path acceleration limitation . . . . . . . . . . . . . . . . . . . . . . . . . 63
6.2.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
6.3 Precision programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.3.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.3.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.3.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.4 Shape . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
6.4.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.4.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
6.4.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
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6.5 Path slope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611

6.5.1 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
6.5.2 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
6.6 Look-ahead function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
6.7 Jerk-limited velocity profile generation . . . . . . . . . . . . . . 614
6.7.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
6.7.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
6.7.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
6.8 Circle compensation at the quadrant transition . . . . . . . 618
6.8.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620
6.9 Dynamic limit values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 623
6.9.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624
7 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7.1 Control reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7.1.1 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
7.2 Jogging in machine coordinates . . . . . . . . . . . . . . . . . . . . . 73
7.2.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
7.2.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
7.3 Jogging in workpiece coordinates . . . . . . . . . . . . . . . . . . . 77
7.3.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
7.3.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 710
7.3.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 711
7.4 Handwheel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 712
7.4.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714
7.4.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715
7.4.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715
7.5 Online correction with handwheel (in workpiece coordinates) .
716
7.5.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 721
7.5.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 722
7.5.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 722
7.6 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 723
7.6.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725
7.6.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 726
7.6.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727
7.7 Automatic program reselection . . . . . . . . . . . . . . . . . . . . . . 728
7.8 Canceling the distance to go . . . . . . . . . . . . . . . . . . . . . . . . 729
7.8.1 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 729
7.9 Remove and return to the contour . . . . . . . . . . . . . . . . . . . 730
7.9.1 Options for returning to contour . . . . . . . . . . . . . . . . . . . . . . 732
7.9.2 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736
7.9.3 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736
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8 Tool compensations . . . . . . . . . . . . . . . . . . . . . . 81
8.1 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
8.1.1 Tool reference points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
8.1.2 Tool coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
8.1.3 Tool coordinate system with active axis transformation . . 82
8.1.4 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
8.1.5 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
8.1.6 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
8.2 Geometry compensations . . . . . . . . . . . . . . . . . . . . . . . . . . . 810
8.2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 810
8.2.2 Standard compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 813
8.2.3 External compensation (1st external compensation) . . . . 814
8.2.4 General compensation (2nd external compensation) . . . . 817
8.2.5 Overview: Methods of tool compensation . . . . . . . . . . . . . . 824
8.2.6 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 825
8.2.7 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 828
8.2.8 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 829
8.2.9 Structure of geometry compensation tables . . . . . . . . . . . . 830
8.2.10 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 831
8.3 Compensation switchover . . . . . . . . . . . . . . . . . . . . . . . . . . 832
8.3.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 834
8.3.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 835
8.3.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 836
8.4 Path compensation (cutter radius compensation) . . . . . 837
8.4.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 839
8.4.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 839
8.4.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 840
9 Safety / Monitoring . . . . . . . . . . . . . . . . . . . . . . . 91
9.1 Electronic limit switches (software limit switches) . . . . 91
9.1.1 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
9.2 Torque reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
9.2.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
9.3 Limit rapid travel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
9.3.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
9.4 Axis position monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
9.4.1 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
9.5 Distance to end point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
9.5.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
9.5.2 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
9.6 Area control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 910
9.6.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 913
9.6.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 913
9.6.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 913
VIII Bosch Rexroth AG Electric Drives PNC 1070 073 871 / 02
and Controls
Contents
10 Axis compensations . . . . . . . . . . . . . . . . . . . . . . 101

10.1 Leadscrew error compensation (LSEC) . . . . . . . . . . . . . . 101
10.1.1 Determining the compensation values of an axis . . . . . . . 101
10.1.2 Entering compensation values . . . . . . . . . . . . . . . . . . . . . . . 103
10.1.3 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
10.1.4 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
10.2 Cross compensation (CCOMP) . . . . . . . . . . . . . . . . . . . . . . 107
10.2.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
10.2.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1013
10.2.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1014
11 Communication with the PLC . . . . . . . . . . . . . 111

11.1 Auxiliary functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
11.1.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
11.1.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
12 Technology / machining functions . . . . . . . . . 121

12.1 Oscillating axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
12.1.1 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
12.1.2 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
12.2 Punching and nibbling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
12.2.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
12.2.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
12.2.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
12.3 Tangential tool guidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
12.3.1 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
12.3.2 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
12.4 Tangential tool orientation . . . . . . . . . . . . . . . . . . . . . . . . . . 1210
12.4.1 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1211
12.4.2 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1211
12.5 Rounding of corners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1212
12.5.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1213
12.5.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1213
12.5.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1213
12.6 Switching NC blocks via high-speed signal . . . . . . . . . . . 1214
12.6.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1217
12.6.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1217
12.7 Tapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1218
12.7.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1223
12.7.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1224
12.7.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1225
12.8 Probe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1226
12.8.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1227
1070 073 871 / 02 PNC Electric Drives Bosch Rexroth AG IX
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Contents
12.9 Digitizing (recording measured values) . . . . . . . . . . . . . . 1229

12.9.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1242
12.9.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1245
12.9.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1245
12.9.4 The recording file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1246
12.10 Axis distance control for the digitizing process . . . . . . . 1249
12.10.1 Monitoring deviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1254
12.10.2 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1257
12.10.3 Switching on/off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1258
12.11 Spline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1259
12.11.1 Spline with coefficient programming . . . . . . . . . . . . . . . . . . 1263
12.11.2 Spline with point programming and tangential transitions
(C1-continuous cubic splines) . . . . . . . . . . . . . . . . . . . . . . . 1267
12.11.3 Spline with point programming and continuous bend transitions
(C2-continuous cubic splines) . . . . . . . . . . . . . . . . . . . . . . . 1273
12.11.4 Spline with control point programming (B spline) . . . . . . . 1277
12.11.5 Programming spline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1279
12.11.6 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1282
12.11.7 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1282
12.11.8 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1282
12.12 Path-speed-dependent laser power control . . . . . . . . . . . 1283
12.12.1 Assigning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1286
12.12.2 Activating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1286
12.12.3 Deactivating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1288
A Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A1
A.1 Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A1
A.2 Memory demand for function extensions . . . . . . . . . . . . . A2
A.3 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A3
X Bosch Rexroth AG Electric Drives PNC 1070 073 871 / 02
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Contents
Notes:
1070 073 871 / 02 PNC Electric Drives Bosch Rexroth AG 11
and Controls
Safety Instructions
1 Safety Instructions
Please read this manual before commissioning the PNC or activating
new functions. Store this manual in a place to which all users have ac-
cess at any time.
1.1 Intended use

This manual contains all information required for the proper use of the
control units. For reasons of clarity, however, it cannot contain each and
every detail about each and all combinations of functions. Likewise, it is
impossible to consider each and any aspect of integration or operation.
The PNC controls serve as

D activate feed drives, spindles and auxiliary axes of a machine tool via
SERCOS interface for the purpose of guiding a processing tool along
a programmed path to process a workpiece (CNC). Furthermore, I/O
components are required for the integrated PLC which in communi-
cation with the actual CNC controls the machine processing cycles
holistically and acts as a technical safety monitor.
D program contours and the processing technology (path feedrate,
spindle speed, tool change) of a workpiece.
Any other application is deemed improper use!
The products described hereunder

D have been developed, manufactured, tested and documented in
compliance with the safety standards. These products pose no dan-
ger to persons or property if they are used in accordance with the han-
dling stipulations and safety notes prescribed for their configuration,
mounting, and proper operation.
D comply with the requirements of
D the EMC Directives (89/336/EEC, 93/68/EEC and 93/44/EEC)
D the Low-Voltage Directive (73/23/EEC)
D the harmonized standards EN 50081-2 and EN 50082-2
D are designed for operation in industrial environments, i.e.
D no direct connection to public low-voltage power supply,
D connection to the medium- or high-voltage system via a trans-
former.
In residential environments, in trade and commerce as well as small
enterprises class A equipment may only be used if the following warn-
ing is attached:
. This is a Class A device. In a residential area, this device may cause

radio interference. In such case, the user may be required to
introduce suitable countermeasures, and to bear the cost of the
same.
The faultless, safe functioning of the product requires proper transport,

storage, erection and installation as well as careful operation.
12 Bosch Rexroth AG Electric Drives PNC 1070 073 871 / 02
and Controls
Safety Instructions
1.2 Qualified personnel

The requirements as to qualified personnel depend on the qualification
profiles described by ZVEI (central association of the electrical industry)
and VDMA (association of German machine and plant builders) in:
Weiterbildung in der Automatisierungstechnik
edited by: ZVEI and VDMA
MaschinenbauVerlag
Postfach 71 08 64
D-60498 Frankfurt.
The present manual is designed for

D NC project engineers and commissioning personnel.
These persons need special knowledge of

D the possible configurations of PNC and
D the possible adjustments of the PNC for use with a specific machine
tool.
Programming, start and operation as well as the modification of pro-

grams or program parameters may only be performed by properly
trained personnel! This personnel must be able to judge potential haz-
ards arising from programming, program changes and in general from
the mechanical, electrical, or electronic equipment.
Interventions in the hardware and software of our products, unless de-

scribed otherwise in this manual, are reserved to our specialized person-
nel.
Tampering with the hardware or software, ignoring warning signs at-
tached to the components, or non-compliance with the warning notes
given in this manual may result in serious bodily injury or material dam-
age.
Only electrotechnicians as recognized under IEV 826-09-01 (modified)

who are familiar with the contents of this manual may install and service
the products described.
Such personnel are

D those who, being well trained and experienced in their field and famil-
iar with the relevant norms, are able to analyze the jobs being carried
out and recognize any hazards which may have arisen.
D those who have acquired the same amount of expert knowledge
through years of experience that would normally be acquired through
formal technical training.
With regard to the foregoing, please note our comprehensive range of

training courses. Please visit our website at
http://www.boschrexroth.com
for the latest information concerning training courses, teachware and
training systems. Personal information is available from our Didactic
Center Erbach,
Telephone: (+49) (0) 60 62 78-600.
and Controls
Safety Instructions
1.3 Safety markings on products
Warning of dangerous electrical voltage!
Warning of danger caused by batteries!
Electrostatically sensitive components!
Components sensitive to electrostatic discharge!
Warning of hazardous light emissions

(optical fibre cable emitters)
Disconnect mains power before opening!
Lug for connecting PE conductor only!
Connection of shield conductor only

and Controls
Safety Instructions
1.4 Safety instructions in this manual
DANGEROUS ELECTRICAL VOLTAGE

This symbol is used to warn of a dangerous electrical voltage. The
failure to observe the instructions in this manual in whole or in part may
result in personal injury.
DANGER
This symbol is used wherever insufficient or lacking compliance with in-
structions may result in personal injury.
CAUTION
This symbol is used wherever insufficient or lacking compliance with in-
structions may result in damage to equipment or data files.
. This symbol is used to draw the users attention to special circum-

stances.
L This symbol is used to mark descriptions of tasks to be performed by the

user.
If it is important that steps are taken in the correct sequence, action
prompts may be shown with serial number instead of being marked L.
Example:
1. Carry out the first step.
2. Carry out the second step.
and Controls
Safety Instructions
1.5 Safety instructions for the described product
DANGER
Danger of life through inadequate EMERGENCY-STOP devices!
EMERGENCY-STOP devices must be active and within reach in all
system modes. Releasing an EMERGENCY-STOP device must not
result in an uncontrolled restart of the system!
First check the EMERGENCY-STOP circuit, then switch the sys-
tem on!
DANGER
Incorrect or undesired axis movement!
First, new programs should be tested carefully without axis move-
ment! For this purpose, the control offers the possibility of inhibit-
ing axis movements and/or auxiliary function outputs by appropri-
ate softkeys in the Automatic mode.
DANGER
Incorrect or undesired control unit response!
Rexroth accepts no liability for damage resulting from the execu-
tion of an NC program, an individual NC block or the manual move-
ment of axes!
Furthermore, Rexroth accepts no liability for consequential dam-

age which could have been avoided by programming the PLC ap-
propriately!
DANGER
Retrofits or modifications may adversely affect the safety of the
products described!
The consequences may include severe injury, damage to equip-
ment, or environmental hazards. Possible retrofits or modifica-
tions to the system using third-party equipment therefore have to
be approved by Rexroth.
DANGEROUS ELECTRICAL VOLTAGE

Unless described otherwise, maintenance works must be per-
formed on inactive systems! The system must be protected
against unauthorized or accidental reclosing.
Measuring or test activities on the live system are reserved to

qualified electrical personnel!
and Controls
Safety Instructions
DANGER
Tool or axis movements!
Feed and spindle motors generate very powerful mechanical
forces and can accelerate very quickly due to their high dynamics.
D Always stay outside the danger area of an active machine tool!
D Never deactivate safety-relevant functions!
D Report any malfunction of the unit to your servicing and repairs
department immediately!
CAUTION
Use only spare parts approved by Rexroth!
CAUTION
Danger to the module!
All ESD protection measures must be observed when using the
module! Prevent electrostatic discharges!
The following protective measures must be observed for modules and

components sensitive to electrostatic discharge (ESD)!
D Personnel responsible for storage, transport, and handling must have
training in ESD protection.
D ESD-sensitive components must be stored and transported in the
prescribed protective packaging.
D ESD-sensitive components may only be handled at special ESD-
workplaces.
D Personnel, working surfaces, as well as all equipment and tools
which may come into contact with ESD-sensitive components must
have the same potential (e.g. by grounding).
D Wear an approved grounding bracelet. The grounding bracelet must
be connected with the working surface through a cable with an inte-
grated 1 MW resistor.
D ESD-sensitive components may by no means come into contact with
chargeable objects, including most plastic materials.
D When ESD-sensitive components are installed in or removed from
equipment, the equipment must be de-energized.
and Controls
Safety Instructions
1.6 Documentation, software release and trademarks
Documentation
This manual contains information on the following:
D basic steps required for system start-up and
D the available functions of the PNC.
Overview of available documentation Part no.

German English French
PNC-R Connectivity Manual for project 1070 073 704 1070 073 736
engineering and maintenance
PNC-R Software installation 1070 073 796 1070 073 797
PNC-P Connectivity Manual 1070 073 880 1070 073 881
PNC-P BF2xxT/BF3xxT Control Panel 1070 073 814 1070 073 824
Connectivity Manual
PNC-P Software installation 1070 073 882 1070 073 883
Description of functions 1070 073 870 1070 073 871
MACODA 1070 073 705 1070 073 742
Operation and configuration of the machine param-
eters
Operating instructions Standard operator interface 1070 073 726 1070 073 739 1070 073 876
Operating instructions Diagnostics Tools 1070 073 779 1070 073 780
Error Messages 1070 073 798 1070 073 799
PLC project planning manual, 1070 073 728 1070 073 741
Software interfaces of the integrated PLC
iPCL system description and programming manual 1070 073 874 1070 073 875
ICL700 system description (PNC-R only), 1070 073 706 1070 073 737
Program structure of the integrated PLC ICL700
DIN programming manual 1070 073 725 1070 073 738
for programming to DIN 66025
CPL programming manual 1070 073 727 1070 073 740 1070 073 877
CPL Debugger Operating Instructions 1070 073 872
Tool Management Parameterization 1070 073 782 1070 073 793
Software PLC 1070 073 783 1070 073 792
Development environment for Windows NT
Measuring cycles for 1070 073 788 1070 073 789
touch-trigger switching probes
Universal Milling Cycles 1070 073 795
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Safety Instructions
Release
. This manual refers to the following versions:

Software release: V7.3
The current release number of the individual software modules can be

viewed by selecting the Control-Diagnostics softkey in the Diagnostics
operating mode.
The software version of Windows may be displayed as follows:

3. Click the right mouse button on the My Computer icon on your desk-
top.
4. Select Properties.
Trademarks
All trademarks of software installed on Rexroth products upon delivery
are the property of the respective manufacturer.
Upon delivery, all installed software is copyright-protected. The software

may only be reproduced with the approval of Rexroth or in accordance
with the license agreement of the respective manufacturer.
MS-DOSr and Windowst are registered trademarks of Microsoft

Corporation.
PROFIBUSr is a registered trademark of the PROFIBUS Nutzerorgani-

sation e.V. (user organization).
SERCOS interfacet is a registered trademark of the SERCOS interface

Joint VDW/ZVEI Working Committee.
and Controls
General
2 General
This manual is designed to provide support
D in the application/activation of various control functions.
This manual is focused on the necessary procedures for parameter as-
signment.
As a prerequisite, all hardware components and their cabling, i.e. CNC,
drives, PLC and power supply modules must have been installed, inte-
grated and tested for faults in accordance with the application docu-
mentation. In particular, this includes all safety-relevant devices, e.g.
EMERGENCY STOP circuits, release contacts, limit switches, etc.!
In the ideal case, the software of all SERCOS drives has been commis-
sioned. However, this is not absolutely necessary because the control
unit is able to configure all connected drives by downloading the re-
quired parameters during start-up. In this case, properly adapted initiali-
zation files must be available in the control unit.
To adapt the initialization files, you should have the relevant documen-
tation available (i.e. tables showing the SERCOS parameter settings
required for every drive, drive documentation, etc.). For more detailed
information on the SERCOS interface, see page 467.
For reasons of clarity, all functions of the PNC are grouped according to
subject (see table of contents).
For every function, you will find information on
D its purpose or intended use,
D its conditions / restrictions of use, and
D modification options (e.g. by MACODA parameter setting, DIN/CPL
instruction, file, or interface).
. In part, a certain memory size is required in the NC for the applica-

tion of functions. For more information, please refer to Memory
demand for function extensions in the annex.
Because many functions involve more than one issue (MACODA, DIN,
interface, etc.), they may be described in full or in part also in other PNC
manuals.
. Therefore, please also refer to other relevant manuals.

The following documentation supplements this manual:
MACODA parameter: Configuration Parameters and MACODA Pa-

rameter Description
G/M functions: DIN Programming instructions
CPL instructions: CPL Programming Manual
For interface signals: PLC Project Planning
In addition, have the drive documentation ready.
and Controls
General
To carry out the various process steps, you must be familiar with
D the PNC standard operator interface,
D the Windows graphical user interface of the PC operating panel, and
D the MACODA software tool.
With MACODA, you have write access to the NC configuration parame-

ters if you have signed on as a machine setter or an MTB (DIAGNOS-
TICS " SET " SET USER). Therefore, you must be familiar with the
operation of MACODA!
DANGER
Improper handling by inadequately trained or unskilled personnel
may cause serious damage to the machine, loss of data or even
personal injury!
Therefore, properly trained personnel only may start and operate

drives or set or modify configuration parameters!
Such personnel must be able to recognize and avoid risks arising
from changed parameter settings or generally involved in the me-
chanical, electrical or electronic equipment.
Rexroth accepts no liability for damage, including consequential

damage, caused by incorrect or unskilled handling of equipment.
and Controls
System
3 System
3.1 Direct automatic execution

Function:
Allows the execution of part programs stored on any networked com-
puter (the file server hereinafter).
This allows you to use part programs that are too big for the part pro-
gram memory of the control unit. Part programs are now limited in size
and number only by the disk memory allocated by the file server.
In addition, this allows central administration of all part programs of the
whole machine outfit, making the part programs available to various
control units at any time without any distribution activities being re-
quired.
Through its integrated NFS client, the control unit can mount up to two
externally stored directories to its internal file system by means of the
directories Mount (/mnt/) and floppy disk (/mnt2/). This requires that
the PNC NFS Server is installed and running on the PC control panel
or directly on the file server. This application is part of the SW OSA3
V7.x.xPNC-software package supplied on CD.
For installation, please refer to manual PNC-P Software Installation or
PNC-R Software Installation.
There are 2 different scenarios for working with the Direct automatic
execution function:
D The PC control panel is used as a file server:
which means that the PNC NFS Server application runs on the PC
control panel.
In this case, either the local drives of the PC control panel or, option-
ally, the network drives linked to the PC control panel may be used to
run the Direct automatic execution function.
D Any remote Windows computer is used as a file server:
which means that the PNC NFS Server application runs on any re-
mote networked Windows computer.
Also in this case, either the local drives of the file server, or, option-
ally, the network drives of any other networked server may be used to
run the Direct automatic execution function.
However, this requires more work in terms of configuration.
Relevant MACODA parameters (MP):

3080 00002: Buffer size required for execution through NFS.
3080 00001: Search path for subprograms.
and Controls
Direct automatic execution
3.1.1 The PC control panel is used as a file server

Precondition:
D The control unit and the PC control panel must be properly intercon-
nected, configured and booted. The PNC operator interface must
have been started.
D The PNC NFS Server application must have been installed on the
PC control panel. This application is part of the SW OSA3 V7.x.x
PNC software package supplied on CD and is usually installed to-
gether with the whole package.
For details, please refer to manual PNC-P Software Installation or
PNC-R Software Installation.
1. If network drives are to be used, please start the Windows Explorer

on the PC control panel first.
In the left pane of the Explorer window, open the branches Network
neighborhood and Entire network down to the required level.
Here, all workgroups, computers and their shared drives are dis-
played.
Select the drive and right-click Map network drive.
Select a letter for the local drive. The checkbox Reconnect at logon
must be selected.
Click OK.
2. Start the PNC NFS Server application on the PC control panel.
(START " PROGRAMS " BOSCH PC-PANEL " PNC NFS SER-
VER).
3. Start thePNC configuration application on the PC control panel.
(START " PROGRAMS " BOSCH PC-PANEL " PNC CON-
FIGURATION).
4. Select T3SWCONFIG " SELECT NFS-MOUNT-DIRECTORY.
5. Select the control unit of your choice.
6. Select the directories to be mounted.
For more detailed information on this procedure, see PNC-P Soft-
ware Installation manual or PNC-R Software Installation manual.
7. Confirm the selected directories with OK.
Confirm the info dialogue that follows with OK and wait until the main
window of the configuration software is displayed again.
Then, close the PNC Configuration application.
8. Move the PNC operator interface to the foreground.
9. If required, adjust the buffer size with MP 3080 00002.
The required buffer size depends on various factors (e.g., high net-
work load, a long feed with very short traversing blocks) and is diffi-
cult to assess without knowing the local conditions. Therefore, you
may have to experiment with different settings. If the machining pro-
cess falters with the standard buffer size (8 K bytes), try to solve the
problem by increasing the buffer size by 1 K byte increments.
10. If required, adjust the search path for sub-programs with
MP 3080 00001.
and Controls
CAUTION
Danger of damage to the machine or the workpiece!
Do not initiate a control RESET during machining.
11. Initiate a control RESET.
3.1.2 Any remote Windows computer is used as a file server:
CAUTION
Improper connections or configurations may cause network fail-
ure!
Therefore, we recommend that all network configuration jobs are
done by the (system) network administrator only.
Precondition:
D The control unit and the control panel PC must be properly intercon-
nected, configured and booted. The Bosch operator interface is dis-
played.
D The TCP/IP addresses of the control unit and the PC control panel
must be in the same subnet as the respective file server.
See also the information on Configuring TCP/IP in the Network
settings section of the manuals on software installation.
D The computer selected as the file server must be physically inte-
grated into the same network as the control unit and ready for opera-
tion.
1. Please ensure that the TCP/IP protocol is installed on the file server
and that the TCP/IP address of the file server is in the same subnet
as the control unit and the PC control panel.
2. Please ensure that the file server can recognize the connected con-
trol unit. For this purpose, the TCP/IP address and the host name of
the control unit must be entered in the hosts file of the file server.
When entering the host name (max. 8 digits), please note that it is
case sensitive!
In the case of a Windows 95/98 PC, the hosts file is in the Windows
system directory. In the case of an NT PC, it is in a subdirectory of the
system directory (...\system32\drivers\etc).
This file can be modified with an ASCII editor (e.g., Notepad.exe).
and Controls
3. If you have not yet installed the PNC NFS Server application on the
file server, do it now. This application is part of the SW OSA3
V7.x.xPNC software package supplied on CD.
For information on its installation, please see the section on Setup
to the control panel PC, under Software installation in the manu-
als on software installation.
Use the setup option Customer Setup and select only the NFS
Server component. When you are requested to enter the name of
the target control unit, enter the host name of the control unit (e.g.,
pnc. Please note that this entry is case sensitive!).
4. When the installation is finished, reboot the file server.
The NFS server should be running. This is indicated by the corre-
sponding icon on the taskbar. If the icon is not displayed, you can
also start the NFS server manually. START " PROGRAMS "
BOSCH PC-PANEL " PNC NFS SERVER.
5. Specify the directories which the NFS server is to make available to
the NC. Select
START " PROGRAMS " BOSCH PC-PANEL " EDIT EX-
PORTS.
The ASCII file export.us will be loaded and displayed.
Example: contents of export.us
c:\typ3pcp\cycles typ3osa
c:\typ3pcp\cncfiles typ3osa
D Each directory to be exported must be entered on a separate line.

D No directory to be exported must be a subdirectory of any other
directory to be exported.
D Enter at least 1 blank between the path of the desired directory
and the host name of the control unit.
D Save the modified file.
. The NFS server can make more than 2 directories available. How-
ever, each control unit can mount no more than 2 directories at the
most.
In this way, several networked control units can be served by a
single NFS server.
6. Right-click the NFS server icon on the taskbar and select Reload
export.us. This has the effect that changes made in the export.us
file are adopted by the NFS server.
You can verify whether the changes made have been correctly
adopted:
Right-click the NFS server icon on the taskbar and select About.
7. Move the PNC operator interface to the foreground.
8. Change to the User FEPROM directory and load the hosts file to
the editor.
Make sure that the file contains a line with the TCP/IP address and
the host name of the file server. If there is no such line, please add it.
Format: <IP address> <host name>
Example: 192.168.100.9 server11
and Controls
9. Save the changed file as hosts in the directory System (/etc). In

order to make a backup of the changed file, copy it to the User FE-
PROM directory.
10. Change to the User FEPROM directory and load the startup file
to the editor.
Example: contents of startup
NFSMOUNT server11:/c/typ3pcp/cycles /mnt rw c
NFSMOUNT server11:/c/typ3pcp/cncfiles /mnt2 rw
Host name of the PC on Directory which the control unit is

which the NFS server is run- to obtain from the NFS server.
ning. Must be specified in the Please note that the syntax with
hosts PNC file including the regard to the signs : and / dif-
TCP/IP address! fers from Windows!.
D Each directory to be mounted must be entered on a separate line.

D Comment lines are indicated by the # character at the beginning
of the line.
D Enter at least 1 blank between the individual statements.
D A maximum of 2 directories can be mounted on each PNC control
unit (2 mount points):
Parameter /mnt: the directory is addressed as Mount (/mnt/) in
the PNC file system.
Parameter /mnt2: the directory is addressed as Disk (/mnt2/) in
the PNC file system.
D rw: access authorization. r: read; w: write/delete

D c: enable the cache. Do not use with removable disks!
11. Save the changed file in the User FEPROM directory. In this way, it
is saved permanently as a backup copy. To have a work copy of this
changed file available, save it also as startup in the root directory.
12. If required, adjust the buffer size with MP 3080 00002.
13. If required, adjust the search path for sub-programs with
MP 3080 00001.
CAUTION

and Controls
Default state
3.2 Default state

Function:
Ensures that the active NC functions of the control unit are reset to a
precisely defined state (mode). The function has a modal effect.
For each assigned channel, you can define what its NC functionality is
to be like after the following events:
D State after start-up
(after power-up or RESET; MP 7060 00010)
D State upon M30
(after the end of a program; MP 7060 00020)
D State upon a control reset.
(AUTOMATIC " CHANNEL CONTROL RESET;
MP 7060 00020)
D State upon a System control reset.
(DIAGNOSTICS " RESET FUNCTIONS " SYSTEM CONTROL
RESET; MP 7060 00020)
Start-up is always followed by a System control reset.
. For information on Control reset and System control reset,

please refer to page 71 ff.

7060 00010: Default state upon start-up.
Serves to define the functions that are to be activated
upon start-up, but not upon System control reset, Con-
trol reset, or M30.
7060 00020: Default state upon a control reset.
Serves to define the functions that are to be activated
upon System control reset, Control reset, or M30.
The desired default state can be defined in the two channel-specific
MACODA parameters by the init string.
As a maximum, an init string may have 240 characters for a total of 30
individual parameters of 8 characters, each. It contains the syntax of all
the NC functions that are to be activated upon the occurrence of a spe-
cific event.
While the whole init string of MP 7060 00010 is taken into account when
the control unit is started up, the init string of MP 7060 00020 is inter-
preted by the PNC only up to a certain point. This point depends on the
event that has occurred and is marked by the position of the keywords
#Reset: and #SysRes: within the init string.
and Controls
Default state
A
B
#Reset: #SysRes:
has effect upon M30
has effect upon channel control reset
has effect upon system control reset
MP 7060 00020, [1] [2] [3] [4] [5] ... [24] [25] [26] [27] [28] [29] [30]
individual parameter
A: init string, max. 240 characters
B: individual parameter, max. 8 characters
. Auxiliary functions with compulsory acknowledgement that are

entered in MP 7060 00010 may inhibit control unit start-up!
3.2.1 Assigning and activating

1. Adjust MP 7060 00010, or 7060 00020.
Please note: many NC functions are assigned to Groups. These
NC functions remain active once they have been selected until they
are specifically deactivated or superseded by another NC function
of the same group being selected.
. For information on groups, see Overview of G instructions in the

annex of the DIN Programming Instructions.
CAUTION
Do not initiate a system control reset during machining.
2. Initiate a system control reset (DIAGNOSTICS " RESET FUNC-

TIONS " SYSTEM CONTROL RESET).
and Controls
Inch/metric switching
3.3 Inch/metric switching

For each operating mode, the control unit can switch between the two
units of measure (inch or metric) used in the various operating modes:
D for the NC operating modes Manual and Automatic:
via G70 (inch) or G71 (metric).
D for the NC operating modes Jog and Traverse to reference point:
via the axis-related interface signal NC-I0.3, Inch incr. step.
In combination with Traverse to reference point, the position dis-
play only is switched to inch.
Switching with G70/G71 while in NC operating modes Manual or

Automatic has the effect that the control unit will interpret all subse-
quent translatory positions, speed and acceleration values pro-
grammed as inch or metric units of measure.
When the units of measure are switched, the control unit converts the
positions and feedrate values currently displayed into the programmed
unit of measure.
Depending on whether G70 or G71 is active on a channel, inch or metric
values will be displayed with CPL functions.
In the NC operating modes Jog or Traverse to reference point ,

setting the interface signal NC-I0.3 has the effect that the 4 incremental
steps (1000, 100, 10, 1 increments) permanently stored in the system or
the incremental step as defined by the user (x increments; MP 1015
00002) will be interpreted by the control unit as inch units of measure
with the weighting 0.0001 * (MP 1015 00001) inch. The effect is limited
exclusively to synchronous and asynchronous linear axes. This switch-
ing of units of measure has no effect on rotary or endless axes.
Nor does it have an effect on any of the jogging speeds parameterized.
. Because the incremental steps are used also in handwheel mode,

switching the unit of measure by interface signal will also change
the weighting of a handwheel increment.
Restrictions:
D Switching the units of measure by G70/G71 has an effect neither on
linear auxiliary aces (asynchronous linear axes) nor on rotary or end-
less axes (i.e., all axes programmed in degrees).
D Switching the units of measure by interface signal has no effect on
rotary or endless axes (i.e., all axes programmed in degrees).
D Inch/metric switching by G70/G71 or by interface signal NC-I0.3 will
not change the values of the geometry compensation or zero shift
tables. These values will be automatically converted by the control
unit exclusively for the purpose of displaying the current compensa-
tion values.
Table input formats can be individually modified as follows:
D via MP 6020 00021, Number of decimal positions for compensa-
tion values (metric),
and Controls
D via MP 6020 00022, Number of decimal positions for compensa-

tion values (Inch), or
D by using the toggle softkey INCH/METRIC in the table editor.
D Inch/metric switching by G70/G71 or by interface signal NC-I0.3 will

not change the data made available to the PLC. All values trans-
ferred to the PLC will be in m or 0.001 degrees.
D Spindle or diagnostics values displayed will not be affected by inch/

metric switching.

1015 00001: Axis resolution.
1015 00002: Variable increment step.
6020 00001: Number of decimal places for feedrate display (metric).
6020 00002: Number of decimal places for feedrate display (inch).
6020 00011: Number of decimal places for axis display (metric).
6020 00012: Number of decimal places for axis display (inch).
Relevant G functions:
G70: Inch programming
G71: Metric programming
Relevant interface signals:
NC-I0.3: Incremental step in inch (axis interface).
Switches the unit of measure to Inch while in the NC op-
erating modes Jog or Traverse to reference point.
NC-I1.0: Manual feed/ incremental bit 0 (axis interface).
NC-O6.1: G70 active (channel interface).
Displays whether G70 is active on the current channel.
Relevant CPL functions:
MCODS(...) see Positions under MCODS in the CPL Programming
Manual
3.3.1 Assigning
1. Adjust MP 6020 00001 through MP 6020 00012, if required.
CAUTION

and Controls
3.3.2 Unit of measure switching

In the NC operating modes Manual or Automatic:
1. to switch to Inch, program G70.
to switch to Metric, program G71.
In the NC operating modes Jog and Traverse to reference
point:
Precondition:
D The axis-related interface signal NC-I0.3, Inch incr. step must be
generated.
1. NC-I0.3 must be set at the relevant axis interface in order to switch to

Inch. To switch back to Metric, reset this signal.
and Controls
Rotary axis speed scaling
3.4 Rotary axis speed scaling

Function:
Ensures that the control unit specifies the correct speeds of synchro-
nous rotary or endless axes with both metric-based and inch-based pro-
grams.
This allows to execute existing country-specific part programs without
prior modification.
Restrictions:
D G595 must be active (= all synchronous axes of a channel are taken
into account for calculating the path feedrate).
In order to ensure that G595 is active upon a start-up or a reset, we
recommend that G595 be included in MP 7060 00010 (start-up)
and in MP 7060 00020 (control reset).
D This function has an effect on synchronous axes of the rotary or
endless movement types only ( MP 1003 00004).
D This function relates exclusively to speed, not to position.

7040 00110: Rotary axis speed scaling with G70/G71.
G595: All axes on a channel are taken into account for calculating the
feedrate.
3.4.1 Assigning
1. Adapt MP 7040 00110. Please note:
D If the control unit is installed at a location where only metric part
programs are used (G71 is active; e.g., in Europe):
7040 00110 [1]: 1
7040 00110 [2]: 1
D If the control unit is installed at a location where only inch-based

part programs are used (G70 is active; e.g., in the USA):
7040 00110 [1]: 2
7040 00110 [2]: 2
D If the control unit is installed at a location where both metric-based

and inch-based part programs are used:
7040 00110 [1]: 2
7040 00110 [2]: 1
CAUTION

and Controls
Adjusting circle radiuses
3.5 Adjusting circle radiuses

Function:
The PNC can avoid runtime errors, which may be caused by inexact
statement/calculation of parameters when programming a circular con-
tour segment with G2/G3.
This concerns the programming of circles both by means of their ra-
diuses and end points (radius-based programming) and by means of
center points and end points (center-point-based programming).
For radius-based programming:

The parameters that the control unit needs are the radius, the end point
and the sense of rotation of the circle. The current position is always
taken to be the starting position of the circular movement.
The only problems that may occur with the internal calculation of the cir-
cular path relate to semicircles. For semicircles, the radius to be entered
must be exactly half the distance between the starting position and the
end point.
If the programmed radius is smaller than this (e.g., due to inexact entry
or calculation during data preprocessing), a runtime error will occur un-
less the radius is corrected.
To avoid a runtime error in this case you may define a tolerance zone (
MP 705000030). Within this tolerance zone, the PNC will automatically
enlarge any radius that is too small and bring it up to the required value
(half the distance between the starting position and the end point).
For center-point-based programming:

The parameters that the control unit needs are the center point, the end
point and the sense of rotation of the circle. The current position is al-
ways taken to be the starting position of the circular movement.
The control unit will use the starting point/center point and center
point/end point distances to calculate the required circle radius. If the
two radiuses calculated are different (e.g., due to inexact entry of the
circle center point), the PNC can compensate this discrepancy by shift-
ing the circle center point correspondingly.
A shift is carried out in this case only if the following is true:
MP 7050 00010 < discrepancy < MP 7050 00020
If the discrepancy is smaller than MP 705000010, no compensation will
be carried out. In this case, the control unit will use the programmed
data only for the movement. This may cause a jump in the contour at the
end of the circular segment.
Any discrepancy that is larger than MP 7050 00010 will cause a runtime
error (323).

7050 00010: Radius accuracy for center-point programming.
7050 00020: Radius tolerance for center-point programming.
7050 00030: Radius tolerance for radius-based programming.
and Controls
G2/G3: Circular interpolation enabled.
G202/G203: Helical-N interpolation enabled.
3.5.1 Assigning
This function is always active with circular interpolation. It applies the
current settings of the relevant MACODA parameters.
1. Adjust MP 7050 00030 as required for compensations relating to ra-

dius-based programming.
2. Adjust MP 7050 00010 and MP 7050 00020 as required for com-
pensations relating to center-point-based programming.
CAUTION

and Controls
Notes:
and Controls
Linear axis
4 Drives (axes, spindles)

4.1 Linear axis
Function:
Assigns a connected SERCOS drive as linear axis.
A linear axis is a machine axis which

D moves only along a straight path,
D is usually operated in position control mode,
D can be traversed only within a finite range, and
D is programmed with mm or inch units of measure.
A distinction is made between synchronous and asynchronous lin-

ear axes:
D Synchronous linear axes can be traversed in interpolation with other
synchronous axes assigned to the same channel. Therefore, they
can be used for generating tool paths in a plane or in 3D. The number
of synchronous axes required for this depends on the layout of the
machine tool (e.g., for lathes, 2 synchronous linear axes, for milling
machines, 3 synchronous linear axes are required as a minimum).
D No interpolation is possible among asynchronous linear axes. In
general, they are used to carry out simple positioning, feeder or han-
dling tasks involving linear motions.

1001 00001: Drive function type.
1003 00001: Physical axis designation.
1003 00002: Channel assignment.
1003 00004: Axis movement type.
4.1.1 Assigning
Precondition:
D The SERCOS parameters have been correctly set in the drive or will
be transferred by the control unit to the drive during SERCOS initiali-
zation (addressing, timing, operating mode, weightings, etc.; for in-
formation on the SERCOS interface, see page 467 ff).
1. In MP 1001 00001, assign value 1 to the respective drive.

2. In MP 1003 00001, enter the physical axis designation.
3. In MP 1003 00004, set the axis movement type to 1.
4. In MP 1003 00002, specify whether the axis is a machining (i.e. syn-
chronous) axis or an auxiliary (asynchronous) axis.
If it is a machining axis, specify the channel to which it is to be as-
signed.
5. Parametrize the linear axis as required in terms of speed, dynamics,
etc.
and Controls
Rotary axis
6. Ensure that the axis is correctly included in the PLC program in re-
spect of interface signals.
CAUTION
7. Initiate a control reset.
4.2 Rotary axis

Function:
Assigns a connected SERCOS drive as rotary axis.
A rotary axis is a machine axis which

D carries out rotational movements only,
D can be traversed only within a finite range, and
D is programmed in the unit of measure of degrees.

4.2.1 Assigning
Precondition:
formation on SERCOS, see page 467 ff.).
For a rotary axis, the type of weighting, e.g., must be set to rotary in
SERCOS parameter S-0-0076 (type of weighting for position data).

signed.
5. Parameterize the axis as required in terms of speed, dynamics, etc.
and Controls
Modulo axis (endless axis)
CAUTION
Do not initiate a control reset during machining.
4.3 Modulo axis (endless axis)

Function:
Assigns a connected SERCOS drive as a modulo axis (rotary axis with
modulo calculation, endless axis).
A modulo axis is a machine axis which

D can be traversed endlessly in both directions of rotation,
D is programmed in the unit of measure of degrees.
By means of the modulo value (also referred to as modulo factor), the

current position of the axis upon reaching its set position is re-trans-
formed into the position range between 0 and the modulo value.
The modulo value is stored in the drive (S-0-0103) and is automatically
output by the PNC during start-up.
There is a positioning logic available with variable parameter setting for
modulo axes. By setting the parameters correspondingly, you can de-
fine the strategy to be used by the modulo axis for approaching its target
position.
Restrictions:
D While G91 is active (incremental data input), modulo calculation in
the control unit is suppressed in operating modes Automatic and
Manual data input with the exception of the output setpoint and its
display.

1003 00005: Positioning logic.
1003 00050: Switching the positioning logic of endless axes using
G151.
Relevant G functions and special functions:
G151: Changing the positioning logic
G150: Resetting the positioning logic to the setting in MP 1003
00005.
and Controls
Modulo axis (endless axis)
G189: Absolute data input 2

DC(..) Changing the positioning logic to shortest path for the
current block.
ACP/ACN(..) Changing the positioning logic to sign logic for the cur-
rent block.
NC-O21.0: G189 active (channel interface).
4.3.1 Assigning
Precondition:
For a modulo axis, the type of weighting, e.g., must be set to rotary
and the processing format to Modulo format in SERCOS parameter
S-0-0076 (type of weighting for position data). In addition, the mo-
dulo value must be parameterized in S-0-0103.

signed.
5. Set the desired positioning logic in MP 1003 00005.
CAUTION

and Controls
Linear modulo axis
4.4 Linear modulo axis

Function:
Assigns a linear axis as an endless axis. When the linear axis has
reached the modulo value, its setpoint is automatically set to 0. This
prevents a computational overflow of axis values and allows program-
mable zerosetting of the program coordinate system to the current axis
position with G105.
Theoretically, the axis can thus be traversed endlessly in one direction.
Therefore, this function is well-suited for conveyor-type applications,
e.g., uncoiling wire from a reel, spring coiling, etc.
Restrictions:
D The respective drive must be able to carry out the modulo calculation
autonomously. At the drive end, the modulo value can usually be
parameterized with S-0-0103.
D Position values may be programmed in a traversing block only if they
are smaller than/equal to the modulo value.
D Negative position values may be programmed only if they are
smaller than the modulo value.
D A control reset will reset the program zero point to the axis zero point.
D Measuring (G175/G275) in the context of linear modulo axis opera-
tions may be performed only with traversing movements in positive
direction.

G105: Zerosetting of modulo axis.
4.4.1 Assigning
Precondition:
D The SERCOS parameter Modulo value (S-0-0103) has been cor-
rectly set in the drive or will be transferred by the control unit to the
drive during SERCOS initialization (see MACODA manual).

2. Assign the axis as a synchronous or an asynchronous axis to the
system and parameterize it as required in terms of speed, dynamics,
etc.
The axis movement type must be set to Linear axis with modulo cal-
culation. To this end, set MP 1003 00004 to 4 for this axis.
CAUTION

and Controls
Hirth axis
4.5 Hirth axis

Function:
Assigns a rotary axis or an endless axis as a Hirth axis. Hirth axes can
approach only those positions that are located on a clearly defined grid
(Hirth grid; MP 1003 00055).
Therefore, this function is well-suited for the axes of tool changers, or for
axes with a serration.
Data input may be set optionally to degrees or places ( MP 1003
00056).
With place programming, enter the target position without any decimal
positions.
Place 1 is always equivalent to the 0 position. All places are numbered
consecutively in dependence on MP 1003 00055 and are shown on the
position display in the form of position numbers. Negative position num-
bers, position number 0, or position numbers higher than those listed in
MP 1003 00055 can be programmed only while G91 is active (incre-
mental data input).
If the Hirth axis is to be programmed in degrees, automatic end-point

correction is possible ( MP 1003 00057). In this process, the NC cor-
rects a programmed position automatically by shifting it to the nearest
Hirth grid position. Without end-point correction, the NC will generate an
error message in these cases.
Restrictions:
D No axis coupling possible
D No handwheel mode permitted
D No synchronous Hirth axis may be included in the group of axes that
are selected with the Inclined Plane function.
D The reference point and all contour and zero shifts of a Hirth axis
must be located on the Hirth grid.
D After Feed hold, Feed inhibit, Emergency stop, or Control reset
in Incremental jogging mode (incremental step is active), the Hirth
axis can be brought to a standstill also between permitted positions.
See also Section 4.5.1 page 47.

1003 00055: Places on circle for Hirth axis
1003 00056: Place programming for Hirth axis
1003 00057: End-point correction for Hirth axes
NC-I2.5: Traverse to next grid position (axis interface).
If this signal is set to high, the traversing movement is
started if Jog mode is active and the Hirth axis is cur-
rently not being jogged manually.
The NC sets the traversing direction automatically
through the current state of the axis-related interface sig-
nal Traversing direction (NC-O14.4).
and Controls
Hirth axis
NC-O16.5: Axis in grid position (axis interface).

Before an axis is reference, this signal is always 0.
Once an axis is referenced, this signal is set to high only if
the axis is in the In-position window.
4.5.1 Assigning
Precondition:
D The axis is already available in the system as a rotary or an endless
axis with its speed, dynamics and, if required, its positioning logic
correctly parameterized in accordance with its operational require-
ments.
D The necessary axis-related interface signals are evaluated or gener-
ated within the framework of the PLC program.
1. Specify the required Hirth grid in MP 1003 00055.

2. Select the desired programming option in MP 1003 00056.
3. Activate end-point compensation in MP 1003 00057, if required.
CAUTION
State: Hirth axis not on the Hirth grid...

...after Feed hold or Feed inhibit:
1. cancel Feed hold or Feed inhibit.
The programmed end position is approached immediately on the Hirth
grid.
...after Emergency stop or Control reset:

1. Set the manual feed to Rapid, Fast, Medium, or Slow.
2. Activate jog mode.
3. Briefly jog the Hirth axis (via axis-related interface signals Manual+
/ Manual; for information on Jogging, see page 73).
Depending on the jogging direction (+/), the NC traverses to the nearest
position on the Hirth grid.
or
1. Activate jog mode.
2. Set the axis-related interface signal Traverse to next grid position.
The NC traverses to the nearest position on the Hirth grid.
The NC sets the traversing direction automatically through the current
state of the axis-related interface signal Traversing direction
(NC-O14.4).
and Controls
Hirth axis
...after incremental jogging mode (incremental step is active):

1. Set the manual feed to Rapid, Fast, Medium, or Slow.
2. Briefly jog the Hirth axis (via axis-related interface signals Manual+
/ Manual; for information on Jogging, see page 73).
Depending on the jogging direction (+/), the NC traverses to the nearest
position on the Hirth grid.
or
1. Set the axis-related interface signal Traverse to next grid position.
The NC traverses to the nearest position on the Hirth grid.
The NC sets the traversing direction automatically through the current
state of the axis-related interface signal Traversing direction
(NC-O14.4).
and Controls
Gantry axes
4.6 Gantry axes

Function:
Gantry axes are pairs of axes with solid mechanical coupling. They are
traversed in parallel by separate drives. Coupling is active all the time.
Tool
X2 axis Group of gantry axes
X1 axis
Gantry drive
Gantry drive
Workpiece
The commissioning of gantry axes is subject to certain restrictions or,

resp., may require some additional preparatory action (see Section
4.6.1).
Preconditions
D Interface: the drives must be digital drives as per SERCOS.
D Drive data: the drive data of solidly coupled axes must be identical
so as to ensure that their behavior is identical also in asynchronous
operation (operating modes Jog and Traverse to reference point).
All drive data relating to axis dynamics (e.g., loop gain (KV), feed for-
ward etc.) must be kept identical for all gantry axes of a group. This
must be taken into account also for programming. This data may be
changed only while the axes are at rest, because not all the drives
would be able to recognize and execute a switching operation simul-
taneously (in the same SERCOS clock pulse).
D Measuring system: for gantry axes, identical absolute or cyclic/ab-
solute measuring systems are required.
. This description refers to cyclic/absolute measuring systems.
Absolute encoders do not require any special drive referencing ac-

tion to be taken during commissioning because the exact drive posi-
tions are known upon start-up.
and Controls
Gantry axes
D Reference point switch: for all gantry axes, there is a common ref-
erence point switch (cam) which is tripped by the master axis and
which relays the signal Reference point switch recognized simulta-
neously to all gantry drives.
D Constellation of axis types: in any one group of gantry axes, the
following constellations of axis types are permitted:
Master axis Slave axis
linear linear
linear modulo linear modulo
endless endless
rotary rotary
For modulo axes, the modulo values of master and slave axes must
be identical.
The master axis must be a synchronous axis, the slave axis may be
an asynchronous axis.
Restrictions
D After starting up the control unit, the coupled axes must be properly
aligned by the mechanical coupling so as to permit parallel travers-
ing of the axes (distance between the axes = constant).
D The signal flow as described in Sect. 4.6.1, Assigning gantry axes
(para. 7., see page 419 ff.) must be strictly complied with in the ref-
erencing process.
D After every change of motor and/or measuring systems, a new com-
missioning must be carried out.
D After every change of software in the drives, a new commissioning
must be carried out, because the working memory stored in the drive
is lost.
D In referencing parameter S-0-0147, bit 7 (position after drive-con-
trolled referencing) may be set to 1 only if the correct reference off-
sets have been accepted by the drive.
D The master axis of a gantry axis group must never be a slave of an
axis coupling at the same time.
D The manufacturer-specific SERCOS parameters (P-x-xxxx) men-
tioned in the context of the commissioning are relevant to Servodyn
drives only. Equivalent parameters must be used in the case of other
drives. The functionality must be ensured by the drive manufacturer.
Correcting a skew of a group of gantry axes

Before a group of gantry axes can be traversed for machining, any dis-
placement of master and slave axes must be corrected. A distinction is
made between
D permissible skews (correction by referencing the drives) and
D unpermissible skews (can be corrected only by mechanical shifting
or axis jogging).
and Controls
Gantry axes
Axis offset between

X1 and X2
X2 axis
Group of gan- Workpiece

try axes
X1 axis
Skew of a group
of gantry axes
. A skew of the gantry axes must be corrected before the control unit
is started if the skew prohibits the traversing of the gantry axes.
A skew of gantry axes may have various causes:

D The axes have not been referenced yet: if the commissioning has
been carried out correctly and the reference point is properly ap-
proached (S-0-0147, bit 7 = 1), the group of gantry axes is aligned in
the referencing process.
L Carry out the Approach reference point function for the re-
spective group of gantry axes.
D Commissioning parameters missing: after control unit has been

started, but before referencing, the values provided by the encoders
and the actual axis positions are not interrelated. In this condition,
the control unit cannot recognize a skew, which persists until refer-
encing is carried out. Until then, the commissioning distance (differ-
ence between the two encoder positions within one revolution)
determined during start-up has to be maintained when the group of
axes traverse. No compensation of the skew is possible at this stage.
L Carry out the commissioning in accordance with Section 4.6.1.
D Incorrect reference point offset: if cyclic/absolute motor encoders

are used, first the reference points and the reference point offsets of
the gantry axes must be identified in order to be able to identify and
remove the skew. Incorrect entries of the offsets in the SERCOS file
may cause an unintentional skew of the axis group.
L Carry out the commissioning in accordance with Sect. 4.6.1 and
determine the correct reference point offsets.
and Controls
Gantry axes
D Axis jamming (static skew): the actual position values of an axis

are falling short of its selected setpoints. The skew can only be cor-
rected when the jam has been removed!
When the axis jam has been removed mechanically, the drives can
be restarted.
After the setpoint values have been released, jumps are applied to
the drives.
A persisting skew will thus be corrected with a jerk. If this jerk leads to
a servo error, the loop gain factor of the respective axes must be low-
ered until the skew can be corrected without causing a servo error.
This may be done, e.g., by means of a CPL program where the loop
gain factor of the gantry axes can be changed.
Once the axes have been released, the loop gain factor must be re-
set to its original value.
. In the event of an axis jam, the drive must be shut down and
the axis must be set free mechanically.
Monitoring functions for gantry axis groups

There are various monitoring functions available to monitor and control
the behavior of gantry axes:
D Monitoring of following distance: MACODA parameter 1003
00060 (tolerance = max. following error for coupled axes) allows to
monitor the following distance during commissioning and machining:
For this purpose, the control unit uses the overtravel information of
master and slave from the cyclical SERCOS parameter S-0-0189. If
S-0-0189 is not contained in the cyclical SERCOS telegram, the fol-
lowing distance is calculated from the position actual values of the
gantry axes.
When the maximum permissible following distance between master
and slave is exceeded the group of axes is decelerated to a stop and
a coupling error is generated.
D Reaction during commissioning: As long as no reference

points have been approached, the commissioning distance is
taken as a reference for the actual position deviation. The actual
position deviation must not differ from the commissioning dis-
tance by more than the tolerance range. Otherwise this will cause
an error. If an error occurs, the axis group will be decelerated to a
standstill.
D Reaction during operation: If the deviation of the actual position
values of slave and master axes exceeds a specified limit (toler-
ance), the axis group will be decelerated to a standstill (if a tra-
versing movement is active) and a coupling error will occur.
and Controls
Gantry axes
Error analysis:
In the event of an unpermissible skew, the interface signal NC-O
16.6 Coupling lag exceeded will be set for the axis/axes involved.
When the following distance is no longer exceeded, the signal will be
deactivated.
This error state in the NC can be suppressed by setting the axis sig-
nal NC-I 4.5 for the master axis. In this event, monitoring of the cou-
pling lag has to be programmed in the PLC.
. Even if an error occurs, the axis coupling is not disbanded.
D Torque/current monitoring:
Torque/current monitoring (standstill (zero-speed) monitoring) works
only in the stationary state, i.e. all gantry axes are in position and
there is no traversing command from the NC pending.
Active axis torques are obtained from the SERCOS telegram.
Torque monitoring outputs a reaction if the sum total of the torques
of all drives of a gantry axis group exceeds the max. total static
torque specified in MP 1003 00062.
The static torque total is a qualitative measure of the torque bias. The
quantitative characteristics must be specified by the manufacturer.
They must be determined by various series of tests.
. Evaluating the torque characteristic of the drives in motion

would not be meaningful because of the heavy variations in
driving torques that are likely to occur while the drives are
in motion.
SERCOS setting
To enable torque monitoring, the actual torque values (S-0-0084) of
the gantry drives must be transferred with the cyclical SERCOS tele-
grams (entry in SERCOS file p2<xxx>.scs). See also Sect. 4.6.1.
Error analysis
If the torque/current monitoring function indicates an excessive
skew, first the cause of the error must be removed before the skew
is corrected by referencing! Any referencing attempt while the cause
of the error continues to exist will cause a repeated reaction of the
monitoring function.
If the torque total is exceeded:

D axis signal NC-O 16.7 is set for the master axis. This signal will be
reset as soon as the torque total no longer exceeds the limit.
D the NC outputs an error message, which is canceled upon a con-
trol reset.
This error message can be suppressed by setting axis signal
(NC-I 4.6).
Output signal NC-O 16.7 is independent of NC-I 4.6!
and Controls
Gantry axes

1003 00060: Maximum following distance for coupled axes
Defines for every axis
- whether, with axis coupling activated, following error
monitoring is to be activated or deactivated
- the max. permissible following error of a slave axis.
1003 00061: Index of the leading gantry axis
Defines for every axis
- whether it belongs to a gantry group
- whether it is a leading axis.
1003 00062: Max. total static torque of a gantry axis group
Defines for each leading axis of a gantry group
- whether static torque monitoring of the respective axis
group is to be activated or not
- the monitoring limit value.
All G functions are permitted that allow the meaningful programming of
a gantry group.
Relevant SERCOS parameters:

S-x-0041: Referencing speed
S-x-0042: Referencing acceleration
S-0-0147: Referencing parameter
S-x-0150/151: Reference dimension offset with motor encoder. If the
reference dimension offset (SERCOS parameter Pa-
rameter S-x-0150 with motor encoder, S-x-0151 with ex-
ternal encoder) of the master axis is changed, the
reference dimension offset of all slaves must be adjusted
to ensure that the difference of the reference offsets be-
tween the slaves and the master is still the same.
S-0-0177/178:Absolute dimension offset with motor encoder. Dis-
tance between the machine datum and the zero point of
the absolute measuring motor encoder.
S-0-0189: Following distance for the following distance monitoring,
if included in the cyclical telegram.
S-0-0084: Torque actual value for torque monitoring.
S-0-0016: Recording of the torque actual value S-0-0084 and the
following distance S-0-0189 in the cyclical telegram in
the SERCOS files (p2*.scs) for the respective gantry
axes.
. With the exception of the reference dimension offset,

S-x-0150/S-x-0151/S-0-0177/S-0-0178 (depending on the encoder
type), all values must be identical.
and Controls
Gantry axes
Relevant Servodyn- SERCOS parameters:

P-0-0504: State of reference point switch. Marker in the critical
range (yes/no)
. Servodyn-SERCOS parameters (P-x-xxxx) are used for gantry

axes commissioning. If other drives are used, the availability of
equivalent functions must be checked and the parameter numbers
assigned to these functions must be determined!

NC-I 2.0-2.3 Mode selection (here: approach reference point)
NC-I 3.0 Mode selection by PLC (here: approach reference
point)
Relevant axis interface signals:
NC-O 16.6 Coupling lag exceeded:
This output signal is assigned to each axis of the gantry
group. The signal is constantly updated, i.e. it does not
remain active statically when an error that occurred has
been removed.
Slave lag monitoring:
Low: slave follows within the permitted coupling lag
High: slave is exceeding the permitted lag.
NC-O 16.7 Standstill torque exceeded:
This output signal is assigned to each axis of the gantry
group. The signal is constantly updated, i.e. it does not
remain active statically when an error that occurred has
been removed.
In a gantry group, the NC-O 16.7 signal is relevant only to
the master axis. The signals for the slave axes are not
evaluated.
Low: the torque total of all axes is
within the permitted range.
High: the torque total of all axes has
exceeded the permitted range.
(NC-O 16.7 is independent of NC-I 4.6!)
NC-I 4.5 Coupling lag: NC error OFF:
This input signal is assigned to each axis of the gantry
group although it is relevant to the master axis only. The
signals for the slave axes are not evaluated.
Low: if an error occurs, error handling/message
by the NC.
High: if an error occurs, no error handling/
error message by the NC.
and Controls
Gantry axes
NC-I 4.6 Standstill torque: NC error OFF.

This input signal is assigned to each axis of the gantry
group although it is relevant to the master axis only.
If this signal is set for the master axis, error analysis
within the NC is suppressed if the static torque limit is ex-
ceeded.
Low: if an error occurs, error handling/message
by the NC.
High: if an error occurs, no error handling/
error message by the NC.
NC-I 7.5 Drive inhibit, general
NC-I 7.6 Drive off, general
NC-I 7.7 Feed inhibit, general.
Before referencing can be started, the PLC must inhibit
all the gantry axes of the group.
NC-I 0.0-0.1 Manual +/.
In the Approach reference point mode, the PLC sets
the jog signals for all gantry axes.
. Notes on interface signals:

D The axis interface must be processed by the PLC both in respect of
the master axis and in respect of the gantry-slave axes (the inter-
face of a gantry-slave axis shows the same performance as the inter-
face of a slave axis coupled by programming with a G function).
D The following drive-related interface signals (NC inputs) must always
be kept identical within a group of coupled axes:
drive inhibit
drive off
feed inhibit
This must be ensured by the PLC.
4.6.1 Assigning
Preconditions
The following conditions must be satisfied in order to assign gantry
axes:
D After start-up, the master and the slave axes traverse simulta-
neously if all the axes have been assigned to the gantry group in MP
1003 00061. This applies to jog mode, approach the reference point,
..
D All gantry axes have one common reference point switch, which they
recognize simultaneously during referencing. Therefore, the drives
complete their traversing motions all at the same time.
D The reference offset can be set independently for the master axis
only.
D Setting the reference offset of a slave independently is possible only
during commissioning.
and Controls
Gantry axes
D After commissioning, the reference dimension offset of the master

(SERCOS parameter S-x-0150 with motor encoder, S-x-0151 with
external encoder) can be changed.
Simultaneously, the reference offset of all the slaves must be ad-
justed so as to ensure that the difference between the reference off-
sets (= commissioning distance) of the slaves and that of the master
is identical with the commissioning distance identified.
D Servodyn-SERCOS parameters (P-x-xxxx) are used for gantry axes
commissioning. If other drives are used, the availability of equivalent
functions must be checked and which parameter number is used to
activate it!
CAUTION
Dangerous skew of the gantry axis group!
As long as the reference offsets of the axes are not correctly en-
tered and accepted, and SERCOS parameter P-0-0504 (cam posi-
tion status (Reference point status)) is not saved in the drive, the
reference point must not be approached. Otherwise, an offset oc-
curs that may cause a dangerous skew of the gantry axis group!
Prior to the first commissioning of the gantry drives, referencing
parameter S-0-0147 must be set to bit 7 = 0 to allow the drive to be
in a random position after referencing. In addition, parameter
P-0-0504, cam position status (reference point switch) must be set
to 0 (=init).
Sequence
The following description (items 1. through 9.) illustrates the sequence
of a gantry axis group commissioning:
1. Correcting an unpermissible skew of a gantry axis group

The process of assigning a gantry axis group may be different with
various systems.
Because the drives involved have cyclic absolute measuring sys-
tems, the focus in assigning is on the determination of a common ref-
erence point for all the gantry axes and on aligning them among each
other.
Before the referencing operation may be carried out, the key issue
may be to get the axes out of an unpermissible skew.
There are two ways to align the axes (depending on the machine tool
design):
D In the case of gantry groups on heavy-duty portal machines,

individual gantry axes must be aligned in parallel with each other
either mechanically or by jogging. However, this requires that the
gantry coupling of the axes must be disbanded in MP 1003 00061
(all parameter values = 0) to allow jogging the master and the
slave axes individually after start-up.
In this case, carry out the following sequence:
D Start up the control unit and the drives.
and Controls
Gantry axes
D Set MP 1003 00061 to the effect that no axis is assigned to a

gantry group.
D Start up the control unit and the drives again.
D Jog the individual axes into a position where they are in parallel
with each other and where a remaining skew can be corrected
by subsequent referencing.
D Re-assign the axes to the gantry group in MP 1003 00061.
Continue with step 2. of this sequence.
D In the case of relatively rigid gantry groups, it is usually suffi-
cient to shut down the drives and the gantry group will align itself.
In this case, carry out the following sequence:
D Shut down the machine.
D Wait till the torque bias forces have pulled the gantry group into
a parallel starting position, thus reducing the skew. Continue
with step 2.
2. Start up the control unit and the drives.

3. The following SERCOS parameters must be set:
- in parameter S-0-0147 (referencing parameter), set bit 7 = 0, to al-
low the drive to be in a random position after referencing.
- set parameter P-0-0504 (cam position status) to 0 (= init).
4. The following MACODA parameters and, if applicable, SERCOS
parameters must be set:
D MP 1001 00061:
Index of the leading gantry axis (not zero-based!)
Defines for every axis whether it belongs to a gantry group or not.
Enter the axis index (= axis number) of the leading axis for all axes
of a gantry group, including the leading axis.
D Setting the MACODA parameter for torque monitoring of the
gantry axes (if desired):
D MP 1003 00062:
determine the max. total static torque (unsigned amounts!)
of all the gantry axes (only the amount entered for the master
will be taken into account). This parameter defines for every
axis, provided it is the leading axis of a gantry group, whether
static torque monitoring of the gantry group is to be activated or
not. If this parameter is set to 0, torque monitoring of the
group is deactivated. Any value> 0 means: the maximum
torque total of all group axis is monitored while the axes are at
rest.
D If torque monitoring is provided in MACODA, the actual torque
value must be included in the cyclic telegram in the SERCOS files
of the gantry axes.
Example: Y axis
In SERCOS file p2lin00y.scs:
S-0-0016 = (...,S-0-0084 ,...)
and Controls
Gantry axes
D Setting the MACODA parameter for position actual value moni-

toring of the gantry axes (if desired):
D MP 1003 00060:
maximum following error for coupled axis.
Each slave is assigned a maximum following error (=tolerance)
relative to the master. If this value = 0, the maximum permissi-
ble following error is 0 for reasons of safety!
5. For the parameter settings to be adopted, restart the control unit
and the drives.
6. Identifying the commissioning distance:
After starting up the control unit, the drive encoders first provide the
actual position values determined by one encoder revolution.
Normally, the actual position values of the gantry axes differ, be-
cause the way their encoders are mounted is not exactly identical.
The difference in the actual position values between the slave axis/
axes and the master axis is defined as the commissioning distance.
. As long as the axes have not been referenced, the commis-

sioning distance between the master axis and the slave
axis is maintained at its identified value by an appropriate
setpoint input.
7. Gantry axis referencing during commissioning:

Precondition:
D The referencing parameters of the gantry axes (S-x-0041: Speed
and S-x-0042 acceleration) must be set so as to ensure that no
damage to the mechanical system can occur in the course of the
referencing process even if mistakes have been made during
commissioning (e.g., incorrect offset data). Monitoring functions
(torque/current monitoring), e.g., may be used to cancel move-
ments before any damage occurs.
D Referencing parameter: S-0-0147 bit 7 = 0.
This setting must be maintained until the correct reference offset
is entered in the SERCOS files and accepted by the drives after a
SERCOS or control unit start-up.
D Before referencing can be started, the PLC must inhibit all the
gantry axes of the group by setting the Feed inhibit interface sig-
nal.
Next, the PLC sets the mode Approach to reference point for all
gantry axes at the interface as well as the jog signals for these
axes.
If the travel commands for all gantry axes are active at the inter-
face, the PLC sets the Feed inhibit signal to low. Now the drives
approach to the reference points.
. Observance of the above signal sequence is mandatory!

and Controls
Gantry axes
The reference dimension offset is determined both for the master and
the slave(s). Because encoder mounting is never exactly identical (com-
missioning distance), this commissioning distance must also be taken
into account for the reference offsets of the drives.
Carrying out Drive-controlled referencing:

D The command Drive-controlled referencing is set and released
when the necessary control and status signals are assigned real-
time bits by the master through the service channel.
D The drive switches to internal position control, cancels the posi-
tion actual values status (S-0-0403), and ignores the cyclic set-
point input.
D Taking the approach direction specified in the referencing param-
eter S-0-0147 into account, the drive accelerates with the refer-
encing acceleration stated in S-0-0042 to the referencing speed
specified in S-0-0041.
Upon the signal change at the reference point switch, which is
specified in S-0-0147, the drive recognizes the absolute encoder
position within one revolution.
Please note for gantry axes as well as for other axes:

The positional distance between the reference point switch and
encoder marker should be in the range of > !/$ encoder revo-
lution or < #/$ encoder revolution.
If the positional distance is in the critical range (< !/$ encoder
revolution or > #/$ encoder revolution), this is signaled to the drive
by the Save working memory command (S-0-0264). This is to
prevent a grid jump if further referencing processes are carried
out.
. See also the Servodyn-D with SERCOS interface manual.
D The drive decelerates with the value from S-0-0042 to standstill.

Simultaneously, the drive calculates the actual position on the ba-
sis of the encoder position, the reference dimension position ac-
tual value 1, and the reference dimension offset 1, and sets the
position actual values status (S-0-0403).
If required, the axis positions relative to the machine zero point
must be set out.
Example: referencing a master and a slave drive

During a referencing process, drives recognize the reference switches
- Encoder value (reference switch) of the master axis: 8.000
- Encoder value (reference switch) of the slave axis: 3.000
The commissioning distance is 8.000 - 3.000 = 5.000
After recognizing the reference switches, the drives decelerate the refer-
encing movement down to a standstill.
- Encoder value (standstill) of the master axis: 10.000
- Encoder value (standstill) of the slave axis: 5.000
Setting out the axes provides the actual position 1 of the axes relative to
the machine zero point: 20.000
and Controls
Gantry axes
Because the gantry axes are aligned, they both have the same position
relative to the machine zero point!
This leads to the following results:
- reference dimension offset 1 of the master axis
20.00010.000=: 10.000
- reference dimension offset 1 of the slave axis
20.000 5.000=: 15.000
The reference dimension offset 1 (S-X-0150) of both drives must be en-

tered in the relevant SERCOS files.
The resulting positions of the reference point switches relative to the ma-
chine zero point are:
Master: encoder value + offset: 8 + 10 = 18
Slave: encoder value + offset: 3 + 15 = 18
After acceptance of the offset, the NC provides the value 18 as the refer-
ence point switch positions of both axes.
Drive Reference point switch:

speed (cam) recognized
Referencing of the master drive Encoder value=8
Direction of movement Slope

Encoder value=10
M machine zero point Reference point
Referencing of the slave drive Encoder value=3
Slope
Direction of movement Encoder value=5
Reference point
M machine zero point
Reference dimen-
sion offset 1
Reference dimension position actual value 1 Machine actual value
= 20.000
(relative to M)
8. Setting the SERCOS parameters

D Enter the determined reference dimension offsets of the axes
in SERCOS file p3*.scs.
D When referencing during commissioning is finished, the SER-
COS referencing parameter for approaching the reference point
must be set again (S-0-0147, bit 7 = 1) to ensure that the gantry
group is aligned after referencing.
D Parameter P-0-0504, Cam position status (reference point
switch) is saved either with the command Save working memory
(S-0-0264), or it must be saved by the commissioning engineer.
and Controls
Gantry axes
. Please note for the SERCOS file p3*.scs of every gantry axis:
With the exception of the reference dimension offset, S-x-0150,
S-x-0151, S-0-0177, S-0-0178 (depending on the encoder type), all
values must be identical.
9. Adopting the parameters by restart.
CAUTION
As long as the reference offsets of the axes are not correctly en-
tered and accepted, and SERCOS parameter P-0-0504 (cam posi-
tion status (Reference point status)) is not saved in the drive, the
reference point must not be approached (S-0-0147 bit 7 =0)!
CAUTION
Damage to the mechanical system of the gantry group!
The referencing parameters of the gantry axes (S-X-0041: speed

and S-X-0042 acceleration) must be set so as to ensure that no
damage to the mechanical system can occur in the course of the
referencing process even if mistakes have been made during
commissioning (e.g., incorrect offset data).
Provide proper monitoring (e.g., torque/current monitoring) to be

able to cancel movements before any damage occurs!
4.6.2 Activating
Precondition:
D All the tasks required to assign the gantry drives have been per-
formed.
1. Start the system. After system start-up, the gantry coupling is active.
2. Reference the gantry group
D if a skew (due to missing reference points, etc.) exists,
D if the system must be re-commissioned after drives, encoders, or
drive software have been changed, and
D after every start-up.
3. To perform traversing movements, program only the master axis!

4. Jogging coupled axes: The master axis only can be jogged. All other
axes coupled to this master traverse synchronously.
and Controls
Gantry axes
4.6.3 Deactivating
A gantry group cannot be deactivated by programming.
The only way to deactivate the gantry axes is through MP 1001 00061
(index of the leading gantry axis).
Every axis that belongs to a gantry group is assigned the parameter 0.
This will disband the group. When the system is restarted, this gantry
group does not exist any more.
and Controls
Approaching the reference point
4.7 Approaching the reference point

Basics:
The PNC has to know the absolute position of all connected drives at
any time. Otherwise, the proper and in particular safe control of travers-
ing movements with regard to the maximum traversing range of the ma-
chine and the use of safety-relevant functions (position/area control,
software limit switches, etc.) is impossible.
For this purpose, the control unit requires information from the drive
whether its actual position values are related to the reference point of
the axis:
D If that is the case, either an absolute encoder is being used or the
reference point has already been approached, if an incremental en-
coder is used. Approaching the reference point is not necessary in
this event.
D If that is not the case, Approaching the reference point has not yet
been initiated if an incremental encoder is used. Approaching the
reference point is necessary in this event.
The drive keeps this information available and up-to-date in S-0-0403

(bit 0).
The logic for approaching the reference point (searching the marker,
etc.), which used to be integrated in the NC, as well as the measuring
system input no longer constitute part of PNC but are part of the SER-
COS drive today.
That is why not the PNC but the drive has to be configured to the used
measuring system via SERCOS parameter.
. If the automatic parameter download for the drives is activated

(see page 470 ff.), the SERCOS parameters in the SERCOS files of
PNC have to be adapted!
Present day SERCOS drives are capable of performing Drive-con-

trolled referencing, when given the command.
Having received the command Drive-controlled referencing
(S-0-0148), the drive is uncoupled from the position setpoint values of
the NC and generates its own position values for referencing.
For this purpose, it uses the parameters S-0-0147 (referencing parame-
ter), S-0-0041 (referencing speed) and S-0-0042 (referencing accelera-
tion).
. For the axis potentiometer to have effect on these drive-controlled

movements too, it has to be transmitted to the drive with SERCOS
parameter S-0-0108 (Feedrate override):
D from the PLC via the service channel in 500 ms increments or
D in the cyclical telegram (MDT). For this purpose, S-0-0108 has to
be entered in the configuration list MDT (S-0-0024).
and Controls
At the same time, it informs the NC that its actual position values are no
longer related to the reference point of the axis (S-0-0403: bit 0=0).
Once the drive has successfully carried out Drive-controlled referenc-
ing, bit 0 in S-0-0403 changes back to logical 1.
The PNC acknowledges this information by setting the interface signal
NC-O15.7 Reference point is known at the respective axis interface.
This is shown in the axis display by a sign added to the position value.
The following signs may be used:
* referenced synchronous axis
$ non-referenced synchronous axis
# referenced auxiliary axis
@ non-referenced auxiliary axis
Function:
The PNC can initiate a required Approaching the reference point in dif-
ferent ways:
Case 1: manually via the standard operator interface
Case 2: via PLC through the digital interface
Case 3: via NC syntax through the G function G374
Case 4: via NC syntax through the G function G74
In cases 1 through 3
D the interface signal NC-O15.6 Reference point was reached is re-
set at the respective axis interface.
D the command Drive-controlled referencing (S-0-0148) is trans-
mitted to the relevant drives. How the drives react to this command
depends on the drive configuration.
D a positive acknowledgment of the drives involved (bit 0=1 in
S-0-0403) is required.
Once it arrives, the NC sets the interface signals NC-O15.6 Refer-
ence point was reached and NC-O15.7 Reference point is known
at the respective axis interface.
. If a drive does not report a positive acknowledgment after an ade-

quate period of time, Approaching the reference point has to be
cancelled using control reset.
In this event, the interface signals NC-O15.6 and NC-O15.7 stay re-
set at the respective axis interface.
and Controls
Case 4
As opposed to cases 1 to 3, case 4 (G74) is no real Approaching the
reference point but exclusively a linear traversing movement in rapid
feed to the reference point coordinates of programmed axes.
The positions to be approached are determined by the PNC during
start-up directly from the connected drives.
Depending on the measuring system used, the following SERCOS pa-
rameters are output for this purpose:
Motor encoder, incremental: S-0-0052 (reference dimension posi-
tion actual value 1)
External motor encoder, S-0-0054 (reference dimensionposition
incremental: actual value 2)
Motor encoder, absolute: same as for motor encoder, incremen-
tal
External encoder, absolute: same as for external encoder, incre-
mental

G 74: Approach reference point coordinates.
It is possible to program in the G74 block which axes are
supposed to traverse.
Example: N.. G74 X0 Y0 Z0 B0
Although numerical values following the axis addresses
have to be programmed, they are of no significance for
the actual traversing movement.
Auxiliary and additional functions may be programmed
within the same block.
Please note that the channel-related interface signal
NC-O20.0 Rapid traverse active is not output during
G74!
CAUTION
Possibly active compensations will remain unconsidered in the
course of the positioning process via G74.
In addition, G74 is not executed for referenced axes.
and Controls
G 374: Approach reference point.

It is possible to program in the G374 block for which axes
Approaching the reference point is to be initiated.
If several axes have been programmed in a G374 block,
they will approach their reference point independent of
each other (no continuous-path operation).
Example: N.. G374 X0 Y0 Z0 B0
Please note that although numerical values following the
axis addresses have to be programmed, they are of no
further significance.
Auxiliary and additional functions may be programmed
within the same block.
NC-O15.6 Reference point was reached (axis interface).
Only has effect in case of Approaching the reference
point via operator interface, PLC and G374.
The signal has not been set if
Approaching the reference point has not taken
place
yet
a referencing operation is still active, or
the last referencing operation has been cancelled.
It is set again only when Approaching the reference
point has been executed successfully.
NC-O15.7 Reference point is known (axis interface).
Has effect in case of Approaching the reference point
via operator interface, PLC and G374.
The signal has not been set if the drive does not know the
absolute axis position.
The signal has been set if the drive knows the absolute
axis position.

1005 00002: Rapid traverse rates of axes.
Is only relevant in case of Approaching the reference
point via G74.
4.7.1 Assigning

This applies to all SERCOS files transmitted to the drives in phases
2 and 3.
If the automatic parameter download is deactivated, SERCOS pa-
rameters have to be adapted in the drive itself. You may use the
SERCOS monitor (see page 473) for this purpose.
and Controls
Information on the parameters listed below is provided in the parameter

manual of the drive documentation.
in connection with G74

The following parameters have to be adapted, if necessary, depending
on the measuring system used because they are used to establish the
setpoint positions of the axes programmed in the G74 block:
D when using an incremental motor encoder:
S-0-0052 (reference dimension position actual value 1)
D when using an incremental external encoder:
D when using an absolute motor encoder:
D when using an absolute external encoder:
All parameters listed are included in the SERCOS files for phase 3.
in connection with Approaching the reference point

via operator interface, PLC or G374
D S-0-0026 (configuration list signal status word).
Has to include SERCOS parameter S-0-0403.
Included in the SERCOS files for phase 2.
D S-0-0041 (referencing speed in m/min).
D S-0-0042 (referencing acceleration in m/s2).
D S-0-0147 (referencing parameter).
Required coding for Servodyn drives: 0b10000100
D S-0-0407 (reference enable).
Required coding for Servodyn drives: 0b00000001
and Controls
4.7.2 Activating
Preconditions:
D The required SERCOS parameters have to be assigned correctly in
accordance with Chapter 4.7.1.
D SERCOS communication has been established with the respective
drive and is working properly.
In this context, refer to the description of the following signals:
NC-I8.x / 9.x: Drive inhibit (axis interface)
NC-I10.x / 11.x: Drive off (axis interface)
NC-O14.0: SERCOS system ready (axis interface)
NC-O14.1: Drive ready (axis interface)
NC-O14.2: Drive under control (axis interface)
NC-O15.0: Axis inhibited (test) (axis interface)
D Axes for which Approaching the reference point is to be initiated
have to be at standstill.
D The axis interface signals Handwheel assignment bit x (NC-I2.0
and NC-I2.1) must not be set.
D The axis interface signal Feed inhibit (NC-I12.x / NC-I13.x) must
not be set.
manually via operator interface

Preconditions:
D The signal Mode selection by PLC (NC-I3.0) has not been set at the
channel interface.
. Approaching the reference point of auxiliary axes is not pos-

sible via the operator interface.
1. At the operating panel Approaching the reference point, select:

MANUAL " REFERENCE POINT
2. Initiate Approaching the reference point of the desired synchro-
nous axes by using the respective jog key (axis interface signal
Manual+ or Manual).
Use the axis display to check whether Approaching the reference
point has been carried out successfully. the additional sign following
the position value of the axes involved has to change from $ to *.
via PLC
1. The signal Mode selection by PLC (NC-I3.0) is set at the respective
channel interface.
2. Operating mode Manual approaching the reference point is acti-
vated.
NC-I2.0: Mode selection bit 0 (channel interface:
NC-I2.1: Mode selection bit 1 (channel interface)
and Controls

Required coding: 0b0010.
For auxiliary axes:
NC-I1.6: Mode selection bit 0 (axis interface)
Required coding: 0b10.
3. The respective axis interface signals Manual+ or Manual are
set.
By means of the axis-related interface signals NC-O15.6 Reference
point was reached and NC-O15.7 Reference point is known, the PLC
can check whether Approaching the reference point has been carried
out successfully: both signals must be set.
If a drive does not give a positive acknowledgment after an adequate
period of time, the PLC may cancel Approaching the reference point
by control reset:
jointly for all synchronous axes:
positive edge at the channel-related interface signal input NC-I1.1
for auxiliary axes:
positive edge at the axis-related interface signal inputs NC-I3.1
via G374
1. Program G374. For syntax, see Relevant G functions.
Both synchronous and asynchronous axes may be programmed.
2. Initiate cycle start for execution.
Use the axis display to check whether Approaching the reference
point has been carried out successfully. The additional sign following
the position value of the axis involved has to
change from $ to * (in case of synchronous axes) or
from @ to # (in case of asynchronous axes).
via G74
1. Program G74. For syntax, see Relevant G functions.
Only synchronous axes can be programmed in the G74 block!
2. Initiate cycle start for execution.
The programmed axes traverse to their reference point.
The additional sign following the position value of the axes involved
does not change in the process.
and Controls
Drive-controlled interpolation
4.8 Drive-controlled interpolation

Function:
With this function, data can be provided to a machining axis under its
physical axis address through any channel, although it continues to be
permanently assigned to its master channel ( MP 100300002).
Position, speed and acceleration values may be specified.
For this purpose, the Drive-controlled interpolation is first activated for

the respective axis using G522. Through G522, the control unit
switches over the current operating mode of the drive via S-0-0134
Master control word (bit 8 and 9, coding the same as P-0-0127).
Please note:
if prior to switching over the drive is in
D main operating mode, it is switched to secondary mode 2.
D secondary operating mode 1, it is switched to secondary mode 3.
The drive function Interpolation in the drive has to be parametrized for

secondary operating mode 2 as well as for secondary operating mode
3. Parametrization is performed in the drive parameters S-0-0034 (for
secondary operating mode 2) and S-0-0035 (for secondary operating
mode 3) via bit 4 to bit 7.
Restrictions:
D The Drive-controlled interpolation of an axis can only be switched
on and off on its master channel ( MP 1003 00002).
D At a given moment of time, an axis can only receive position data
from one channel. Otherwise, an error message will be generated.
D Position specifications from the master channel (G520) are not per-
mitted.
D If a channel initiates new position data although the last data speci-
fied by the same channel has not been completely interpolated yet,
the old position data will be replaced by the new one.
D During a drive-controlled interpolation, the override function of the
control unit (see page 723) has no influence on the corresponding
axis.
If influencing the axis via override is required for this period of time all
the same, the PLC has to write the desired override value directly
into drive parameter S-0-0108 (Feedrate override).
D If Feed hold is initiated on the master channel during the drive-con-
trolled interpolation, the traversing movement of the axis is halted but
it can be continued again via Cycle start.
D If Control reset is initiated on the master channel during the drive-
controlled interpolation, the drive-controlled interpolation is can-
celled. The control unit takes over the interpolation again
(corresponds to G521).
An entry of G521 into the init string (see page 36) is not required.
D During the drive-controlled interpolation, a selective reset for this
axis remains without effect.
and Controls

7040 00010: unit of feedrate programmed in metric.
G522: Switching over the synchronous axis to Drive-controlled inter-
polation on the current channel.
Example:
G522 X1 Z1 (switching over X and Z axis)
G521: Switching off an active Drive-controlled interpolation (if appli-
cable) for all axes involved on the current channel.
G520: Specifying the position value for an axis which is currently
switched to Drive-controlled interpolation.
Example:
G520 X100 (X axis is supposed to interpolate to position
X100).
G523: Specifying the speed value for an axis which is currently
switched to Drive-controlled interpolation. The value is stored
in the drive under S-0-0259 and interpreted with the weighting
from S-0-0044.
Example:
G523 X1000 (setting the positioning speed of the X axis to
1000 mm/min).
The unit is dependent on MP 704000010 and has to conform
to the parametrized weighting from S-0-0044!
G524: Specifying the acceleration value for an axis which is currently
switched to Drive-controlled interpolation. The value is stored
in the drive under S-0-0260 and interpreted with the weighting
from S-0-0160.
Example:
G524 X3 (setting the acceleration of the X axis to 3 m/s2).
. The G functions G520, G523 and G524 only act block by block,
whereas G521 and G522 form a group and deselect each other
mutually.

NC-O17.7: Drive-controlled interpolation (axis interface).
High signal: the interpolation takes place in the drive
Low signal:the interpolation takes place in the PNC
4.8.1 Assigning
. For information on the drive parameters, please refer to your drive

documentation.
For output/writing of drive parameters, see page 473.
and Controls
1. Make sure that secondary operating modes 2 and 3 of the drive have
been parametrized correctly.
The drive function Interpolation in the drive has to be parametrized
for secondary operating mode 2 as well as for secondary operating
mode 3.
Parametrization is performed in the drive parameters S-0-0034 (for
secondary operating mode 2) and S-0-0035 (for secondary operat-
ing mode 3) via bit 4 to bit 7.
2. Make sure when speed data is specified (G523) that the feedrate
unit set by the NC ( MP 7040 00010) is interpreted correctly by the
drive.
The speed data is stored in the drive under S-0-0259 and interpreted
with the weighting from S-0-0044.
3. Make sure that the acceleration data specified (G524) is interpreted
correctly by the drive.
The acceleration data is stored in the drive under S-0-0260 and inter-
preted with the weighting from S-0-0160.
4.8.2 Activating
1. Program the axis addresses in the G522 block for which the Drive-
controlled interpolation is to be activated (e.g. X1 Y1; the number
after the axis name is required for programming but is not subject to
any further evaluation).
Axes with active Drive-controlled interpolation can now be addressed
regarding position (G520), feed speed (G523) and acceleration (G524)
from the remaining channels of the control unit under their physical axis
names ( MP 1003 00001).
. Position specifications from the master channel (G520) are not

permitted.
4.8.3 Deactivating
1. Program G521.
All axes on the channel for which Drive-controlled interpolation has
been activated, are switched back to NC-controlled interpolation
(main operating mode or secondary operating mode 1 are selected
again on the drive).
and Controls
Axis transfer
4.9 Axis transfer

Function:
On one channel, the axes which are in one and the same machining-
technological relationship are called axis group. They constitute an in-
terpolation group. For certain machining tasks, it is necessary to
change the axis assignment, i.e. to remove axes from one axis group
and integrate them into the axis group of a different channel temporarily.
In this context, it is possible to change the axis designations within an
axis group.
The following axis transfer functionsare available:

D Changing of axes between axis groups, i.e.
a synchronous axis remains a synchronous axis
D removing axes from an axis group, i.e.
a synchronous axis becomes an asynchronous axis
D Taking over axes into an axis group, i.e.
an asynchronous axis becomes a synchronous axis
D Renaming the axes within an axis group
D Changing the axis classification (functional relevance)
Required terms:
D Taking over an axis:axis is integrated into the axis group
D Borrowing an axis: axis is transferred, i.e. channel borrows axis
from an inactive channel
D Removing an axis: axis is released from present axis group
D For the meaning of the terms drive, channel, axes, axis group, auxil-
iary axes, synchronous and asynchronous axes, physical and logical
axes, physical and logical axis index, spindle, please refer to Section
5.1.2.
Changing of axes between axis groups

When changing axes between two channels, a distinction is made be-
tween two cases:
D The channel of the source axis group is not active.
If the channel from where the axis originates is not active, an axis can
be integrated into a second axis group at any time, i.e. the axis is
borrowed to the second channel. Once it has been released from
there, it is automatically integrated into the source axis group again.
If a program or manual input is selected in the source axis group
while the axis is being borrowed, an error message will be displayed.
With this kind of axis transfer, it is possible, e.g., to start a user reset
program in a channel after a system control reset, which borrows all
system axes from other channels too and moves them to a basic
position .
and Controls
Axis transfer
D The channel of the source axis group is active.

When an axis is transferred from an active channel (axis group 1),
the axis is first removed and in a second step integrated into a differ-
ent channel (axis group 2).
To make sure that the axis is taken over without waiting time in
block preparation, the axis must already have been removed from
axis group 1. This is the case, if the corresponding NC block in axis
group 1 was already active at the time when the axis was transferred
to axis group 2.
Example:
The X axis of channel 1 is transferred to channel 2 (see figure below).
In channel 1, preparation has already reached block N1310, and
block N1220 is active. Release of the X axis is thus completed.
At this point in time, block N2110 is active on the 2nd channel. Prepa-
ration is at block N2220 and is prepared to take over the physical axis
XP (previously X from channel 1).
The axis XP is assigned the name ZA in the process. Since this name
is already familiar to channel 2, there will be no waiting times until the
axis is taken over.
Channel 1 ZA (PAN: ZP): Channel 2

> asynchronous active
block N2100 ...
N1100 ... N2110 XA0 YA0 ZA0
N1110 X0 Y0 Z0 : Machining with the axis XA, YA, ZA
: Machining with axis X, Y, Z ..
.. : Removing ZA axis from the axis group (channel 2)
.. N2210 G512 (ZA)
: Removing X axis from the axis group (channel 1) : Integrating axis XP with the name ZA
N1210 G512(X) N2220 G510(XP, ZA)
N1220 Y0 Z0 active block Preparation N2230 XA0 YA0 ZA0
: Machining with axis Y, Z on channel 2 : Machining with the axis XA, YA, ZA
... N2310 XA100 YA100 ZA100
N1310 Y100 Z100 ...
... Preparation Axis transfer
on channel 1 synchronous:
LAN: ZA
PAN: XP
and Controls
Axis transfer
Removing axes from an axis group

Using G512, an axis is removed from an axis group Thus a synchronous
channel axis becomes an asynchronous axis.
Block preparation is not stopped during this action .
Example:Channel axis Y is released; it is then programmable as asyn-

chronous axis YP on all channels. Channel axes Z and B are assigned
new logical axis numbers. The Y axis disappears on a channel axis dis-
play. Programming of the logical axis Y results in an error message.
Removing axis:
G512 (Y)
before: after:
LAI: 1 LAI: 1
LAN: X LAN: X
PAN: XP PAN: XP reduced
PAI: 1 PAI: 1 axis group
synchronous
LAI: 2 logical axis
LAI: 2 LAN: Z index is
LAN: Y PAN: ZP reduced by 1
PAN: YP PAI: 3
axis group PAI: 2
LAI: 3 logical axis

LAI: 3 LAN: B index is
LAN: Z PAN: B reduced by 1
PAN: ZP PAI: 5
PAI: 3
LAI: 4
LAN: B
PAN: B
PAI: 5
asynchronous
LAI: logical axis index
LAN: logical axis name PAN: YP
PAN: physical axis name PAI: 2
PAI: physical axis index
and Controls
Axis transfer
Taking over axes into an axis group

An asynchronous axis is accepted into an axis group via G510 or G511,
thereby becoming a synchronous channel axis:
D In case of G510, the axis has to be standing still, otherwise there will
be an error message and block preparation will be stopped.
D In case of G511, standstill of the axis is waited for implicitly.
D Optionally, a new logical axis name can be entered, which is used to
address the axis on the channel. This logical name has to be prede-
fined in one of the two channel-specific MACODA parameters
7010 00010 Logical axis designation or 7010 00020 Optional axis
designation.
Example:
In the figure below, the physical axis YP is integrated into an axis group.
It can then no longer be addressed as asynchronous axis YP on other
channels. On the own channel, it can be programmed either with the
logical or the physical axis name. The Y axis additionally appears on a
channel axis display.
Channel axes Z and B are assigned new logical axis indexes.
taking over axis:

G510 (YP,Y)
before: after:
LAI: 1 LAI: 1
LAN: X LAN: X
PAN: XP PAN: XP
PAI: 1 PAI: 1
synchronous
LAI: 2 LAI: 2
extended
axis group LAN: Z LAN: Y
axis group
PAN: ZP PAN: YP
PAI: 3 PAI: 2
LAI: 3 LAI: 3 logical axis in-

LAN: B LAN: Z dex is
PAN: B PAN: ZP increased by 1
PAI: 5 PAI: 3
LAI: 4 logical axis in-

LAN: B dex is
PAN: B increased by 1
PAI: 5
asynchronous
LAI: logical axis index
LAN: logical axis name PAN: YP
PAN: physical axis name PAI: 2
PAI: physical axis index
An axis taken over is assigned the axis classification 999, if it does not
belong the default configuration of the channel. In all other cases, it re-
ceives its default classification from MACODA.
and Controls
Axis transfer
Renaming the axes within an axis group

D When an axis is taken over into an axis group using G510 or G511, a
new logical name can be entered optionally.
D The logical axis name can be modified directly with G515.
. This logical name has to be predefined in MP 7010 00010 Logical

axis designation or MP 7010 00020 Optional axis designation.
Changing the axis classification

Depending on the plane selection (G17, G18, ...), a functional rele-
vance (axis classification) is assigned to all logical axes of a channel via
MP 7010 00030 or G21.
D Main axis, secondary axis, feed axis
D Meaning of the interpolation parameters (I, J, K)
The axis classification can be influenced by an axis transfer:

D If an axis is removed from an axis group which is located within a
main plane, there will be an implicit change to G16 No plane. G16
can be used in the part program.
It is possible to change the axis classification in the part program us-
ing G21 Change axis classification (see example below).
D If an axis is taken over into an axis group, it is at first assigned a neu-
tral classification. It can be overwritten by programming G21 (see ex-
ample below).
When an axis is taken over, the order of the logical axes may be
changed. If the functional relevance is changed in the process, a
change to G16 No plane takes place implicitly.
Example: G21 Change axis classification

N100 G17 X0 Y0 Z0 Default axis classification: X=1, Y=2, Z=3
N200 G512(Y) Y is removed from axis group. Implicit switchover to
G16. Circular interpolation not possible anymore.
N210 G511(YA) The axis YA is adopted into the axis group. It is assi-
gned a neutral axis classification.
N220 G21 YA2 YA is assigned the axis classification 2
N230 G17 Switching over to X/YA plane
N240 G2 X... YA... Circular interpolation is possible
and Controls
Axis transfer
Axis display at axis transfer

The axis display may change at axis transfer.
The reasons may be (see also examples in Section 4.9.2, page 442):
D The order of the current axis names and their axis assignment to the
channel has changed.
D Axes have been removed from the axis group or adopted into the
axis group.
D The names of the logical axes may have changed at transfer, if re-
quired.
The order of the axis display is determined in MP 6005 00020 (1.. 16).
Without changes in the order, it is possible that the transfer causes the
axis names to jump in the display.
The respective axis is displayed only if it is a synchronous channel axis

or an asynchronous axis. If the negative value is entered in the parame-
ter, it is always displayed.
Restrictions in axis transfer

D The functions G510 through G513 must be programmed in the NC
block prior to an axis.
D Plane selection G17/18/19/20: functional relevance
D Drill axis switching G78:
If G78is active and the drill axis is removed from the axis group, an
implicit switchover to G79 takes place.
D Axis coupling G581:
Removing an axis coupled with G581 from an axis group results in a
runtime error.
D Tangential tool guidance G131:
Removing an axis of rotation from an axis group when G131 is active
results in a runtime error.
D If required, the zero shift tables have to be adapted. For details, see
Section 5.6.2 page 535 ff.
D External zero shifts can be specified for logical axes or for system
axes.
Since the sequence of the logical axes can change in programs with
axis transfer, it is recommended to specify the zero shift for system
axes.
Otherwise, it must be ensured that the order in which logical axes are
entered in the PLC corresponds to the order on the channel. The or-
der on the channel can be determined at the bit interface.
D An axis can be jogged/reference, if
D the axis is assigned to a channel with the operating mode Jog or
Approaching the reference point , or
D the axis is not assigned to any channel and the operating mode
Jog or Approaching the reference point is entered.
and Controls
Axis transfer

1003 00001: Physical axis designations.
Determines the axis names for max. 64 physical axes
(actual axes on the machine).
1003 00002: Default axis assignment to the channels.
7010 00010: Logical axis designations.
The coordinate axes of the machine or workpiece or of
the program coordinate system are referred to as logical
axes. They are limited to 8 axes per channel.
In older MACODA versions without the MP 7010 00010,
the physical axis designations are used instead.
7010 00020: Optional axis designations.
If unknown logical axis designations are used when axes
are transferred or renamed, these have to be preset
here.
6005 00022: Display priority for axes and working range coordinates
of the channel which are not involved in any axis trans-
formation or when no axis transformation is active.
6005 00022 has priority over 6005 00020.
6005 00020: Display priority for asynchronous axes and for axes not
pertaining to the channel via signs:
+ : axis is only displayed if it pertains to the channel
: axis is also displayed if it has been assigned to a dif-
ferent channel.
6005 00021: Display priority for working range coordinates of different
channels or for working range coordinates of the own
channel if they are not supposed to be displayed at the
very top.
. Within a channel, the order of display of all working range coordi-

nates among each other is fixed. It is only possible to shift the en-
tire unit within the display.
G510 (..) Taking over axis
Error message when the axis has not yet been released
in its current axis group.
G511 (..) Taking over axis with waiting until the axis is released.
G512 (..) Removing an axis from an axis group
G513 Taking over default axis setting from MACODA.
G515 (..) Assigning new logical axis names.
This logical name has to be predefined in MP 7010
00010 Logical axis designation or MP 7010 00020 Op-
tional axis designation.
G516 (..) Removing logical axis names in the calling axis group
again
and Controls
Axis transfer
G16 Deactivating the plane selection.

Circular interpolation not possible anymore. Main or sec-
ond axes can be removed from the axis group.
G21 (..) Changing axis classification
Relevant CPL functions

SD(20..): Provides the number of synchronous axes of the calling
channel.
SD(21..): Provides the number of synchronous axes of a channel.
SD(22..): Provides the logical axis number of a physical axis if the
physical axis is an axis of the calling channel.
SD(23..): Provides the physical axis number of a logical axis of the
calling channel.
SD(24..): Provides the physical axis number of a logical axis.
SD(25..): Provides the channel of a physical axis at an active point
in time.
MCODS(43, ...): Assignment axis channel (determining the synchro-
nous axes of a channel)
FXC(..): Direct access to axis zero shift values
SCS-, APOS-
and SPOS Different commands used to program the physical axis
index (1 .. 16) or the physical axis names
CPOS; AXO;
WPOS; MPOS;
PPOS; PROBE;
COF; DPC;
SCL: Different commands used to program the logical or
physical axis index

NC-O 19.0 NC-O 19.3:
The channel number of the pertaining channel is coded
in these axis output signals.
0 = Axis is not assigned to a channel, e.g. when it is
operated as synchronous axis
4.9.1 Assigning
From a machining-technological point of view, axes can be transferred
between different axis groups on the machine.
1. Assign the names in MP 1003 00001 and MP 7010 00010.

2. Logical axis designations which are not known, have to be preset in
MP 7010 00020.
3. Determine default axis assignment to the channels in MP
1003 00002.
and Controls
Axis transfer
4. Determine display priority and working range coordinates in MP

6005 00020, 6005 00021 and 6005 00022.
5. Link axis output signals NC-O 19.0 NC-O 19.3 in the PLC to provide
information on the axis assignment (synchronous/asynchronous).
6. If required, adapt zero shift tables and external zero shift with regard
to axis transfer.
7. Perform control unit start-up to adopt axis assignment.
4.9.2 Activating
Precondition:
With a view to program flow, the programs operating on the different
channels have to be synchronized with regard to the axis transfer.
For example, the axis to be transferred has to be released before it can
be taken over by the other channel. If necessary, the program of one
channel has to wait for the program on the other channel to reach the
transfer status.
L The axis transfer in the program execution is activated using the func-
tions described under Relevant G functions.
Example 1 :
The axis is temporarily transferred to a 2nd channel
At time t1, machining takes place with the logical axes X, Y, Z on the 1st
channel and the axes U, B on the 2nd channel.
The zero shift table Tab1 is active on the 1st channel and table Tab2 with
columns U and B is active on the 2nd channel.
In block N220, it is necessary to wait until the YP axis is released. This
occurs at the active time of block N1210. From here on, machining is
continued on the 2nd channel. YP is to be addressed as 2nd logical axis;
the respective column of the zero shift table Tab 2 is effective.
At time t2, the axis transfer has been completed. YP is now displayed as
2nd logical axis in the axis display of the 2nd channel.
In block N1310, the YP axis is integrated into the first channel again. It
has to be ensured in the program flow that the YP axis has been re-
leased by the 2nd channel at this point in time. If that is not the case, a
runtime error will occur.
Channel 1 machining takes place on both channels simultaneously Channel 2
N1100 G22 V Tab1 Time t1 N2100 G22 V Tab2

N1110 X0 Y0 Z0 N2110 U0 B0
; Machining with axis X, Y, Z ; Machining with axis U,B
.. ..
.. ...
; Removing X axis from the axis group (channel 1) ; Waiting until YP axis is released
N1210 G512(X) Time t2 N2220 G511 (YP)
N1220 Y0 Z0 N2230
; Machining with axis Y, Z N2230 U0 YP0 B0
... ; Machining with axis U, YP, B
N1310 G510(YP,Y) ...
... N2310 G512(YP)
and Controls
Axis transfer
Physical axis index and

Example 1
physical axis name
No. 1 No. 2 No. 3 No. 4 No. 5

XP UP BP YP ZP
Zero shift Tab1 Zero shift Tab2
Tab1 X Y Z Tab2 U B YP
G54 54.01 54.02 54.04 G54 54.01 54.02 54.04
G55 55.01 55.02 55.04 G55 55.01 55.02 55.04
... ...
Logical axes Logical axes Logical axes Logical axes

Cannel 1 Cannel 2 Cannel 1 Cannel 2
Time t1: Time t2:
LAI: 1 LAI: 1 LAI: 1 LAI: 1
LAN: X LAN: U LAN: X LAN: U
PAN: XP PAN: UP PAN: XP PAN: UP
PAI: 1 PAI: 2 PAI: 1 PAI: 2
LAI: 2 LAI: 2 LAI: 2

LAI: 2 LAN: B LAN: Z LAN:
LAN: Y PAN: BP PAN: ZP PAN: YP
PAN: YP PAI: 3 PAI: 5 PAI: 4
PAI: 4
LAI: 3 LAI: 3
LAN: Z LAN: B
PAN: ZP PAN: BP
PAI: 5 PAI: 3
asynchronous
PAN: YP
PAI: 2
Axis transfer
Display: Axes of channel 2 (at time t1) Display: Axes of channel 2 (at time t2)
$2: ST1 05:09:02 $2: ST1 05:09:02
NC: PNC 10:10:01 NC: PNC 10:10:01
A: Manual A: Manual
Workpiece position Modal functions Workpiece position Modal functions
U 0. 000 * G1 G109 G39 U 0. 000 * G1 G109 G39

G104 G17 G71 G90 G94 G104 G17 G71 G90 G94
B 0. 000 * G53 G153 G253 G67
YP 0. 000 * G53 G153 G253 G67
G62 G66 M5 B 0. 000 * G62 G66 M5
Technology Technology
F: 0.0 0% F: 0.0 0%
S1: 0.0 0% S1: 0.0 0%
S2: 0.0 0% S2: 0.0 0%
xxxx xxxxxx xxxxe xxxxxxr xxxx xxxxx xxxxx xxxx xxxxxx xxxxe xxxxxxr xxxx xxxxx xxxxx
and Controls
Axis transfer
Example 2 :
Axis transfer in case of 2 real machining channels
At time t1, machining takes place with the logical axes X, Y, Z on the 1st
channel and the axes U, V, W on the 2nd channel. The zero shift table
Tab1 is active on the 1st channel and table Tab2 on the 2nd channel.
The Y and V axes are released in blocks N1210 and N2210. Both axes
were involved in plane selection. That is why a switchover to G16 took
place on both channels.
In block N1220, the ZP axis is assigned the new logical name Y.
In blocks N1230 and N2220, it is necessary to wait until the requested
axis are released.
In block N1240, the axis classification and the plane are set again. X, Y
and Z are shown in the axis display of the 1st channel, where Y is the
axis ZP and Z the axis VP.
The order of the axis display can be determined in MACODA.
Channel 1 machining takes place on both channels simultaneously Channel 2
N1100 G22 V Tab1 N2100 G22 V Tab2

N1110 X0 Y0 Z0 Time t1 N2110 U0 V0 W0
; Machining with X, Y, Z ; Machining with axis U, V, W
... ...
; Removing Y from axis group ; Removing V from axis group
N1210 G512 (Y) N2210 G512 (V)
; ZP is assigned the name Y ; Waiting until YP axis is released
N1220 G515 (ZP,Y) ; YP is assigned the name V
; Waiting until VP is released N2220 G511 (YP,V)
; VP is assigned the name Z N2230
N1230 G511 (VP,Z) N2240 U0 V0 W0
; Axis classification; on ; Machining with axis U, V, W
Time t2
N1240 G21 X1 Y2 Z3 G17 ...
N1250 X0 Y0 Z0
N1260 G2 ...
; Machining with X, Y, Z
...
and Controls
Axis transfer
Physical axis index and Example 2

physical axis names
No. 1 No. 2 No. 3 No. 4 No. 5 No. 6

XP YP ZP UP VP WP
Zero shift Tab1 Zero shift Tab2
Tab1 X Y Z Tab2 U V W
G54 54.01 54.02 54.04 G54 54.01 54.02 54.04
G55 55.01 55.02 55.04 G55 55.01 55.02 55.04
... ...
Logical axes Logical axes Logical axes Logical axes

Cannel 1 Cannel 2 Cannel 1 Cannel 2
Time t1: Time t2:
LAI: 1 LAI: 1 LAI: 1 LAI: 1
LAN: X LAN: U LAN: X LAN: U
PAN: XP PAN: UP PAN: XP PAN: UP

LAI: 2 LAN: V LAN: Y LAN: V
LAN: Y PAN: VP PAN: ZP PAN: YP
PAN: YP PAI: 5 PAI: 5 PAI: 4
PAI: 2

LAI: 3 LAN: Z LAN: W
LAN: W
LAN: Z PAN: VP PAN: WP
PAN: WP
PAN: ZP PAI: 5 PAI: 6
PAI: 6
PAI: 3
asynchronous asynchronous
PAN: YP PAN: YP
PAI: 2 PAI: 5 Axis transfer
$1: ST1 05:09:02 $1: ST1 05:09:02
NC: PNC 10:10:01 NC: PNC 10:10:01
A: Manual A: Manual
X 0. 000 * G1 G109 G39 X 0. 000 * G1 G109 G39

G104 G17 G71 G90 G94 G104 G17 G71 G90 G94
Y 0. 000 * G53 G153 G253 G67
Y 0. 000 * G53 G153 G253 G67
Z 0. 000 * G62 G66 M5 Z 0. 000 * G62 G66 M5
F: 0.0 0% F: 0.0 0%
S1: 0.0 0% S1: 0.0 0%
S2: 0.0 0% S2: 0.0 0%
and Controls
Axis transfer
Example 3 :
Exchange of two equivalent axes on a channel
At time t1, logical axes X, Y and Z are used to work with. The X axis is
physical axis X1.
The X1 axis is released in block N1210, and the X2 axis is integrated
with the name X into block N1220.
Machining is possible with the X2 axis starting at time t2. The zero shift
values from the column with the name X2 are valid for to this axis.
The axis display does not change.
Channel 1
N1100 G22 V Tab1 Time t1
N1110 X0 Y0 Z0
...
; Removing X from axis group
N1210 G512 (X)
; Integrating X2 with name X
N1220 G510 (X2,X)
Time t2
N1230 X0 Y0 Z0
...
and Controls
Axis transfer

physical axis names
No. 1 No. 2 No. 3 No. 4 No. 5 No. 6

X1 X2 YP ZP AS1 AS2
Zero shift Tab1
Tab1 X1 X2 Y Z
G54 54.01 54.02 54.03 54.04
G55 55.01 55.02 55.03 55.04
...
Logical axes Logical axes

Cannel 1 Cannel 1
Time t1: Time t2:
LAI: 1 LAI: 1
LAN: X LAN: X
PAN: X1 PAN: X2
PAI: 1 PAI: 2
Rename LAI: 2
LAI: 2 LAN: Y
LAN: Y PAN: ZP
PAN: YP PAI: 4
PAI: 3
LAI: 3
LAI: 3
LAN: Z
LAN: Z
PAN: VP
PAN: ZP
PAI: 3
PAI: 4
asynchronous asynchronous asynchronous asynchronous
PAN: X1 PAN: YP PAN: VP PAN: X2

$1: ST1 05:09:02 $1: ST1 05:09:02
NC: PNC 10:10:01 NC: PNC 10:10:01
A: Manual A: Manual
X 0. 000 * G1 G109 G39 X 0. 000 * G1 G109 G39

G104 G17 G71 G90 G94 G104 G17 G71 G90 G94
Y 0. 000 * G53 G153 G253 G67
Y 0. 000 * G53 G153 G253 G67
Z 0. 000 * G62 G66 M5 Z 0. 000 * G62 G66 M5
F: 0.0 0% F: 0.0 0%
S1: 0.0 0% S1: 0.0 0%
S2: 0.0 0% S2: 0.0 0%
and Controls
Axis transfer
Example 4 :
More than 8 synchronous axes on one channel
At time t1, logical axes X, Y, Z, W1, W2, W3, W4 and W5 are used to
work with.
The W2, W3, W4 and W5 axes are released in block N1210, and the
physical axes SY6, SY7, SY8 and SY9 are taken over with the names
W2, W3, W4 and W5 in block N1230.
The zero shift values in columns SY6 to SY9 are affective from now on.
Machining is possible with the SY6 to SY9 axes starting at time t2.
Channel 1
N1100 G22 V Tab1 Time t1

N1110 X0 Y0 Z0 W1 0 W2 0 W3 0 W4 0 W5 0
;Machining with X, Y, Z, W1, W2, W3, W4, W5
...
;Removing W2, W3, W4, W5 from axis group
N1210 G512 (W2, W3, W4, W5)
N1220 X0 Y0 Z0 W1 0
;Machining with X, Y, Z, W1
;Integrating SY6, SY7, SY8, SY9

;with the names W2, W3, W4, W5
N1230 G510 (SY6,W2, SY7,W3, SY8,W4,
SY9,W5) Time t2
N1240 X0 Y0 Z0 W1 0 W2 0 W3 0 W4 0 W5 0
;Machining with X, Y, Z, W1, W2, W3, W4, W5
...
and Controls
Axis transfer

physical axis names
No. 1 No. 2 No. 3 No. 4 No. .. No. 16

XP YP ZP SY1 SY.. SY16
Zero shift Tab1

Tab1 XP YP ZP SY1 SY.. SY5 SY.. SY7 SY8 SY9 SY.. SY16
G54 54.01 54.02 54.03 54.04 ... 54.04 ... 54.04 54.04 54.04 ... 54.04
G55 55.01 55.02 55.03 55.04 ... 55.04 ... 55.04 55.04 55.04 ... 55.04
...
Display: Axes of channel 1 (at time t1 and t2)

Time t1: $1: ST1 05:09:02 Time t2:
NC: PNC 10:10:01
A: Manual
LAI: 1 Workpiece position Modal functions LAI: 1
LAN: X LAN: X
PAN: XP X 0. 000 * G1 G109 G39
PAN: XP
G104 G17 G71 G90 G94
PAI: 1 Y 0. 000 * G53 G153 G253 G67
PAI: 1
Z 0. 000 * G62 G66 M5
LAI: 2 LAI: 2
LAN: Y
W1 0. 000 *
LAN: Y
PAN: YP W2 0. 000 * PAN: YP
PAI: 2 W3 0. 000 * PAI: 2
LAI: 3
W4 0. 000 * LAI: 3
LAN: Z W5 0. 000 * LAN: Z
PAN: ZP Technology PAN: ZP
PAI: 3 F: 0.0 0% PAI: 3
S1: 0.0 0%
S2: 0.0 0%
LAI: 1 LAI: 1
LAN: W1 xxxx xxxxxx xxxxe xxxxxxr xxxx xxxxx xxxxx LAN: W1
PAN: SY1 PAN: SY1
PAI: 4 PAI: 4
asynchronous asynchronous
LAI: 5 LAI: 5
LAN: W2 PAN: SY2 PAN: SY6 LAN: W2
PAN: SY2 PAI: 5 PAI: 9 PAN: SY6
PAI: 5 PAI: 9
LAI: 6 asynchronous asynchronous LAI: 6

LAN: W3 LAN: W3
PAN: SY3 PAN: SY7 PAN: SY7
PAN: SY3
PAI: 6 PAI: 10 PAI: 10
PAI: 6
LAI: 7 asynchronous asynchronous LAI: 7

LAN: W4 LAN: W4
PAN: SY4 PAN: SY4 PAN: SY8 PAN: SY8
LAI: 8 LAI: 8
LAN: W5 asynchronous asynchronous LAN: W5
PAN: SY5 PAN: SY9
PAI: 8 PAN: SY5 PAN: SY9 PAI: 12
PAI: 8 PAI: 12
Logical axes Logical axes

Cannel 1 Channel 1
Zero shift Tab1
Tab1 XP YP ZP SY1 SY.. SY5 SY.. SY7 SY8 SY9 SY.. SY16
G54 54.01 54.02 54.03 54.04 ... 54.04 ... 54.04 54.04 54.04 ... 54.04
G55 55.01 55.02 55.03 55.04 ... 55.04 ... 55.04 55.04 55.04 ... 55.04
...
and Controls
Axis transfer
4.9.3 Deactivating
There are different ways to deactivate the axis transfer:

D Program G513:
However, this results in a runtime error, if the axis has not yet been
released.
Remedy: Write G513 in the init string, if G513 is supposed to be exe-
cuted only in case of control reset (keyword #Reset:) or system con-
trol reset (keyword #SysRes).
With Control reset, the current axis assignment on the channel is

maintained. However, the assigned axes are released, i.e. made
available to the remaining system. Other channels can request
these axes.
When a program is selected or a manual entry is made, the axes
must previously have been released by the other channels, other-
wise there will be an error message.
Using System control reset, the axis assignment can be switched
over to MACODA again.
D End of program (M30):

Using G functions, it is possible to release axes pertaining to a differ-
ent channel or take over the axis assignment from MACODA. The
latter case may, however, result in error messages, if the axes have
been assigned elsewhere.
D Channel control reset
Analogous to end of program (M30). Error messages may occur here
too, if axes have been assigned elsewhere.
and Controls
Spindle
4.10 Spindle
Function:
Assigns a connected SERCOS drive as spindle.
A spindle is a machine axis which:

D is usually operated in speed control mode,
D is used to drive the tool.
. If the drive is to operate in position-synchronous operation

(spindle coupling), you have to assign it as Spindle/C axis (see
page 453) with special marginal conditions.
For detailed information on spindle coupling, please refer to the
manual DIN Programming instructions.
. If the functionality polar coordinate transformation is needed for

the drive (see page 5103), assign the drive as Spindle/C axis
(see page 453).
. Spindle orientation (M19) is also possible with Spindle type

drives. Position-controlled spindle mode will remain active within
the drive until another spindle command (e.g. M3, M4, M5) be-
comes effective.
For detailed information, please refer to Section Spindles,
Spindle Functions in the DIN Programming Manual.

1040 00001: Selection of spindle type.
1040 00002: Assignment of physical spindle to spindle group.
1040 00010: Number of gear ranges.
1040 00011: Min. spindle speed of the gear range.
1040 00012: Max. spindle speed of the gear range.
1040 00015: Jog spindle speed in rpm.
1040 00020: Speed reaches window in rpm.
1040 00021: Speed reaches window in %.
1040 00031: Max. spindle acceleration.
1040 00041: Spindle override in 32 steps.
1040 00051: Positional interface: 1st acceleration in rad/s2
1040 00052: Positional interface: 2nd acceleration in rad/s2
1040 00053: Positional interface: switchover speed for 2nd accelera-
tion
1040 00101 through 1040 00112: Spindle syntax.
. For more information on spindles, please refer to the manual DIN

Programming instructions.
and Controls
Spindle
4.10.1 Assigning
Precondition:
For a spindle, the type of weighting, e.g., must be set to rotary and
the data reference to at the load in the SERCOS parameters.
D S-0-0044 (type of weighting for speed data)

D S-0-0076 (type of weighting for positional data)
D S-0-0160 (type of weighting for acceleration data)

2. Enter spindle type 1 (SERCOS spindle) in MP 1040 00001.
3. Parametrize the spindle as required in terms of gear ranges, speeds,
dynamics, syntax etc. (see Relevant MACODA parameters
above).
4. Ensure that the spindle is correctly included in the PLC program in
respect of interface signals.
CAUTION

and Controls
Spindle/C axis
4.11 Spindle/C axis

Function:
Assigns a connected SERCOS drive as spindle/C axis.
This type of application is a machine axis which

D is used alternatively as spindle (spindle mode) or as rotary/endless
axis (C axis mode).
. In C axis mode, the axis can be operated as asynchronous or syn-

chronous axis. For operation as synchronous axis, it is simply
taken over into a channel via function Axis transfer.
Restrictions:
D The measuring system used has to run with the real spindle speed. A
motor encoder must only be used for systems without gear. If gears
are used, you need an external encoder.
D When general inhibit is activated, the NC saves the current state of
the drive (spindle/C axis mode). To be able to deactivate general in-
hibit, the current state of the drive has to coincide with the state that
has been saved.
D When you switch the main spindle ( MP 7020 00010) to C axis
mode, G95 (feedrate programming in mm/rev) is not switched off.

For spindle mode:
1040 00101 to 1040 00112: Spindle syntax.

Additionally for C axis mode:

and Controls
Spindle/C axis

G151.
1040 00060: C axis: Tool turret
G518: Switches from spindle mode to C axis mode.
See page 456.
G517: Switches from C axis mode to spindle mode.
See page 457.
. G518 and G517, respectively, can be entered in MP 7060 00010 (de-

fault state upon start-up) and/or 7060 00020 (default state upon a
control reset). Please note in this context:
D the spindle is always active after control unit start-up.
D the entry in MP 7060 00020 is effective following control reset.
In this context, please note the information on switching be-
tween C axis and spindle mode given in Section 4.11.2 and
4.11.3.
Relevant spindle interface signals:

NC-I1.6: C axis on.
Switches over from spindle mode to C axis mode.
NC-I1.7: C axis off.
Switches over from C axis mode to spindle mode.
NC-O17.0: C axis is active
NC-O17.7: C axis switching active

S-0-0016: Configuration list AT.
This is where SERCOS parameter S-0-0051 (position
actual value 1 motor encoder) or S-0-0053 (position ac-
tual value2 external encoder) have to be entered de-
pending on the encoder used.
S-0-0024: Configuration list MDT.
setpoint) has to be entered.
S-0-0032: Main operating mode.
Has to be set to speed control mode.
S-0-0033 to S-0-0034: Secondary operating mode 1 to 2.
Has to be set to position control mode.
Bit 8 (drive-controlled change of operating mode) must
not be set in S-0-0034.
S-0-0044, S-0-0076 and S-0-0160: Type of weighting...
Rotary weighting is required as type of weighting.
and Controls
Spindle/C axis
S-x-0103: Modulo value.

If Modulo format has been set as processing format in
S-0-0076 (bit 7=1), parametrize the modulo value as 360
degrees.
S-0-0026: Configuration list signal status word.We recommend to
enter SERCOS parameter Parameter S-0-0403 (status
position actual value) in S-0-0026 and cyclically transmit
the signal status word (S-0-0144) in the drive telegram to
the NC.
4.11.1 Assigning
Preconditions:
For a spindle/C axis, the type of weighting, e.g., must be set to
rotary and the data reference to at the load in the SERCOS pa-
rameters.


2. In MP 1003 00001, enter the physical axis designation for the C axis.
3. In MP 1003 00004, set the axis movement type to 2 (endless) or 3
(rotary) depending on your requirements.
If the axis movement type 2 (endless) is required, the processing for-
mat Modulo format (bit 7=1) has to be set in S-0-0076 and the value
360 (degrees) in S-0-0103 in the drive.
. If the NC function Threading G33 is to be used, the processing

format Modulo format (bit 7=1) has to be set in S-0-0076 and the
value 360 (degrees) in S-0-0103 in the main spindle drive.

spect of interface signals. The relevant axis interface has to be oper-
ated by the PLC in C axis mode. The information whether C axis
mode is active is received by the PLC via the corresponding spindle
interface signal NC-O 17.0.
8. Set MP 1040 00060 (C axis : tool turret) to value 0 (normal mode: no
turret).
and Controls
Spindle/C axis

above).
CAUTION
4.11.2 Switching over from spindle mode to C axis mode.

1. Program G518 in the part program or via manual input.
For information on G518 syntax, see DIN Programming Manual.
In special cases, the PLC can trigger the switching over from spindle
mode to C axis mode via the spindle interface signal NC-I1.6.
. Spindle reset has no effect in the C axis mode.
After switchover, the axis is located at a random position between 0

and 359.9999 degrees.
The axis has not been assigned to any channel yet (asynchronous
axis) and is therefore available to any channel as auxiliary axis.
If you trigger the switchover in the part program, we recommend that

you use WAIT commands (see example). It is thus ensured that the
axis is actually available when the block is processed in the further
program sequence.
Example:
:
N100 G518(WA) The spindle, which has the name WA as
axis, is switched over to C axis mode as
asynchronous axis.
N110 WAITA(IC(24,5,x)) Waits until the spindle interface signal
NC-O17.0 (C axis is active) has been
set. x: spindle index
N120 WAIT Waits until WAITA() has been executed.
Then, the axis is actually available.
2. If the asynchronous axis is to be taken over into the active channel,

you have to program WAIT and subsequently G511.
and Controls
Spindle/C axis
4.11.3 Switching over from C axis mode to spindle mode.

1. Make sure that the axis has not been assigned to a channel.
If the axis is still assigned to a channel, program G512.
The axis is thus released from the active channel and is available as
asynchronous axis to all channels in the system.
2. Program G517.
This is how you switch back to spindle mode.
G517 can be programmed after G512 in the same block, for informa-
tion on syntax, see DIN Programming Manual.
. The spindle can only be addressed by all channels or via spindle

interface when the G517 block has been executed.
Example:
N100 G512 (C) Removing the C axis from an active channel.
N110 G517 (C) Switching back to spindle mode.
N120 WAIT Waits until G517 has been executed.
and Controls
Spindle/turret axis with motor encoder
4.12 Spindle/turret axis with motor encoder

Function:
Assigns a connected SERCOS drive as spindle/turret axis. The drive
has to be applied as spindle/C axis ( see page 453).
A spindle/turret axis is a machine axis which

D is used alternatively as spindle (spindle mode) or as rotary/endless
axis (C axis operation); here: turret mode).
D drives the tool in spindle mode and the tool turret (of a lathe) in C axis
mode.
Controlling a tool turret requires a change to turret mode both within the
NC and mechanically, where the turret has its own transmission ratio.
In spindle mode, the drives moves a tool designed as cutter. In case of a
tool change, the drive is switched to C axis mode; at the same time, the
PLC mechanically applies the motor to the turret axis.
In this state, the NC/PLC can now carry out the tool change via C axis.
Having switched back to spindle mode (NC and mechanically), it is pos-
sible to continue machining of the workpiece.
. In C axis mode, the turret axis can be operated as asynchronous or

synchronous axis. For operation as synchronous axis, it is simply
taken over into a channel via function Axis transfer.
Restrictions:
D Servodyn-D drives have to be used.
D The drive must support the command S-0-0197 (set coordinate sys-
tem). Servodyn-D meets this condition starting at drive software ver-
sion V0.048.
D Since the contents of the CPL variable @_C_AXISxy_POS is over-
written when loaded into an archive (file extension *.tar), the turret
axis has to be referenced after the loading process.
CAUTION
Danger of damage to the machine.
The CPL variable @_C_AXISxy_POS must not be manipulated at
random. Reference the turret axis.
D The motor encoder is used as measuring system for spindle and tur-
ret axis.
D When general inhibit is activated, the NC saves the current state of
the drive (spindle/C axis mode). To be able to deactivate general in-
hibit, the current state of the drive has to coincide with the state that
has been saved.
D When you switch the main spindle ( MP 7020 00010) to C axis
mode, G95 (feedrate programming in mm/rev) is not switched off.
and Controls

For spindle mode:

Additionally for C axis mode:

G151.
1040 00060: C axis: tool turret
G518: Switches from spindle mode to C axis mode (here: turret
mode). The required parametrization of MP 1040 00060
(setting: 2) results in the following sequence:
Spindle is decelerated to a stop.
Parameter block 4 in the drive is activated
Turret mode is activated
The axis position from the CPL variable
@_C_AXISxy_POS is taken over
G517: Switches from C axis mode to spindle mode (here: turret
mode). The required parametrization of MP 1040 00060
(setting: 2) results in the following sequence:
the current position of the turret axis is written in the
CPL variable @_C_AXISxy_POS
spindle mode is activated
in the drive, the parameter block (gear range) which
was active last in spindle mode, is activated again.
. The change between spindle mode and turret mode always entails
a mechanical change, too. This connection must not be eliminated
and Controls
by control reset (channel or system control reset).

Therefore, G518 and G517, respectively, must be entered neither
in MP 7060 00010 (default state upon start-up) nor in 7060 00020
(default state upon a control reset).

NC-I1.6: C-Axis on.
Switches over from spindle mode to C axis mode (here:
turret mode).
NC-I1.7: C axis off.
Switches over from C axis mode (here: turret mode) to
spindle mode.
NC-O17.0: C axis is active
. In the drive, the spindle mode is configured via the parameter

block 0 through 3 (1st to 4th gear range).
Parameter block 4 is relevant for turret mode.
S-0-0016: Configuration list AT.

actual value1 motor encoder) has to be entered.
setpoint) has to be entered.
S-0-0032: Main operating mode.
Has to be set to speed control mode.
S-0-0033 to S-0-0034: Secondary operating mode 1 to 2.
Has to be set to position control mode.
Bit 8 (drive-controlled change of operating mode) must
not be set in S-0-0034.
S-0-0044, S-0-0076 and S-0-0160: Type of weighting...
Rotary weighting is required as type of weighting.
S-x-0103: Modulo value.
If Modulo format has been set as processing format in
S-0-0076 (bit 7=1), parametrize the modulo value as 360
degrees.
S-0-0026: Configuration list signal status word.We recommend to
enter SERCOS parameter S-0-0403 (status position ac-
tual values) in S-0-0026 and cyclically transmit the signal
status word (S-0-0144) in the drive telegram to the NC.
and Controls
4.12.1 Assigning
Preconditions:
For a spindle/C axis, the type of weighting, e.g., must be set to
rotary and the data reference to at the load in the SERCOS pa-
rameters.
D A suitable PLC program called up by an auxiliary function with com-

pulsory acknowledgment is required for the mechanical switchover
between spindle mode and C axis mode (here: turret mode).

2. In MP 1003 00001, enter the physical axis designation for the C axis.
3. In MP 1003 00004, set the axis movement type to 2 (endless) or 3
(rotary) depending on your requirements.
If the axis movement type 2 (endless) is required, the processing for-
mat Modulo format (bit 7=1) has to be set in S-0-0076 and the value
360 (degrees) in S-0-0103 in the drive.
spect of interface signals. The relevant axis interface has to be oper-
ated by the PLC in C axis mode. The information whether C axis
mode is active is received by the PLC via the corresponding spindle
interface signal NC-O 17.0.
8. Set MP 1040 00060 (C axis: tool turret) to value 2.
above).
11. If required, specify the current position of the turret axis by directly
writing (CPL) the variable @_C_AXISxy_POS (in degrees).
CAUTION

and Controls
4.12.2 Synchronization after control unit start-up

Following start-up of the control unit, the NC is always in spindle mode.
Since it cannot be presumed that the motor (on spindle or turret axis)
has also changed over mechanically to spindle mode at this point in
time, both components need to be synchronized by the PLC.
For this purpose, the PLC should first determine the mechanical state
(spindle/turret mode) and carry out suitable action to achieve synchro-
nization.
The following mechanical states are possible:

1. Spindle mode.
The motor is mechanically applied to the spindle.
2. Turret mode.
The turret axis is located on a notch position.
The motor is mechanically applied to the turret axis.
3. Turret mode.
The turret axis is located between 2 notch positions. The motor is
mechanically applied to the turret axis.
4. Intermediate position.
The mechanical system is neither in spindle mode nor in turret mode.
Actions to achieve synchronization:

ref. 1.: no action necessary because the NC is always in spindle mode
following start-up.
ref. 2.: NC must be adapted to the state of the mechanical system.
PLC switches to turret mode via spindle interface signal
NC-I1.6 (C axis on). This initiates the following actions in the
NC:
Turret mode (C axis mode) is activated
The PLC should reference the turret axis for safety reasons.
ref. 3.: NC must be adapted to the state of the mechanical system.
PLC switches to turret mode via spindle interface signal
NC-I1.6 (C axis on). This initiates the following actions in the
NC:
Turret mode (C axis mode) is activated
When the NC sets the spindle interface signal NC-O17.0 (C
axis is active), the PLC has to start referencing the turret
axis.
The NC takes over the position of the turret axis into the
CPL variable @_C_AXISxy_POS simultaneously with the
and Controls
output of the signal NC-O15.6 (Reference point was

reached) at the axis interface of the turret axis.
ref. 4.: The PLC has to change the mechanical system either to the
spindle mode or the turret mode. Depending on the resulting
mechanical position, the appropriate action has to be taken
subsequently (see item 1. through 3.).
CAUTION
Wrong turret positioning possible!
If the position of the turret axis has been shifted since the last
switch of the NC from turret mode to spindle mode for any reason
whatsoever, the contents of the variable @_C_AXISxy_POS no
longer coincides with the current position of the turret axis!
This may cause serious damage to the machine or tools.
The turret axis has to be referenced, just in case the contents of
the variable @_C_AXISxy_POS no longer coincides with the cur-
rent position of the turret axis!
For reasons of safety, we recommend referencing the turret after
control unit start-up.
4.12.3 Determining the turret axis reference point

Precondition:
D NC and mechanical system have to be in turret mode.
The reference point is determined in the same way as for normal axes.
Upon completion of referencing, the reference point position is auto-
matically taken over into the CPL variable @_C_AXISxy_POS.
4.12.4 Examples: Changing between spindle mode and turret mode

The tool change and thus the change between spindle mode and turret
mode normally occurs in context with a tool changing program in the fol-
lowing sequence:
1. Stop spindle with the function Spindle orientation.
The auxiliary function (M219) used in the example programs below
should have compulsory acknowledgment. An alternative is to wait
for the spindle interface signal Spindle is oriented.
2. Switch the NC to turret mode (C axis mode) via G518.
3. Use an auxiliary function with compulsory acknowledgment to
instruct the PLC to switch the mechanical system to turret mode.
4. Wait until the NC and the mechanical system have switched over.
5. Carry out tool change (incl. activation of the tool compensation).
6. Change back to spindle mode (NC and mechanical system).
and Controls
Example 1: turret axis is an asynchronous axis (auxiliary axis)

:
N010 ...
N020 M219 Cutting spindle orientation.
N030 ... If necessary, wait for Spindle is oriented. Dont
forget logic in case of error.
N040 G518(REV) Switches NC from spindle mode to turret mode
(C axis mode). Name of the turret axis: REV
N050 Mxxx Instruct PLC to switch mechanical system to tur-
ret mode.
N060 WAITA(IC(24,5,x)) Wait for C axis is active
x: Spindle index.
N070 WAIT Wait until WAITA() has been executed.
N160 ... Carry out tool change.
:
N200 G517(REV) Switches NC from turret mode to spindle mode.
Name of the turret axis: REV
N210 Mxxx Instruct PLC to switch mechanical system to
spindle mode.
N220 Wait until C axis is active is deactivated. x:
WAITA(IC(24,5,x)=FALSE) spindle index.
N230 WAIT Wait until WAITA() has been executed.
M30 End of program.
Example 2: turret axis is a synchronous axis
:
N010 ...
N020 M219 Cutter spindle orientation.
N030 ... If necessary, wait for Spindle is oriented. Dont
forget logic in case of error.
N040 G518(REV) Switches NC from spindle mode to turret mode
(C axis mode). Name of the turret axis: REV
N050 Mxxx Instruct PLC to switch mechanical system to tur-
ret mode.
N055 WAIT Wait for the interface signal of the PLC, block
preparation stopped
N060 G511(REV) Integrate turret axis REV into the active channel.
N160 ... Carry out tool change.
:
N200 G512(REV) G517(REV) Release turret axis REV from the channel and
switches NC from turret mode to spindle mode.
N210 Mxxx Instruct PLC to switch mechanical system to
spindle mode.
N220 WAIT Wait until all blocks have been executed.
M30 End of program.
and Controls
Gear range switching with Spindle idling
4.13 Gear range switching with Spindle idling

Function:
Reduces the wear of a spindle gear.
When engaging a different gear range, the gear wheels may not lock
accurately. In this case, an (optimum) coupling of forces between input
and output shaft is not ensured. At a normal start of the spindle motor,
this may cause wear of the respective gear wheels and definitely results
in an unnecessary load on the gear wheel edges.
For this reason, the control unit outputs the required gear range and
transmits the command for Drive-controlled oscillation (S-0-0190; bit 0
and 1 = 1) to the PLC when the gear range stated in the feedback does
not coincide with the gear range requested.
From this point in time on, the drive carries out a parametrizable move-
ment profile independently (see Relevant SERCOS parameters).
Once the movement profile is activated in the drive, the control unit re-
ports this status to the PLC via spindle interface output signal NC-O15.4
(Idling speed reached), thus enabling the PLC to carry out the mechani-
cal switchover.
As soon as the gear range stated in the feedback coincides with the re-
quested gear range, the NC withdraws the command Drive-controlled
idling (S-0-0190; bit 0 and 1 = 0).

1040 00207 through 1040 00212: Spindle group syntax.
. For detailed information on gear ranges and their syntax, please

refer to Section Spindles, Gear Functions in the DIN Program-
ming Manual.

NC-I5.0 to NC-I5.3: Gear range x acknowledge.
NC-I5.7: Gear idle motion acknowledge.
NC-O14.5: Gear range switching active.
NC-O15.4: Idling speed reached.
NC-O16.0 to NC-O16.3: Output gear range x.
NC-O16.7: Output gear in idle motion.
and Controls
Gear range switching with Spindle idling

S-0-0190: Command Drive-controlled oscillation.
Switches the drive function on/off.
S-0-0213: Oscillation speed.
This speed results in a sinusoidal superimposition of the
oscillation offset speed.
S-0-0214: Oscillation offset speed.
Basic speed of the drive function.
S-0-0215: Oscillation cycle time.
Period duration of the sinusoidal superimposition.
4.13.1 Assigning
Preconditions:
D The function Drive-controlled oscillation (S-0-0190) is available in
the drive.
D The spindle has to be correctly included in the PLC program in re-
spect of its interface signals.
1. The relevant SERCOS parameters have been correctly set in the

drive or will be transferred by the control unit to the drive during SER-
COS initialization (for information on SERCOS, see page 467 ff.).
2. Make sure that the MACODA parameters mentioned above have
been parametrized correctly. If that is the case, no further settings
are necessary within the NC.
Otherwise, adapt the parameters in accordance with the respective
application.
CAUTION
4.13.2 Activating/deactivating
Spindle idling is automatically initiated by the NC when the requested
gear range does not coincide with the gear range stated in the feed-
back.
If they coincide, the NC deactivates the function automatically.
and Controls
Functions for SERCOS handling
4.14 Functions for SERCOS handling

The PNC offers a series of functions that will considerably facilitate the
handling of connected SERCOS drives:
D SERCOS initialization for all connected SERCOS drives during con-
trol unit start-up.
D Automatic parameter download for all connected SERCOS drives
during control unit start-up.
D Program-controlled read access to SERCOS parameters of all con-
nected drives through the CPL commands SCS(..) and SCSL(..).
Program-controlled write access to SERCOS parameters of all con-
nected drives through G900.
For detailed information, please refer to the CPL or DIN Program-
ming manual.
D Manual read and write access to SERCOS parameters of all con-
nected drives through the SERCOS monitor.
D Selected setting of a desired SERCOS operating phase in the SER-
COS monitor. If desired, the control unit can execute the following
actions additionally:
D Delete diagnostics class 1 errors
D Parameter download for SERCOS operating phase 2 (file
sysgrph2.scs required. See also page 470 ff.)
D Parameter download for SERCOS operating phase 3 (file
sysgrph3.scs required. See also page 470 ff.)
D Add-on debug functions which can be used to log
D the SERCOS parameters transmitted in phases 2 and 3 (see
page 474 ff.)
D log the SERCOS timing in phase 3 (see page 475 ff.)
during the start-up of the control unit.
4.14.1 SERCOS initialization
Function:
The SERCOS initialization of the PNC has the following tasks:
D Closing of all SERCOS rings. This serves to test whether the optical
fiber transmission links are in order.
D Establishing the SERCOS timing and the communication paths to
the connected drives.
D Switching the phases of all SERCOS drives up to phase 4 (cyclical
operation has been activated).
. The SERCOS initialization can be carried out with and without an

automatic parameter download into the drive. For information on
the automatic parameter download, please refer to 470 ff.
and Controls

1050 00001: Drive manufacturer.
1050 00002: Drive established in the ring.
1050 00003: Assignment of drives to SERCOS ring.
1050 00004: Assignment of drives to SERCOS address
1050 00010: Automatic SERCOS timing
1050 00011: Transmission time of drive messages
1050 00012: Transmission time of master data telegram
1050 00021: Timeout for SERCOS start-up
1050 00022: SCS files allow disable of phase 3 download
1050 00031: Optical transmission power
1050 00032: Baud rate
9030 00001: NC cycle time:
4.14.2 Assigning
Parametrize and start initialization:
1. Switch off the power supply of the drives.

2. Adapt MACODA parameter group 1050 to your application.
The function Automatic SERCOS timing (MP 1050 00010) serves
to facilitate SERCOS commissioning. When Automatic SERCOS
timing is activated, please note:
D The SERCOS transmission times T1 to T4 are calculated by the
control unit automatically during start-up, based on the message
lengths (DT, MDT) and the drive protection times (T1min, TATMT,
TMTSG, T4min).
D The following becomes ineffective:
1050 00011: Transmission time of drive messages
1050 00012: Transmission time of master data telegram
D If you use the automatic parameter download (see page 470 ff.),
the following entries have to be deleted in the files sent to the
drives in phase 2:
S-0-0007 (measuring time actual values)
S-0-0008 (time for setpoint value valid).
In the standard configuration, these entries are found in file
p2common.scs (data sent to every drive in phase 2).
3. Set the matching SERCOS address and baud rate at the individual
drives (in case of Servodyn drives: at the personality module).
Use the information provided in the drive documentation to do this.
The SERCOS baud rate of all drives has to be in accordance with the
value from MP 1050 00032 (default value: 2 MBaud).
4. Make sure that DIP switch M on the personality module of the Ser-
vodyn-D drives is set to ON: drive is operated through the SERCOS
interface.
and Controls
CAUTION
With activated parameter download, current drive parameters are
overwritten by parameter values contained in the SERCOS files
of the control unit.
In case of SERCOS files which have not been adapted, this may
lead to unintended or hazardous states on the machine.
Therefore, deactivate the automatic parameter download for all
drives where adapted SERCOS files do not yet exist in the control
unit.
For information on the deactivation of the parameter download,
please refer to page 472.

6. After PNC start-up, check which SERCOS phase is specified. Select
DIAGNOSTICS " AXIS DIAGNOSTICS " SERCOS-MONITOR.
Ideally, the control unit and all connected drives should display
phase 4. In Servodyn drives, the current SERCOS phase is dis-
played on the front side of the inverters.
If phase 4 is not displayed, please note:
D The SERCOS monitor displays phase 0:
The control unit cannot close the ring (transmitted MST cannot
get back into the control unit).
Check whether all SERCOS stations in the ring are switched on,
the optical fiber connections have been installed correctly and the
optical transmission power of all modules (PNC: MP 1050 00031,
Servodyn drives: personality module) is sufficient for the ring
length used.
D The SERCOS monitor displays phase 1:
The control unit is unable to find a specified drive.
Check if all SERCOS addresses parametrized in the control unit
(MP 1050 00004) correspond to those of the drives.
D Drive displays phase 2:
The control unit was unable to establish a communication path or
correct timing with the drive, or it was not possible to switch the
drive up to phase 3 because of a parametrizing problem.
Check the drive parametrization (if automatic parameter down-
load has been activated, check the respective SERCOS file for
phase 2 in the control unit; if applicable, activate the log function
for transmitted SERCOS parameters: see page 474).
D Drive displays phase 3:
It was not possible to switch the drive up to phase 4 because of a
parametrizing or timing problem.
Check the drive parametrization (if automatic parameter down-
load has been activated, check the respective SERCOS file for
phase 3 in the control unit; if applicable, activate the log function
for transmitted SERCOS parameters: see page 474).
For the purpose of diagnostics, use the log function for SERCOS
timing (see page 475).
. If drives have not been parametrized correctly yet, leave their

power supply switched off!
and Controls
4.14.3 Automatic parameter download
Function:
When the parameter download is activated, the control unit is able to
completely parametrize the connected drives during start-up.
The prerequisite being that the corresponding adapted SERCOS files
(*.scs) exist in the control unit. SERCOS files are always stored in ASCII
format.
CAUTION
With activated parameter download, current drive parameters are
overwritten by parameter values contained in the SERCOS files
of the control unit.
In case of SERCOS files which have not been adapted, this may
lead to unintended or hazardous states on the machine.
Therefore, deactivate the automatic parameter download for all
drives where adapted SERCOS files do not yet exist in the control
unit.
For information on the deactivation of the parameter download,
please refer to page 472.
Assigning
The two files sysgrph2.scs and sysgrph3.scs are of central impor-

tance for the parameter download.
In these files, you determine which SERCOS files are transmitted to
which drives through command use...
For transmission
D the file sysgrph2.scs is responsible in phase 2 and
D the file sysgrph3.scs is responsible in phase 3.
Syntax of the use command:

use <File name> for (<Number>[,<Number>])
SERCOS file whose content is System drive index.

to be sent to drive <number>. If <file name> is to be sent to several
drives, the individual numbers have
to be separated by commas.
Command for downloading.
If the command is in sysgrph2.scs, the
contents of <file name> is sent in phase 2.
Ff the command is in sysgrph3.scs, the
contents of <file name> is sent in phase 3.
. MP 1050 00022 (SCS files Allow disable of phase 3 download)

determines the behavior of the control unit with regard to all SER-
COS files specified in sysgrph3.scs.
If you allow the disable, the files will only be transmitted to the re-
and Controls
spective drive on demand (e.g. following a change).

For the criteria for this, please refer to Section 4.14.7.
All the files which can be used in sysgrph2.scs and sysgrph3.scs for
the automatic download via the use command, may
D contain comment lines and
D lines for drive parametrization.
Comment lines always start with a semicolon (;). All signs after the
semicolon till the end of the line will be interpreted by the PNC as com-
ment. Comments are not transmitted to the drives. They only serve to
provide a structure and overview.
The lines for drive parametrization are structured as follows:

<ID number> = <Value> [;<Comment text>]
The following applies:
D <ID number>: SERCOS parameter in format S-x-xxxx or P-x-xxxx (S
or P parameter). For available SERCOS parameters, please refer to
the drive documentation.
D <Value> : Parameter values in the following formats:
decimal: e.g. 500
binary: e.g. 0b...
string: e.g. text
Parameter list: e.g. (S-0-0047,S-0-0189)
D <Comment text>: comment has to be separated from <value> at
least by one blank and a semicolon.
Examples:
; This is a comment line (comment)
S-0-0121 = 1 ;initial rot. (parameter with comment)
S-0-0122 = 1 (decimal value)
S-0-0032 = 0b0011 (binary value)
S-0-0142 = Application type (String)
S-0-0016 = (S-0-0051,S-0-0189) (ID list)
L If all SERCOS files (*.scs) required and adapted for your application are
available already, copy all relevant SERCOS files into the Root direc-
tory (/) of the PNC (for the directory structure, please refer to the Op-
erating instructions manual).
For activation or deactivation, please read the respective sections be-
low.
L If no SERCOS files (*.scs) have been created for your application, you
have to create these files in the Root directory (/) of the PNC via edi-
tor or copy and adapt the supplied example files into theRoot directory
(/).
. You will find example files in the directory FEPROM (/feprom)

in the subdirectory scsbosch (for Servodyn drives) or scsin-
dra (for Ecodrive and DIAX drives).
and Controls
Activating
1. Remove the sign ; to the left of the relevant use commands in the
files sysgrph2.scs or sysgrph3.scs, respectively (for syntax, see
above).
As a result, the control unit will not interpret these signs as comment
lines during the next start-up but as command for downloading.
2. Save the modified file(s).
3. Make backup copies of the files.
Example:
Automatic downloading (in phase 2) of the files
D p2linall.scs into the drives with system drive index 1, 2 and 4
D p2lin3.scs into the drive with system drive index 3.
Excerpt from file sysgrph2.scs (phase 2!):

:
use p2linall.scs for (1,2,4)
use p2lin3.scs for (3)
:
Deactivating
1. Set the sign ; to the left of the relevant use commands in the files
sysgrph2.scs or sysgrph3.scs, respectively (for syntax, see
above).
As a result, the control unit will not interpret these signs as command
for downloading during the next start-up but as comment lines.
3. Make backup copies of the files.
Example:
Automatic download for the two files from the previous example is to be
deactivated.
Excerpt from file sysgrph2.scs (phase 2!):
:
;use p2linall.scs for (1,2,4)
;use p2lin3.scs for (3)
:
. If backup copies of all relevant SERCOS files exist in the User FE-
PROM (/usrfep), it is not sufficient to simply delete or rename
the relevant SERCOS files in the Root directory of the control
unit, if you want to deactivate the automatic parameter download
(the control unit will search for these files in the User FEPROM
as well if it doesnt find them in the root directory)!
and Controls
4.14.4 Changing parameters in the drive via SERCOS monitor

During commissioning, it is sometimes necessary to display or modify
drive parameters.
For these activities, you can use the SERCOS monitor of the PNC. It
allows for
D read and write access to all drive parameters as well as
D joint manual switching of all drives to a certain SERCOS operating
phase.
. Read or write access to drive parameters is principally only pos-

sible if the SERCOS ring is at least in phase 2.
Please note that changing a drive parameter is only permitted in a
specific phase.
For information on this, please refer to the drive documentation.
The SERCOS monitor is started via

DIAGNOSTICS " AXIS DIAGNOSTICS " SERCOS MONITOR.
For information on how to read/write drive parameters or change the

SERCOS operating phase, please refer to the manual Operating In-
structions Diagnostics Tools, Chapter SERCOS Monitor.
. Parameters written via SERCOS monitor will at first be changed in

the drive only temporarily.
As a rule, they will be cancelled again by RESET at the drive, a new
start-up of the drive or a new parameter download of PNC.
If the changed drive parameters are to be effective permanently, please

note:
During start-up, the drive normally copies all parameter values from the
drives own FEPROM into the RAM.
Since the SERCOS monitor of the PNC exclusively changes the data on
the drive RAM, you have to
D initiate the command Save working memory at the respective drive
(via the drives own commissioning software; for procedure, please
refer to drive documentation)
if the parameter download has been deactivated
or
D change the relevant parameter values in the respective SERCOS
files of the PNC and save the modified files,
if the parameter download has been activated.
and Controls
4.14.5 Logging the transmitted SERCOS parameters

All SERCOS parameters transmitted in phase 2 or phase 3, may be
logged for diagnostics purposes.
For this purpose, you have to program the dbg command in the file
sysgrph2.scs (for phase 2) or sysgrph3.scs (for phase 3).
. The dbg command has to be programmed before the first use

command.
Syntax of the dbg command:

dbg <File name>
Name of the file containing the log.
Command Create log.

If the command is in sysgrph2.scs, the log function for phase 2 is activated.
If the command is in sysgrph3.scs, the log function for phase 3 is activated.
. Parameters sent to the drive based on MACODA values cannot be

logged.
Activating
1. Remove the sign ; to the left of the dbg command in the files
sysgrph2.scs or sysgrph3.scs, respectively.
lines during the next start-up but as command to log the SERCOS
parameters.
Deactivating
1. Set the sign ; to the left of the dbg command in the files
sysgrph2.scs or sysgrph3.scs, respectively.
As a result, the control unit will interpret the line as comment line dur-
ing the next start-up.
and Controls
4.14.6 Logging of SERCOS timing
. Use this function for commissioning only!
For diagnostics purposes, the PNC can log the SERCOS timing from
phase 3 on.
To do this, you have to program the opt command in file
sysgrph3.scs.
. The opt command has to be programmed after the last use

command.
Syntax of the opt command:

opt m <File name>
Name of the file containing the timing log.
Command Logging of SERCOS timing
Activating
1. Remove the sign ; to the left of the opt command in the file
sysgrph3.scs.
lines during the next start-up but as command to log the SERCOS
timings.
2. Save the modified file.
Deactivating
1. Set the sign ; to the left of the opt command in the file
sysgrph3.scs.
As a result, the control unit will interpret the line as comment line dur-
ing the next start-up.
2. Save the modified file.
and Controls
4.14.7 Downloading SERCOS files in phase 3 on demand only

1050 00022: SCS files allow disable of phase 3 download
The function minimizes the required start-up time of the machine with
activated parameter download.
SERCOS files which are normally always transmitted to the drives in
phase 3 (defined in sysgrph3.scs) are only sent by PNC if the param-
eters in this kind of file most probably differ from the current drive config-
uration.
The file saveph3.scs in PNC plays a central role in detecting differ-

ences of this type:
D Contents of saveph3.scs:
The name and date of all SERCOS files to be transmitted for phase 3
are stored in saveph3.scs. During a SERCOS start-up, the control
unit compares these data with the name and date of the respective
current SERCOS files. If these data differ from each other, the re-
spective SERCOS files were probably changed (or at least loaded
into an editor and saved again); PNC then sends the corresponding
SERCOS files to the drive again and updates saveph3.scs.
D Date of file saveph3.scs:
When the command Save working memory is initiated via softkey,
the drive will write its data contained in the RAM into its FEPROM
(otherwise the current drive parametrization will be lost when the
drive is switched off or reset).
Drive parameter S-0-0142 (type of application), which contains the
date of saveph3.scs is also considered here.
During a SERCOS start-up, the PNC reads S-0-0142 from the drive
and compares the value with the current date of saveph3.scs.
If these data differ from each other, Save working memory was not
initiated via softkey following an update of saveph3.scs; PNC then
sends all SERCOS files for phase 3 to the drive again.
and Controls
Coordinate systems
5 Coordinate systems
5.1 Basics and overview
5.1.1 Axis and coordinate names

The following designations are used in the PNC:
D physical axis names
D logical axis names
D coordinate names
D coordinate identifiers
Depending on the application, either axis names or coordinate names

are used in connection with specific NC functionalities.
Overview: Axes and coordinates
Axis and coordinate names (Example: active axis transformation + pseudo coordinates)
Programming level
Coordinate identifiers x y z phi theta U V
Coordinate index 1 2 3 4 5 6 7 8
Working range coordinates Pseudo coordinates
Coordinate configuration
Coordinate names:
MP 7080 00010 x y z phi theta
Individual parameters 1 2 3 4 5 6
Axis transformation
Logical axis names:

X Y Z U V B C
MP 7010 00010
Individ. param. log. axis index 1 2 3 4 5 6 7 8
Axis configuration
Physical axis names:

MP 1003 00001 A1 A2 A3 ... A7 A8 ... A10 A11 ... A63 A64
Individ. param. phys. axis index 1 2 3 ... 7 8 ... 10 11 ... 63 64

and Controls
Coordinate systems
5.1.2 Physical and logical axes

The drives of a machine tool can be subdivided into two types:
D axes
D spindles
The term axes refers in this context to the entirety of the drives con-
trolled by position setpoint values. Spindles, in contrast, use a speed
interface. The term of spindles/C axes refers to spindles which can be
selected both in spindle operation (speed interface) as well as in C axis
operation (positional interface). The specific type of drive is determined
in MP 1001 00001, Drive function type.
The terminology of the PNC makes a distinction between physical and

logical axes.
Physical axes
Physical axes are also referred to as system axes. Unless its display is
suppressed by machine parameter settings, each physical axis corre-
sponds to a real SERCOS axis. Its axis/drive index (1...n) is unique
throughout the system and corresponds to the index of the respective
individual drive or axis parameters in the MACODA (function area 10,
machine). The Physical axis designation MP 1003 00001 assigns a
unique, system-wide name to each physical axis.
The Channel assignment MP 1003 00002 can be used to accurately

assign each physical axis to a machining channel. On one channel, all
the axes which are in one and the same machining-technological rela-
tionship are grouped. The aggregate of all axes of one channel is re-
ferred to as axis group. Considering that different axis groups are
assigned to different channels, it is possible for several axis groups to
perform various machining operations independently of each other and
in parallel. In this context, the channel can only select the axis group
which is assigned to it.
Physical axes which are not assigned to a specific channel are referred
to as asynchronous axes or auxiliary axes. These can be selected
from any channel, but are in no interpolary relationship to other axes.
Auxiliary axes may, for instance, be used to drive tool or pallet chang-
ers.
Logical axes
The axes of an axis group are referred to as the logical axes of the chan-
nel. Since there is an interpolary relationship between the axes of a spe-
cific channel, they are also referred to as synchronous axes.
On a channel, all logical axes are numbered consecutively. This logical
axis index results from the order of the physical axis indices, i.e. on
one channel the axis with the lowest physical axis index will receive the
logical axis index of 1. Consequently, the axis with the highest physical
axis index will receive the highest logical axis index.
and Controls
Coordinate systems
When a new axis is transferred to a channel, the logical axis indices,

including the physical axis index of the new axis, are resorted in accor-
dance with the new order of physical axis indices of all existing axes.
MP 7010 00010, Logical axis designation, allows to define a logical

axis name for every logical axis on a channel. In this context, a logical
axis name is assigned to every logical axis index.
Every logical axis name must be unique on the respective channel. If no
logical axis name has been defined for a channel axis, it implicitly takes
over the physical axis name as logical axis name. An axis can be se-
lected both under its logical and under its physical axis name.
In the case of identical names, the logical name always takes prece-
dence over the physical name!
Logical axes can be selected from no other channel than from the one
they have been assigned to via MACODA or a G function (please refer
to axis group above).
The assignment of axes to channels as set in the MACODA can be

changed using the Axis transfer functionality (G510-G518) in the part
program.
Example of an axis configuration:

The logical axis names for each channel are taken from MP
7010 00010!
Physical axis/drive index 1 2 3 4 5 6 7 8

= MACODA parameter index
Physical axis name (1003 00001) X1 Y1 X2 Y2 Z1 Z2 E
Channel assignment (1003 00002) 1 1 2 2 1 2 0
Drive function type (1001 00001) axis axis axis axis spindle axis axis axis
Logical axis index 1 2 3

Channel (7010 00010)
Logical axis name X Y Z
Channel 1
Logical axis index 1 2 3

Channel2 (7010 00010)
Logical axis name X Y Z
Channel 2
Axis type synchr. synchr. synchr. synchr. synchr. synchr. asynchr

axis axis axis axis axis axis axis
and Controls
Coordinate identifiers
5.2 Coordinate identifiers

Coordinate identifiers describe one point (position of the tool) on the
machine via working range coordinates and/or pseudo coordinates.
They are used in the NC program.
5.2.1 Pseudo coordinates

Direct programming of axis positions is referred to as programming in
pseudo coordinates. In the process, the pseudo coordinates stand
parallel with the coordinates of the MCS machine coordinate system.
The given positions Pi correspond directly to the axis values Ai, except
for an axis specific offset (compensation):
Pi=Ai+offset.
P3=axis value of Z axis+offset in Z
P2=axis value of Y axis+offset in Y
P1=axis value of X axis +offset in X

MCS Pi= pseudo coordinates, i=1..3
If the machine is composed of further axes (e.g. rotary axes), the proce-
dure described above is extended to include these axes.
The channel-specific names of the pseudo coordinates are determined

in MP 7010 00010 and correspond to the logical axis names.
Coordinate designation
The majority of machines have a Cartesian axis structure, i.e. the first 3
axes, which are normally designated X, Y and Z form a rectangular
trihedral.
In DIN 66217, the arrangement and designation of the coordinates of

the machine coordinate system are defined as follows:
D right-handed rectangular coordinate system with the linear X, Y and
Z axes which are assigned the
D axes of rotation A, B and C.
and Controls
Axis designation
+Z
+W
+C
+B
+Y
+A +V
+U
+X
D If the machine is equipped with a minimum of one spindle, the Z di-

rection of movement is parallel with the main spindle, otherwise it is
perpendicular to the clamping surface.
D Positive axis direction corresponds to the direction of the work-
piece relative to the tool.
D The X direction of movement is parallel with and horizontal to the
workpiece clamping surface. In analogy to the above coordinate sys-
tem, the Y direction of movement results from X and Z.
D The X, Y and Z axes are also referred to as main axes.
D If other independently controlled axes exist, which are parallel with
the main axes, they are referred to as U, V and W, and if there are
even more axes of this description, they are called P, Q and R. Rota-
tion movements around the main axes (e.g. rotary axis) executed by
machine components are referred to as A, B and C.
D If there are other rotary movements in addition to the rotary A, B and
C main movements, they are called D or E (address letter must be
available).
D The sense of rotation is mathematically positive if one looks from
one coordinate vertex in the direction of the coordinate origin and the
sense of rotation is counter-clockwise.
D Non-parallel linear axes can be designated freely as convenient.
D Indexing: In the case of machines with various positioning or paral-
lel-motion options, these movements can be indexed using a letter
and a number (e.g. X1). The index has to be an integer and greater
than zero. The main movements can be performed with or without an
index. This way, it is possible to have indexed and non-indexed
movements on one and the same machine. Indexing can be used for
axes of rotation, too.
D Certain address letters (e.g. G, M and F) cannot be used for move-
ments.
and Controls
5.2.2 Working range coordinates

The programming in working range coordinates is independent of the
axis configuration. The following is programmed:
D position of the tool tip (TCP) and
D orientation of the tool.
The working range coordinates refer to a Cartesian coordinate system

with a maximum of 6 degrees of geometrical freedom (R1..R6), namely
3 translational and 3 rotary degrees of freedom:
D translational degrees of freedom: 3 position coordinates (Carte-
sian coordinate: x, y, z) describe the position of the tool tip in relation
to the current program coordinate system (PCS).
D rotary degrees of freedom: 3 orientation coordinates (see Section
5.5) describe the orientation of the tool in space. The orientation is
determined by the 3 so-called Eulerian angles , und (polar
angles). These are also related to the program coordinate system
(PCS).
Example:
D 5 axis transformation: cutting tool (rotation symmetrical) with 3 posi-
tion coordinates (x,y,z) and 2 orientation coordinates (, ).
D 6 axis transformation: gripping tool (non-rotation symmetrical) with 3
position coordinates (x,y,z) and 3 orientation coordinates (, and
).
5 axis configuration 6 axis configuration
X axis
Y axis
A axis X axis
Z axis
C axis
C axis
Y axis
B axis
B axis
z
Z axis

Tool orientation zt
y xt
TCP (x,y,z) TCS tool
Tool Center Point coordinate system
TCP (x,y,z)
x Space vector
yt
z
y Space vector
PCS
x
and Controls
In working range coordinate programming, the number of program

coordinates is less than or equal to the number of logical axes on the
channel. Channel-specific names of the working range coordinates are
determined in the MACODA parameter 7080 00010.
Programming an axis transformation activates the working range

coordinates. In the PNC, there are 5 axis, 6 axis transformations as well
as polar coordinate transformation.
Example: 5 axis milling machine with 5 axis transformation
Working range coordinates: positions R1, R2, ...Rn

Pseudo coordinates: axis values P1, P2, ... Pn
In the case of a 5 axis machine tool, one has to distinguish between 3

typical types of position settings:
1. P= (P1, P2, P3, ..., Pn) > program coordinates = pseudo coordi-
nates
There is no transformational relationship between the program coor-
dinates and the axis values. All of the program coordinates are
pseudo coordinates.
Example:
P= (P1, P2, P3, P4, P5, P6, P7) = (XA, YA, ZA, AA, BA, UA, VA).
Axis values are programmed directly for all program coordinates.
There are only pseudo coordinates.
2. P= (R1, R2, R3, R4, R5) > program coordinates = working range
coordinates
There is a transformational relationship for all coordinates between
the program coordinates and the axis values. Programming thus be-
comes independent of the actual axis kinematics. All program coor-
dinates are programmed as working range coordinates. The axis
values are calculated from the programmed (Cartesian) working
range coordinates with the aid of an axis transformation.
Example:
P= (R1, R2, R3, R4, R5) = (x, y, z, phi, theta).
All program coordinates are programmed as working range coordi-
nates.
3. P= (R1, R2, R3, P4, P5, ..., Pn) > program coordinates = pseudo
and working range coordinates
There is only a transformational relationship as regards position-
creating program coordinates. These are programmed as working
range coordinates. For the other program coordinates, programming
consists again in the direct programming of the axes values (pseudo
coordinates).
Example:
P= (R1, R2, R3, P4, P5, P6, P7) = (x, y, z, BA, CA, UA, VA). The position-
creating program coordinates are programmed as working range
and Controls
coordinates. As a consequence, the position of the tool tip is inde-

pendent of the position of the rotary axes (Tool Center Point pro-
gramming). For the rotary axes and other axes, programming
consists in the direct programming of the axes values (pseudo coor-
dinates).
. Index A means that the address corresponds to a pseudo coordi-

nate, i.e. directly to a logical axis address.
Cartesian coordinates
The Cartesian coordinates of point P (x,y,z) refer to its distance to
three coordinates standing perpendicularly on each other. The coordi-
nates form a right-handed Cartesian rectangular coordinate system
with the working range coordinates x, y, z.
+Z
+z
P (x,y,z)
MCS
Direction of +X
rotation +Y
+
Coordinate Coordinate system

origin +
+y
+
+x Cartesian coordinates = working range coordinates
Rotation around Cartesian coordinates:

The sense of rotation is mathematically positive if one looks from one
coordinate vertex in the direction of the coordinate origin and the sense
of rotation is counter-clockwise.
and Controls
Coordinate systems of the control unit
5.3 Coordinate systems of the control unit

To be able to execute part programs without any modifications using dif-
ferent tool dimensions or for different machines, different coordinate
systems are defined for each channel in the control unit (for an over-
view, please refer to page 515). In part, these are permanent and ma-
chine-dependent, the majority, however, is freely definable and
machine-independent.
Coordinate systems may be related to:

D axis coordinates or
D workpiece coordinates
The axis coordinates are defined by the entirety of all axes currently
assigned to a machining channel.
A traversing motion entered in the direction of an axis coordinate will
only move the real (physical) axis pertaining to this coordinate.
The workpiece coordinates are often Cartesian coordinates and are

defined by the coordinates currently programmed on the channel.
Overview of the used coordinate systems with their reference coordi-

nate system. The transitions between the different coordinate systems
are performed by the control unit internally with the aid of transforma-
tions:
Coordinate system Reference coordinate system
PCS Program coordinate system Workpiece coordinates WCS(n)
Coordinate transformation
BCS Basis workpiece coordinate sys- Workpiece coordinates WCS(0)
tem
Axis transformation
ACS Axis coordinate system Axis coordinates ACS(n)
Axis zero shifts
MCS Machine coordinate system Axis coordinates ACS(0)
Using different coordinate transformations (see Section 5.6), the pro-
gram coordinates are transformed to the permanent BCS basis work-
piece coordinate system.
and Controls
Axis transformation
Axis transformation (see Section 5.4.2) is used to determine the transi-
tion between basis workpiece coordinate system and axis coordinate
system. It describes the respectively valid kinematic relationship be-
tween the axes and the programmable coordinates.
In the most complex case, all Pi program coordinates have transforma-

tional relationships with regard to the Ai axis values.
The axis values are calculated from the programmed (Cartesian) work-
ing range coordinates with the aid of the axis transformation.
Calculation of the axis values is performed from the interpolated coordi-
nate values within the axis transformation in the framework of cyclical
interpolation.
The axis transformation considers the current tool dimensions (tool

lengths), which are taken into account in the direction of the coordinates
of the TCS tool coordinate system, so that the compensation will always
be taken into account correctly, even in case of continuously changing
tool orientation .
When the data specified for a coordinate is changed, this always results
in only one traversing movement in a coordinate, because all geomet-
ric-kinematic relationships of machine and tool are taken into consider-
ation in the axis transformation. Among others, the movement in one
coordinate direction may result in a traversing movement of several
axes due to the compensation movement.
Without axis transformation, each coordinate is directly assigned to one

axis. In this context, all coordinates are referred to as pseudo coordi-
nates.
Axis zero shift

The axis zero shift takes into consideration the offset between ACS axis
coordinate system and MCS machine coordinate system.
5.3.1 MCS machine coordinate system

The MCS machine coordinate system is defined by the entirety of all
axes defined on one channel. The zero points of the coordinates are
defined by the zero points of the position measuring systems of the
axes. The machine position where all axes are in their zero position, is
also referred to as machine zero point.
Zero-point designation and symbol: machine zero point M

and Controls
The R reference point represents the position within the machine coor-
dinate system which results when all the axes are in their reference
position.
The reference points of the individual axes (with cyclic absolute mea-
suring systems) are defined axis by axis and refer to the respective axis
zero position. In most cases, they are located in the marginal area of the
axes and can be approached automatically.
Reference points are required to establish the dimensional reference

between an axis equipped with an incremental measuring system and
the respective axis zero position. After power-up or power failure, axes
of this type first require an approaching the reference point operation.
Designation and symbol: R reference point
. Axes with absolute measuring systems require no reference point

because the measuring system supplies the axis positions di-
rectly after power-up.
5.3.2 ACS axis coordinate system
The ACS(1..4) axis coordinate systems are offset against the MCS by
the value of the axis zero point shifts.
Since the ACS axis coordinate system is dependent on machine kine-
matics and machine type, it is not used for programming, as a rule.
5.3.3 BCS basis workpiece coordinate system

A BCS basis workpiece coordinate system is defined for each chan-
nel, which is mainly Cartesian and thus independent of the machine ki-
nematics. The basis workpiece coordinate systems may be defined
identically for various axis groups (channels).
Zero-point designation and symbol: W workpiece zero point
The zero point of the basis workpiece coordinate system is the first W(0)
workpiece zero point in a series of n possible W(n) workpiece zero points
, which may be created through zero point shifts (for details, please refer
to Section 5.6 ff.)
and Controls
A relationship between the basis workpiece coordinate system and the

related ACS axis coordinate system is created by the axis transforma-
tion which is also referred to as reverse transformation. In this axis
transformation, the axis zero position of the involved machine axes is
defined within the basis workpiece coordinate system via MACODA, in
order to obtain the W(0) workpiece zero point.
If no axis transformation exists because the machine axes run parallel

to the Cartesian coordinates, the W(0) workpiece zero point of the BCS
corresponds to the zero point of the ACS(1...4) axis coordinate system
with the highest index or the MCS machine coordinate system, if there is
no axis zero shift.
In addition to the BCS basis workpiece coordinate system, there are

other WCS workpiece coordinate systems which may be freely offset
and rotated in relation to the BCS.
Several different W(i) (i=1...n) workpiece coordinate systems may be re-
lated to each other and/or act additively.
Whereas, for instance, a workpiece coordinate system describes a lo-
cal W(1) coordinate zero point as a function of the absolute W(0) work-
piece zero point , another workpiece coordinate system represents the
relationship between 2 local workpiece zero points (e.g. W(1), W(2)).
and Controls
Example of the relationship between the basis workpiece coordinate

system and the related machine coordinate system:
Hexapod 3 axis milling machine
+Z
+X
+Y
e.g. robot arm with +Z

+ZM +YM machining tool +Y +X
BCS
MCS
+XM
Machine coordinate system
A1 A2
A6
A5 A3
A4
Machining head
Principle of a Cartesian machine tool

and Controls
5.3.4 PCS program coordinate system

The nth workpiece coordinate system with the highest index (W(i), with
i=n) in the active program is referred to as PCS program coordinate
system.
Zero-point designation and symbol: P program zero point
The program coordinate system is the point which all programmed

coordinate values of the program refer to. According to the definition of
the workpiece coordinate systems, the program coordinate system may
be freely offset and rotated in relation to any W(i) workpiece zero point .
W(i), i=n
+ZM +ZW +YW
+YM +ZP +YP
P
M W(i), i<n
+XM
+XP
+XW
Relationship between the machine, workpiece and program coordinate

systems
5.3.5 TCS tool coordinate system

The TCS tool coordinate system is an exception because its position
and orientation is only calculated by the control unit implicitly with the
aid of the tool compensation and the spatial tool position. This applies in
particular to the 5 axis and 6 axis transformation. However, compensa-
tions of the TCS position can be carried out using special functions. For
detailed information, please refer to Section 8.1.3 (Tool coordinate sys-
tem with active axis transformation) as well as to Tool compensations on
page 587 and 599.
and Controls
NC functions for defining coordinate systems
5.4 NC functions for defining coordinate systems

An overview of the different coordinate systems and the functions for
defining the coordinate systems are shown below:
Pro-
Transformations Zero
Coordinate systems Shifts gram-
points
ming
Program WCS(6)
coordinate system additive program coor-
PCS = WCS(n) G268
additive dinate shift Program
+ zero point P
WCS(5)
G168 program coordinate
coordinate additive
shift
transformation +
WCS(4) 1st and 2nd additive Coordinates

WCS(3) inclined plane (in planning)
WCS(2)
G354
G355
G356
G357
G358
G359
Inclined plane
additive
+ alternatively
WCS(1)
G138 Workpiece position com-
additive
pensation
Basis workpiece +
coordinate system
BCS = WCS(0) WCS(0)
Coord(i) ith axis transformation Workpiece
Axis additive
transformation + zero point W
ACS(4)
G160
G260
G360
external, 1st and

2nd ext. axis zero shift
additive
+ alternatively
ACS(3)
G254
G255
G256
G257
G258
G259
2nd additive axis zero shift

Axes
additive
+ alternatively
Axis
zero point ACS(2)
shift
G154
G155
G156
G157
G158
G159
1st additive axis zero shift

additive
+
alternatively
ACS(1)
G54
G55
G56
G67
G58
G59
axis zero shift

additive
+ alternatively
Machine Machine
coordinate system zero point M
MCS = ACS(0)
Reference point R
and Controls
The coordinate system at the top of the figure above is the PCS.
D Without program coordinate shift, inclined plane and workpiece
position compensation, PCS = WCS(0) = BCS.
D Without axis transformation in addition, PCS = WCS(0) = BCS =
ACS(n) = ACS.
D Without axis zero shifts in addition, all coordinate systems are iden-
tical. Then PCS = MCS.
5.4.1 Shifting the machine zero point (axis zero shift)

The machine zero point M is shifted through the following axis zero
shifts.
D G53, G54 .. G59 Axis zero shift
D G153, G154 .. G159 1st additive axis zero shift
D G253, G254 .. G259 2nd additive axis zero shift
D G160, G260, G360,G167 External axis zero shift
5.4.2 Axis transformation: ACS <> BCS

Activating the axis transformation by the command:
D Coord(i)
The number i (i=1,..,5) refers to one of the five axis transformation

blocks in the MACODA (see MACODA Manual).
The programming of Coord initiates the following actions:

1. The axis transformation with number i is activated if the configuration
in MACODA has no incorrect entries.
2. If the activated axis transformation supports the vector or tensor ori-
entation, the corresponding orientation NC function is activated.
3. The programming of coordinate names is activated. Depending on
the type of axis transformation, a certain subset of the maximum of
six coordinates (e.g. x,y,z,phi,theta,psi) is programmable.
4. Axis positions are converted to coordinate values (the workpiece
coordinate display jumps from axis positions to coordinate values).
Deselecting the axis transformation by the command:

D Coord(0).
The programming of Coord(0) initiates the following actions:

1. Active axis transformation is deactivated.
2. If an orientation NC function is active, it is deactivated.
3. The programming of coordinate names is deactivated. The axis
names can then be used again without restrictions.
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4. Coordinate values are converted to axis positions (the workpiece

coordinate display jumps from coordinate values to axis positions).
Changing directly from one axis transformation to another without
previous deactivation is also possible.
. The kinematic structures of machines may be very different.

Therefore it is possible to realize other, customer-specific trans-
formations in addition to the standard transformations for 5 axis
and 6 axis machine tools that are stored in the control unit.
5.4.3 Shifting the workpiece zero point
Basis workpiece coordinates

Absolute positional data normally refers to machine coordinates and
thus to the M machine zero point . For practical purposes, all dimen-
sions and paths to be traveled as stated in the part program refer to the
W workpiece zero point or the P program zero point.
This way you unlink your part programs from the machine-specific ma-
chine coordinates/machine zero point. Owing to the programmed shifts,
you can execute every program at any point within the machine working
range without having to adapt any dimensional data in the program.
All shifts and rotations have an additive effect to the basis workpiece
coordinate system. Both positive and negative shift or rotation values
are permitted. As long as no working range coordinates are active, the
names of the logical axes of the channel are synonyms for the designa-
tion of the workpiece and program coordinate system.
. If no shifts have been programmed, all part program values are in-
terpreted as being machine coordinates!
Workpiece coordinates
D The position of a workpiece can be corrected by spatially shifting the
W workpiece zero point in X, Y and Z direction including a rotation of
the workpiece coordinate system in the X/Y plane with the following
instructions:
D G138, G139 Workpiece position compensation
D The W workpiece zero point can be shifted spatially and the work-
piece coordinate system (WCS) rotated spatially by the following in-
structions:
D G353, G354..G359 Inclined plane
D G453, G454..G459 1st additive inclined plane (in planning)
D G553, G554..G559 2nd additive inclined plane (in planning).
and Controls
Program coordinates
The last coordinate system in the series of workpiece coordinate sys-
tems is also referred to as program coordinate system (PCS) (see also
Section 5.3.4).
D When shifting the P program zero point, you can shift the position of
the PCS program coordinate system in relation to the WCS(i) work-
piece coordinate system last active by using the following instruc-
tions:
D G169, G168 Program coordinate shift
D G269, G268 Additive program coordinate shift
Example: Effects of the individual functions
1: Axis zero shift (e.g. G54) M: machine zero point

2: Axis transformation Coord(i) W: workpiece zero point
3: WPC workpiece position compensation (G138, e.g. shift incl. rotation) P: program zero point
4: Inclined plane (e.g. G354)
5: Program coordinate shift G168
+ZP
6: Additive program coordinate shift G268 PCS
+ZW
+YP
P
WCS 5
+ZP
W +XP 6
+ZW +YW
4
+YP
+YW P
z
Z PCS
y +XP
WCS +XW +XW
Y 3 W
+ZM
2 x
X W BCS
+YM M ACS
1 Machine
M MCS +XM
. You should position the workpiece zero point in such a manner

that the dimensions of the production drawing can be easily trans-
lated into coordinates or, resp., imported.
and Controls
Activating shift values

Depending on the individual G-functions, the values of the various kinds
of shifts are activated in different ways:
D Axis zero shift tables:

Axis zero shift, 1st additive axis zero shift and 2nd additive
axis zero shift
The axis zero shift table is a machine zero point shift and consti-
tutes the offset between MCS and ACS, i.e. the individual coordi-
nates of the ACS axis coordinate systems are shifted by the axis zero
shift in relation to those of the MCS.
If no axis transformation is active, you use the axis zero shift tables
to store the distance between the M machine zero point and the
P program zero point or W workpiece zero point for each axis (for
determination of the distance, please see the following figure). If
the corresponding axis zero shift is then activated, the control unit
will automatically add the stored distance to each programmed ab-
solute axis position.
Axis zero shift tables in the form of ASCII files are available in the file
system. They are activated channel-specifically using G22.
. For details on how to edit these tables, please refer to the operat-
ing instructions.
D External axis zero shift

The shift values are set for each axis by the PLC. For further details
regarding programming, please refer to G160, G167, G260 and
G360.
D Workpiece position compensation (WPC)

The shift values for individual logical axes and the rotation of the X/Y
plane are programmed directly in the path command of the G138
G instruction. Recording of the shift value e.g. via edge sensor. For
further details, please refer to G138.
D Inclined plane:
The shift values for individual logical axes and the unrestricted
three-dimensional rotation are stored in an ASCII file with a freely de-
finable name, which is addressed using the ID syntax. The values
are activated by G22. Data for spatial alignment e.g. via program-
ming systems. For further details, please refer to G352-G359.
and Controls
D Shifting the program zero point:

The shift values for individual logical axes (on the X/Y, X/Z, Y/Z
planes) are programmed directly in the path command of G168 G
instruction and/or G268. For further details, please refer to G168
and G268.
Programming and activating axis zero shifts is described under the

G53-G59, G138, G153-G159, G160, G253-G259 G instructions. Axis
zero shifts can also be activated using the Inclined plane functions
G352-G359 (and, in future, also using G452-G459, G552-G559).
Example: Axis zero shift recording
Recording of the shift in x, y and z direction
Edge sensor
Dial gauge
Edge sensor
Workpiece
Shift Z Shift Y
M M
Machine table
Shift X
Saving the shift for the axes X, Y and Z as axis zero shift
W
W
Axis zero shift (z) Axis zero shift (x,y)
M M
First, the required zero shift values are determined when setting up the
machine (see next figure). The shift values are independent of the tool
lengths:
D in the X and Y direction using edge or centering sensors
D in the Z direction using a stop gauge, dial gauge with tripod, a scrib-
ing block or a barrel gauge.
Subsequently, you enter the values so determined in the axis zero shift
table selected.
and Controls
5.4.4 Functions for manipulating the programmed contour

Within the programming system, the control unit is able to manipulate a
programmed contour as follows:
D shift (G60 programmed contour shift) and/or
D mirror, scale and rotate the contour around an axis parallel to the
coordinates of the program coordinate system (G37, G38).
. Please note: using the G37, G38 and G60 instructions, you cannot
influence the program coordinate system itself, but only change
the position, orientation and scaling of the programmed contour in
relation to the program coordinate system.
In contrast to the other zero shifts, a G60 shift will also be in-
fluenced (e.g. scaled: see fig. below) by G37 and G38. For further
details, please refer to the corresponding functions.
Y
Contour manipulation with scaling and shifting: G60+G38
Z
Contour scaled
with G38 and
shifted with Contour shifted
G60 with G60:
G60 shift
G60+ G38:
Shift value is also scaled
X
P Contour
Contour manipulation with scaling and shifting: Axis zero shift+G38

Y
Program zero
point shifted with
axis zero shift and Z
contour scaled
with G38. Program zero point
shifted with axis
Pnew zero shift
Axis zero shift
Axis zero shift+G38:

Shift value is not scaled
X
Pold Contour
and Controls
Eulerian angle
5.5 Eulerian angle

Orientations for coordinate systems and tools may be specified with
the aid of Eulerian angles.
Thus the main axes of a tool, laser, gripping device and similar are
aligned in a specified direction in space. In this context, it makes no dif-
ference whether the orientation of the tool axis runs parallel with one of
the main directions of the machine axes or not.
Up to three independent orientation coordinates, the so-called Eulerian

angles (phi), (theta) und (psi) can be used to describe an orienta-
tion in space. They refer to the PCS program coordinate system.
If only 2 angles ( (phi), (theta)) are specified (e.g. 5 axis transforma-

tion), these angles are also referred to as polar coordinates.
The Eulerian angles are required for the following NC functions:

D Inclined plane
This function can be used to freely orient the WCS workpiece coordi-
nate system in space with regard to the BCS basis workpiece coordi-
nate system with the aid of the 3 Eulerian angles (for details, see
page 542 ff.).
D 6 axis transformation
The TCS tool coordinate system permanently coupled with a non-
rotation symmetrical tool is freely oriented in space with regard to the
PCS program coordinate system with the aid of the 3 Eulerian angles
(see 6 axis transformation, page 590 and tensor orientation, page
559).
D 5 axis transformation The orientation vector permanently coupled
with a rotation symmetrical tool is freely oriented in space with regard
to the PCS program coordinate system with the aid of the (phi),
(theta) polar coordinate angles (see 5 axis transformation, page
580 and vector orientation, page 556).
The following definition intervals are applicable to Eulerian angles ,

and :
(phi): 0360
(theta): 0 180
(psi): 0360
The effect of the restricted definition areas is that for any orientation of a
target coordinate system there is a unique value tupel for the Eulerian
angles relative to the initial coordinate system.
. The Eulerian angles are interpreted in different ways by program-

ming systems. For instance, the Eulerian angles may refer to other
axes around which a rotation is taking place.
Therefore make sure that the programming system used supports
Eulerian angles in accordance with the PNC programming instruc-
tions!
and Controls
Eulerian angle
Options for Eulerian angle orientation

using the angles phi, theta and psi
There are 3 options for the orientation of the tool coordinate system
(TCS) using Eulerian angles, where the result of the orientation is al-
ways the same. Each of these options provides for the initial coordinate
system to be transferred to the target coordinate system by 3 consecu-
tive basis rotations.
Option 1 Rotation around each new coordinate

1. Rotation around the Z coordinate of the initial coordinate system with
angle j (phi).
This results in the 1st intermediate coordinate system.
2. Rotation around the Y coordinate of the 1st intermediate coordinate
system with angle (theta).
This determines the 2nd intermediate coordinate system.
3. Rotation around the new Z coordinate of the 2nd intermediate coordi-
nate system with angle y (psi).
Thus the target coordinate system is reached.
Example:
Gripping tool orientation (in case of a 6 axis transformation). For better
clarity, the tool coordinate system is shifted to the North pole of the pro-
gram coordinate system.
and Controls
Eulerian angle
zt zt TCS coordinate system

after the 1st rotation
z z
Gripping tool 1st rotation
around z with
x
xt
yt
TCP
TCS
TCS
yt
xt
y
Orientation of the gripping tool Orientation of the gripping tool

before the 1st Eulerian rotation x PCS after the 1st Eulerian rotation
z y
2nd rotation around
new y with
z
zt TCS coordinate system
after the 3rd rotation
TCS coordinate
zt
system after
the 2nd rotation y
yt
3rd rotation around
new z with
yt
y
TCS
TCS
x
xt xt

after the 2nd Eulerian rotation after the 3rd Eulerian rotation
In this option, the X-Y main plane is already defined by the first two basis
rotations. The 3rd basis rotation merely serves to define the XY coordi-
nates within the target coordinate system.
Determining the Eulerian angles for the target coordinate system

For a specified target coordinate system, the 3 Eulerian angles with re-
gard to an initial coordinate system are determined in a simple manner:
1. Rotating the target coordinate system in negative sense of rotation
around its Z axis until its Y axis is aligned parallel to the XY plane of
the initial coordinate system. The value of the angle of rotation is the
Eulerian angle y (psi).
and Controls
Eulerian angle
2. Subsequently, rotating in negative sense of rotation around the new

Y axis until the X axis is aligned parallel with the XY plane of the
initial coordinate system or the Z axis is parallel to the Z axis of the
initial coordinate system. The value of the angle of rotation is the Eul-
erian angle (theta).
3. Finally, rotating in negative sense of rotation around the Z axis, until
both coordinate systems are in parallel with each other. The value of
the angle of rotation is the Eulerian angle j (phi).
ZZw1
ZZw1=ZA
ZZ=ZZw2 ZZw2
Main plane of the

Main plane of the
specified target coor-
initial coordinate sys-
dinate system
tem:
YZ
YZw1
YZw2
YZw2=YZw1
YA

XZw1 XA
XZw2 XZw1
XZ XZw2
Basis rotation around psi Basis rotation around theta Basis rotation around phi
Main plane before a basis rotation

Main plane after a basis rotation
Zwx = xth intermediate coordinate system
and Controls
Eulerian angle
Option 2 Rotation around coordinates fixed in space

1. Rotation around the Z coordinate of the initial coordinate system with
angle y (psi).
2. Rotation around the old Y coordinate of the initial coordinate system
with angle (theta).
3. Rotation around the old Z coordinate of the initial coordinate system
with angle j (phi).
In this option, the Eulerian angles can be read immediately:

(theta): degree of latitude of zt seen from the North pole
(phi): degree of longitude of zt
(psi): deviation of xt from the southern direction
Example: Gripping tool orientation (in case of a 6 axis transformation).

For better clarity, the tool coordinate system is shifted to the North pole
of the program coordinate system.
zt zt
TCS coordinate system

z
z after the 1st rotation
Gripping tool 1st rotation around z with
zt
xt
x
TCP
TCS
xt
TCS
yt
y
yt
z
Orientation of the gripping tool

Orientation of the gripping tool after the 1st Eulerian rotation
before the 1st Eulerian rotation
x PCS
z
TCS coordinate system y zt
zt after the 2nd rotation
z
x yt
x
2nd rotation around after the 3rd rotation
old y with
yt
TCS
TCS y
y
xt
xt

after the 3rd Eulerian rotation
after the 2nd Eulerian rotation 3rd rotation around old z with
and Controls
Eulerian angle
Option 3 Rotation around each new coordinate fixed in space

1. Rotation around the Y coordinate of the initial coordinate system with
angle (theta).
2. Rotation around the old Z coordinate (fixed in space) of the initial
coordinate system with angle j (phi).
This determines the 1st intermediate coordinate system.
3. Rotation around the new Z coordinate of the TCS coordinate system
after the 2nd rotation with angle y (psi).
In this option, the Eulerian angles can be read immediately:

(theta): degree of latitude of zt seen from the North pole
(phi): degree of longitude of zt
(psi): deviation of xt from the southern direction
Example: Gripping tool orientation (in case of a 6 axis transformation).

For better clarity, the tool coordinate system is shifted to the North pole
of the program coordinate system.
zt
z TCS coordinate
system after the
Gripping tool zt 1st rotation z
xt
TCP
x
TCS
yt
xt 1st rotation
yt
y around y with
z
Orientation of the gripping tool after the 1st Eulerian rotation
before the 1st Eulerian rotation z

x PCS
z TCS coordinate system
after the 2nd rotation
after the 3rd rotation
zt
y
yt
zt
x 3rd rotation around
new z with
yt y
TCS TCS
y
xt
xt
x

after the 2nd Eulerian rotation after the 3rd Eulerian rotation
2nd rotation around old z with
and Controls
Shifts
5.6 Shifts
Program-controlled shifts are used to shift an existing reference coordi-
nate system to another location, which results in a new reference coor-
dinate system. In the process, the old zero point is offset by the shift
value within the control unit. The workpiece-related display of the con-
trol unit now shows the momentary position in relation to the new zero
point.
Although the displayed axis position has changed, none of axes has
been physically moved up to this point. From the point of view of the
control unit, the axes are only located in a different position in relation
to the new workpiece zero point.
Shift values may be provided via:
D an axis zero shift table (axis ZS table)
D a PLC as external axis shift values
D special shift functions and, if applicable, axis by axis programming of
required data.
. Some coordinate transformations additionally allow for a rotation

of the coordinate system.
Depending on the group assignment, shifts may have different effects:

D shifts from different groups are added
D shifts within one group overwrite each other.
Which of the cases is applicable depends on which groups the individ-

ual G functions, used to activate a shift/rotation, are assigned to.
For information on groups, see DIN Programming Manual, overview of
the G instructions.
The relationship between shift, group assignment and how the shift val-
ues are made available is shown in the table below:
and Controls
Shifts
Shift G function for activation Made avail-

and group assignment able by
Axis zero shifts:
D axis zero shift G54...G59 (group 17) Axis ZS table
D 1st additive axis zero G154...G159 (group 18) Axis ZS table
shift
D 2nd additive axis zero G254...G259 (group 19) Axis ZS table
shift
D external axis zero shift G160, G260, G360 (group 24) PLC
Workpiece position com- G138 (group 23) G138
pensation
Program coordinate shifts:
D PCS G168 (group 46) G168
D additive PCS G268 (group 47) G268
Inclined plane:
D Inclined plane G352..G359 (group 26) ID table
D 1st additive inclined G452..G459 (group 26) in planning
plane
D 2nd additive inclined G552..G559 (group 26) in planning
plane
For details on the structure of axis zero shift tables, see page 534 ff.
For details on the structure of inclined plane tables, see page 545 ff.
Special cases
D Zerosetting of modulo axis (linear endless axis) G105
G105 determines the programming zero point. Using this point the
control unit calculates the distance from the zero point of the com-
mand-value system. The resulting offset is internally added to all
subsequent values.
Using the G105 Modulo axis zerosetting function, the point of refer-
ence (programming zero point) of a linear endless axis can be deter-
mined (see page 45 ff.). As soon as the modulo value is reached,
the actual value of the linear endless axis is automatically set to zero.
This modulo calculation prevents an overflow of the axis values and
enables the axis to travel at endless.
D Setting actual value G92

G92 re-determines the actual value.
Programming G92 without axis information: the current actual value

of all axes is set to the machine coordinates without taking into ac-
count compensations and zero shifts.
Programming G92 with axis information: the current actual value of

an axis is set to the programmed value.
and Controls
Shifts
5.6.1 Axis zero shifts (Gx53-Gx59)

Function:
Using the axis zero shifts (axis ZS, 1st additive axis ZS, 2nd additive axis
ZS), the machine zero point is shifted to a new position in relation to the
axis. The reference system is the machine coordinate system (MCS).
If no other shift from the coordinate transformations and no other axis
transformation is active when the external axis ZS is called up, the
shifted zero point can also be considered as workpiece zero point.
The shift values of each individual axis are stored in axis zero shift
tables.
Each axis zero shift table contains 3 groups with 6 axis zero shifts per
axis (G54..G59; G154..G159; G254..G259).
. For details on naming conventions, activation and structure of

axis zero shift tables, see page 534 ff.
To activate the shift, you first activate the desired axis ZS table using
G22. Subsequently, you select the shift values of the respective axes
using the G54..G259 axis ZS functions. The structure of the axis zero
shift tables has to be so that the shift values of all relevant axes are
available when an axis ZS function is called.
Example:
axis zero point shifts of table npvtab.npv active only!
and Controls
Shifts
Program Machine Machine zero point Workpiece Workpiece zero point

zero point in relation to workpiece zero point in relation to machine coordi-
coordinates nates
N10 G22 V npvtab.npv X=0 , Y=0 , Z=0
N20 G0 X0 Y0 Z100
N30 G54 X=5 , Y=5 , Z=10 X=0 , Y=0 , Z=0 X=5 , Y=5 , Z=10
N40 X0 Y0 Z0 G1 F500
N50 X5
N60 Y5
N70 X0
N80 Y0
N85 Z 100
N90 G154 X=35 , Y=40 , Z=12 X=0 , Y=0 , Z=0 X=35 , Y=40 , Z=12
N100 X0 Y0 Z0
N150 X5
Axis zero shift table npvtab.npv
N160 Y5
N170 X0 Axes
N180 Y0 Axis ZS X Y Z
Calling G54
... G54 5.00 5.00 10.00
G55 55.01 55.02 55.03
G56 56.01 56.02 56.03
G57 57.01 57.02 57.03
G58 58.01 58.02 58.03
Calling G154 G59 59.01 59.02 59.03
G154 30.00 35.00 2.00
G155 155.01 155.02 155.03
G156 156.01 156.02 156.03
G157 157.01 157.02 157.03
G158 158.01 158.02 158.03
G159 159.01 159.02 159.03
G254 254.01 254.02 254.03
G255 255.01 255.02 255.03
G256 256.01 256.02 256.03
G257 257.01 257.02 257.03
G258 258.01 258.02 258.03
G259 259.01 259.02 259.03
Activating an axis zero shift does not necessarily mean that shift values
are applied to all existing axes; therefore, the following special case
may occur when additive axis zero shifts are used:
Axis zero shift: G54 1st axis zero shift: G154

Workpiece zero point at: X=10 Y=10 Z=10 X=10 Y=10
no shift value
has been
stored for Z
additive
+
Z =10 continues to
be active from G54!
new workpiece zero point after
programming G154 at: X=20 Y=20 Z=10
and Controls
Shifts
Restrictions:
D The axis zero shifts of a group have a modal effect and deselect each
other mutually within their own group. This applies to:
G54...G59 Axis zero shift
G154...G159 1st additive axis zero shift
G254...G259 2nd additive axis zero shift
G160, G260 G360 External axis zero shift
D Active axis zero shifts from different groups have an additive effect.
D Other shift types have an additive effect on axis zero shifts. This in-
cludes the following functions:
G138 Workpiece position compensation
G168 and G268 Program coordinate shift
G352...G359 Inclined plane
( G60 Programmed contour shift)
D If G138 is programmed following an active axis ZS, the coordinate
system shifted by the axis ZS is offset by the programmed shift value
of G138 and subsequently rotated as specified.
D Shift values for the axis ZS and the 1st/2nd additive axis ZS are pro-
vided in the axis ZS tables. An axis ZS table contains additional infor-
mation on
D axis names and assignment to table columns
D channel assignment
D unit of the stored shift values (see also MP 9020 00010)
. Older axis ZS tables (prior to SW version 4.3.x) do not include this

information, so that their operability has to be checked.
D Axis ZS values are not influenced by the functions rotating, mirroring,

scaling (G38).
D To approach a fixed machine axis position (G76; absolute position, in
relation to the machine coordinate system), the control unit will not
take into account the active axis zero shifts (G54..G259).
G22 V <Path/table name>:
activating axis zero shift table via NC block.
G54...G59: activating an internal axis zero shift.
G154...G159: activating an internal 1st additive axis zero shift.
G254...G259: activating an internal 2nd additive axis zero shift.
G53: all active internal axis zero shifts off.
G153: 1st additive axis zero shift off.
G253: 2nd additive axis zero shift off.
9020 00010: Specifies the unit (mm or inch) used to internally store
the table values.
and Controls
Shifts

FXCR(..) Creating new axis ZS table.
FXINS(..) Inserting column in axis ZS table.
FXDEL(..) Deleting column in axis ZS table.
FXC(..): Access to axis zero shift values.
MCODS(14) Name of the active axis ZS table (Motion Control data
services of the NCS via CPL).
MCODS(15) Active axis ZS values (Motion Control data services of
the NCS via CPL).
CPOS(...) Last programmed absolute position of a synchronous
axis (machining axis) in relation to the program zero
point active at the time of block preparation.
WPOS(...) Interpolated workpiece setpoint position (in relation to
the current workpiece zero point) of an axis that is cur-
rent at the time of CPL block preparation (in which
WPOS is programmed).
MPOS(...) Interpolated machine setpoint position (in relation to the
current machine zero point) of an axis that is current at
the time of CPL block preparation (in which MPOS is pro-
grammed).
PPOS(...) If touch-trigger switching probes have been connected,
the function will transmit the current axis actual position
to a synchronous axis (machining axis) in the switching
point of the probe without taking into account all active
axis zero shifts.
and Controls
Shifts
5.6.2 Structure of axis zero shift tables

If you use the axis zero shifts (axis ZS, 1st additive axis ZS, 2nd additive
axis ZS; see page 528 ff.), the shift values will be provided in an axis
zero shift table (axis ZS table).
It is possible to store 18 shifts per applied axis in one axis ZS table.

The control unit saves these tables as ASCII files with an accurately de-
fined structure.
The table editor is available (see PNC operating instructions) for com-
fortable editing of these tables at the control unit.
The table editor starts automatically when an axis ZS table has been
selected in the operating area MANAGE and you press the EDIT soft-
key (for information on the required preconditions, please refer to MP
3080 00200).
If the control unit loads the selected table into the NC editor (ASCII edi-
tor), the required preconditions have not been fulfilled. In these cases,
we recommend that you close the editor without changing the table and
edit the table manually via MANAGE " TABLES and subsequent
path/file selection via the table editor.
. Program block -B24FLTAB (access to geometry compensation or

axis zero shift tables) is no longer supported from software ver-
sion 5.1.18 on!
Table name
The table name is composed of a freely selected file name and a file
name extension (e.g. npvtab.npv).
The file name extension can be changed, for details, see MP
3080 00200 on page 537.
Structure
An axis ZS table is structured as follows:
D 2 headlines containing an internal system coding of necessary axis
information as well as the relevant logical or physical axis names.
D 18 lines for shift values.
Each line starts with the G function designation and, after the semi-
colon, the corresponding shift values of the axes involved (see ex-
ample on the next page).
Both positive and negative shift values are permitted.
and Controls
Shifts
Example: axis zero shifts G54 .. G259 for 5 axes
[5005 0 0 0 24]
X Y Z A B
G54 : 54.01 54.02 54.03 54.04 54.05
G55 : 55.01 55.02 55.03 55.04 55.05
G56 : 56.01 56.02 56.03 56.04 56.05
G57 : 57.01 57.02 57.03 57.04 57.05
G58 : 58.01 58.02 58.03 58.04 58.05
G59 : 59.01 59.02 59.03 59.04 59.05
G154 : 154.01 154.02 154.03 154.04 154.05
G155 : 155.01 155.02 155.03 155.04 155.05
G156 : 156.01 156.02 156.03 156.04 156.05
G157 : 157.01 157.02 157.03 157.04 157.05
G158 : 158.01 158.02 158.03 158.04 158.05
G159 : 159.01 159.02 159.03 159.04 159.05
G254 : 254.01 254.02 254.03 254.04 254.05
G255 : 255.01 255.02 255.03 255.04 255.05
G256 : 256.01 256.02 256.03 256.04 256.05
G257 : 257.01 257.02 257.03 257.04 257.05
G258 : 258.01 258.02 258.03 258.04 258.05
G259 : 259.01 259.02 259.03 259.04 259.05
. If no shift is required for an axis, all lines in the corresponding col-

umns have to contain the value zero (e.g. 0.000) nevertheless.
The specified format of the table has to be maintained. Blanks may
be used between the columns for this purpose.
Otherwise, an error message will be output.
Structure at axis transfer

The structure of a newly created table can take into account:
D the channel configuration or
D all system axes or
D a random table as template.
Criteria for creating a table:

D In case of channel configuration the table contains the preset axis
assignment of a channel
and Controls
Shifts
D In case of all system axes the table contains columns for all pos-
sible axes in the system with physical axis names. Only the col-
umns of the synchronous axes of the channel are used for the
interpretation of the table.
The table columns of non-configured axes or axes for which no col-
umn exists, are ignored. Entering an additional identification in the
table may result in a runtime error instead.
D When an existing table is taken over, the axis names and unit of
measure system of this table are adopted.
Example:
In the figure below, the logical axes X, Y, YA and YB are active on the
channel.
Having activated table Tab1 in block N210, the 1st column is assigned to
axis X, the 2nd column to axis Y and the 4th column to axis YA.
No zero shift is active for axis YB. Column 3 of rotary axis B is not used.
N100 X0 Y0 YA0 YB0

Tab1 X Y B_ YA
N210 G22 V Tab1
G54 54.01 54.02 54.04 54.05 N220 ...
G55 55.01 55.02 55.04 55.05
...
The following functions can be used to change a table via table editor,
should this be required due to a modified axis assignment:
D Delete columns
D Insert columns:
An axis name must be specified when a column is inserted. In case of
a logical axis name, it is possible to choose between rotary axis (de-
grees) and linear axis (Inch/metric). In case of physical axis name,
the unit of measure system has been established.
When the table is evaluated, the logical axis names have priority
over the physical axis names. If the logical name is not available, the
column with the physical name will be used.
D Change columns:
The axis names of the columns may be changed. A logical axis name
can turn into a physical axis name and vice versa. The unit of mea-
sure system can be specified additionally in case of logical axis
names.
Columns can be exchanged in the table editor. This has no effect on
the interpretation of the table.
D Compulsory strict assignment:
If this option has been set for the table, the axis group in the respec-
tive program section has to coincide exactly with the axis group in the
table, otherwise there will be a runtime error.
and Controls
Shifts
G22 V <Path/table name>:
activating axis zero shift table via NC block.

3080 00200: Determines in individual parameter 1 which file name ex-
tension the control unit uses as identification criterion for
axis zero shift tables (standard: npv).
Selected files with this file name extension are automati-
cally opened with the table editor (and not with the ASCII
editor) for editing.
Please note that the entry is case sensitive:
NPVTAB.NPV and npvtab.npv designate different
files for the control unit!
3080 00001: Search path.
9020 00010: Specifies in which unit of measure the table values are
stored internally and how the control unit is supposed to
interpret the axis zero shift values transmitted by the
PLC (in case of external axis zero shifts).
. Changes in MP 902000010 also influence geometry compensation

tables, tables for the inclined plane and the interpretation of ge-
ometry compensation values transmitted by the PLC!

FXC(..) Read and write access to axis zero shift values of axis ZS
tables and to the external axis zero shift values stored in-
ternally in the CNC.
FXCR(..) Creating new axis ZS table.
FXINS(..) Inserting new columns in axis ZS table.
FXDEL(..) Deleting columns from an axis ZS table.
and Controls
Shifts
5.6.3 Activating axis ZS table

To activate an axis ZS table via an NC block, use G22 with address V:
Syntax:
G22 V <Path><Table name>
. If <Path> has not been specified, the PNC uses the search path
(MP 3080 00001) to search for the <Table name>.
Examples:
Activating the axis zero shift table npvtab.npv in the directory /data-
base of the control unit:
G22 V npvtab.npv
Activating the axis zero shift table npvtab1.npv in the root directory of
the control unit:
G22 V /npvtab1.npv
Activating the axis zero shift table npvtab2.npv in the directory /mnt
(mounted directory on an NC operating panel):
G22 V /mnt/npvtab2.npv
To activate the shift values, proceed as follows:

1. First activate the desired axis ZS table as described above.
2. Activate the desired axis zero shift using the respective G function
(G54..G259).
To switch off active axis zero shifts, program G53, G153 or G253, re-
spectively.
and Controls
Shifts
5.6.4 External axis zero shift (G160, G260, G360)

Function:
Using the external axis zero shifts (G160 = 1st external axis ZS, G260
= 2nd external axis ZS, G360 = 3rd external axis ZS), the machine zero
point is shifted to a new position in relation to the axis. The reference
system is the machine coordinate system (MCS).
If no other shift from the coordinate transformations and no other axis
transformation is active when the external axis ZS is called up, the
shifted zero point can also be considered as workpiece zero point.
As opposed to the axis zero shift (see page 528 ff.), however, the shift
values are not provided via axis zero shift table but transferred automat-
ically from the PLC to the CNC (required program module
B23XTNPV).
One out of a maximum of 3 external axis zero shifts (G160, G260,
G360) can be executed per applied machining axis (=synchronous
axis).
Following the transfer of the relevant shift values, the desired axis zero
shift is activated via G160, G260 or G360.
Restrictions:
D The external zero shifts act modally and deselect each other mutu-
ally. This applies to:
G160, G260 G360 External axis zero shifts
D Active axis zero shifts from different groups have an additive effect.
D Other shifts have an additive effect on external axis zero shifts. This
includes the following functions:
G138 Workpiece position compensation
G168 and G268 Program coordinate shift
G352...G359 Inclined plane
D If G138 is programmed following an active axis ZS, the coordinate
system shifted by the axis ZS is offset by the programmed shift value
of G138 and subsequently rotated as specified.
D Shift values for the external axis ZS are provided by the PLC (re-
quired program module B23XTNPV). They are stored internally in
the control unit, only zeroset following a control unit start-up and can
be changed by the PLC as well as via CPL.
Control reset does not influence the internal shift values.
D If the PLC changes the currently active external shift values while ex-
ecuting a part program, this change will only become active in the
block under preparation as the next block.
Under certain circumstances this can mean that even more blocks
are due to execution without this change. In order to avoid this effect
you must program the WAIT CPL command directly after the block,
causing the PLC to hand over the new shift values. By doing so you
hold the block preparation of the PNC until all program blocks ahead
of WAIT have been executed.
Subsequently, in the program block following WAIT, the new values
will already be active.
and Controls
Shifts
D External zero shifts can be specified for logical axes or for system
axes.
Since the sequence of the logical axes can change in programs with
axis transfer, it is recommended to specify the zero shift for system
axes.
Otherwise, it must be ensured that the sequence in which logical
axes are entered in the PLC corresponds to the sequence on the
channel. The sequence on the channel can be determined at the bit
interface.
. In programs with axis transfer, it is recommended to specify the

zero shifts for system axes.

902000010: Defines in which unit of measure the shift values for the
external axis ZS are specified by the PLC.
G160: Activating 1st external axis zero shift.
G260: Activating 2nd external axis zero shift
G360: Activating 3rd external axis zero shift
G167: All external axis zero shifts off
NC-O19.4 through
NC-O19.5: External axis zero shift 20...21 (channel interface).
The signals show whether and which external axis zero
shift (G167, G160, G260 or G360) on the channel is ac-
tive.
FXC(..): Access to external axis zero shift values.
MCODS(52) Provides the active external axis ZS values (Motion Con-
trol data services of the NCS via CPL).
CPOS(...) Last programmed absolute position of a synchronous
axis (machining axis) in relation to the program zero
point active at the time of block preparation.
WPOS(...) Hands over the interpolated workpiece setpoint position
(in relation to the current workpiece zero point) of an
axis that is current at the time of CPL block preparation
(in which WPOS is programmed).
MPOS(...) Hands over the interpolated machine setpoint position
(in relation to the current machine zero point) of an axis
that is current at the time of CPL block preparation (in
which MPOS is programmed).
point of the probe without taking into account all active
axis zero shifts.
and Controls
Shifts
5.6.5 G138 workpiece position compensation

D Shifting and rotating the workpiece coordinate system
D Defining the workpiece zero point
D Acts additively on the active axis zero shift
D Inclined plane function acts additively.
Restrictions:
D Workpiece position compensation without axis transformation:
Using the workpiece position compensation, it is exclusively possible
to rotate the 1st and 2nd logical axis around the 3rd logical axis.
Workpiece position compensation with axis transformation: In
case of active 5 axis or 6 axis transformation, the workpiece position
compensation rotates the 1st and 2nd linear coordinate around the
3rd linear coordinate.
D The workpiece position compensation under G138 refers to the
workpiece coordinates.
D G138/G139 must never be programmed in combination with a tra-
versing motion.
5.6.6 G168 an G268 program coordinate shift

D Shifting the program coordinate system
D Defining the program zero point
D Acts additively on the active axis zero shift
D Acts additively to the Inclined plane function
Restrictions:
D G169 switches off G168 as well as a possibly active G268.
D G168 and G268 must never be programmed in combination with a
traversing motion.
5.6.7 G60 programmed contour shift

D Shifting a contour in the program coordinate system
D Active axis zero shifts have an additive effect.
D Acts additively to the program coordinate shift
D Acts additively to the Inclined plane function
. G60 is no coordinate system shift!
Restrictions:
D The shift values of G60 are influenced by G38 (rotating, mirroring,
scaling).
and Controls
Shifts
5.6.8 G352...G359 inclined plane

Function:
Using the Inclined plane function, the workpiece (WCS) or program
coordinate system (PCS), respectively, can be shifted and oriented
freely in space. The basis workpiece coordinate system serves as refer-
ence. This allows for shifting of the workpiece or program zero point, re-
spectively, in addition to rotating the WCS/PCS around several
coordinates.
As a result, circular movements are possible within freely defined
planes in space, and part programs for the machining of e.g. desk-type
workpieces are considerably simplified.
The final position of the inclined plane is achieved by:

D basis rotations (Eulerian angles phi, theta, psi), see Section 5.5
D shifts (distances DX, DY, DZ), see figure.
+ZW
Shift of the zero point of an in-

clined plane in relation to the
basis workpiece coordinate WCS
system
+YW
+ZM
+YM DZ
+XW
DY
BCS +XM Machine
DX
Positioning of the coordinate system around the dis- BCS= basis workpiece coordinate system
tance DX, DY, DZ and orientation around the angles WCS= workpiece coordinate system
phi, theta and psi in relation to the basis workpiece (or program coordinate system)
coordinate system
The required shift values and angles of rotation may either

D be stored in tables, or
D be programmed in the G352 block directly.
An inclined plane table can take up the data of max. 6 inclined planes
(see page 545 ff.).
To activate an inclined plane, you first select the relevant table via
G22. Subsequently, you select the desired inclined plane using the
G354..G359 functions.
and Controls
Shifts
Restrictions:
D Inclined plane without axis transformation:
The function has an effect on the first 3 logical axes of the channel.
The names are set in the MP 701000010.
Inclined plane with axis transformation: The names of the work-
ing range coordinates of the first 3 linear coordinates in the MA-
CODA parameter 7080 00010 (e.g. x,y,z) must be used for
programming.
D The Inclined plane functions G352 through G359 act modally and
deselect each other mutually.
D The Inclined plane functions G352 through G359 must not be pro-
grammed in combination with traversing motions.
D After control reset, the Power-up condition function becomes ac-
tive (see page 36). If the Inclined plane function is marked as not
active in the init string, it will be deselected with control reset.
D Values for the inclined plane are provided in tables. These contain
information on the unit of the stored shift values (see also
MP 902000010).
Relevant G functions (all workpiece coordinate systems):
G138: Workpiece position compensation on
G139: Workpiece position compensation off
G168: Program coordinate shift on
G169: All program coordinate shifts off
G268: Additive program coordinate shift on
G269: Additive program coordinate shift off
G60: Programmed contour shift on
G67: Programmed contour shift off
G22 IP<Path/table name>:
Activating inclined plane table via NC block.
G352: Programming and switching on inclined plane with all
required parameters in the G352 block. An inclined
plane table is not necessary in these cases.
G353: Canceling active inclined plane.
G354...G359: Activating one out of a max. of 6 inclined planes from an
inclined plane table.
Relevant MACODA parameters (all workpiece coordinate sys-
tems):
3080 00200: Determines which file name extensions the control unit
uses as identification criterion for axis zero shift and ge-
ometry compensation tables.
The file name extension possibly used in an inclined
plane table, must not be identical with the one entered
here.
3080 00001: Search path for the file.
7010 00010: Determines the logical axis designation for each chan-
nel (only necessary for G138 and G352..G359).
and Controls
Shifts
7010 00030: Classification for logical axes.

Defines the functional relevance of all axes on the chan-
nel.
7080 00010: Designations of the working range coordinates of the
first 3 linear coordinates for G138 and G352..G359 in
case of active axis transformation.
9020 00010: Specifies the unit (mm or inch) used to internally store
the table values.
. Changes in MP 9020 00010 also influence geometry compensa-

tion /axis zero shift tables and the interpretation of the compensa-
tion and shift values transmitted by the PLC!
Relevant CPL functions (all workpiece coordinate systems):

COF(..) Provides the contour shift G60 of an axis programmed
last to the current channel (here, channel on which the
program with the COF command is running).
DPC(..) Provides the parameters of the G138 workpiece position
compensation programmed last of an axis (shift values
and angles of rotation) for the current channel (here:
channel on which the program with the DPC command is
running).
point of the probe without taking into account the active
G138 workpiece position compensation (only shifting,
no rotating!).
SD(68), SD(168), SD(268) Reads system data of the control unit:
Totals and values of the G168, G268 program
coordinate shifts programmed last.
and Controls
Shifts
5.6.9 Structure of inclined plane tables

If you use the Inclined plane function in connection with G354...G359,
the shift values and angles of rotation have to be provided in a table.
The required data for 6 inclined planes can be specified per table.
fined structure.
. No special editor is available for these tables. Therefore, use a nor-

mal ASCII text editor or the NC editor.
Table name
name extension, if applicable.
. If you would like to use a file name extension, please make sure
that the extension does not collide with extensions already used
for other files (e.g. .npv, geo etc.; see also MP 3080 00200)!
File structure
Inclined plane tables are structured as follows:
D 6 lines for shift values and Eulerian angles.
All 6 lines have the same structure:

<G..><:><D1> <D2> <D3> <Phi> <Theta> <Psi>

<G..> G function to activate an inclined plane
(G354 through G359)
<:> Colon
<D1> to <D3> Shift values for the Nth coordinate (N=1..3), related to
the BCS basis workpiece coordinate system.
<Phi> Eulerian angle (see page 523).
Syntax: PHI, Phi, phi
<Theta> Eulerian angle (see page 523).
Syntax: THETA, Theta, theta, The, the
<Psi> Eulerian angle (see page 523).
Syntax: PSI, Psi, psi
Both positive and negative shift values and orientation angles may be
entered. The unit of measure applying to the shift values depends on
the unit as set in MP 9020 00010.
and Controls
Shifts
Structure of the ASCII file for inclined plane tables:

G354 : <D1> <D2> <D3> <Phi> <Theta> <Psi>
Shift Orientation
. The columns must be separated from each other by blanks or tabs.

If a shift value or orientation angle is not required, value 0.000 must
be entered.
Example:
Shift values and orientation angles for 2 inclined planes (G354 and
G355). Contents of the ASCII file:
G354 : 10.001 11.059 22.050 25.000 10.000 1.500

G355 : 100.345 0.000 30.444 25.000 10.000 0.000
G356 : 0.000 0.000 0.000 0.000 0.000 0.000
G357 : 0.000 0.000 0.000 0.000 0.000 0.000
G358 : 0.000 0.000 0.000 0.000 0.000 0.000
G359 : 0.000 0.000 0.000 0.000 0.000 0.000
5.6.10 Activating inclined plane tables

To activate an inclined plane table via an NC block, use G22 with ad-
dress IP:
Syntax:
G22 IP <Path><Table name>
. If <Path> has not been specified, the PNC uses the search path (MP
3080 00001) to search for the <Table name>.
Examples:
Activating the table schief.se in the directory /database of the control
unit:
G22 IP schief.se
Activating the table schief.se in the root directory of the control unit:
G22 IP /schief.se
and Controls
Shifts
To activate the shift values and orientation angles, proceed as follows:

1. First activate the desired table as described above.
2. Activate the desired inclined plane using the respective G function
(G354..G359).
To deactivate an active inclined plane, program G353.
5.6.11 Assigning shifts

1. Use MP 9020 00010 to specify in which unit of measure the values of
axis zero shift tables and inclined plane tables are stored within the
CNC and how the control unit is supposed to interpret the shift values
transmitted by the PLC (in case of external axis zero shifts).
. Changes in MP 9020 00010 also influence geometry compensa-

tion tables, tables for the inclined plane and the interpretation of
geometry compensation values transmitted by the PLC!
CAUTION
Applies additionally when workpiece position compensation is used:

1. If you intend to use G138 (workpiece position compensation), en-
sure the following:
D Workpiece position compensation without axis transformation:
The axis designations of the first 3 logical axes of the channel
must be set to X, Y and Z in MP 7010 00010.
D Workpiece position compensation with axis transformation:
The function acts on the first 3 logical axes of the channel set in
MP 7010 00010.
Applies additionally when axis zero shifts are used:

1. Create new axis zero shift table:
MANAGE " EDIT NEW FILE " ZERO SHIFT TABLE
. The file name extension of axis ZS tables are defined via MP

3080 00200 (individual parameter 1).
Presetting: *.npv
2. Enter name.
and Controls
Shifts
3. Define directory for the table:

via SWITCH DIRECTORY softkey
4. Press OK softkey.
5. Fill table with shift values for machining.
For information on how to call and process the axis ZS tables, please
refer to Operating instructions, standard operator interface.
Applies additionally when external axis zero shifts are used:

1. Adapt PLC program module B23XTNPV for the provision of the
shift values and integrate it into the PLC program.
Applies additionally when the inclined plane is used:

1. If you intend to use G352..G359, please make sure for inclined
plane with axis transformation that the first 3 coordinates in MP
7080 00010 are linear coordinates. Their designations have to be
defined (e.g. x,y,z).
CAUTION
2. If you have changed one of the configuration parameters mentioned

above, initiate a control RESET.
Applies additionally when inclined plane tables are used:

1. Create new inclined plane table:
MANAGE " EDIT NEW FILE " TEXT-FILE / NC PROGRAM
2. Fill table with the required data. The required table structure is de-
scribed in Section 5.6.9, page 545 ff.
3. Store finished table:
Select FILE " SAVE AS.
4. Enter name.
The control unit is case sensitive!
. If you have specified a file name extension, it must not collide with
the extension of GEO tables (presetting .geo) or axis ZS tables
(presetting .npv)! In case of doubt, check MP 3080 00200 or re-
frain from using file extension.

and Controls
Shifts
5.6.12 Activating shifts
Axis zero shift

Precondition:
D The tool must not be in contact with the workpiece.
D Axis zero shift table for the machining program exists and contains
the correct shift values.
D Any shifts still active must be taken into account when programming
an axis zero shift because these may have an additive effect or over-
write each other mutually.
1. Activate axis zero shift table (see page 534).

2. Call the desired axis zero shift (G54..G259) at the required point in
the program.
3. Execute the next machining phase with new zero point.
External axis zero shift

Precondition:
D PLC program module B23XTNPV has been adapted for the provi-
sion of the shift values and integrated into the PLC program.
an axis zero shift because these may have an additive effect or over-
write each other mutually.
1. Transfer relevant shift values to the control unit with the aid of the
PLC program module B23XTNPV.
You should then program WAIT in order to halt the block prepara-
tion. This is the only way top make sure that the current shift values
will be taken into account in all subsequent blocks.
2. Activate external axis zero shift via G160, G260 or G360, respec-
tively.
Other shifts
Precondition:
other shifts because these may have an additive effect or overwrite
each other mutually.
1. Program the desired shift function (G138, G168, G268,

G352..G359, G60) using the respective parameters.
and Controls
Shifts
Inclined plane
Precondition:
D Any other shifts still active (e.g. G138 workpiece position compensa-
tion) must be taken into account when activating an inclined plane
because these may have an additive effect.
1. If you want to use G354 through G359, activate the matching in-
clined plane table (see page 545).
2. Call the desired inclined plane at the required point in the program.
For this purpose, program
G354 ... G359 (inclined plane table required)
or
G352 with the respective parameters.
5.6.13 Deactivating shifts
Axis zero shift

Precondition:
1. Active axis zero shifts are completely deactivated using G53!

If only the 1st or 2nd additive axis zero shift is to be deactivated, you
have to program G153 or G253, respectively.
External axis zero shift

Precondition:
1. Program G167.
Other shifts
Precondition:
1. Deactivate the respective shift function using G139, G169, G269 or

G67.
Inclined plane
1. Deactivate any G60 (programmed contour shift) still active.
2. Deactivate any G168 or G268 (program coordinate shift) still active.
3. Program G353.
and Controls
Working range coordinate programming
5.7 Working range coordinate programming

Function:
Working range coordinate programming is used to:
D program the position of the tool tip (TCP)
D program the tool orientation
D superimpose the positioning of the tool tip with an orientation
movement of the tool.
The working range coordinate programming allows for:

D contour programming independent of the axis
D taking tool compensations into account automatically
D optimum path stability of the TCP movement with simultaneous ori-
entation movement
D the creation of a defined feedrate on the TCP path.
The precondition for working range coordinate programming is a pre-

viously activated axis transformation (see Section 5.8, page 577 ff.).
During the interpolation, the axis transformation determines the axis
setpoint values of all necessary physical axes at the machine from the
programmed working range coordinates.
Furthermore, the axis transformation considers the current tool dimen-
sions (tool lengths) and takes these into account in the direction of the
coordinates of the tool coordinate system (TCS: tool coordinate sys-
tem). As a consequence, compensations can be taken into account cor-
rectly, even with a continuously changing tool orientation.
An axis-specific axis transformation is activated for each machine, so
that the working range coordinates used in the NC program will be inter-
preted correctly.
Axes not taken into account in the axis transformation, are still program-
mable using their axis addresses in case of active axis transformation.
The program coordinates for axes of this type are also referred to as
pseudo coordinates.
Working range coordinate programming is determined by the following

properties:
D working range coordinates are composed of 3 position coordi-
nates and max. 3 orientation coordinates:
D position coordinates (TCP: tool center point, tool tip) are deter-
mined by three Cartesian coordinates x, y and z (see page 553)
D orientation coordinates (phi), (theta), (psi) determine the
tool orientation.
A distinction is made between:
D scalar orientation (see page 555)
D vector orientation (see page 556)
D tensor orientation (see page 559)
D The names of all six working range coordinates are defined for each
channel via MACODA parameter.
and Controls
D Working range coordinates refer to the current active workpiece

coordinate system (WCS).
D Working range coordinates do not have axis-type properties that can
be configured (e.g. maximum acceleration or positioning type).
D Working range coordinates can only be used in connection with an
axis transformation.
D The axis transformation determines which subset of the six coordi-
nates can be used.
D The position coordinates are programmed in Inches or mm, in accor-
dance with G70/G71.
D Orientation coordinates are always programmed in degrees.
Their values are restricted to the intervals

(phi): 0360,
(theta): 0 180,
(psi): 0360
D An orientation movement of the tool can be programmed indepen-
dent of the path movement.
Feedrate for working range coordinate programming:

D The programmed feedrate refers exclusively to the programmed (lin-
ear) position coordinates. Orientation and further pseudo coordi-
nates are carried along synchronously.
D If no position coordinates but orientation coordinates have been pro-
grammed, the programmed feedrate is transferred to the orientation
coordinates. The programmed pseudo coordinates may be guided
along synchronously, if applicable.
The alternative in case of active G94 is Omega programming.
D If no working range coordinates have been programmed, but exclu-
sively pseudo-coordinates, the behavior with regard to the feedrate
will be as if there is no active working range coordinate programming.
and Controls
5.7.1 Position of the tool tip (TCP)

3 position coordinates of the working range coordinates describe the
position of the tool tip (TCP) in relation to the current program coordi-
nate system (PCS).
Position coordinates will be designated x, y and z in the following.

Space vector r z
z
y Orientation
vector r
y
x
Basis workpiece
coordinate system
BCS Cutter (with rotary axes B
Coordinate and C not shown for
transformation orientation purposes)
PCS x
Axis transformation
Z
Y
Position of the TCP in

X Position coordinates: PPCS (x,y,z)
Axis coordinates: PMCS (X,Y,Z)
MCS machine coordi-
nate system MCS Orientation of the tool in
Orientation coordinates: PPCS (, )
Axis coordinates: PMCS (B,C)
For conclusions from working range coordinates (programmed coordi-

nates in the NC program) to axis setpoint values, the control unit has to
execute different reverse transformations.
1. With the aid of the active coordinate transformations, the pro-
grammed position coordinates (PCS-related) are calculated back
to the basis workpiece coordinate system (BCS) first.
Coordinate transformation includes the following compensations
D G138 workpiece position compensation
D G352, G354...G359 inclined plane.
D G168, G268 program coordinate shift
2. From the basis workpiece coordinate system (BCS), the position
coordinates relating to the basis workpiece coordinate system are
now transformed to the machine coordinate system (MCS) in the
form of axis setpoint values (for the physical axes of the machine)
using the machine-specific axis transformation.
The working range coordinates are calculated into axis setpoint values
in the interpolation cycle.
and Controls
5.7.2 Tool orientation (vector and tensor)
Overview
The kinematics specific to the machine has to be taken into account
when a tool is oriented is space. And it makes no difference, whether the
orientation is effected by rotary axes, telescope axes or other drive
types.
Using orientation, the main axes of a tool, laser, gripping device and
similar are aligned in a specified direction in space. In this context, it
makes no difference whether the orientation of the tool axis runs parallel
with one of the main directions of the machine axes or not.
At present, the following orientations exist in the PNC

Orientation By specifica- Vector orienta- Linear Tensor orien-
tion of the tion orientation tation
rotary axis movement
positions
Orientation Linear in the Rotation of the The tip of the Rotation of
movement rotary axes orientation orientation the orientation
vector around vector moves tensor around
an axis of on a curved an axis of
rotation fixed path on an rotation fixed
in space imaginary in space
(coordinate of plane.
rotation move-
ment)
Axis trans- 3032101 3232201 3232101 3333301
formation 3033101
Depending on machine kinematics, the orientation in space is condi-

tional on whether one, two or three orientation coordinates are used.
The orientation is related to the program coordinate system (PCS) and
is determined by the angles (phi), (theta), (psi) or using Cartesian
components (see tensor, vector orientation).
D Vector orientation
This function deals with the orientation of rotation symmetrical tools
(e.g. lasers, cutters). The tool orientation is described by the polar
coordinates and or in the same manner by the orientation vec-
tor . The orientation vector rotates around an axis of rotation fixed
in space (large circular movement of the vector tip). jumps can oc-
cur during the movement (for details on singularity, please refer to
page 564), which the corresponding axis transformation deals with
as required.
D Linear orientation movement
The basic function is identical with the vector orientation. However,
the orientation movement is always carried out on a straight line on
an imaginary plane. In contrast to the vector orientation, no
jumps occur in the movement.
and Controls
D Tensor orientation:
This function is used to describe the orientation of non-rotation sym-
metrical tools.
A tool coordinate system (TCS) that is permanently connected to the
tool has an orientation in relation to the program coordinate system
(PCS) which is determined by the Eulerian angles , , and or the
3x3 orientation tensor. The movement of the orientation tensor is a
rotation around an axis of rotation fixed in space.
Scalar orientation
In case of scalar orientation only one orientation coordinate (e.g. phi
()) is programmed.
Orientation of the tool (cutter, laser, robot gripping device) is generated

by specifying the phi angle. The movement is not dependent on any
special axis kinematics.
Example: Rotation of a robot gripping device around with a rotary

axis.
X axis
Y axis
x xt Z axis
Gripping tool
Axis of
TCP zt ,z rotation
x
y Gripping device orientation
PCS z by rotation around (phi)
Z Y yt
y
Workpiece
MCS X
The configuration shown in the example can also have several rotary
axes to generate the rotation of the gripping device.
An axis transformation of this type has not been realized in the PNC at
present.
and Controls
Vector orientation
The orientation of a rotation symmetrical tool is programmed using
the first two orientation coordinates phi (j) and theta (). They define
an orientation vector , specifying the orientation of the tool longitudi-
nal axis in relation to the pole of the coordinate system. The angles and
the vector have the meaning of polar coordinates.
The polar coordinates of a point P(,) are the distance (= length of
the orientation vector) of P to the pole of the coordinate system and the
polar angles (phi), (theta) which are located between the polar
axes x and z and the orientation vector.
Polar coordinates Vector and angle

z
P (, )
!
Orientation vector r
+
y
Polar
coordinates
+
x
Pole Polar angle: ,
Polar coordinates
Polar coordinates: vector and Cartesian components
z
P (x, y, z)
!
Orientation vector r
Polar coordinate z
Cartesian components of
x the orientation vector
y
Pole x
Alternatively, the orientation of a tool can also be achieved using the

Cartesian components rx, ry, rz) of the orientation vector (with stan-
dardized length 1).

x
y
z
with 2x 2y 2z 1
To be able to program the vector orientation, it has to be activated with

the machine-specific axis transformation (at present Type 3232201).
The axis transformation is configured in MACODA.
Properties of the orientation vector:

D The orientation vector is relevant for rotation symmetrical tools (e.g.
cutter or laser).
D The orientation vector is located along the tool symmetry axis and
points to the tool holder.
and Controls
D As long as the orientation vector is programmed with constant orien-

tation coordinates phi () and theta (), its orientation relative to the
reference coordinate system will not change during a positioning
process.
D The orientation vector rotates around an axis of rotation fixed in
space (large circular movement of the vector tip). jumps can occur
during the movement (see page 564 ff.), which the corresponding
axis transformation deals with as required.
Example (2 orientation options):

A workpiece surface intended to be machined is spatially inclined with
respect to the program coordinate system (PCS) at the angles = 60_
and = 30_.
D The rotation symmetrical tool is oriented in space so that the orienta-
tion vector of the tool longitudinal axis is parallel with the inclined
workpiece surface with regard to both inclination angles.
Using = 60_ and = 30_, the programming for the orientation vec-
tor would be: O(60,30).
D Another possibility is that the orientation of the tool longitudinal axis
as Cartesian position of the tip of the orientation vector is specified
with regard to the programming coordinate system.
Using e.g. x=10, y=15, z=40, the orientation vector programming
would read: O(10,15,40).
and Controls
z
Orientation
z 0_
0_
Orientation coordinate theta

Orientation vector r z
Orientation PCS
x
30_
60_
Orientation using the polar
coordinates x MCS
0_ 180_ y
0_ 360_
x TCP

y
Orientation coordinate phi surface area to be machined z

Orientation vector r z
PCS
x
Orientation with Cartesian

coordinates x MCS
rx y

r = ry x
TCP
rz y
rz
rx ry
y
and Controls
Tensor orientation
This orientation is relevant for non-rotation symmetrical tools in
space (e.g. robot gripping device).
A tool coordinate system (TCS), which is permanently connected to a
tool, is spatially oriented against a reference coordinate system (PCS,

MCS,..) using a 3x3 orientation tensor O.
Alternatively, the orientation of the TCS can be programmed using the

Eulerian angles (3 orientation coordinates (phi), (theta) and
(psi)).
To be able to program the tensor orientation, it has to be activated using

the machine-specific axis transformation (at present type 3333301).
The axis transformation is configured via MACODA.
Different orientations and reference positions of the TCS
Gripping tool
TCS TCS
TCS z y
z
x
z
y TCP TCP
TCP
y
x
z
y
x
PCS
Orientation using the 3x3 orientation tensor

The orientation of the tool coordinate system (TCS) is expressed by a

so-called ortho-normalized orientation tensor O also referred to as
rotation matrix.
Definition:
The rotation matrix is composed as follows (see figure below):
OO 11 O 12 O13

O

21 O 22 O23
O 31 O 32 O33
The lines and columns of the tensor have length 1 and stand on each
other perpendicularly.
and Controls
The columns of the tensor are the vector components of the basis vec-
tors t t
t
e x , e y , e z of the rotated TCS relating to the reference coordinate
system:
o11 o12 o13

O= o21 o22 o23
o31 o32 o33
o11 o12 o13

t t t
ex = o21 ey = o22 ez = o23
o31 o32 o33
The basis vectors

t t t
e x , e y , e z ultimately define the arms of the TCS.
Properties of the orientation tensor:

D The orientation tensor is relevant for non-rotation symmetrical tools
(e.g. gripping device).
D As long as the orientation tensor is programmed with constant Euler-
ian coordinates phi () and theta () and psi (), its orientation rela-
tive to the reference coordinate system will not change during a
positioning process.
and Controls
Example:
3x3 orientation tensor of a non-rotation symmetrical tool in space.
Z z
PCS 3x3 orientation tensor
PCS o12
O
o13 eyt = o22

0 ezt = o23 o32
Y yt y
ezt = 0 o33 o32
zt o12
1 o11

TCS ext = o21
0 o22
o33 o31
eyt = 1
xt
0
o31
o21
o13
1 X o11 x

TCS
ext = 0
o23 Tool (prior to the rotation)
0
Tool (after the rotation)
Tool (prior to the rotation)

O= 3x3 orientation tensor: e = Basis vectors (column oxx = Vector components of a basis
(Rotation matrix) vectors) of the TCS vector (=element of the orien-
tation tensor)
. The disadvantage of the orientation tensor is that its nine compo-

nents are not independent of each other, because three coordi-
nates are sufficient for a general orientation. Thus the Eulerian
angles, which can be used to define an orientation, represent an
alternative to the orientation tensor.
Orientation of the orientation tensor using the Eulerian angles j,

and y:
Three orientation coordinates are sufficient for a general orientation of

the TCS. Three consecutive rotations with the Eulerian angles (phi),
(theta) und (psi) around the main coordinates of the PCS gives the
TCS its new orientation (for details, see Section 5.5).
and Controls
5.7.3 Orientation movement of the tool

Each orientation is simultaneously connected with a movement of the
tool around its TCP, if new orientation parameters have been pro-
grammed in relation to a prior orientation.
This achieves, e.g. a synchronous new orientation of the tool axis rela-
tive to the path movement.
In case of the orientation movement, a distinction is made between

D the movement of the orientation vector (in case of vector orienta-
tion of rotation symmetrical tools, e.g. 5 axis machine)
D the movement of the orientation tensor (in case of TCS orientation
of non-rotation symmetrical tools, e.g. 6 axis machine).
Orientation vector movement

For the orientation vector, as opposed to the orientation tensor (axes of
a non-rotation symmetrical tool), it is only important how one coordinate
of the TCS is aligned spatially. This coordinate is, e.g. the longitudinal
axis of a rotation symmetrical tool. A movement of the orientation vector
corresponds to a movement of the tool longitudinal axis around its TCP.
There are two options for the orientation movement:

1. Orientation movement with internally calculated axis of rotation:
D the start orientation vector a rotates around an internally calcu-
lated axis of rotation u to the position corresponding to the end
orientation vector e.
D the axis of rotation u stands perpendicular to the orientation vec-
tor.
D the movement of the orientation vector describes the angle
180_ and thus always takes the shortest distance between start
and end orientation.
D the orientation movement is always carried out so that the orienta-
tion vector remains in the plane defined by its start condition a
and the programmed end condition e. This is a plane surface.
D to be able to calculate an axis of rotation for the orientation inter-
nally, the start and end orientation of the orientation vector may
not run parallel or anti-parallel. If the axis of rotation is pro-
grammed with ROTAX(..), this restriction is not applicable.
2. Orientation movement with programmed axis of rotation:

D the start orientation vector a rotates around a programmed axis
of rotation u at a programmed angle of rotation .
D the axis of rotation is programmed with ROTAX(..), the angle of
rotation with O(..).
The restriction that the axis of rotation u has to stand perpendicu-
lar on the orientation vector is not applicable.
D the programmed angle of rotation may have freely defined val-
ues, the restriction 180_ is not applicable. It is generally inter-
preted as incremental value. E.g. an angle of O(360) rotates the
and Controls
start orientation vector a by exactly 1 rotation to its original posi-

tion.
D the desired sense of rotation is generated by positive and nega-
tive angles of rotation.
D the orientation vector describes a lateral cone surface.
Orientation movement with internally calculated axis of rotation
Orientation

vector e
z End orientation
y
Start orientation Axis of "
rotation u
e
a
Orientation vector a
Path on which the orienta-

tion vector rotates around
the axis of rotation . 90_ 90_
u
x
Milling tool
TCP
Coordinate of rotation angle between a and e
Orientation movement with programmed axis of rotation
Start orientation
Coordinate of rotation movement of the orientation vector

z
Orientation Axis of rotation u

vector e
Coordinate of rotation angle between a and e

End orientation
y
Lateral cone surface described by the

orientation vector when the axis of rota-
tion is programmed and does not stand
perpendicular on the orientation vector.

Orientation vector a
Orientation
x
e.g. G1 ROTAX(1,0,1) O(270)
TCP
and Controls
Rotation speed of the orientation vector:

The rotation speed of the orientation vector depends on whether a TCP
movement is taking place in addition to the orientation movement.
D TCP and orientation movement:
The programmed feedrate refers exclusively to the TCP movement.
The orientation movement follows synchronously.
D Pure orientation movement:
The programmed feedrate is the angle speed of the coordinate of
rotation movement around the axis of rotation u.
Movements of other axes without TCP share follow synchronously.
If OMEGA is programmed for feedrate programming in addition to F,
the angle speed corresponds to the OMEGA value.
Singularity of the orientation vector movement:

D In case of axis configurations as shown in the figures below there
will be discontinuous axis movements if the orientation vector is
moved non-tangentially by position

0
0 .
1
Example: jump of a C axis from 0 degrees to 90 degrees.
In these cases, the PNC is capable of inserting a singularity

block automatically , which rotates the C axis to the required posi-
tion before positioning is continued. See figure below:
The tool tip performs a TCP movement around the

Orientation of the zero point of the basis workpiece coordinate system.
tool axis in block
N30
inserted
N10 O(-1,0,0) N20 O(0,0,-1) singularity block N30 O(0,-1,0)
C axis C0 > C90
BCS
z z z z
z BCS y
y y y
y
x z x x x x
y
r 10 Tool
x Axis
z of rotation
y
Axis
r 30 x of rotation

r 20
Orientation of the
tool axis in block
N10
and Controls
Linear orientation movement
The linear orientation movement also uses the coordinates phi ()

and theta (). However, the movement is carried out on a straight line on
an imaginary plane.
On the unit sphere, the tip of the orientation vector does not describe a
large circle, as opposed to the vector orientation, but a more or less
bent path (see also figure below).
The linear orientation movement does not require a singularity treat-
ment by the corresponding axis transformation (page 564), because a
jump cannot occur.
The special properties of the linear orientation movement and the differ-
ence to the vector orientation are outlined below:
D The prerequisite is an axis transformation with two orientation coor-
dinates and the coordinate identification 1 configured in MACODA
(example 3232101). Activating this type of axis transformation using
Coord(<n>) automatically activates the linear orientation movement.
D Programming is effected via the coordinate names phi.. and theta..
or via the vector syntax O(<x>,<y>,<z>). Both programming meth-
ods are equivalent.
D A special path search logic makes sure that rotations greater than
180 do not occur.
D A conversion of the values to the definition interval
0360, 0 180, is not performed. In the display,
values outside of the definition intervals thus occur.
D In case of a path movement (TCP movement), the orientation coordi-
nates have no share in the feedrate, they follow synchronously.
If no TCP movement is carried out, the programmed feedrate F or
OMEGA is related to the straight line movement of phi () and theta
().
D Programming an axis of rotation with the functions ROTAX(..) O(..)
is not permitted.
D The mirroring and scaling functions are programmed the same way
as for vector orientation.
D The function Online compensation can be used for phi () and theta
().
and Controls
The figure below shows the linear orientation movement in compari-

son with the vector orientation movement:
Linear orientation using polar coordinates Vector orientation using polar coordinates
0_ 180_
0_ 360_ z bent path on which the tip of
the orientation vector moves
( changes constantly!) z
Orientation 1: PCS PCS

45_ Orientation 1:
0_ Orientation 2: 45_
45_ 0_ Orientation 2:
90_
45_
90_
bent path on which the
tip of the orientation
vector moves
x
TCP x
TCP

y
y

Orientation vector r Orientation vector r
Orientation 1 TCP Orientation 1 TCP
x x
= 0_ 90_
= 0_ 90_
Orientation 2 Orientation 2
Orientation vector move- Orientation vector move-
ment on parallel circle with ment on large circle with
y y
constant theta 45_ changing theta
Top view Top view
Comparison of orientation movements:

Orientation Path curve of the Orientation coor- Orientation coor-
movement orientation tip dinate dinate
theta phi
Linear on parallel circle constant between 0_ 360_
the limits
0_ 180_
while phi is running
Vector on large circle varying between 0_ 360_
(bent less strongly the limits
than on parallel 0_ 180_
circle) while phi is running
and Controls
Orientation tensor movement

In contrast to the orientation vector, all three coordinates of the TCS
have to be aligned spatially in case of non-rotation symmetrical tools.
This is achieved with the orientation tensor which controls the orienta-
tion of the tool coordinate system.
The following variables are involved in the movement of the orientation

vector:

D O a: start orientation tensor (start orientation of the TCS)

D O e: end orientation vector (end orientation of the TCS)

D u: Axis of rotation
D : Angle of rotation
To execute an orientation movement, the following variables may be

specified:

1. Orientation movement with specification of O a and O e :

D The start orientation tensor Oa rotates around an internally calcu-

lated axis of rotation u to the end orientation tensor O e. The fol-

lowing applies to the internally calculated angle of rotation :
180_.
The orientation movement is always carried out on the shortest
path. It is independent of the special axis kinematics.
TCS (start orientation) TCS (end orientation)

rotated around )

Axis of rotation ext
Axis of rotation
u
u
Tool
ezt

Oa Oe

ezt
Tool

ext
eyt
eyt

Oa
Axis of rotation u
Rotation of a tool

with start and end
orientation around Oe

the axis of rotation u

and Controls

2. Orientation movement with specification of O a and programmed axis

of rotation u and angle of rotation :

D The start orientation tensor O a is rotated around the programmed

axis of rotation u at the angle .
D Orientation of the axis of rotation is programmed with Cartesian
components or polar coordinates of the reference coordinate
system with the aid of function ROTAX(..).
D Movements of the orientation tensor are created with the function
ROTAX(...) O(..).
Example:

using ROTAX(...) O(360), the start orientation tensor O a rotates

by exactly 1 rotation to its original position.
The programmed angle of rotation is generally interpreted as in-
cremental value.
D The desired sense of rotation is generated by positive and nega-

tive angles of rotation.
The TCS coordinates

t t t
e x , e y , e z in general describe a lateral cone surface
during the orientation movement around the axis of rotation u.
Exception: u stands parallel with t t
t
e x , e y or e z . Then the cone surfaces
turns into a circular surface.
Rotation speed of theorientation tensor:

The rotation speed of the orientation tensor depends on whether a TCP
movement is taking place in addition to the orientation movement.
1. TCP and orientation movement:

The programmed feedrate refers exclusively to the TCP movement.
The orientation movement follows synchronously.
2. Pure orientation movement:
The programmed feedrate is the angle speed of the coordinate of
rotation movement around the axis of rotation u.
Movements of other axes without TCP share follow synchronously.
If OMEGA is programmed for feedrate programming in addition to F,
the angle speed corresponds to the OMEGA value.
Singularity of the orientation tensor movement:

Singularities occur in dependence on the axis transformation used. A
singularity will occur for the 6 axis transformation type 3333301, for ex-
ample, if the orientation tensor results in a position of 90_ for the
middle of the three rotary axes.
Discontinuous orientation movements at this location are bridged by
automatic insertion of an NC block.
and Controls
Relevant NC functions (orientation and orientation movement):

Coord(<i>): Activating working range coordinate programming.
Axis addresses involved in the switchover to working
range coordinates must not be programmed.
i: 1..5, number of the axis transformation to be acti-
vated.
Coord(0): Deactivating working range coordinates.
. The position coordinates are programmed in Inches or mm, in ac-

cordance with G70/G71.
The functions for orientation and orientation movement of the tool with
working range coordinates are subdivided into
D Vector orientation and
D tensor orientation.
The Cartesian components of the orientation vector (x, y, z) are auto-

matically standardized to 1 within the NC.
As a consequence, e.g. the specifications O(1,2,4), O(2,4,8) and
O(0.5,1,2) are identical.
Vector orientation
The orientation of the orientation vector can be programmed using

one of the following 5 alternatives:
phi<> theta<>: Orientation with polar angles , (polar angle names
phi and theta are determined in MP 7080 00010
[4..5]). Programming is possible absolutely/incre-
mentally and in degrees.
Example: G1 x10 y50 z30 phi90 theta90
O(<>,<>)
or
O(<x>,<y>,<z>): Orientation with the function O(...) and the polar
angles , of the orientation vector (programming
absolute in degrees) or with the Cartesian
components x, y, z of the orientation vector
(programming absolute, the normalization of the
components to 1 is performed automatically within
the NC).
Example: G1 x10 y50 z30 O(90,90)
G1 x10 y50 z30 O(0,1,0)
and Controls
ROTAX(<ux>,<uy>,<uz>) O(<>):
or
ROTAX(<u>,<u>) O(<>):
ROTAX(..) defines the orientation of the axis of
rotation around which the orientation vector rotates.
The direction may be specified in Cartesian vector
components ux, uy, uz or in polar coordinates u, u .
The programming of ROTAX(..) is only possible abso-
lutely.
O(..) defines angle , around which the start orienta-
tion vector rotates around the axis of rotation.
Programming of O(..) is possible only incrementally
and in degrees.
may have freely defined values, i.e. several rota-
tions are possible too.
Example: ROTAX(0,45) O(720)
The movement of the orientation vector is carried out as rotation of the
orientation vector around a programmed axis of rotation, or if RO-
TAX(..) and O(..) have not been programmed, around an internally cal-
culated axis of rotation.
Example: G1 x10 y50 z30 O(90,90)
O(100,80)
O(70.100)
...
Linear orientation movement
The orientation of the orientation vector can be programmed using

one of the following 2 alternatives:
phi<> theta<>: Orientation with polar angles , (polar angle names
phi und theta are determined in MP 7080 00010
[4..5]). Programming is possible absolutely/incre-
mentally and in degrees.
Example: G1 x10 y50 z30 phi90 theta90
O(<>,<>)
or
O(<x>,<y>,<z>): Orientation with the function O(...) and the polar
angles , of the orientation vector (programming
absolute in degrees) or with the Cartesian
components x, y, z of the orientation vector
(programming absolute, the standardization of the
components to 1 is performed automatically within
the NC).
Example: G1 x10 y50 z30 O(90,90)
G1 x10 y50 z30 O(0,1,0)
and Controls
Tensor orientation (TCS orientation)

o11 o12 o13
t t t
e
The column vectors x = o21 ey = o22 ez = o23 of the orienta-
o31 o32 o33
tion tensor do not have to be provided standardized to 1. Standardiza-
tion to 1 is performed automatically within the NC.
The TCS orientation can be programmed using one of the following 5

alternatives:
phi<> theta<> psi<>:
Orientation with Eulerian angles , , (Eulerian
angle names phi, theta and psi are determined in
MP 7080 00010 [4..6]. Programming is possible ab-
solutely/incrementally and in degrees.
Example: G1 x10 y50 z30 phi90 theta90 psi45
Ox(<o11>,<o21>,<o31>)
Oy(<o12>,<o22>,<o32>)
Oz(<o13>,<o23>,<o33>)
or
Ox(<x>,<x>)
Oy(<y>,<y>)
Oz(<z>,<z>): Ox(..) defines the direction of the x coordinate of the
TCS in the reference coordinate system.
The direction may be specified in Cartesian vector
components Ox(<o11>,<o21>,<o31>) or in polar coor-
dinates Ox(<x>,<x>).
The definition applies analogously to the column

vectors Oy(..) and Oz(..).
It is only permitted to program 2 of the three TCS
coordinates. They do not need to stand perpendicular
on each other because one of them is corrected
internally to 90 degrees. Programming is only pos-
sible absolutely.
Example:
G1 x10 y50 z30 Ox(1,0,0) Oy(0,0.707,0.707)
ROTAX(<ux>,<uy>,<uz>) O(<>)
or
ROTAX(<u>,<u>) O(<>):
ROTAX(..) defines the orientation of the axis of rotation
around which the orientation tensor rotates.
The direction may be specified in Cartesian vector com-
ponents ux,uy,uz or in polar coordinates x,x. The pro-
gramming of ROTAX(..) is only possible absolutely.
O(..) defines angle , around which the start orientation
vector rotates around the axis of rotation. Programming
of O(..) is possible only incrementally and in degrees.
may have freely defined values, i.e. several rotations
are possible too.
and Controls
Example: ROTAX(0,45) O(720)

ROTAX(1,0,1) O(720)
. The individual parameters are shown in detail in the DIN program-

ming instructions of the PNC.
Relevant MACODA parameters (working range coordinates):

The names of all six working range coordinates are defined for each
channel in a MACODA parameter.
7080 00010: Designation of the working range coordinates:

[1..3]: names of the linear coordinates
(position coordinates)
[4..6]: names of the orientation coordinates
7010 00030: strict coordinate classifications are assigned to the coor-

dinates. The position coordinates are assigned the clas-
sifications 1, 2 and 3, the 3 orientation coordinates are
assigned the classification 999 (neutral).
1030 00110 through 1030 00150:
the vector and tensor orientation can only be performed
in case of an active axis transformation.
An axis kinematics is defined as axis transformation in
the MACODA parameters.
Each of these MACODA parameters exists five-fold, so
that it is possible to configure up to five axis kinematics.
For a description of the parameters, please refer to
Chapter 5.8, Section 5 axis and 6 axis transformation in
the present manual.
Relevant CPL functions (working range coordinates):

CPOS(..): The CPOS function provides the value programmed last
for a (synchronous) coordinate. The coordinate may be a
working range coordinate or a pseudo coordinate.
Working range coordinates can only be addressed via
their logical coordinate name or their logical coordinate
index.
Pseudo coordinates can additionally be addressed via
the physical axis number or the physical axis name of the
assigned axis. Thus it is possible to call a pseudo coordi-
nate with a strict index or name even if its logical arrange-
ment on the channel may be modified due to an
exchange of axes.
If a physical axis number or a physical axis name is given
when calling CPOS, and this axis is not linked to a
pseudo coordinate, a runtime error will occur.
Only coordinates of the own channel can be requested
using CPOS.
and Controls
AXO(..): The AXO function provides the G92 shift programmed

last for a coordinate. With respect to the call parameters,
AXO behaves in the same manner as CPOS.
WPOS(..): The WPOS function provides the current workpiece
position (WCS) for a coordinate. With respect to the call
parameters, WPOS behaves in the same manner as
CPOS, with the extension that WPOS also allows for the
access to coordinates not pertaining to the channel.
MPOS(..): The MPOS function provides the current machine zero
point related position (ACS(0)) for an axis. The axis can
be requested via its logical/physical name or its logical/
physical index. MPOS allows for access to axes not per-
taining to the channel.
MPOS cannot be programmed with coordinate names,
e.g. MPOS(X) (ACS(0) BCS, see Section 5.3).
PPOS(..): Cannot be used in case of working range coordinates.
Substitute function: see CPROBE.
CPROBE(..): In case of working range coordinates, the CPROBE
function replaces the PPOS function!
The precondition for CPROBE is that the probe inputs
have been taken over by all axes of the channel (PPOS
has the option of excluding individual axes from mea-
surement via MACODA). The axis values taken over are
converted to program coordinates with the aid of the
transformation chain activated last. CPROBE supplies
the value for one coordinate.
With respect to the call parameters, CPROBE behaves
in the same manner as CPOS.
FXC(..): Calling FXC(i) until now supplies the total value of the
table axis ZS, external axis ZS and program coordinate
shift for an axis.
Since the program coordinate shift refers to coordinates,
an incompatible change is necessary.
FXC(i) provides the total of the axis zero shifts for an
axis.
COF(..),
DPC(..),
SCL(..): The functions refer exclusively to coordinates. Only
coordinates of the own channel can be requested.
PROBE(..),
APOS(..),
SPOS(..): The PROBE, SPOS and APOS functions continue to
provide axis values. No modification is required here.
Only the probe value for an axis of the own channel can
be checked using PROBE.
AXP(..): The AXP function needs to be extended so that coordi-
nate names are expanded.
MCODS(..): In preparation for use with working range coordi-
nates.
and Controls
5.7.4 Assigning
Preconditions:
D Assigned axis transformation (see Section 5.8.1 and 5.8.2) must be
available for the relevant machine.
Example:
Working range coordinate programming for a 6 axis transformation
6 axis machine with 6 axis transformation type 3333301 of the PNC. It
allows TCP programming via three linear coordinates and the tool orien-
tation (TCS) by programming the 3 Eulerian angles (phi), (theta) und
(psi). The orientation movement is executed by means of a coordi-
nate of rotation movement.
1. Determining the working range coordinates in MP 7080 00010. Ex-

ample:
Names of the linear coordinates
[1]: x
[2]: y
[3]: z
Names of the orientation coordinates
[4]: phi
[5]: theta
[6]: psi
2. Make sure that the parameters required for 6 axis transformation

type 3333301 are assigned the matching values of the 6 axis ma-
chine in the MP 1030 00110 through MP 1030 00150.
3. Keep the number of the parameter block (1, 2 .. or 5) containing your
transformation data (e.g. 3rd parameter block) in mind.
4. The parameters are taken over with system control reset.
5. Test the working range coordinate programming as follows:
D Activate the working range coordinate programming with
Coord(3). 3 represents the number of the 3rd parameter block).
At the same time, the axis transformation 3333301 is activated.
The previously valid axis field (X,Y,Z,A,B,C) is replaced by the
coordinate field (x,y,z,phi,theta,psi).
D Check the display of the operating mode AUTOMATIC or
MANUAL to see whether the axis addresses have been re-
placed by the working range coordinates.
D Test the reference pose (defined in MACODA) of the axes.
D Program a suitable test program for working range coordinates
(orientation of the tool, orientation movement, positioning in
space, ...).
D The application is completed when the functions have been
tested and no runtime error has been reported.
and Controls
5.7.5 Activating
Precondition:
D The application has been executed successfully.
1. The working range coordinate programming is activated using

Coord(<i>) in the NC program.i is the number of the axis trans-
formation.
2. The previously valid axis names (X,Y,Z,A,B,C) are replaced by coor-
dinate names (x,y,z,phi,theta,psi).
3. All subsequent G functions have to be programmed with working
range coordinates if they are involved in the positioning or orienta-
tion of the tool (see below).
4. Depending on the type of activated axis transformation, the NC acti-
vates either the vector or tensor orientation.
Examples: transformations
D 5 axis kinematics type: 3232201
Coord(4)
G1 x50 y100 z20 phi45 theta30 ; programming in working
range coordinates x,y,z,phi,theta

Coord(3)
G1 x50 phi45 theta30 psi190
Coord(0)
Typical NC functions using coordinates:

D NC functions causing a movement:
G00, G01, G02, G03, G05, G10, G11, G12, G13, G32, G73, G200,
G202, G203
D Plane selection and pole programming: G17, G18, G19, G20
D Chamfers and transition arcs: G34, G134, G234
D Path compensation: G40, G41
Typical NC functions using axes:

D Functions to influence the axis dynamics:
G06, G14, G608, G114, G177, G594, G595
D Axis zero shifts:
G54-G59, G154-G159, G254-G259, G160, G260, G360
D Positioning type: G151, ACP, ACN, DC
D Axis transfer: G510, ..., G513, G515, G516
D Axis coupling: G581
and Controls
5.7.6 Deactivating
Precondition:
D Deactivating causes no movement, i.e. the tool may be in contact
with the workpiece.
1. The working range coordinate programming is switched off using

Coord(0). At the same time, the corresponding axis transformation is
deactivated.
2. The coordinate field (x,y,z,phi,theta,psi) is invalid and is replaced by
the axis field (X,Y,Z,A,B,C).
3. Programming using axis names is permitted again.
4. Programming of tool orientations or tool orientation movements are
only possible through rotary axis programming.
Examples:
Coord(4)
G1 x50 y100 z20 phi45 theta30 programming in working
range coordinates
Coord(0)
G1 X50 Y100 Z20 B45 C30 programming in axis coordi-
nates

Coord(3)
G1 x50 phi45 theta30 psi190 programming in working
range coordinates
Coord(0)
G1 X50 Y100 Z200 B10 C20 A90 programming in axis coordi-
nates
and Controls
Axis transformations
5.8 Axis transformations

Function:
If the program coordinates are no longer parallel with the machine axes,
the NC will at first be unable to determine axis setpoint values directly for
the machine axes. In this case, axis setpoint values would have to be
generated by a programming system and stored in the program. The
disadvantage would be that the program would only be running on one
machine with a certain tool. The PNC avoids this restriction by means of
Program coordinates are interpreted as working range coordinates.

These coordinates refer to a machine-independent coordinate system
positioned and oriented anywhere in space.
These working range coordinates are converted into the real axis sys-
tem of the machine using a machine-specific axis transformation which
takes into account or defines the geometric-kinematic relationship of
machine and tool. In this process, the axis transformation calculates the
shares of all real axes needed to approach each position in space.
For example, up to 5 axes may be needed to machine an inclined

plane in order to ensure plane milling of a surface. In this case, only the
block G1 x100 phi 100 theta 45 is programmed with the transformed
coordinates x, phi and theta. These have an effect on the linear axes X,
Y and Z as well as on the rotary axes B and C.
The program coordinates have to be processed internally for the axis

transformation.
1. If the programmed coordinates relative to the program coordinate
system are shifted and/or rotated by compensations, the compensa-
tions are at first left out of account using a coordinate transforma-
tion. This results in working range coordinates which refer to the
basis workpiece coordinate system (BCS).
2. These working range coordinates are the initial value for the axis
transformation which uses them to calculate the actual axis setpoint
values.
The axis transformation is also referred to as reverse transforma-
tion.
and Controls
Transformation of the program coordinate values into axis setpoint values
Programming level, if program coordinates Programming with

G1 z30 phi30 theta10
(PCS)=working range coordinates coordinate values:
(axis transformation active!)
G352, G168,...
(taking into account compensations)
Programming level, if basis workpiece coordinate Programming with

G1 x50.345 z123.456 phi234.123 theta155.123
system (BCS)=working range coordinates coordinate values:
(axis transformation active!)
Axis transformation
(calculate axis setpoint values) Coord(<n>)
Programming level, if machine coordinate Programming with axis

G1 X123.234 Y321.987 Z789.000 B72.123 C25.600
system (MCS)=axis coordinate system setpoint values:
(axis transformation not active!)
The way axis setpoint values are created from working range coordi-
nates using axis transformation shows that the working range coordi-
nates may have individually different effects on the physical axis
configuration with each axis configuration. This can be realized by dif-
ferent settings of the axis transformations in MACODA.
At present, it is possible to store 5 different parameter blocks of an axis

transformation per machine in MACODA simultaneously and to call
these using Coord(<i=1..5>).
The PNC knows the following axis transformations:

D polar coordinate transformation
All axis transformations are distinguished through a type identification

(MP 1030 00110). The type identification is a seven-digit number,
where the digits have the following meaning:
Digit 1 2 3 4 5 6 and 7
Kl Kr Al Ar O NN
Digit Abbr. Meaning Options

1 Kl Number of position coordi- 1..3: (e.g. x, y, z used in the
nates NC programming)
2 Kr Number of orientation coordi- 1..3: (e.g. phi, theta, psi used
nates in the NC programming)
3 Al Number of linear axes 0..:limited by the number of
(physically existing) system axes
and Controls
Digit Abbr. Meaning Options

4 Ar Number of axes of rotation 0..:limited by the number of
(physically existing) system axes
5 O Identification of the supported 0: No orientation movement
orientation movement 1: Linear orientation
movement in the axes
of rotation
2: Vector rotation
(coordinate of rotation
movement) of the
orientation vector
3: Tensor rotation of the
orientation (TCS).
6 and NN Consecutive numbering 01 .. 99: The number is
7 for internal purposes type-related
The type identification shows which functions have an effect when the
axis transformation is selected:
D The axis transformation with number i (from the ith parameter block in
MACODA) is activated using the Coord(<i>) command if the configu-
ration in MACODA has no incorrect entries.
D If the activated axis transformation supports the vector or tensor
orientation, the corresponding NC functions for the orientation
movement are activated.
D Programming of coordinate names is activated, i.e. the axes are
switched over to coordinates.
D The axes involved in the axis transformation may not be pro-
grammed any more in case of active axis transformation.
Example:
Coordinate names: | x | y | z | phi | theta |psi | U| V|
Axis names: | X| Y| Z | A | B | C | U| V|
The axis transformation determines how many of the maximum 6

working range coordinates can be programmed.
Working range coordinates consist of max. 3 translational position
coordinates and of max. 3 rotary orientation coordinates, and their
names can be freely set in MACODA (in the following, x, y und z
will be used for position coordinates and phi, theta und psi for
orientation coordinates).
In the example, U and V are additional channel axes not involved in
the axis transformation.
D As a result of switching over to axis transformation, the workpiece

coordinate display jumps from axis positions to coordinate val-
ues. The axis names of the axis field change into coordinate names,
as shown in the example above.
and Controls
5.8.1 5 axis transformation

With the aid of 5 axis transformation, program coordinates are turned
into axis positions of the axes involved.
Axis configuration
The 5 axis transformation realized in the PNC includes:
D 3 linear coordinates (e.g. x, y, z)
D 2 orientation coordinates , (e.g.. theta, phi)
D 3 linear axes (e.g. X, Y and Z)
D 2 axes of rotation (e.g. B and C)
There are 3 types of 5 axis transformation:

D Type 3232201
The initial values are the linear coordinates x, y, z and the orientation
coordinates (theta) and (phi). it supports the vector orientation
movement (rotation of the orientation vector ) around an axis of
rotation fixed in space, large circular movement of the vector tip. If a
different value is programmed for and/or , the tool orientation will
change.
The orientation always rotates around the tool tip (TCP, tool center
point). This means, it is assumed that the TCP is fixed and the tool
axis rotates around this fixed point.
All 5 axes may be involved in case of orientation changes. The orien-
tation always points in direction of the tool holder.
In addition, the orientation vector can be programmed as spline.
An online compensation for and is not possible.
D Type 3232101
The initial values are the linear coordinates x, y, z and the orientation
coordinates (phi) und (theta). It supports the orientation move-
ment (straight line on an imaginary plane).
Both polar coordinates can also be programmed as spline. An online
compensation is possible for all coordinates.
The axis kinematics is identical with type 3232201. However, it does
not support vector orientation, i.e. a constant (phi) is expected for
all orientation movements.
Switching this type on using Coord(<n>) activates the Linear orien-
tation movement function.
and Controls
D Type 3032101
supports a linear movement of the two axes of rotation. This trans-
formation is basically identical with Type 3232201, however, it has
no programmable orientation coordinates.
The tool is aligned by direct programming of the axes of rotation B
and C. The orientation takes place linear in the rotary axis positions.
5 axis configuration type 3232201, 3232101

(Orientation of the tool axis
with and )
X axis
5 axis configuration type 3032101 Y axis
(Orientation of the tool axis Z axis
with B and C)
C axis
B axis

Tool orientation
y
Tool Center Point
TCP (x,y,z)
BCS x
and Controls
Reference pose
In reference pose, the 5 axis configuration must have a certain position
to establish a relationship between MCS and BCS.
This is exactly the case when the tool center point (TCP) is set at space
position x, y, z=0 and the tool axis orientation corresponds to polar coor-
dinates , = 0 degrees.
Reference pose of the 5 axis configuration
X axis
Y axis Z axis
B axis
M machine zero point C
l1x l2x
MCS machine coordinate system
l2y X
C axis
z l2z
Y
Axis connection vectors
l1x l2x
l1 = 0 l2 = l2y
0 l2z
x
Axis vector rm
Position of the axis vector (example):

Basis workpiece coordinate system BCS) XM= 511.123, YM= 812.234, ZM=10.456
Orientation: BM = 0.000, CM = 0.000
TCP is at
reference space position: x=0, y=0, z=0
orientation: = 0, = 0
D In the figure above, l1x, l2x, l2y und l2z is 0. The direction of the
vectors is opposite (negative) to the BCS coordinate direction.
D The tip (TCP) of the rotation symmetrical tool (cutter or laser) is
standing on the origin of the basis workpiece coordinate system
(BCS) and the tool symmetry axis is aligned along the z coordinate.
Axis C rotates the B axis body and the corresponding tool around the
z coordinate.
D Axis B rotates the tool around the y coordinate of the BCS. The ar-
rows at the axis bodies specify the positive direction of rotation. The
linear axes (X, Y, Z) define a right-handed axis coordinate system
positioned parallel with the BCS.
and Controls
The axis vector rm corresponds to the distance between the M ma-
chine zero point and the reference space position (zero point of the ba-
sis workpiece coordinate system).
The angles the rotary axes have to rotate in order to reach the reference
orientation of , = 0 in the reference space position x,y,z = 0 are also
relative to the M machine zero point.

The axis connection vectors l1 and l2 define the geometry of the 5 axis
kinematics in the reference pose (see figure above):

D l1is the axis connection vector from the C axis to the B axis.
It has to be parallel with the X axis and therefore has no components
in the y and z direction:

l 1x

l1 0

0

D l2 is the continued vector of l1 to the zero point of the BCS.

l 2 may have up to 3 components unequal to 0. As a rule, l2z is the dis-
tance from the B axis to the TCP. If the TCP and the center point of

the B axis (= end point l1) are offset from each other in the xy plane,
the offset may be compensated with l2x and l2y . Therefore, the con-

nection vector l2 is as follows:
ll
2x

l2 2y
l
2z
and Controls
Example: 5 axis rotating swiveling head with and without B axis offset
l1x = -100
View AA:
l1 = 0
B axis offset
0
in y direction
l1x l2x = 0 x
l2 = l2y = -1
l2z = -222
l1x
B axis
B axis center point: l2y TCP in x-y plane:

A
y coordinates B axis center point:
l2z without offset y coordinates
C axis
z with offset = (l2y)
x
TCP
y
View AA:
No offset of the
B axis in x and x
y direction
y
and Controls
Special properties
D Feedrate: having activated the 5 axis transformation, there is a
switchover to working range coordinate programming. The pro-
grammed feedrate (F) refers to the programmable position coordi-
nates only, i.e. the F word is used to program the path speed of the
tool center point (TCP).
Additional orientation and pseudo coordinate movements do not
change this path speed.
Orientation and pseudo coordinate movement is guided along syn-
chronously, i.e. the end position is reached simultaneously for all
coordinates. The movement of the orientation and pseudo coordi-
nates carried along, may, however, lead to an additional limitation of
the path kinematics (maximum path speed and acceleration) be-
cause the limit values of all axes involved in the movement are moni-
tored.
D Axes of rotation B and C may be endless axes as well as rotary axes.
Relevant NC functions:
Coord(<i>): Using i=1..5, one of the five possible 5 axis transforma-
tions defined in MP 1030 00110 is activated.
Coord(0): The active transformation is deactivated.
G0....: The NC functions or G codes programmable with work-
ing range coordinates may be programmed in case of
active 5 axis transformation (see DIN Programming in-
structions).

1030 00110 through 1030 00150: Definition of the axis kinematics as
axis transformation. Each of these MACODA parame-
ters exists five-fold, so that it is possible to configure up
to five axis kinematics.
. All values to be entered refer to the reference pose.
1030 00110 : Transformation type:

3232201 or 3032101 has to be entered for the 5 axis
transformation.
1030 00120 : System axes of the transformation (164):

Defines the system axes involved in the transformation.
Please note for both types of transformation:
[1] System axis number of X
[2] System axis number of Y
[3] System axis number of Z
[4] System axis number of C
[5] System axis number of B
[6..8] not relevant
and Controls
1030 00130: Reference pose axis positions:

Defines the distances of the reference space position to
the M machine zero point for the linear axes.
For the axes of rotation, the respective angles they tra-
verse from the M machine zero point to the reference
space position are set.
[1] Position of the 1st linear axis
[2] Position of the 2nd linear axis
[3] Position of the 3rd linear axis
[4] Position of the 1st rotary axis (farthest away from
the tool (TCP))
[5] Position of the 2nd rotary axis (at the tool)
[6..8] not relevant
1030 00140 : Length and angle parameters:

Defines the length vectors l1 and. l2
All values in mm.
[1] l1x
[2] no meaning
[3] no meaning
[4] l2x
[5] l2y
[6] l2z
[7..8] no meaning.
and Controls
Tool compensation for the 5 axis transformation

All 5 axis transformations support tool compensations. The position of
the TCS tool coordinate system with regard to tool compensations is ex-
plained below.
D In the reference pose the TCS0 and the BCS are identical. The tool
symmetry axis runs parallel with the BCS z coordinate. In the TCS 0
tool coordinate system, no tool compensation is active.
D In this context, a tool compensation (length, radius) means a spa-

tial shift of the TCP along a compensation vector lt from TCSc to
TCS0 (positive L3 value extends the tool).

Tool compensation as spatial shift of the TCP along the vector lt
(Type 3232201, 3032101)
X axis
Y axis Z axis
B axis
l1x l2x
l2y
C axis
l2z
Radius
l1x l2x
l1 = 0 l2 = l2y zt
0 l2z
TCS0
xt
z
yt
x TCP0
Length zt "
lt Tool compensation vector
y
BCS
xt
TCPc
yt
TCSc
and Controls
Assigning the 5 axis transformation

Transformation types 3232201 and 3032101 are used as examples.
1. Set value 3232201 as transformation type in MP 1030 00110 (no. 1)

and value 3032101 in MP 1030 00110 (no. 2).
2. The system axis numbers must be entered in MP 1030 00120 (no. 1
and 2). Please make sure that the rotary axes are entered in the or-
der of their appearance from the tool holder to the tool tip.

3. Appropriate vectors l1 and l2 have to be determined. This can be
done by measuring or on the basis of the construction drawings.
Length and offset values have to be set in MP 1030 00140 [1,4,5,6]
both for no. 1 and no. 2.
4. Establish the axis zero position: Approach reference pose. The axis
positions in the reference pose are set in parameter 1030 00130
[1..5] both for no. 1 and no. 2.
5. Take over parameter using system control reset.
6. Test the 5 axis transformation in an NC program for functionality us-
ing Coord(1) and Coord(2). If no runtime error occurs, the parame-
ters are consistent.
Example:5 axis transformation for a swiveling rotating milling head.
l1x = 0
C axis
B axis
z
l2z =150
BCS
x
TCP
y
and Controls
Settings in one out of five MACODA parameter blocks:

1030 00110 Transformation type: 3232201 or 3032101
1030 00120 System axes of the transformation (1-164):
[1] 1 corresponds to axis X
[2] 2 corresponds to axis Y
[3] 3 corresponds to axis Z
[4] 5 corresponds to axis C
[5] 4 corresponds to axis B
1030 00130 Reference pose axis positions:
[1] 0
[2] 0
[3] 0
[4] 0
[5] 0
1030 00140 Length and angle parameters:
[1] 0
[4] 0
[5] 0
[6] 150
Activating the 5 axis transformation

Precondition:
D Configured 5 axis kinematics in MP 1030 00110 through MP
1030 00150.
D All NC functions and G codes used in the program must be checked
for their applicability with the selected transformation using the table
below.
1. Activating the transformation in the NC program using Coord(<i>).

Example: 5 axis transformation type: 3232201
Coord(4)
G1 x50 y20 z40 phi45 theta30
Coord(0)
Deactivating the 5 axis transformation

1. Deactivate a 5 axis or 6 axis transformation in the NC program using
Coord(0).
and Controls
5.8.2 6 axis transformation

Axis configuration
6 axis transformation is used in machines with tools that
D have to execute translational and rotary path movements in space
simultaneously, and in addition to the path movement
D execute orientation movements which align the tool relative to every
point of the path.
With the aid of 6 axis transformation, program coordinates are turned

into axis positions of the axes involved.
The 6 axis transformation realized in the PNC includes:

D 3 linear coordinates (e.g. x, y, z)
D 3 orientation coordinates , , (e.g. theta, phi, psi),
D 3 linear axes (e.g. X, Y and Z)
D 3 axes of rotation (e.g. A, B and C)
There are 2 versions of 6 axis transformation:

D Typ 3333301 allows TCP programming via three linear coordinates
and the tool orientation (TCS) by programming the 3 Eulerian angles
(phi), (theta) and (psi) (for information on Eulerian angles, see
Section 5.5).
The orientation movement is performed as TCS rotation around an
axis of rotation fixed in space.
D Type 3033101 supports TCP programming via three linear coordi-

nates and tool orientation by programming the three axes of rotation.
The orientation movement is executed linearly in the rotary axis posi-
tions.
6 axis configuration
A axis X axis
C axis
Y axis
B axis
Z axis
zt
TCP (x,y,z) xt TCS tool
coordinate system
z
y
yt
BCS x
and Controls
Type and position of the axes of rotation

The axes of rotation are arranged one after the other on the tool and
stand on each other perpendicularly. In the reference pose, they rotate
the tool around one of the linear basis coordinates x, y or z in positive
sense of rotation.
The positions of the axes of rotation are referred to as i, j, k . The
indexes i, j and k (1, 2 or 3) specify the type of axis.
The type is defined as follows:

Axis of Explanation Axis classification in
rotation type MACODA 7010 00030
1 The axis of rotation rotates 100
around x. Its position is re-
ferred to as 1.
around y. Its position is re-
ferred to as 2.
around z. Its position is re-
ferred to as 3.
Order of the axes of rotation relative to the tool:

The axes of rotation type 1, 2 or 3 can be arranged on the tool in six
different orders.
This results in the following subconfigurations:

Subconfigura- Position of the Position of the Position of the
tion type 1st axis of rota- 2nd axis of rota- 3rd axis of rota-
tion (farthest tion tion (close to
away from the the TCP)
TCP)
123 1 2 3
132 1 3 2
213 2 1 3
231 2 3 1
312 3 1 2
321 3 2 1
Example: Type 132 = the first axis of rotation rotates around the x coor-
dinate of the BCS, the second axis of rotation around the z coordinate
and the third axis of rotation around the y coordinate.
and Controls
Subconfigurations of the axes of rotation arrangement:
z
y
zt
yt
l1 l2 l3
1 2 3
Type: 123 xt x
TCP
z
y
zt
yt
l1 l2 l3
Type: 132 1 3 2
TCP xt x
z
y
zt z
yt y
l1 l2 l3
Type: 213 2 1 3
TCP xt x
x
BCS
z
y
zt zt yt

yt
l1 l2 l3
Type: 312 3 1 2
TCP xt x xt
TCS
z y

zt
yt
l1 l2 l3
Type: 231 3 1
2 xt x
TCP
z
y

zt
yt
l1 l2 l3
Type: 321 3 2 1
xt x
TCP
and Controls

The geometry to the axis kinematics is defined by the three axis connec-

tion vectors l1, l2 and l3. The vectors may have freely defined x, y and z
components in relation to the BCS.

The connection vector li (i=1,2,3) is as follows:
ll ix
l

i iy
l iz

l 1 is located between the 1st and 2nd axis of rotation. The 1st axis of rota-
tion is the rotary axis located farthest away from the tool (TCP). It is fol-
lowed by the 2nd axis of rotation which is connected with the 3rd axis of

rotation via l2. l3 connects the 3rd axis of rotation with the tool (TCP).
The lix, liy and liz components of the axis connection vectors are set in
MP 1030 00140.
Location of the axis connection vectors and their x, y, and z compo-

nents:
Axis connection vectors l1x =+100

l1z= 20
l1
l2x =40 l1y=10

l2
l2y=110
l2z= +30
l1x =+100

l1 = l1y=10

l3z=150 l3 Type: 231 l1z= 20
z
l2x =40
y
l2 = l2y=110
zt l2z= +30
l3y=25 yt
x
l3x =+100

xt l3 = l3y=25
l3z= 150
l3x =+100 TCS BCS
and Controls
Reference pose
The reference pose is significant for the configuration parameters of
the axis kinematics. The reference pose is characterized by the follow-
ing properties:
D The TCP is at space position (0,0,0) in the BCS (zero point of the
basis workpiece coordinate system).
D The coordinates (xt, yt, zt) of the tool coordinate system (TCS) are
parallel or anti-parallel with the coordinates of the basis workpiece
coordinate system.
D The axes of rotation are positioned so that they rotate around x, y
and z of the BCS in accordance with their respective type. They are
arranged one after the other on the tool and stand on each other
perpendicularly.
The sense of rotation of the axes of rotation is mathematically positive if

one looks from one coordinate vertex in the direction of the coordinate
origin and the sense of rotation is counter-clockwise.
The linear axes (X, Y, Z) define a right-handed axis coordinate system

positioned parallel with the BCS.
Reference pose of the

6 axis configuration

l1 l2
2 3 1

l3
z
Connection between the axes
of rotation / tool
y
Axis connection vector
+z zt
+y yt
+ + x
TCS xt
+x BCS
BCS +
TCP= (0,0,0)
and Controls
Reference orientations of the tool coordinate system (TCS)
The orientation of the TCS (xt, yt, zt) relative to the BCS (x, y, z) in the
reference pose can be configured with MP 1030 00150.
The following conditions apply to the reference orientations of the TCS:
D the main directions (xt, yt, zt) of the TCS have to be parallel or anti-
parallel with the main directions (x, y, z) of the BCS.
D The main directions of the TCS and BCS have to result in a right-
handed right-angle coordinate system.
The presetting of MP 1030 00150 (reference orientation of the tool

coordinate system) defines a TCS0, which coincides with the orienta-
tion of the BCS in the reference pose of the axis transformation.
[1] 1
[2] 2
[3] 3
Deviating from this presetting, it is possible to define an orientation for

the TCS1 in MP 1030 00150 which occupies one of the 24 reference ori-
entations in relation to the BCS.
To give a better overview, the 24 possible orientations of the TCS1 are

subdivided as follows:
The xt coordinate of the TCS1 is parallel or anti-parallel with one of the 3
main directions x, y or z of the BCS. This results in 8 different TCS1 ori-
entations for each of the 3 main directions.
xt is located along the x coordinate of the BCS:

BCS Z Reference orienta-
tion of the tool
zt Y
coordinate system
(TCS) in
TCS yt
e.g. TCS0 orientation: 123 MP 1030 00150
TCP xt
X
TCS main direction xt > x coordinate of the BCS
xt [1] is located yt [2] is located zt [3] is located [1] [2] [3]

along the BCS along the BCS along the BCS
coordinate: coordinate: coordinate:
x y z 1 2 3
x z y 1 3 2
x z y 1 3 2
x y z 1 2 3
x z y 1 3 2
x y z 1 2 3
x y z 1 2 3
x z y 1 3 2
and Controls
xt is located along the y coordinate of the BCS:

tion of the tool
Y coordinate system
yt
xt
(TCS) in
TCS MP 1030 00150
e.g. TCS1 orientation: 231
TCP zt
X
TCS main direction xt > y coordinate of the BCS

y z x 2 3 1
y x z 2 1 3
y x z 2 1 3
y z x 2 3 1
y x z 2 1 3
y z x 2 3 1
y z x 2 3 1
y x z 2 1 3
xt is located along the z coordinate of the BCS:

Y
tion of the tool
xt coordinate system
zt
(TCS) in
TCS e.g. TCS1 orientation: 312 MP 1030 00150
TCP yt
X
TCS main direction xt > z coordinate of the BCS

z x y 3 1 2
z y x 3 2 1
z y x 3 2 1
z x y 3 1 2
z y x 3 2 1
z x y 3 1 2
z x y 3 1 2
z y x 3 2 1
and Controls
Coord(<i>): Using i=1..5, one of the five possible 6 axis transforma-
tions defined in MP 1030 00110 is activated.
Coord(0): The active transformation is deactivated.
G0....: The NC functions or G codes programmable with work-
ing range coordinates may be programmed in case of
active 6 axis transformation (see DIN Programming in-
structions).
Properties:
D Feedrate: in case of active 6 axis transformation, the programmed
feedrate (F) refers to the programmable position coordinates only,
i.e. the F word is used to program the path speed of the tool center
point (TCP).
Additional orientation and pseudo coordinate movements do not
change this path speed. The orientation and pseudo coordinate
movement is guided along synchronously, i.e. the end position is
reached simultaneously for all coordinates.
The movement of the orientation and pseudo coordinates carried
along, may, however, lead to an additional limitation of the path kine-
matics (maximum path speed and acceleration) because the limit
values of all axes involved in the movement are monitored.
D Axes of rotation A, B and C may be endless axes as well as rotary
axes.

1030 00030: Axis classification of axes of rotation must be set in ac-
cordance with the explanations given on page 591.
1030 00110 through 1030 00150: Definition of the axis kinematics as
axis transformation. Each of these MACODA parame-
ters exists five-fold, so that it is possible to configure up
to five axis kinematics.
. All values of the following parameters to be entered refer to the ref-

erence pose.
1030 00110 : Transformation type:

3033101 or 3333301 has to be entered for the 6 axis
transformation.
1030 00120 : System axes of the transformation (1-64):
Defines the system axes involved in the transformation.
Please note for both types of transformation:
[1] System axis number of the 1st linear axis
[2] System axis number of the 2nd linear axis
[3] System axis number of the 3rd linear axis
[4] System axis number of the 1st rotary axis
(farthest away from the tool (TCP))
[5] System axis number of the 2nd rotary axis
[6] System axis number of the 3rd rotary axis (at the tool)
[7, 8] not relevant
and Controls
From the order of rotary axes designated in parameters

[4], [5] and [6] and the axis classifications of the rotary
axes, the NC establishes the subconfiguration.
1030 00130: Reference pose axis positions:

The 6 axis positions resulting from the reference pose
have to be entered here:
[1] Position of the 1st linear axis
[2] Position of the 2nd linear axis
[3] Position of the 3rd linear axis
[4] Position of the 1st rotary axis (farthest away from
the tool (TCP))
[5] Position of the 2nd rotary axis
[6] Position of the 3rd rotary axis (at the tool)
[7, 8] not relevant
1030 00140 : Length and angle parameters:

Defines the axis connection vectors l1 , l2 and l3 by speci-
fying the lix, liy and liz components.
All values in mm.
[1] l1x
[2] l1y
[3] l1z
[4] l2x
[5] l2y
[6] l2z
[7] l3x
[8] l3y
[9] l3z
[10.0.16] no meaning.
1030 00150 : Reference orientation of the tool coordinate system:

Defines the orientation of the TCS1 in relation to the BCS
in the reference pose.
[1] Direction of xt
[2] Direction of yt
[3] Direction of zt
[4..8] not relevant
Values: 1, 2,3. The orientation of the TCS must
result in a right-handed coordinate system.
Parameter 1030 00150 is not relevant for

type 3033101.
and Controls
Tool compensation for the 6 axis transformation type 3333301
The TCS1 can be shifted and rotated using tool compensations. A tool
coordinate system TCSc is thus created:
D The shift (compensation vector) of the TCSc relative to the TCS1 is

defined by lt .
D The orientation of the TCSc in the coordinate system TCS1 is defined

by the rotation matrix T t or in the same manner by the three Eulerian

angles , , . The compensation vector and the Eulerian angles can
be set e.g. using the CPL command TC.
Effect of tool compensation on TCS1 > TCSc

(Type 3333301)

l1 l2
2 3 1 previous tool
BCS

l3 z y
Connection between the new tool with

axes of rotation / tool new tool compensation
Axis connection vector

zt
+z yt
+y z y
+ + TCS1
xt zt x
yt
TCP1 = (0,0,0)
+x
BCS +
" x
Shift vector lt
BCS
xt
shifted and rotated TCSc
Rotation around , ; (Eulerian angle)
TCPc = (0,0,0)
or with the rotation matrix Tt
In this case, the tool compensation has the same effect as replacing the

configuration vector l3 by lt + l3 .
and Controls
Tool compensation for the 6 axis transformation type 3033101
Using tool compensations, the TCS1 is freely shifted in space (here al-
ways TCS1=TCS0). A tool coordinate system TCSc is thus created:
D The shift (compensation vector) of the TCSc relative to the TCS0 or

TCS1 is defined by lt .
. A rotation of the TCS as with type 3333301 is not possible.
Effect of tool compensation on TCS0 > TCSc

(Type 3033101)
" " previous tool

l1 l2
2 3 1
y
"
l3 z
new tool with

Connection between the
new tool compensation
axes of rotation / tool
Axis connection vector zt yt BCS

+z
+y
+ TCS0
+ xt z x
y
TCP0 = (0,0,0) zt
+x
BCS + " yt
Shift vector lt
shifted TCSc xt x
TCPc = (0,0,0)
BCS
In this case, the tool compensation has the same effect as replacing the

configuration vector l3 by lt + l3 .
and Controls
Assigning the 6 axis transformation

Transformation types 3333301 and 3033101 are used as examples.
1. Set value 3333301 as transformation type in MP 1030 00110 (no. 1)

and value 3033101 in MP 1030 00110 (no. 2).
2. The system axis numbers must be entered in MP 1030 00120 (no. 1
and 2).
Please make sure that the 1st rotary axis is located farthest away
from the tool (TCP) and that the 3rd rotary axis has the shortest dis-
tance to the TCP.

3. Components for vectors l1 , l2 and l3 have to be determined ap-
propriately. This can be done by measuring or directly from the
construction drawings. Length and offset values have to be set in MP
1030 00140 [1..9] both for no. 1 and no. 2.
4. Establish the axis zero position: Approach reference pose. The axis
positions in the reference pose are set in parameter 1030 00130
[1..5] both for no. 1 and no. 2.
5. The reference pose of the TCS is entered in parameter 1030 00150
for no. 1. Type no. 2 (type=3033101) requires no TCS definition.
Care must be taken that the values result in a right-handed coordi-
nate system. A left-handed coordinate system generates a runtime
error.
6. Take over parameter using system control reset.
7. Test the 6 axis transformation in an NC program for functionality us-
ing Coord(1) and Coord(2). If no runtime error occurs, the parame-
ters are consistent.
Example: Machine axis configuration X, Y, Z, A,B,C with the axis classi-

fications A: 100, B: 200, C: 300 and the 6 axis kinematics 213 (arrange-
ment of the axes of rotation):
Arrangement of the
X axis
axes of rotation: 213
BCS
TCS orientation: 3 1 2
TCP z y
Y axis xt
yt x
Z axis zt
100
B axis
l1 l2 l3
2 1 3
A axis
C axis
100 100
and Controls
Settings in one out of five MACODA parameter blocks:

1030 00110 Transformation type: 3333301 or 3033101
1030 00120 System axes of the transformation (1-64):

[1] 1 Axis X
[2] 2 Axis Y
[3] 3 Axis Z
[4] 5 Axis B
[5] 4 Axis A
[6] 6 Axis C
1030 00130 Reference pose axis positions:

[1] 0; for axis X
[2] 0; for axis Y
[3] 0; for axis Z
[4] 0; for axis B
[5] 0; for axis A
[6] 0; for axis C
1030 00140 Length and angle parameters:

[1] 100
[2] 0
[3] 0
[4] 100
[5] 0
[6] 0
[7] 0
[8] 100
[9] 0
1030 00150 Reference orientation of the tool coordinate system:

[1] 3 ;xt is located along z
[2] 1;yt is located along x
[3] 2;zt is located along y
Activating the 6 axis transformation

Precondition:
D Configured 6 axis kinematics in MP 1030 00110 through MP
1030 00150.
D All NC functions and G codes used in the program must be checked
for their applicability with the selected transformation using the table
below.
1. Activating the transformation in the NC program using Coord(<i>).

Example: 6 axis transformation type: 3333301
Coord(5)
G1 x50 y20 z40 phi45 theta30 psi190
Coord(0)
Deactivating the 6 axis transformation

1. Deactivate a 6 axis transformation in the NC program using
Coord(0).
and Controls
Polar coordinate transformation/end face machining
5.8.3 Polar coordinate transformation/end face machining

This function allows for the coordinate programming (x,y) of a contour
on the end face of a workpiece under the following global preconditions:
D the workpiece is moved by a rotary or endless axis which rotates
around the tool feed coordinate.
D the tool (or the workpiece itself) is moved by a linear axis which runs
parallel with the workpiece clamping surface. This may be an axis
along a Cartesian main direction or an axis parallel with the main di-
rection.
The system axes on which the polar coordinate transformation is to

have effect can be parametrized taking into account the above men-
tioned marginal conditions. Therefore, we will use the following constel-
lation example for the descriptions below:
D linear axis involved:
System axis number: 1
Drive function type: 1 (drive moves rotary/linear axis)
Phys. axis designation: X
Channel assignment: 1 (is assigned to channel 1)
Axis movement type: 1 (linear axis)
D rotary axis involved:

System axis number: 7
Drive function type: 3 (spindle/C axis)
Phys. axis designation: C
Channel assignment: 0 (auxiliary axis, has to be changed to
C axis mode and taken over into chan-
nel 1 prior to activating polar coordi-
nate programming)
Axis movement type: 2 (endless axis)
The polar coordinate transformation establishes a relationship between

the coordinates x and y in the basis workpiece coordinate system (BCS)
and the corresponding machine coordinates of the axes involved (here:
xm, cm). This way, every contour point can be transformed into a corre-
sponding rotary and linear axis position pair under the following pre-
conditions:
D The values relevant to polar coordinate transformation have to be
parametrized as axis kinematics correctly in MP 1030 00110 through
1030 00140. See Relevant MACODA parameters below.
D The axes involved (here: X,C) must be located on the same channel
when the polar coordinate transformation is activated.
D The zero point of the BCS coordinate axes x and y is located on the
axis of rotation of the rotary/endless axis involved (here: C). The
rotary/endless axis rotates around the tool feed axis of the BCS
(here: z).
and Controls
D The linear axis (here: X) moves horizontally parallel with the work-
piece clamping surface. The tool contact point moves on a straight
line, which is parallel with the linear axis traversing direction. Its ex-
tension runs through the axis of rotation of the rotary/endless axis
involved.
D The BCS with the coordinate axes x and y is permanently connected
to the end face of the workpiece. When the workpiece rotates, the
BCS rotates as well.
D In the reference pose of the system axes involved the TCP (tool cen-
ter point) has to be located on the BCS position x=0, y=0.
D The axis classification of the axes involved must be specified cor-
rectly. See Relevant MACODA parameters below.
Reference pose of the axes (xm=0; cm=0) involved General position of the axes (xm,cm) involved with
with TCP on BCS position x=0; y=0 TCP on BCS position x,y
TCP
y Traversing directions y Traversing directions
Linear axis Linear axis
TCP
(here: X) + 0 (here: X) +
x
0
BCS BCS
x
+ +
Traversing directions Traversing directions

Rotary axis Rotary axis
(here: C) (here: C)
Reference pose and general position of the machine axes

and Controls
Transformation branches and automatic branch change

Every TCP position, with the exception of the BCS zero point, can be
described by two different machine coordinate pairs of the axes in-
volved (see figure below). Therefore, two transformation branches
have been implemented in the control unit to calculate the transforma-
tion.
Transformation branch 1 Transformation branch 2
TCP TCP
y Traversing directions Traversing directions
Linear axis x Linear axis
BCS
0 (here: X) + (here: X) +
BCS 0
x
y
+ +
Traversing directions Traversing directions

Rotary axis Rotary axis
(here: C) (here: C)
Identical position of the TCP in the BCS; can be described by 2 different machine coordinate pairs
Which branch is used for the internal transformation calculations, is de-

cided when the polar coordinate transformation is activated. An auto-
matic transition between the two branches is then possible only when
the zero point of the BCS coordinate axes x and y is traversed
The automatic branch change is of advantage only if the BCS zero
point (x=0, y=0) is to be traversed. If only one transformation branch had
been implemented in the control unit, the principle would require that an
intermediate block be inserted to rotate the rotary/endless axis by 180
degrees. Due to the automatic branch change, this 180 rotation is su-
perfluous.
There are cases, however, where the automatic branch change is not
desirable. The automatic branch change has to be prohibited, e.g. if the
linear axis only has a limited traversing range which is not sufficient to
machine the entire end face.
In this event, the NC automatically creates an intermediate block rotat-
ing the rotary/endless axis by 180 degrees. The required traversing
range of the linear axis can thus be reduced to half the range.
Whether an automatic branch change is allowed or not can be config-
ured via MP 1030 00140.
and Controls
Special cases for path movements through the axis of rotation of

the rotary/endless axis involved
There are two different cases: The axis of rotation of the rotary/endless
axis involved can be traversed
1. without change of direction of the tool path (tangentially) or
2. with change of direction of the tool path (non-tangentially).
Ref. 1.: in case of permitted branch change, the control unit automati-
cally switches over the branch. A 180-degree rotation of the
rotary/endless axis involved is thus not necessary.
In case of prohibited branch change, the NC automatically di-
vides the block into 3 block segments:
1st block segment: path movement up to BCS coordinate
0,0.
2nd block segment: 180-degree rotation of the rotary/endless
axis involved.
3rd block segment: residual path movement from 0,0 to the
end point.
Ref. 2.: if the tool path changes its direction at the BCS coordinate 0,0,
this results in an unsteadiness; the rotary/endless axis would
jump at this point.
The polar coordinate transformation monitors the setpoint
path to detect this effect and automatically inserts an inter-
mediate block, if required, which rotates the rotary/endless
axis correspondingly.
When creating the appropriate intermediate block, the NC also
takes into account a possibly allowed branch change.
Example for 2.:
N05 x100 y0
N10 x0
N20 x100 y100
Between the blocks N10 and N20, the NC rotates the rotary
axis from position 0 degrees to 45 degrees before it continues
the TCP movement via N20. A change of the transformation
branch takes place in this context.
If the automatic branch change were prohibited, the NC would
rotate the rotary axis to position 225 degrees. In this context,
please refer to the figure below.
and Controls
N10 Intermediate block N20
0 0
45
45
y x y x
90 270 90 N20 270

0 0
0 Branch change
permitted
y
180 180
90 N10 270
0 x
100
BCS
Branch change 0 0
prohibited
180
0 0
90 270 90 N20 270
: Starting point
: End point
x y x y
: programmed path
225
225
180 180
Creation of an intermediate block at block transition in the BCS zero point
Special cases for path movements close to the axis of rotation of

the rotary/endless axis involved
D Tool paths which pass, start or end at the axis of rotation of the rotary
axis (BCS coordinate: x=0; y=0) involved at a distance of 0.01 mm
are led through the BCS zero point compulsorily by the NC.
For paths leading past this range, please note:
D the block is divided into 2 block segments. In case of a circle, two
partial circles with the same radius as the original circle will be
generated, if possible.
D the first block segment ends, the second block segments starts at
the zero point.
and Controls
D Tool paths which pass the axis of rotation of the rotary axis involved
at a distance of > 0.01 mm, principally require a reduction of the max.
path speed and path acceleration. The reduction is greater, the
closer the path approaches the 0.01 mm limit.
To prevent the reduction from becoming effective along the entire
path (creeping movement over the whole block), the path is divided
into block segments. This results in a strong reduction only for the
block segments which come close to the zero point.

1030 00110 : Axis transformation type.
2011001 has to be entered for polar coordinate trans-
formation.
1030 00120 : System axes of transformation.
Defines the system axes involved in the polar coordinate
transformation.
[1] System axis number of the linear axis
[2] System axis number of the rotary/endless axis
[3]...[8] not relevant
1030 00130: Reference pose axis positions.
Defines the system axis position at reference pose.
[1] Position of the linear axis
[2] Position of the rotary/endless axis
1030 00140 : Length and angle parameters.
Determines if the linear axis can traverse the BCS zero
point.
Please note: xm: current system axis position
xmref: system axis position in the BCS
zero point.
[1] 0: yes
+1: no. Pos. positions allowed only (xmxmref 0)
1: no. Neg. positions allowed only (xmxmref 0)
. As MACODA allows for the parametrization of max. 5 kinematics, it

is also possible to configure several polar coordinate transforma-
tions.
7010 00030: Classification for logical axes.

Defines the functional relevance of the logical axes in-
volved in the polar coordinate transformation. Therefore,
please refer to the MACODA manual.
Since the polar coordinate transformation takes into ac-
count both positive and negative directions of movement
of the axes, it may be necessary to parametrize the re-
spective axis classification value with a sign.
Please note:
and Controls
D Moves in the reference pose of the rotary/endless axis of

the TCP along +x in case of positive traversing direction of
the linear axis involved, then the axis classification value of
the linear axis is positive, otherwise it is negative.
D If a TCP position in the first BCS quadrant results in a nega-
tive axis position of the rotary/endless axis involved, the
axis classification value of the rotary/endless axis involved
is positive, otherwise it is negative.
7080 00010: Designation of the coordinates:
Determines the names used for the coordinates of a
channel in case of active axis transformation in the part
program.
Assigning
1. Determine the necessary axis classifications of the axes involved
and enter the data in MP 7010 00030.
2. Set value 2011001 as transformation type under a free transforma-
tion parameter block (e.g. no. 1) in MP 1030 00110.
3. Enter the system axis numbers of the axes involved in MP
1030 00120.
4. Approach the reference poses of both axes (position x=0, y=0).
Store the resulting machine axis positions in MP 1030 00130.
5. Determine in MP 10300 0140 whether the linear axis can traverse
the axis of rotation of the rotary axis involved.
CAUTION

7. Program command COORD(1) in an NC program.
If no runtime error occurs, the parameters of the polar coordinate
transformation are consistent.
Activating
Precondition:
D The axis kinematics has been assigned correctly.
1. Program COORD(1).
The polar coordinate transformation has been configured in trans-
formation parameter block 1 (see above under Assigning)
Deactivating
1. Program COORD(0).
A presently active axis transformation/polar coordinate transforma-
tion is switched off.
and Controls
Notes:
and Controls
Precision / Dynamics
6 Precision / Dynamics
6.1 Maximum axis step change

Function:
Determines the maximum difference permitted for machining axes (syn-
chronous axes) between two consecutive speed setpoint values in the
interpolator clock pulse at the block transition.
Thus it is possible to
D prevent the control unit from providing speed setpoint values at the
block transitions during the execution of part programs in operating
mode Automatic which would dynamically overload the connected
drive (see also Shape function, page 67 ff.)
D reduce the machining time for a tool, if G8 (path slope, see page
611) is active.
Restrictions:
D The acceleration at the block transitions generated by the maximum
axis step change ( MP 1010 00011) is also dependent on the inter-
polator clock pulse that has been set ( MP 9030 00001, NC cycle
time) (a=v/t).
If, e.g. the interpolator clock pulse is increased (by reducing the NC
cycle time) without adapting the maximum axis step change corre-
spondingly, the resulting higher acceleration may, under certain cir-
cumstances, no longer be carried out correctly. On the other hand, a
reduction of the interpolator clock pulse (by increasing the NC cycle
time) may have the effect that the achievable drive dynamics is not
fully utilized.
If you change the interpolator clock pulse, it is therefore necessary
D to adapt the maximum axis step change in MP 1010 00011, or
D limit the acceleration that can be generated at the block transition
via MP 1010 00012. In this case, the control unit automatically re-
duces the maximum axis step change, if required.

1010 00011: Maximum axis step change
1010 00012: Maximum axis step change acceleration
7030 00310: Minimum angle for calculation of the maximum axis step
change
G8: Path slope on.
During contour machining, the control unit attempts to gener-
ate a speed as constant as possible within the magnitude of
the programmed feedrate at the block transitions, too. For de-
tails, please refer to page 611). Please note that G8 and the
and Controls
Maximum axis step change
Shape function (see page 67 ff.) cannot be active simulta-

neously.
G108: Contour-dependent feedrate reduction on.
The control unit monitors the deceleration path available.
G228: Block transition without deceleration.
Prevents the path speed at the block transition from being re-
duced on account of the maximum axis step change below a
defined contour knee angle.
For this purpose, it is possible to influence the basic setting of
the minimum angle in MP 7030 00310 program-controlled via
K address (G228 K<angle>).
G328: Precision programming (see page 64).
Reduction of the path speed at the block transition.
6.1.1 Assigning
1. Enter the maximum permitted axis step change accelerations for
your application into MP 1010 00012. In the calculation, take into ac-
count both the mechanical data limits as well as the expected aver-
age load.
2. Calculate the resulting maximum axis step change v=a*t (where t
corresponds to the interpolator clock pulse that has been set) for ev-
ery machining axis ( MP 9030 00001).
Enter the calculated values into MP 1010 00011.
3. Adapt MP 7030 00310 (minimum angle for calculation of the maxi-
mum axis step change).
CAUTION

6.1.2 Activating
1. Program G8.
With active G8, the maximum axis step change is automatically
taken into account during the execution of part programs in the oper-
ating mode Automatic.
6.1.3 Deactivating
1. Program G9.
and Controls
Path acceleration limitation
6.2 Path acceleration limitation

Function:
Makes sure that a parametrizable positive/negative acceleration is not
exceeded on any of the programmed paths.
Although this may result in a slightly longer processing time of a part
program, it prevents a creeping dynamic overloading of the drives. This
is an advantage in particular when the machining process is frequently
carried out near the limits of load and dynamics.

7030 00210: Path acceleration.
Max. admissible positive path acceleration on the pro-
grammed contour.
7030 00220: Path deceleration.
Max. admissible negative path acceleration on the pro-
grammed contour.
6.2.1 Assigning
1. Enter the desired acceleration values into MP 7030 00210 and
MP 7030 00220.
. Values > 0 have to be entered for both parameters.
CAUTION

and Controls
Precision programming
6.3 Precision programming

Function:
In certain applications, a controlled slurring of contour transitions
may be expressly desired (e.g. when machining freeform surfaces).
Therefore, precision programming
1. limits
D the contour error () or
D the path overtravel () at contour transitions
and
2. in case of circular path segments (circles, helical, helicalN)

D the radius error ()
to a programmed value (in mm or inch; depending on active G71 or
G70, respectively).
at contour transitions: in case of circular path segments:

Ractual
Rsetpoint
: actual contour
: programmed contour
For this purpose, the control unit calculates the maximum path speed
for each contour transition or circular path segment that may not be ex-
ceeded, so that the specified limit value is observed.
Restrictions:
D The Precision programming function is only effective for contour
transitions if G8 or G108 are active. It is always effective for circular
path segments.
D The Exact positioning function has to be switched off (G62 is ac-
tive).
D To calculate the max. path speed, only the controller parameters of
the first axis on the channel are used. Therefore, all axes involved in
the path have to be parametrized identically with regard to the dy-
namics.
D To calculate the max. path speed, the control unit assumes there is a
linear relationship between speed and overtravel. The influence of
acceleration operations on the current overtravel are not taken into
account.
and Controls
D If Feed forward (traversing without following distance error; feed

forward control) is active in the drive, the control unit will only take
into account SERCOS parameter P-X-0500 to calculate the admissi-
ble path speed in connection with Servodyn drives. For this purpose,
the control unit reads the parameter value from the drive during SER-
COS phase start-up and stores it.
If values > 99% are entered for P-X-0500, a following distance error
of 1% of the following distance error without feed forward control is
assumed.
In the case of non-Servodyn drives, the control unit calculates the
admissible path speed assuming that the overtravel is reduced by
half in case of active feed forward control (in the drive).

8003 00001: Contour deviation tolerance with G328, precision pro-
gramming
G328 or
G328 EPS<Contour error> or
G328 DIST<Path overtravel>
Precision programming ON in every case.
If only G328 is programmed, the control unit limits the contour/
radius deviation at the contour transitions or in case of circu-
lar path segments. The value set in MP 8003 00001 serves as
limit value.
If G328 is programmed in connection with EPS, the control
unit limits the contour/radius deviation at the contour transi-
tions or in case of circular path segments, respectively, to the
value programmed after EPS.
If G328 is programmed with DIST, the control unit limits the
path overtravel at contour/radius transitions to the value pro-
grammed after DIST. When traversing circular path segments,
the control unit now limits the radius deviation in accordance
with MP 8003 00001.
DIST and EPS must not be programmed together in one block.
G329: Precision programming OFF.
Relevant SD functions:
SD(328,1) provides the maximum permitted contour/radius error
programmed last on the active channel as rounded inte-
ger value.
Alternative programming: SD(328).
SD(328,2) provides the maximum permitted path overtravel pro-
grammed last on the active channel as rounded integer
value.
and Controls
SDR(328,1) the same as SD(328,1), however return value in real for-

mat.
Alternative programming: SDR(328).
SDR(328.2) the same as SD(328.2), however return value in real for-
mat.
If the Precision programming function has been switched off (G329 is

active), all functions provide value 0.
6.3.1 Assigning
1. Enter the maximum permitted contour/radius deviation into
MP 8003 00001.
CAUTION

6.3.2 Activating
Preconditions:
D Presetting for contour/radius deviation in MP 8003 00001 has
D G8 or G108 are active
(only required if Precision programming is to be used at contour
transitions. The function is always effective for circular path seg-
ments.)
D All axes involved in the path have been parametrized identically with
regard to the dynamics.
D The Exact positioning function is switched off (G62 is active).
1. Program G328 according to the syntax described.
6.3.3 Deactivating
1. Program G329.
and Controls
Shape
6.4 Shape
Function:
Using the Shape function, it is possible to lessen or limit the jerk in
case of changes in speed. This reduces the peak load of mechanics
and drive components and may, when operating near the limit, help
avoid servo errors.
Thus Shape can, for example, be used for positioning operations in-
volving high accelerations (e.g. punching application) and/or high loads
to minimize vibration on the machine.
Two types of functions are available in connection with Shape:

D Jerk-limited velocity profile generation with path shape (G108):
splits up jumps occurring during path acceleration generated by con-
tour-dependent feedrate reduction into several interpolation cycles
and thus lessens the jerk (see also Section 6.7).
D Point-to-point movement using Shape (G408):
splits up jumps occurring during path acceleration into several inter-
polation cycles specified via programming and thus lessens the jerk.
D Axis-by axis programmable Shape (G608):
limits the maximum jerk of machining axes. If several axes are in-
volved in the interpolation, the control unit makes sure that the re-
spective jerk limit value rmax (see Section 6.4.1) is not exceeded on
any of the axes involved.
As opposed to the Point-to-point movement using Shape where
the desired number of interpolation cycles is specified, the permitted
maximum number of interpolation cycles is specified here. The con-
trol unit automatically calculates the required data on the basis of the
travel paths and the permitted maximum interpolation cycles.
If G608 is programmed without axis addresses, the permitted maxi-
mum number of interpolation cycles from MP 1003 00008 is used.
. Servodyn drives also provide a Shape function (see drive pa-

rameters P-0-0033, P-0-0513, P-0-0514, P-0-0526).
It can be activated additionally at the drive end, if required.
Restrictions:
D You should not use Shape for contour machining.
D Point-to-point movement using Shape (G408), Axis-by-axis pro-
grammable Shape (G608) or Path slope (G8, G108) cannot be
used simultaneously.
D In comparison with deactivated Shape, the interpolation time per
point-to-point movement in case of activated Shape increases by
the additionally necessary interpolation cycles because the move-
ment becomes more smooth.
and Controls
Shape

1003 00008: Order of Shape for axis.
Defines the default settings for G608 axis by axis.
1010 00001: Maximum axis acceleration.
G9: Shape/path slope off.
G408: Point-to-point movement using Shape.
The SIN and LIN parameters determine how an acceleration
jump is split up.
LIN x: linear splitting up of the jump into x interpolation
cycles (x: 2 to 41).
SIN x: SIN2-shaped splitting up. Strictly specified values are
admissible for x only (see DIN Programming Instruc-
tions).
LIN 2 acts without programmed parameters.
G608: Axis-by axis programmable Shape.
The default settings are programmed via MP 1003 00008.
G6: Acceleration programming.
Supersedes MP 101000001 temporarily.
. The G8, G9, G108, G408 and G608 G functions form a group and
therefore deselect each other mutually.
and Controls
Shape
v
T = interpolation cycle
Setpoint speed at the

start of the point-to-
point movement
a t
Resulting acceleration
without Shape
a t
Resulting acceleration
with linear splitting up of
the jump into 5 interpola-
tion cycles (G408 LIN5)
a t
Resulting acceleration with

sin2-shaped splitting up of
the jump into 5 interpola-
tion cycles (G408 SIN5)
Effects of the SIN and LIN parameters in case of G408
6.4.1 Assigning
. Parametrizing is only necessary when using Axis-by-axis pro-

grammable Shape (G608)!
1. Adapt the Shape orders of the individual axes in MP 1003 00008.

The values entered correspond to the maximum number of inter-
polation cycles which the PNC may use to split up an acceleration
jump on the respective axis when the axis is traversing alone.
The values in MP 1003 00008 are used for all axes whose axis ad-
dresses have not been programmed in a G608 block.
and Controls
Shape
If the maximum permitted jerk is known, use the following equation

to convert from Jerk to Shape order.
S = 1000 * amax / (rmax * Tipo)

Please note:
S Shape order. Please note for the calculated value: 1 S 21.
The calculated value has to be entered as integer (round up/
off!) into the respective individual parameter of MP
1003 00008.
amax Parametrized maximum axis acceleration (value from MP
1010 00001).
rmax Maximum permitted jerk of the axis in the unit of measure
m/s3.
Tipo Parametrized NC cycle time (value from MP 9030 00001).
Example:
max. permitted jerk: 500 m/s3
maximum axis acceleration: 10 m/s2
NC cycle time: 4 ms
Required input value: 5
CAUTION

6.4.2 Activating
1. Program G408 using the LIN or SIN parameter to activate the func-
tion Point-to-point movement using Shape
-or-
program G608 to activate the Axis-by-axis programmable Shape
function.
. G608 can be programmed alone or with the Axis address param-

eters and the Shape order value (e.g. G608 X4).
See Section 6.4.1 for an equation for converting Jerk into Shape
order.
6.4.3 Deactivating
1. Program G9.
and Controls
Path slope
6.5 Path slope

Function:
During machining at feedrate, the function tries to keep the feedrate
speed as constant as possible, even at the block transitions. For this
purpose, the function always looks at the programmed contour and the
available deceleration path 1 block in advance.
If it detects an unsteady contour transition (corner), the feedrate speed
is reduced taking into consideration the maximum axis step change
(see page 61) only to the extent that is necessary for going around
the corner due to the available drive dynamics.
This way, you achieve
D higher quality contour transitions and in particular
D shorter machining times
because it is no longer necessary to decelerate down to path speed v=0
before every contour transition.
. Decelerating to v=0 is performed at the end of each programmed

path.
Restrictions:
D Path slope acts only on the machining axes (synchronous axes).
D Decelerating to v=0 is performed after each G0 block.
D After a G200 block, decelerating to v=0 is only performed if G61 or
G163 is active.
D MP 7060 00110 (number of blocks in preparation) must at least be
assigned the value 3.
D If the travel path of the last two programmed blocks is too short at
high path speeds, the drive dynamics may be insufficient to be able
to decelerate correctly to v=0. See also Contour-dependent fee-
drate reduction on page 614 ff.
D In case of active path slope, the execution time of the block has to
be longer than the execution time of auxiliary functions (incl. ac-
knowledgment) programmed in one and the same block.
The execution time is for the most part determined by the pro-
grammed travel path as well the setpoint feedrate.
G8: Path slope on.
G9: Path slope off.
Decelerating to v=0 is always performed at block transitions.
and Controls
Path slope
6.5.1 Activating
1. Program G8.
6.5.2 Deactivating
1. Program G9.
and Controls
Look-ahead function
6.6 Look-ahead function

Function:
Using the Look-ahead function, the PNC is capable of examining the
programmed path across several machining blocks ahead of the ma-
chining operation.
Only then is it possible to detect potentially difficult path properties and
to react accordingly.
The look-ahead function is the basis for all functions

D performing a contour-dependent change of the path speed and
D influencing a programmed contour, e.g. by automatically inserted
additional contour segments.
For the look-ahead function to work properly, it is necessary to hold a

sufficient number of blocks in block preparation. This allows the control
unit to utilize the block information it needs to calculate the different
strategies in advance.
For machining channels, at least 10 blocks should be reserved for this

purpose. If many small contour segments have to be processed subse-
quently, it may be necessary to increase the number of blocks.
For CPL channels, 3 blocks are normally sufficient for the look-ahead
function because the CPL channel performs no contour machining.
Determine the number of blocks in the block preparation (SAV) per as-
signed channel using configuration parameter 7060 00110. With the
PREPNUM function, the number of blocks can be temporarily restricted
via the part program.
The standard presetting for channel 1 and 2 is 30 blocks each, for the
CPL channel it is 3 blocks. For additional machining channels, at least
30 blocks should be reserved, too.
If the presetting of MP 7060 00110 may be critical or limiting for func-
tions using the look-ahead feature, a note to this effect will be included
in the respective function description.
. Please note that the look-ahead function requires approx. 8 k class
2 system memory per block!
L Before you increase the number of blocks, verify that sufficient memory
is available.
DIAGNOSIS " CONTROL DIAGNOSIS " MEMORY
. To take over changes in MP 7060 00110, perform a control reset.

7060 00110: Number of blocks in preparation.
Relevant special functions:
PREPNUM: Limits the maximum number of blocks processed in
block preparation. For details, see DIN Programming In-
structions.
and Controls
Jerk-limited velocity profile generation
6.7 Jerk-limited velocity profile generation

Function:
The jerk-limited velocity profile generation is a contour-dependent
feedrate reduction with optional Shape functionality.
It determines
D by means of look-ahead function (advance interpolation), if the dis-
tance from the end point of the current block to the end point of the
next block is sufficient to decelerate from the current path speed to
zero. If the distance is not sufficient, the following blocks are included
in the feedrate determination, limited by the maximum number of
blocks entered in the MACODA parameters. This serves to avoid un-
permitted high accelerations during block changes.
D a velocity profile by the Shape functionality (subsequent interpola-
tion) in the path operation: The turning points in the velocity profile
determined for the contour-dependent feedrate reduction generate
jumps in the path acceleration. These jumps are split up into several
interpolation cycles and thus smoothed. The number of cycles is pro-
grammable and limited to maximum 100 interpolation cycles.
and Controls
Speed
v
without G108
with G108
with Shape
N10 N20 N30 N40 N50 N60 NC blocks

Acceleration
a
N10 N20 N60 t

Acceleration
a
G108 with Shape

max. 100
interpolation
cycles
N10 N50 N60 t

without G108
without Shape
unpermitted high
acceleration
Restrictions:
D The contour-dependent feedrate reduction acts only on the ma-
chining axes (synchronous axes).
D A PREPNUM active in the part program limits the jerk-limited velocity
profile generation with the effect that fewer blocks than have been
defined in the relevant MACODA parameters are available.
D If the look-ahead range is set too low, this may result in an unneces-
sary reduction of the path speed.
D Within the deceleration ramp, path speeds which differ block by
block will be effective only if the difference exceeds a fixed tolerance
range (15%).
and Controls
G108 {Shape<Shape order>}
Switch Contour-dependent feedrate reduction on (op-
tional with Shape)
If G108 is programmed without the optional Shape, the order set in MP
7050 00320 becomes effective.
Relevant NC function:
Shape<Shape order>
<Shape order> Number of interpolation cycles (optional),
programmable number 0..100.
Without programming, MP 7050 00320 shall apply

7050 00320: Default order for Shape, if G108 is programmed without
Shape parameter.
0: Presetting
0...100: Number of interpolation cycles
7050 00399: Syntax of path slope options
(for system administrators only)
The syntax for the 2 existing path slope options can be
changed under this parameter.
G8, G08, G008: Path slope (see Section 6.5)
G108 : Look-ahead (contour-dependent
feedrate reduction)
7060 00110: Required total number of blocks for look-ahead range,
including interpolation on the channel.
0: Presetting
1 ...1000: Number of blocks
The interpolator requires max. the number of blocks set
or programmed as Shape order (number of interpolation
cycles) (1 cycle = 1 block).
If the interpolated NC blocks are longer, the blocks re-
quired by the interpolator is reduced accordingly. All NC
blocks not required by the interpolation, are available to
the look-ahead functionality.
7060 00120: Maximum number of blocks for the look-ahead range
This maximum value is only relevant if MP 7060 00110 is
configured sufficiently large and a corresponding portion
in parameter 7060 00130 is assigned to the jerk-limited
velocity profile generation.
1: Presetting
0...1000: Number of blocks
and Controls
7060 00130: Percentage of blocks for the look-ahead range

Applies to the groups velocity profile, buffered blocks,
spline and others.
100: Presetting
0 .. 100: Percentage share
The individual parameter [1] of this parameter specifies
the percentage share of the total number of blocks for
look-ahead range (7060 00110) available to the jerk-
limited velocity profile generation.
Relevant special functions:
PREPNUM: Limits the maximum number of blocks processed in
block preparation. Has priority over the values set in the
relevant MACODA parameters. For details on PREP-
NUM, see DIN Programming Instructions.
6.7.1 Assigning
Precondition:
Please note that the function requires further blocks (maximum up to
Shape order) from the interpolator in addition to the set number of
blocks for the look-ahead range. These blocks have to be taken into ac-
count in MACODA parameter 7060 00110 Number of blocks in prepa-
ration, too!
1. Determine the number of blocks for look-ahead and Shape in MP

7050 00320, 7060 00110, 7060 00120 and 7060 00130.
When specifying the number of blocks, take into account other func-
tions as well (e.g. spline online calculation), if required.
If the number of interpolation cycles is not sufficient, the ratio in
7060 00130 or the total number in 7060 00110 have to be changed.
2. If any changes have been made in the relevant MACODA parame-
ters, System control reset has to be initiated.
3. Before you increase the number of blocks, verify that sufficient
memory is available.
DIAGNOSIS " CONTROL DIAGNOSIS " MEMORY
6.7.2 Activating
CAUTION
Do not initiate either a control reset or a system control reset dur-
ing machining, because the NC blocks prepared relative to the
look-ahead function will not be executed anymore.
1. Program G108 or G108 SHAPE.
6.7.3 Deactivating
1. Program G9.
and Controls
Circle compensation at the quadrant transition
6.8 Circle compensation at the quadrant transition

Function:
Reduces the impulse-type contour distortions caused by static friction
on circular paths following the quadrant transitions.
Circle errors at the quadrant transitions are generated, among others,
by the reversal of direction of an axis involved in a circular path. One
axis moves at maximum speed at the transition point, while the other
axis comes to a stop. When accelerating in the new traversing direction,
the static friction holds back the axis at the turning point at first. This re-
sults in an overtravel which is only reduced in a jerk when the static fric-
tion limit is exceeded.
For this reason, the drive is able to add a triangle-shaped speed pulse
independently in case of a reversal of direction of an axis, which is re-
duced starting at a certain pulse level in a certain number of scanning
steps (drive function group Circle compensation, see Servodyn Pa-
rameter Manual)
Quadrant transition.
Y Reversal of direction of the Y axis
: Setpoint contour
Traversing direc- : Actual contour without
tion compensation
: nset with compensation

: nact with compensation
: nact without compensation
n: Drive speed for Y axis
To commission this drive function, it is necessary to:

D traverse a circular path with a radius that is typical of the machine
(determined by you) at different speeds and establish the pulse lev-
els required for optimum compensation.
The value pairs of speed and required pulse level thus established
can be stored in the Servodyn drive in SERCOS parameters
P-0-0539 (speed table speed pulse) and P-0-0540 (pulse table
speed pulse) (max. 20 value pairs).
D store the circle radius used in P-0-0537 (reference radius path
speed).
and Controls
D determine the pulse area empirically and save it in P-0-0538 (pulse

area speed pulse).
The pulse area (= pulse level * scanning steps) remains nearly
constant for differing speeds and therefore needs to be determined
for one single speed only.
The pulse level required for compensation and the number of scanning
steps needed are dependent on radius and feedrate speed (path
speed). Because the drive knows neither the radius nor the path speed
of a circle segment that is currently being traversed, this information is
taken into account by the NC, it is standardized and the result is trans-
mitted to the drive in the form of the standardized circle feedrate
(P-0-0536 standardized path speed). For this purpose, SERCOS pa-
rameter P-0-0536 has to be included in the configuration list of the MDT
telegram (S-0-0024).
Calculation of the standardized circle feedrate in the NC:
Vstand = Vpath x (P-0-0537 / R)
Vstand: standardized circle feedrate.

The value is calculated separately for the axes involved in
the circle path (main and second axis), it is only active in the
course of the circle path and is set to zero at the end of the
circle.
Vpath: current path speed.
R: programmed radius.
P-0-0537: reference radius.
It is read from the drives involved by the NC (in SERCOS
phase 4).
On the basis of the standardized circle feedrate, the drive is now able to
determine the pulse level required for compensation from the value
pairs (speed, pulse level; P-0-0539, P-0-0540) established during com-
missioning. If no value pair is available for the current path speed, the
required pulse level is calculated by the drive via linear interpolation.
From the pulse level, the drive finally determines the number of scan-
ning steps which are necessary for the linear reduction of the com-
pensation speed pulse (scanning steps = pulse area / pulse level).
Restrictions:
D Active axis transformations are not permitted.
D The axes of the program coordinate system (PCS) must run parallel
with the axes of the basis coordinate system (BCS), i.e. shifts in posi-
tive or negative direction are allowed whereas rotations are not!
and Controls

P-0-0510: Position options.
Bit 4 switches the drives own circle compensation (function
Friction compensation with speed pulse) (bit 4 = 1) on.
P-0-0536: Standardized path speed.
It is transmitted cyclically to the drive by the NC.
P-0-0537: Reference radius path speed.
The NC needs it to calculate the standardized circle feed-
rate.
P-0-0538: Pulse area speed pulse.
The NC needs it to calculate the required scanning steps.
P-0-0539: Speed table speed pulse.
Speeds used to determine the pulse levels entered in
P-0-0540.
P-0-0540: Pulse table speed pulse.
Determines which SERCOS parameters the drive expects
in the freely configurable telegram.
S-0-0015 Telegram types parameter.
6.8.1 Assigning
Precondition:
D Use of Servodyn drives with software version V47 (or higher).
D The relevant SERCOS parameters (see above) are correctly set in
the drive and saved in the EEPROM or will be transferred by the con-
trol unit to the drive during SERCOS initialization (for information on
SERCOS, see page 467 ff.).
1. Integrate SERCOS parameter P-0-0536 into S-0-0024 and make

sure that the freely configurable telegram has been selected in
S-0-0015.
2. Select a radius typical of the machine (e.g. 100 mm) and enter the
value in P-0-0537 (unit: mm, without decimal places).
3. Enter all path speeds in P-0-0539 (unit: mm/min; without decimal
places) you wish to determine the pulse level for (e.g. in the range
100 mm/min to 5000 mm/min). Specify the path speeds (max. 20
values) in ascending order separated by commas. In P-0-0540, the
pertaining pulse levels will be entered later (also separated by com-
mas) in the unit rpm (with 3 decimal places).
4. Create a part program, where a full circle with the previously speci-
fied radius (see item 2.) and the first path feedrate included in
P-0-0539 (see item 3.) has been programmed. Start and end point
should not be located on a quadrant transition.
5. Make sure that P-0-0536 includes the value 0.
6. Set bit 4 in P-0-0510 (position options) to 1. This will activate the
circle compensation in the drive.
and Controls
7. Save all SERCOS parameters in the EEPROM of the drive or enter

the SERCOS parameters mentioned until now and their values into
the relevant SERCOS files of the NC. The SERCOS files are trans-
ferred by the control unit to the drive during SERCOS initialization
(for information on SERCOS, see page 467 ff.).
CAUTION

9. Use an axis oscilloscope to record the actual positions of the axes
involved for the part program that was previously created. When you
specify the scanning time, please note that the smaller you set the
scanning time, the shorter the maximum possible recording duration
will be.
After the recording process, actuate the Calculate curve softkey
and enter the data of the setpoint circle (Enter circle data softkey).
If you use the Circle deviation softkey, the axis oscilloscope will
show you the circle deviation and the quadrant transitions on the
display.
In the current state, you should be able to detect a circle error at the
quadrant transition.
10. Change the pulse area (P-0-0538; max. 3 decimal places) and the
pulse level pertaining to the current path speed (P-0-0540; unit: rpm,
3 decimal places) via SERCOS monitor until a new axis oscilloscope
recording shows no circle deviations worth mentioning.
When that is the case, leave the pulse area that has been deter-
mined constant in the following process steps.
11. Now change the path feedrate (path speed) in the part program to
the next value stored in P-0-0539 and record the sequence of the
part program again as described in item 9.
12. Change the pulse level pertaining to the path speed (P-0-0540; unit:
rpm, max. 3 decimal places) via SERCOS monitor until a new axis
oscilloscope recording shows no circle deviations worth mentioning.
13. Repeat items 11. through 12. for the remaining speed values stored
in P-0-0539.
14. Save all SERCOS parameters in the EEPROM of the drive or enter
the data of parameters P-0-0538 and P-0-0540 determined until
now into the relevant SERCOS files of the NC. The SERCOS files
are transferred by the control unit to the drive during SERCOS initial-
ization (for information on SERCOS, see page 467 ff.).
CAUTION

and Controls
The NC activates the function if
D P-0-0536 has been entered in S-0-0024 (configuration list MDT),
D the freely configurable telegram has been selected in S-0-0015
(telegram types parameter) and
D NC and drives perform a new start-up.
The NC deactivates the function if

D P-0-0536 has been removed from S-0-0024 (configuration list
MDT) and
D NC and drives perform a new start-up.
and Controls
Dynamic limit values
6.9 Dynamic limit values

Function:
Serves to limit the speed and acceleration of connected drives within
the control unit.
This way, situations within the NC which may lead to the dynamic over-
load of individual drives can be avoided in advance. For this purpose,
the NC automatically reduces the path speed or path acceleration so
that the defined limitations of all axes involved will not be exceeded.
Possible causes for dynamic overload:

D path feedrate too high.
At a specified path feedrate, the required speeds of individual axes
involved in the path may increase considerably.
D drive dimensions too small.
Drives may be dynamically overloaded by peak loads.
D incorrect drive parametrization.
Limitations in the drive (via SERCOS parameter) have not been pa-
rametrized correctly.
D unfavorable programming.
e.g. many short machining blocks with upslope and downslope.
Possible effects of dynamic overload:

D contour distortions
D overtemperature in the drive
D increased machine wear
D servo error.
Restrictions:
D All setpoint values generated by the drive independently cannot be
influenced via the limit values defined by the control unit (e.g. in case
of Interpolation in the drive, Drive-controlled referencing or Halt
of the drive after the occurrence of an error)! In these cases, an ap-
propriate parametrization within the drive is required.

1005 00001: Maximum axis speed.
1010 00001: Maximum axis acceleration.
1010 00011: Maximum axis step change
(in connection with G8)
1010 00012: Maximum axis step change acceleration
(relevant for changes in the interpolator cycle)
and Controls
Dynamic limit values
G6: Acceleration programming ON.
Supersedes the acceleration values defined in 1010 00001
with programmed or previously stored values.
G7: Acceleration programming OFF.
The values stored in MACODA are valid again.
G206: Saves the currently active acceleration values of all axes.

S-X-0091: Bipolar speed limit value.
S-0-0138: Acceleration bipolar.
P-0-0004: Halting mode with drive off.
6.9.1 Assigning
1. Make sure that the relevant SERCOS parameters have been para-
metrized correctly.
The values of the SERCOS parameters should normally be set ac-
cording to the maximum dynamic capacity of the respective drive. In
this context, it is necessary to take the coupled axis mechanics as
well as the maximum possible load into consideration sufficiently!
If you have made any changes, save all SERCOS parameters in the
EEPROM of the drive or enter their values into the relevant SERCOS
files of the NC. The SERCOS files are transferred by the control unit
to the drive during SERCOS initialization (for information on SER-
COS, see page 467 ff.).
2. For axes:
Configure MP 1005 00001 and MP 1010 00001. The limit values set
in the drive must not be exceeded.
For spindles:
Configure MP 1040 00012 and MP 1040 00031. The limit values set
in the drive must not be exceeded, taking into account the transmis-
sion ratio.
3. Configure MP 1010 00011 and MP 1010 00012. The speed and ac-
celeration values set in item 2. must not be exceeded.
CAUTION

and Controls
Operation
7 Operation
7.1 Control reset

Function:
The function available as a standard resets the PNC to a precisely de-
fined state. It can be initiated via softkey or interface signal.
We distinguish between two different control reset types:
Control reset: only has an effect for the channel where
the function is initiated.
System control reset: has an effect throughout the system.
Control reset initiates the following actions:

D Deceleration to standstill of all machining axes of the channel.
D Deselecting the active part program on the channel (in this context,
also note the Automatic program selection function on page 728
ff.).
D Resetting error states on the channel
D Calling the Power-up condition function and interpretation of the
init string contained in MP 7060 00020 (see page 36 ff.).
All functions programmed ahead of the text #SysRes are taken into
account in this context.
System control reset initiates additional actions:

D Deceleration to standstill of all auxiliary axes and spindles in the sys-
tem.
D Calling of functions which are programmed in MP 7060 00020 be-
hind the text #SysRes.
D Transfer of changed configuration parameter values.
If the transfer of individual parameters is only possible by means of
control unit start-up, the PNC will display a blinking ? in the NC sta-
tus line. You can then call up detailed information via the info key.

NC-I0.0: System control reset (global interface).
L/H signal edge initiates the function.
NC-I1.1: Control reset (channel interface).
NC-O14.2: Control reset executed (channel interface).
The signal is not set if the channel is not in power-up condi-
tion and a program has been selected or is active.
It will be set as long as the channel is in power-up condition
and no program has been selected yet.
In case of an L/H signal edge, the control unit has executed
the control reset. The PLC then has to reset to NC-I1.1.
and Controls
Control reset
7.1.1 Activating
CAUTION
Initiating Control reset or System control reset during ma-
chining may cause damage to the machine or workpiece!
D Calling Control reset via softkey:

AUTOMATIC " CHANNEL CONTROL RESET.
D Calling System control reset via softkey:
DIAGNOSTICS " RESET FUNCTIONS " SYSTEM CONTROL
RESET.
D Calling Control reset via interface signal:
L/H signal edge at NC-I1.1 of the respective channel interface.
D Calling System control reset via interface signal:
simultaneous L/H signal edge at NC-I1.1 of all assigned channel in-
terfaces.
or
L/H signal edge at NC-I0.0 of the global interface.
and Controls
Jogging in machine coordinates
7.2 Jogging in machine coordinates

Function:
Permits manual movement of axes in positive and negative direction.
The length of the traversing path can be influenced by
D the duration of the set interface signal Manual+ / Manual
D 4 incremental steps (1000, 100, 10, 1 increments) permanently
stored in the system
D a user-defined incremental step (x increments).
In the manual, jog mode it is possible to move all axes existing in the
NC. In case of synchronous axes, this mode has a direct effect on the
machine coordinates (MCS).
The individual options are first selected via the axis interface signals
Manual feed/incremental bit x (NC-I1.0 to NC-I1.3).
Subsequently, the traversing movement can be initiated via the axis in-
terface signals Manual+ or Manual
It is possible to store the travel speeds separately for each of the three
options mentioned above, using the configuration parameters.
The value used to accelerate to setpoint speed can be set jointly for all
options via configuration parameters.
Preconditions:
D Manual or Jog mode has to be activated.
In case of synchronous axes, note that their operating mode, in con-
trast to auxiliary axes, is not influenced by their axis interface but by
the channel interface.
The operating mode of a channel can be set either at the operating
panel or by the PLC (binary coded via channel interface). The values
permitted are specified using NC-I3.0 Mode selection by PLC
(channel interface). In case of auxiliary axes, their operating mode
can be specified exclusively via the axis interface.
NC-I3.0: Mode selection by PLC (channel interface)
For auxiliary axes:
and Controls
D The axis interface signals Handwheel assignment bit x (NC-I2.0

and NC-I2.1) must not be set.
not be set.

1005 00003: Manual feed slow.
1005 00004: Manual feed medium.
1005 00005: Manual feed fast.
1005 00006: Manual feed rapid.
1005 00007: Manual feed for defined steps.
1005 00008: Manual feed for variable steps.
1010 00002: Jog acceleration

NC-I0.0: Manual+ (axis interface).
NC-I0.1: Manual (axis interface).

MCODS(...) see MCDOS (27,..) in the CPL Programming Manual
and Controls
7.2.1 Assigning
1. Use the table below to set the relevant configuration parameters:
(1) (2) effective effective

Jog mode Length of the traversing path
speed acceleration
Rapid MP 1005 00006

Fast dependent on the duration of the set interface MP 1005 00005
Medium signal Manual+ / Manual MP 1005 00004
Slow MP 1005 00003
per L/H edge at Manual+ or Manual:
x increments MP 1005 00008 MP 1010 00002.
MP 1015 00002 * MP 1015 00001
If assigned 0
0, the
per L/H edge at Manual+ or Manual: value from
1000 increments
1000 * MP 1015 00001 MP 1010 00001 is
per L/H edge at Manual+ or Manual: applicable.
100 increments
100 * MP 1015 00001
MP 1005 00007
10 increments
10 * MP 1015 00001
1 increment
1 * MP 1015 00001
(1) Selection via axis interface signals Manual feed/incremental bit x (NC-I1.0 to NC-I1.3).
(2)If the signal Inch incr. step (NC-I0.3) is set at the axis interface of a linear axis, the PNC will multiply the
value entered in MP 1015 00001 by the factor 2.54.

7.2.2 Activating
1. If you wish to jog synchronous axes, select Jog mode on the oper-
ating panel:
MANUAL " JOG MODE
. Selection via the operating panel is not possible if the signal

Mode selection by PLC (NC-I3.0) has been set at the channel in-
terface.
In this case, the PLC must provide the Manual operating mode
via the channel interface signals Mode selection bit x (NC-I2.0 to
2.3).
2. If you wish to jog asynchronous axes, make sure that the Manual
mode is provided at the axis interface of the respective axis via the
signals Mode selection bit x (NC-I1.6 and 1.7).
and Controls
3. Make sure that the axis interface signals Handwheel assignment

bit x (NC-I2.0 and NC-I2.1) have not been set.
4. Select the desired jog mode.
Selection via axis interface signals Manual feed/incremental bit x
(NC-I1.0 to NC-I1.3).
. Please note that the signal Inch incr. step (NC-I0.3) influences
the length of the traversing path in the increment modes!
If it has been set, the PNC multiplies the value entered in MP
1015 00001 by the factor 2.54!
5. Initiate the traversing movement of the relevant axes via the axis in-
terface signals Manual+ or Manual.
and Controls
Jogging in workpiece coordinates
7.3 Jogging in workpiece coordinates

Function:
Using this function, you can jog coordinates/pseudo coordinates in
workpiece coordinates (WCS) and in Z direction in tool coordinates
(TCS). The Manual, jogging in workpiece coordinates mode is
available for this purpose.
The following coordinates may be jogged:

D with axis transformation switched off: all pseudo coordinates (axes)
D with active 5 axis transformation: all linear orientation coordinates,
the TCS Z direction and the pseudo coordinates (axes).
The coordinate/pseudo coordinate to be jogged is selected by the PLC

via NC block specification (see program module -B04SATZV) using the
JogWCSSelect.. NC function (see also Relevant NC functions).
As an alternative, the coordinates can be selected by any part program,
e.g. a CPL program.
Only one coordinate/pseudo coordinate can be moved at any given

point in time.
The Manual, jogging in workpiece coordinates mode must be se-

lected prior to jogging:
D directly by the PLC (operating mode 14) when mode selection by
PLC is active
D via the operator interface using the Jog softkey if it has been initial-
ized in MACODA 6001 00030 for jogging worpiece coordinates.
Jogging options:
D Continuous jogging: for jogging, the maximum positive or negative
end point of the selected coordinate is specified. The movement is
stopped when you release the jog key.
The maximum end point of a coordinate is calculated by the NC on
the basis of the axis end switches, taking into account the active
transformation.
D Incremental jogging: When the jog key is actuated, the control unit
will check whether it is possible to traverse the selected path incre-
ment.
The instruction will be ignored if it is not possible to traverse the se-
lected path increment.
and Controls
Differences to the Manual, jog mode (see Section 7.2):

In contrast to the Jogging in workpiece coordinates it is possible to
move all axes existing in the NC in the Manual, jog mode. When syn-
chronous axes are jogged, this has a direct effect on the machine coor-
dinates (MCS).
If a 5 axis transformation is active, however, it is practically impossible to
move the transformed z coordinate (e.g. diagonally in space) in ma-
chine coordinates. In this case, up to 3 machine axes (X, Y, Z) have to be
jogged simultaneously to be able to traverse the z coordinate.
Restrictions:
D Select the 5 axis transformation with linear orientation (MP
1030 00110 Axis transformation type = 3232101 or 3032101),
even if the 5 axis transformation with vector orientation (MP
1030 00110 = 3232201) was active previously.
In this context, the name of the part program (initialization program),
which selects an axis and/or coordinate transformation in connection
with CPL commands, can be entered in MP 7500 11000.
This program will always be executed at the start of the first jog
movement after selection of the operating mode.

1010 00002: Jog acceleration
6001 00030: Configuration of the jog mode softkey
7050 01000: Jogging WCS: manual feeds
7050 01010: Jogging WCS: feedrate and incremental step,
system axis number
7050 01020: Jogging WCS: resolution of an increment
7050 01030: Jogging WCS: variable increment step
7050 01100: Jogging WCS: program name for the
standard configuration
JogWCSSelect JWSCHAN<Channel no.> JWSCOORD<Coordinate
no.> {JWSFEED<F value>} {JWSSTEP<Increments>}
Selection of coordinate for jogging in workpiece coordi-
nates
and Controls

JWSCHAN<Channel no.> Number of the channel the coordinate was
selected for.
JWSCOORD<Coordinate no.> 1...8: Number of the coordinate
9: TCS Z direction:
D the TCS Z direction exists in
case of active 5 axis transforma-
tion only.
D a compensation in TCS-Z direc-
tion is converted into a move-
ment of the linear working range
coordinates (x,y,z).
{JWSFEED<F value>} Optional,
Default: corresponds to the feedrate speed
of the axis interface (see MP 705001020).
Unit: mm/min or degrees/min (G71), or
inch/min or degrees/min (G70)
{JWSSTEP<Increments>} Optional,
selection of incremental jogging and simul-
taneous specification of the step size in in-
crements.
Default: incremental and continuous jog
mode of the axis interface
(see MP 7050 01020).
. JWSSTEP may only be programmed together with JWSFEED.

Channel NC-I0.6: Workpiece coordinates manual +
Channel NC-I0.7: Workpiece coordinates manual
Channel NC-I2.0 .. 2.3: Mode selection
7.3.1 Assigning
1. Create the initialization program for switching over into the 5 axis
transformation with linear orientation (if required), when jog mode is
selected.
2. Edit the program module -B04SATZV for the NC block specification
to select a coordinate for jogging.
3. Link the relevant interface signals.
4. Enter the values for the relevant MACODA parameters:
D MP 7050 0100 MP 7050 01030
D If you wish to release the jog mode via softkey, enter the value 2 or
3 in MP 6001 00030.
and Controls
D The acceleration capacity of the jog movement results from the

values in MP 1010 00002 Jog acceleration.
D The initialization program specified in MP 7050 01100 must be
stored in the search path.
7.3.2 Activating
1. Select the Jogging in workpiece coordinates mode via PLC or soft-
key.
2. Select the desired coordinate (specification of the JogWCSSelect
NC function, e.g. by the PLC via NC block specification).
3. Select the speed range or the step size (see also MP
7050 01020).
4. The movement starts when the channel interface NC-I0.6 or NC-I0.7
has been set.
Example:
1010 00002 [1] Jog acceleration for the axes
relevant for this channel
[2]
..
[64]
6001 00030 [1] 3 Jog softkeys exist
7050 01000 [1] Set jog feedrate values as required

..
[6]
7050 01010 [1] 1 The step size is derived from the 1st
system axis
7050 01020 [1] 1.000 1 increment corresponds to 1 m
7050 01030 [1] 2000 The variable increment step is 2000 incr.
7050 01100 [1] Initstri The initialization program

[2] ngForJog is called: InitstringForJogWCS
[3] WCS
[4]
Example for an initialization program InitstringForJogWCS:
10 IF @AXTRAFO%=1 THEN
N20 Coord(2) ;The axis transformation 2 must be of
type 3232101 or 3032101
30 ELSE
N40 Coord(0)
50 ENDIF
and Controls
7.3.3 Deactivating
D The continuous movement is stopped by releasing the respective
jog key when the channel interface NC-I0.6 or NC-I0.7 has been re-
set.
D Leaving the Jogging in workpiece coordinates mode terminates ev-
ery jog movement.
D Channel control reset and system control reset discontinue an active
jog movement.
and Controls
Handwheel
7.4 Handwheel
Function:
You can connect up to two digital handwheels to manually traverse the
axes in manual mode. The communication takes place via CAN-Bus
(only PNC-R) or PROFIBUS-DP, a mixed operation is permitted, too.
The length of the traversing path can be influenced by:

D 4 incremental steps (1000, 100, 10, 1 increments) permanently
stored in the system
D a user-defined incremental step (x increments).
The incremental steps are always interpreted as evaluation factor for

the scale division of the handwheel. Moving the handwheel by 1 scale
mark, for example, will move the respective axis by the corresponding
number of increments.
The step size can be switched over via the axis interface signals
Manual feed/incremental step bit x (NC-I1.0 to NC-I1.3).
The travel speed is derived by approximation from the rotation speed of
the handwheel and limited to the rapid mode of the axis.
Preconditions:
D Module osa switch (machine operating panel with CAN-Bus), or
module osa switch dp (machine operating panel with PROFIBUS-
DP), or handwheel with direct PROFIBUS-DP connection.
D The number of pulses per revolution is adjusted.
D osa switch: The digital handwheel has to provide 100 pulses per
revolution (e.g. Messrs. Euchner, HKG 100X100A05). No further
adjustment.
D osa switch dp: The pulses per revolution of the handwheel are al-
ways multiplied by four. This value must be set in the MP 9060
00001.
(e.g. 9060 00001 = 400 for a handwheel with 100 pulses per revo-
lution).
D Correct connection:
D osa switch: handwheel 1 has been connected correctly at female
D shell connector St3. The machine operating panel is con-
nected to X51 of the osa master module via St2.
D osa switch dp: handwheel 1 has been connected correctly at fe-
male D shell connector St3. The machine operating panel is
connected to X71 of the PNC-P plug-in card or to X51 of the mod-
ule osa dc I/O or osa dc I/O ana via St2 and configured via
WinDP.
D Handwheels which are connected without machine operating
panel directly via PROFIBUS-DP have to transmit values to the
PNC representing the counter reading with a sign, not incremen-
tal values.
and Controls
Handwheel
. For information on the connection of the machine operating pan-

els, please refer to the manuals PNC-R Connectivity Require-
ments, PNC-P Connectivity Requirements andPLC Project
Planning.
CAUTION
Damage to the electrical/electronic equipment possible!
Switch off system before you pull out or plug in connecting lines
or before you install a second logic card!
D For communication via PROFIBUS-DP, the handwheel counter

reading has to be transmitted to the NC cyclically via the APS module
B14HANDW.
D Manual or Jog mode has to be activated.
In case of synchronous axes, note that their operating mode, in con-
trast to auxiliary axes, is not influenced by their axis interface but by
the channel interface.
The operating mode of a channel can be set either at the operating
panel or by the PLC (binary coded via channel interface). The values
permitted are specified using NC-I3.0 Mode selection by PLC
(channel interface). In case of auxiliary axes, their operating mode
can be specified exclusively via the axis interface.
NC-I3.0: Mode selection by PLC (channel interface:
For auxiliary axes:
not be set.

1005 00002: Rapid traverse rates of axes.
9060 00001: Number of increments per revolution.
9060 00002: Field bus assignment (PNC-R only).
and Controls
Handwheel

NC-I0.5: Handwheel direction of rotation (axis interface)
NC-I2.0: Handwheel assignment bit 0 (axis interface)
NC-I2.1: Handwheel assignment bit 1 (axis interface)
7.4.1 Assigning
1. Use the table below to set the relevant configuration parameters:
Incremental step Length of the traversing path effective
(1) (2) speed
per scale mark on the handwheel:

x increments MP 1015 00002 * MP 1015
00001
dependent on the
1000 increments rotation speed of
1000 * MP 1015 00001
the handwheel.
handwheel Is
per scale mark on the handwheel: always limited to
100 increments
100 * MP 1015 00001 the value in
MP 1005 00002
10 increments however.
10 * MP 1015 00001
1 increment
1 * MP 1015 00001
(1) Selection via axis interface signals Manual feed/incremental bit x

(NC-I1.0 to NC-I1.3).
(2) If the signal Inch incr. step (NC-I0.3) is set at the axis interface of a linear
axis, the PNC will multiply the value entered in MP 1015 00001 by the
factor 2.54.

and Controls
Handwheel
7.4.2 Activating
1. If you wish to move synchronous axes using the handwheel, select
Jog mode on the operating panel:
MANUAL " JOG MODE
. Selection via the operating panel is not possible if the signal

Mode selection by PLC (NC-I3.0) has been set at the channel in-
terface.
In this case, the PLC must provide the Manual operating mode
via the channel interface signals Mode selection bit x (NC-I2.0 to
2.3).
2. If you wish to traverse asynchronous axes via handwheel, make sure

that the Manual mode is provided at the axis interface of the re-
spective axes via the signals Mode selection bit x (NC-I1.6 and
1.7).
3. Select the desired incremental step.
Selection via axis interface signals Manual feed/incremental bit x
(NC-I1.0 to NC-I1.3).
4. Select the desired handwheel.
Selection via axis interface signals Handwheel assignment bit x
(NC-I2.0 to NC-I2.1).
5. Specify using the NC-I0.5 axis interface signal how the control unit is
to interpret the sense of rotation of the handwheel.
NC-I0.5 has not been set:
Turning the handwheel clockwise results in a positive traversing
movement.
NC-I0.5 has been set:
Turning the handwheel clockwise results in a negative traversing
movement.
. Please note that the signal Inch incr. step (NC-I0.3) influences
the length of the traversing path!
If it has been set, the PNC multiplies the value entered in MP 1015
00001 by the factor 2.54!
6. Initiate a traversing movement by turning the handwheel.
7.4.3 Deactivating
. An axis can only be moved using the jog key (jog axis) once the
assigned handwheel has been deactivated!
1. Reset the respective axis interface signal Handwheel assignment

bit x (NC-I2.0 to NC-I2.1):
Deactivate handwheel 1: reset NC-I2.0.
Deactivate handwheel 2: reset NC-I2.1.
and Controls
Online correction
7.5 Online correction with handwheel (in workpiece coordinates)

Function:
The online correction is used with active or inactive part program for
the online
D correction of a position or orientation using handwheel in the work-
piece coordiante system (WCS) of a channel.
D traversing of the position of the tool longitudinal axis in TCS Z
direction of the tool in the tool coordinate system (TCS) (no tool com-
pensation!).
Please note especially that, with active axis transformation of several

coordinates, the position/orientation of an axis/coordinate can be
changed while the axis is moving by a compensation coming from the
handwheel.
. In the Manual (jog mode) and Manual approaching the refer-

ence point modes, it is not possible to perform an online correc-
tion (for more information, please refer to Handwheel mode in
Section 7.4).
DANGER
Danger of collision with the workpiece in case of online correc-
tion!
Danger of damage to persons and equipment by the breaking of
tools and workpieces!
Activate the online correction with great care, in particular in case
of active program and moving axes!
Once the correction has been activated via handwheel, it remains effec-
tive until it is deactivated. This means that the correction also has an
effect on the subsequent programmed positions in an active program.
In this case, the programmed positions are offset by the value of the
correction.
Example:
The position of the tool is compensated online in TCS Z direction using
the handwheel. In the next block, a position in X, Y is approached. In this
block, the tool tip is offset in tool longitudinal axis by the value of the on-
line correction.
The online correction of the handwheel has an effect on the following
coordinates/axes (examples of coordinate and axis identifiers x, y, z,
theta, phi).
and Controls
Online correction
Transformation Axes WCS WCS TCS

(pseudo coordi- linear coordi- orientation coordinates
nates) nates coordinates
none all
5 axis transformation with rotary all x, y, z Z direction
axis programming
5 axis transformation with vector all x, y, z Z direction
orientation
5 axis transformation with linear all x, y, z theta, phi Z direction
orientation
The active correction values of an activated online correction are trans-

formed when activating, deactivating and changing an
D axis transformation
D coordinate transformation (inclined plane).
A connection which may still exist at this point in time between coordi-
nate/axis and handwheel is disbanded, i.e. the online correction is de-
selected.
In case of axis transfer (see Section 4.9), the correction memory is de-
leted and the online correction is deselected, if the axis transferred is
linked with the handwheel.
An axis just taken over always has an empty online correction memory.
Application:
A total of up to 2 digital handwheels can be operated at the PNC-P
(PROFIBUS-DP) or the PNC-R (PROFIBUS-DP, CAN). In addition, 1
handwheel can be connected per SERCOS drive.
The online correction can be used, for instance in a 5 axis transforma-

tion, to retract a damaged drilling tool stuck in the workpiece diagonally
in TCS Z direction with the aid of the handwheel. In order to continue
working at the same position with a new tool, the handwheel is used to
traverse back on the old online correction until the new tool has the old
TCS Z value (zeroset first, so that the different tool length corrections
are taken into account, if applicable).
and Controls
Online correction
TCS Z direction
Retracting the damaged

z tool in TCS Z direction z
y y
using the handwheel
x x
TCS TCS
z
y
x
WCS
Drilling tool drills into the workpiece slanted Broken tool stuck in the workpiece
5 axis transformation active slanted
Restrictions:
D An online correction is not possible in the operating modes Manual
(jog mode) and Manual approaching the reference point.
D Machine-oriented absolute position:
G76 traverses to an offset position, i.e. the online correction is not
calculated back.
D The CPL functions PPOS and CPROBE do not take into account the
correction values of the online correction.
D Probe
G75 measures the correct position. Use the CPL function PROBE to
read this measuring value.
D Measuring at the dead stop
G375 measures the correct position. Use the CPL function PROBE
to read this measuring value.
D Limit switch
The NC does not check whether a coordinate position generated by
the online correction exceeds the software limit switches. For this
purpose, activate the limit switch check in the SERCOS drive.
and Controls
Online correction

7050 00900: Online correction in workpiece coordinates (WCS) avail-
able
7050 00910: Online correction WCS: sensor selection, device group
7050 00910: Online correction WCS: sensor selection, number of the
device
7050 00914: Online correction WCS: sensor selection, identification
7050 00920: Online correction WCS: sensor increments > mm factor
The following increments are
permitted:
1 increment > 0.001 mm
10 increments
100 increments
1000 increments
7050 00921: Online correction WCS: sensor increments > mm divi-
sor
The following increments are
permitted:
1 increment > 0.001 mm
10 increments
100 increments
1000 increments
7050 00926: Online correction WCS: incremental step, system axis
number
7050 00940: Online correction WCS: max. speed in mm/min
7050 00941: Online correction WCS: max. acceleration in m/sec2
For connection of the handwheel via PROFIBUS-DP to the PNC-P card

or via PROFIBUS-DP/CAN to the PNC-R hardware (osa master):
9060 00001: Number of increments per revolution

100: CAN (only PNC-R)
400: PROFIBUS-DP
060 00002: Selection of the interface at the PNC-R:
1: CAN
2: PROFIBUS-DP
and Controls
Online correction
HWOCON OCONCH<Channel no.> OCCOORD<Coordinate no.>
[OCSTEP<Increments>]
Activating the online correction via PLC or via
switching functions or from any channel.
HWOCON OCCOORD<Coordinate no.> [OCSTEP<Increments>]

Activating the online correction on the own channel.
<Channel no.> Number of the channel the online correction was selected
for.
<Coordinate no.> 1...8: Number of the coordinate
9: TCS Z direction:
D the TCS Z direction exists in case of active 5
axis transformation only.
D a correction in TCS Z direction is converted
into a movement of the linear working range
coordinates (x,y,z).
<Increments> Specifying the incremental step
Default:
Incremental step from the axis interface
(see MP 7050 00926)
HWOCOFFOCOFFCH<Channel no.>
Deactivating the online correction via PLC or via
switching functions or from any channel.
HWOCOFF Deactivating the online correction on the own chan-

nel

<Channel no.> Number of the channel the online correction was selected
for.
HWOCDEL Deactivating the online correction
and deleting the correction values

at the channel interface
NC-I2.6: Online correction enable
NC-I2.7: Online correction direction of rotation
and Controls
Online correction

The following parameters are only relevant if the digital handwheel is
connected directly at the SERCOS drive:
S-0-0016: Configuration list DT. Determines which SERCOS pa-

rameters are to be transmitted to the NC cyclically.
The SERCOS parameter specified in MP 7050 00714
has to be contained here (e.g. P-0-0553 Position actual
value 2 incremental).
S-0-0115: Position encoder type (external encoder): rotation en-
coder
S-0-0117: Rotation encoder 2 resolution (external encoder).
Only necessary if encoder type rotation encoder has
been set in S-0-0115.
S-0-0257: Pulse multiplication-2 (external encoder).
P-0-0552 Evaluation external encoder
1: activated

MCODS(...) see MCODS (27,..) in the CPL Programming Manual
7.5.1 Assigning
1. Connect the handwheel with the PNC.
2. Enter the relevant values into MP 7050 00900 through 7050 00941.
Example:
Online correction via handwheel 1 on channel 1
7050 00900 [1] 1 Online correction enable

7050 00910 [1] 3 Device group 3: digital handwheel with
PROFIBUS-DP or CAN
7050 00912: [1] 1 Handwheel no.: 1
7050 00914: [1] for 7050 00910 [1] =3 no meaning
7050 00920: [1]
1.0
1 handwheel increment > 0.001 mm
7050 00921: [1]
1000.0
7050 00926: [1]
1 The incremental step is derived from the
1st system axis
7050 00940: [1] 100.0 The maximum speed of the correction is
limited to 100 mm/min.
7050 00941: [1] 99.999 No additional limitation of acceleration
3. Link the channel interface signals NC-I2.6 and NC-I2.7 in the PLC.
4. Configure the relevant SERCOS parameters when the handwheel is
directly connected to the drive.
and Controls
Online correction
7.5.2 Activating
1. Selecting the online correction:
D in the operator interface in the Manual main menu using
PREPARING " ONLINE CORRECTION, or
D via the PLC by entering the NC function HWOCON
2. Enabling the function by setting the channel interface signal NC-I2.6.
. When the online correction is enabled on a channel, the correction

performed on that channel is automatically deactivated.
7.5.3 Deactivating
The online correction can be deactivated in different ways:
D Interrupting:
Canceling the interface signal NC-I2.6 Online correction enable.
D Switching off:
The NC function HWOCOFF switches the online correction off.
D Deleting:
The NC function HWOCDEL switches the online correction off and
deletes the correction memory of this channel.
D Deactivating via operator interface:
Using the softkey ONLINE CORRECTION in the Manual main
menu, it is possible to switch the online correction on, over and off.
In addition, online correction values may be deleted. For detailed in-
formation, please refer to the manual Operating instructions, stan-
dard operator interface.
D Control unit start-up
The online correction is inactive following a start-up of the control
unit. The online correction memories are deleted.
D Control reset
D Has no direct effect on online correction.
D The contents of the correction memories is maintained.
D An online correction is only switched off if
an axis transfer (G510..G513), or
a changing of the coordinate transformation (inclined plane)
or
a changing of the axis transformation is performed in the init
string (MP 7060 00020).
D The online correction values are only deleted if HWOCDEL has
been entered in the init string (MP 7060 00020).
and Controls
Override
7.6 Override
Function:
Influences the specified
1. path speeds within a channel and
speeds of the machining axes in manual mode
2. speeds of auxiliary axes
3. spindle speeds.
For this purpose, the absolute (e.g. programmed) values are continu-
ously converted within the control unit in dependence on separate, cur-
rently set percentage values and become effective on the machine.
The respective percentage value results from the signals which

D are active at the channel-related digital interface
(for speeds according to item 1. above)
D are active at the axis-related digital interface
D are active at the spindle-related digital interface
The signals can be converted to percentage values as follows:

D via Step-related value:
32 individual parameters of a MACODA parameter are assigned per-
centage values (value range: 0 to 150%). The control unit selects
one of these individual parameters in dependence on the active bit
pattern (width: 5 bits = max. 32 steps).
This kind of conversion may, for instance, be used in connection with
override potentiometers which are designed as digital rotary
switches.
D via Direct input:
the control unit interprets the active bit pattern directly as binary num-
ber (width: 16 bits) and converts it with a weighting of 0.01% into a
percentage number with 2 decimal positions.
Thus it is possible to enter override values in the range from 0.00 to
655.35% with a resolution of 0.01%.
Restrictions:
D Direct input with override values is only possible at the channel-re-
lated digital interface. Override values for auxiliary axis speeds or
spindle speeds can only be set using Step-related input.
D The response time following a change of override values depends
on the PLC cycle time (guide value: approx. 20 ms)
and Controls
Override

7030 00010: Feed override for channel.
Provides a channel-specific definition of the maximum
permitted override value and the override values for the
Step-related input. Under channel 0, the respective
values are parametrized globally for all auxiliary axes in
the system.
If the override values for the Step-related input are all
assigned 0, the control unit switches over to Direct in-
put.
1003 00100: Override for auxiliary axis.
Determines whether the override function for auxiliary
axes is to be activated or deactivated.
Provides a spindle-specific definition of the maximum
permitted override value and the override values for the
Step-related input.
G63: Feedrate 100%.
Deactivates the override function on the current chan-
nel.
G66: Feedrate 100% off.
Activates the override function on the current channel.

NC-I1.2: 1st Override 100%.
NC-I4.x: Override bit x; weighting: 2x
(for step-related input).
NC-I5.x: Override bit x; weighting: 2x+8
(for direct input: NC-I4.x and NC-I5.x act jointly).
NC-O18.3: Override 0% .
NC-O18.4: Override 100% .
NC-O20.7: G63 active.
at the axis interface
NC-I0.2: Axis override 100% .
NC-I4.x: Override bit x; weighting: 2x .
NC-O15.1: Axis Override 0%.
NC-O15.2: Axis Override 100%.
at the spindle interface
NC-I2.x: Override bit x; weighting: 2x .
NC-I3.3: Spindle override 100%.
NC-O15.3: Spindle override 100%.
NC-O17.2: Spindle override 0%.
and Controls
Override

SD(2,..) read-only access to potentiometer data on the active
channel
MCODS(...) see Potentiometers under MCDOS in the CPL Pro-
gramming Manual
7.6.1 Assigning
...for path feed and machining axes in manual mode

1. Adapt MP 7030 00010 (feedrate override for channel) for each as-
signed machining channel (from channel 1 on) as follows:
Individual parameter [1]:
Enter maximum override value to which an input via channel inter-
face is restricted (in %).
Individual parameters [2] to [33]:

Enter override values for the Step-related input (value range: 0 to
150%).
If Direct input is desired, assign the value 0.00 to [2] through [33].
2. Verify that all channel-related interface signals are correctly gener-

ated or evaluated by the PLC and transmitted to the corresponding
channel interface of the control unit.
CAUTION
...for auxiliary axes

1. Adapt MP 7030 00010 (feedrate override for channel) for channel 0
as follows:
Enter maximum override value to which an input via axis interface is
restricted (in %).

150%).
2. Verify that all axis-related interface signals are correctly generated or

evaluated by the PLC and transmitted to the corresponding axis in-
terface of the control unit.
3. Release the override function for the desired auxiliary axes in MP
1003 00100. For this purpose, assign the value 00 to the relevant
individual parameters (no release: enter 01).
and Controls
Override
CAUTION
...for spindles
1. Adapt MP 1040 00041 (spindle override in 32 steps) for each as-
signed spindle as follows:
Enter maximum override value to which an input via spindle interface
is restricted (in %).

150%).
2. Verify that all spindle-related interface signals are correctly gener-

ated or evaluated by the PLC and transmitted to the corresponding
spindle interface of the control unit.
CAUTION
7.6.2 Activating
Precondition:
D The corresponding override function has been assigned.

Precondition:
D The required interface signals are evaluated or generated by the
PLC and transmitted to the corresponding channel interface of the
control unit.
L Reset NC-I1.2 (1st override 100%)

or if NC-O20.7 (G63 active) is linked with mit NC-I1.2
program G66.
and Controls
Override

Precondition:
PLC and transmitted to the corresponding axis interface of the con-
trol unit.
L Reset NC-I0.2 (axis override 100%).
...for spindles
Precondition:
PLC and transmitted to the corresponding spindle interface of the
control unit.
L Reset NC-I3.3 (spindle override 100%).
7.6.3 Deactivating

Precondition:
PLC and transmitted to the channel interface of the control unit.
L Set NC-I1.2 (1st override 100%)

or
program G63.

Precondition:
PLC and transmitted to the corresponding axis interface of the con-
trol unit.
L Set NC-I0.2 (axis override 100%).
...for spindles
Precondition:
PLC and transmitted to the corresponding spindle interface of the
control unit.
L Set NC-I3.3 (spindle override 100%).

and Controls
Automatic program reselection
7.7 Automatic program reselection

Function:
When a program is selected for the first time after control unit start-up,
one program will always remain selected on this channel in Automatic
mode.
Please note:
D A program aborted in Automatic mode is immediately selected
again unless aborting the program was initiated by selecting another
program (e.g. following control reset on the channel).
D If a program is aborted by changing the operating mode on the chan-
nel, the control unit will select the aborted program again as soon as
you switch to Automatic mode on this channel.
The selected program can then be started via the channel-specific inter-
face signal Cycle start (NC-I1.0) if the signal NC ready (NC-O16.0)
has been set at the channel interface.

7060 00410: Automatic program reselection
NC-I7.0: Automatic program reselection off (high) or on (low)
NC-I1.0: Cycle start
NC-O16.0: NC ready
1. Assign in MP 7060 00410 for the respective channel
the value 1 to activate the automatic program reselection
or
the value 0 to deactivate the automatic program reselection.
CAUTION
. When this function is activated, an error detected by the control

unit during program selection cannot be eliminated by control re-
set (the error will occur again and again due to the automatic re-
selection).
Eliminate states of this kind by
selecting a fault-free program,
correcting the defective program, or
correcting the possibly defective program selection.
and Controls
Canceling the distance to go
7.8 Canceling the distance to go

Function:
Cancel distance to go rejects all blocks already prepared by the block
preparation at the time of function initiation and processes them again
including the block where the interruption occurred. The channel then
changes to state READY.
If, for instance, you want to make sure that the change of an input signal
is effective during the execution of the program for blocks which have
already been prepared, the PLC can interrupt program execution at an
appropriate point using Feed hold, execute Cancel distance to go
and continue machining using Cycle start.
. The number of blocks held in block preparation can be set using

MP 7060 00110.
Restrictions:
D Feed hold and thus standstill of the axes is a precondition for Can-
cel distance to go.
D Cancel distance to go is only effective in the modes Automatic,
Single block, Single step and Program block.

NC-I3.3: Canceling the distance to go
NC-O16.3: NC ready
Is set as soon as Cancel distance to go has been executed
and the channel is in READY state again.
NC ready is the precondition for the start using Cycle
start.
The selected program is continued at the end of the current
block.
Precondition: Signal NC ready (NC-O16.0) is set at the
channel interface.
7.8.1 Activating
1. Activate Feed hold.
2. Use L/H signal edge at NC-I3.3 of the respective channel interface to

initiate Cancel distance to go.
3. Continue program via Cycle start.

and Controls
Remove and return to the contour
7.9 Remove and return to the contour

Function:
The function allows for removing and returning to the contour following
the interruption of a part program using Feed hold. This may be neces-
sary e.g. because of a broken tool, for manual workpiece/tool measure-
ment or for a visual check.
For returning to the contour, you may choose:
D the return mode
(how the NC is supposed to return to the contour: manually, auto-
matically, by single block)
D the return point
(to which point is the NC supposed to return to the contour: point of
interruption, start of block, end of block)
. The desired return mode and return point can be preset in MA-
CODA via MP 7060 00310 and MP 7060 00320.
You can also set the desired return strategy via operator interface
(Manual main menu, softkey sequence REMOVE FROM CON-
TOUR " FIX STRATEGY).
The options set here supersede MP 7060 00310 or MP 7060 00320
and are effective until the next control unit start-up.
For detailed information on the effects of the individual options,
please refer to Section 7.9.1, page 732 ff.
When a part program is interrupted by Feed hold, it is possible to use

the function Remove and return to the contour. The mode Remove
from contour has to be activated first (see page 736).
From this time on, the control unit will remember all traversing move-
ments that you initiate using the axis-related input signals Manual+ or
Manual. In case of axis standstill, the control unit outputs the channel
interface signal NC-O16.4 Ready for re-entry.
. Via MP 7060 00330 you can configure the maximum number of tra-
versing movements to be remembered.
If you dont want any further traversing movements to be recorded, acti-

vate the Return mode (see page 736). The NC will then set the output
signal Remove finished (channel interface; NC-O16.6). The axes can
still be jogged in this mode.
Depending of the chosen return strategy (see Section 7.9.1, page 732
ff.), return to the contour can be started via Cycle start.
When returning to the contour, the contact point plays an important

role because the distance between contact point and return point (point
of re-entry to the contour) are used to calculate the required compensa-
tion values. The contact point is
D the current position in return mode Manual
and Controls
D the position at the end of the first recorded traversing movement in

return mode Automatic or Single block.
If the contact point is chosen favorably, the distance contact point re-
turn point can be determined so that the re-entry to the contour will be as
smooth as possible.
. In the mode Remove from contour, machining can be continued

at any time at the set return point using Cycle start, if the input
signal Return to contour (channel interface; NC-I3.1) has not
been set simultaneously.
In this case, the control unit traverses from the current position to
the set return point, takes into account any required compensation
values and continues the machining process.
Restrictions:
D When leaving the contour, the jog signals (Manual+ / Manual) have
a direct effect on the respective machine axes. A possibly active axis
transformation or a rotation of the program coordinate system (PCS)
related to the basis coordinate system (BCS) is not taken into consid-
eration!
D Returning to the contour cannot be performed on several channels
simultaneously.
D Returning to the contour is only possible at the end of a possibly ac-
tive CPL waiting state (e.g. WAIT). If a CPL waiting state is active at
the time of interruption, the control unit will output a warning.
D G32 (tapping) must not be active.
D After the interruption, running spindles must be stopped either
manually (via switching function) or by the PLC and restarted in time
before machining continues.

7060 00310: Return mode
Presetting of the return mode (manual, automatic or
single block).
Can be suppressed by settings in the dialog Fix strat-
egy (Manual main menu, softkey sequence REMOVE
FROM CONTOUR " FIX STRATEGY) until the next
7060 00320: Return point.
Presetting of the return point to the contour (start of
block, interruption point or end of block).
Can be suppressed by settings in the dialog Fix strat-
egy until the next control unit start-up.
7060 00330: Maximum recording for return to contour in blocks.
Determines the maximum number of traversing move-
ments which can be recorded after activating the mode
Remove from contour.
and Controls

NC-I0.0: Manual+
NC-I0.1: Manual
NC-I2.0 to 2.3: Mode selection bit x
Required operating mode: Return to path.
NC-I3.0: Mode selection by PLC
NC-I3.1: Return to the contour
NC-I10.0 to 11.7:Feed hold
NC-O15.0 to 15.3: Active mode bit x
Feedback for NC-I2.0 to NC-I2.3.
NC-O16.4: Ready for re-entry
NC-O16.5: Re-entry active
NC-O16.6: Remove finished
7.9.1 Options for returning to contour
Selecting the return point

Available options:
D start of block
D interruption point
D end of block
interrupted traversing block

SA: start of block
SA UP SE UP: interruption point
(example)
Traversing direction SE: end of block
Workpiece
CAUTION
When you use the option end of block, keep in mind that the con-
tour has not yet been machined from the interruption point on!
and Controls
Selecting the return mode

Available options:
D manual
D automatic
D single block
. For the figures in the example below, please note:

selection of return point is set to interruption point.
Manual:
ASP 4
S1 3
5 2
1
UP (ANF)
SA SE
Traversing direction
Workpiece
1 ... 4: Leaving the contour through jogging movements. The position at

the end of the jogging movement is always the (new) contact point.
S1: Initiating cycle start.
5: Return movements to the return point (here: interruption point)
and immediate continuation of machining.
ASP: contact point (example)
SA: start of block
UP: interruption point (example)
ANF: return point
SE: end of block
and Controls
Automatic:
S1 4
3
2 ASP
5a 5b S2
6 1
UP (ANF)
SA SE
Workpiece
1 ... 4: Leaving the contour through jogging movements.

S1, S2: Initiating cycle start.
5a: Return movement with immediate continuation of machining at the
return point (here: interruption point) when the input signal Return
to contour has not been set when cycle start is initiated (S1).
5b: Return movement to the contact point when the input signal Re-
turn to contour has been set when cycle start is initiated (S1).
The contact point can be changed subsequently via jogging move-
ments. The NC then traverses to the return point (here: interrup-
tion point) via cycle start (S2) and continues the machining
process.
SA: start of block
ANF: return point
SE: end of block
and Controls
Single block:
S1 4
5b S1 3
5c 2 ASP
5a S1 5d S2
6 1
UP (ANF)
SA SE
Workpiece
1 ... 4: Leaving the contour through jogging movements.

S1, S2: Initiating cycle start.
5a: Return movement with immediate continuation of machining at the
return point (here: interruption point) when the input signal Return
to contour has not been set when cycle start is initiated (S1).
5b ... 5d: Separate return movements to the contact point when the input
signal Return to contour has been set when cycle start is initiated
(S1).
. If the input signal Return to contour has not been set when cycle
start is initiated (S1), the NC traverses directly to the return point
and continues the machining process.
The contact point (ASP) can still be changed via jogging move-
ments. The NC then traverses to the return point (here: interrup-
tion point) via cycle start (S2) and continues the machining
process.
SA: start of block
ANF: return point
SE: end of block
and Controls
7.9.2 Assigning
1. Adapt MP 7060 00310, 7060 00320 and 7060 00330 in accordance
with the desired standard return strategy.
CAUTION

7.9.3 Activating
. Channel control reset cancels an activated mode!

Removing motions which have already been saved are deleted in
the process.
Activating the mode Remove from contour via operator interface (MMI):
Preconditions:
D the active part program has been interrupted by Feed hold
D the output signal Remove finished (channel interface; NC-O16.6)
has not been set
D the input signal Return to contour has not been set (channel inter-
face; NC-I3.1).
D the input signal Mode selection by PLC has not been set (channel
interface; NC-I3.0).
L Actuate softkey REMOVE FROM CONTOUR in the Manual main

menu.
Activating the mode Remove from contour via PLC:

Preconditions:
D the active part program has been interrupted by Feed hold
D the output signal Remove finished (channel interface; NC-O16.6)
has not been set
D the input signal Return to contour has not been set (channel inter-
face; NC-I3.1).
and Controls
D the input signal Mode selection by PLC has been set (channel inter-
face; NC-I3.0).
L Activate the channel mode Return via the NC input signals NC-I2.0 to
2.3.
Activating the mode Return to path via operator interface:

Preconditions:
D The mode Remove from contour via operator interface (see above)
has been activated.
L Press softkey RETURN TO PATH.

The softkey is available both in the Manual main menu (REMOVE
FROM CONTOUR " RETURN TO PATH) and in the Automatic main
menu.
The NC will then set the output signal Remove finished (channel inter-
face; NC-O16.6).
Additional traversing movements initiated by jogging are possible but
are not recorded anymore.
ff.), you can start return to path via Cycle start.
Activating the mode Return to path via PLC:

Preconditions:
D The mode Remove from contour via PLC (see above) has been ac-
tivated.
L Set positive edge at the input Return to contour (channel interface;

NC-I3.1).
The NC will then set the output signal Remove finished (channel inter-
face; NC-O16.6).
Additional traversing movements initiated by jogging are possible but
are not recorded anymore.
ff.), you can start return to contour via Cycle start.
and Controls
Notes:
and Controls
Tool compensations
8 Tool compensations
The dimensions and the position of a tool can be described using:
D tool reference points
D tool coordinate system
D geometric dimensions (compensations) and tool type
8.1 Basics
8.1.1 Tool reference points
A tool has different reference points:
The T (TCP tool center point) tool reference point is the coordinate ori-
gin of the TCS tool coordinate system. It is normally located on the sym-
metry axis of the tool at the level of the tool contact point.
To determine the position of the TCP tool reference point, the tool di-
mensions R tool radius and L tool length have to be known. These
provide the position of the TCP in relation to the E tool zero point.
If the tool is located in the tool holder, the E tool zero point and N tool
clamping point coincide.
N tool clamping point

When the tool is placed in the tool
holder, the E tool zero point and N
tool clamping point coincide.
E tool zero point

Located at a specific point on the
tool holder.
T tool reference point

(TCP=tool center point)
L It is normally located on the symmetry axis of
the tool at the level of the tool contact point.
Tool contact point

Programmed contact point between tool and
workpiece.
R
L= length compensation
R= radius compensation
Example: The dimensions of the tools in the case of a 3-axis machine,

are related to a fixed tool setting point (e.g. tool clamping point, tool zero
point).
and Controls
Tool compensations
8.1.2 Tool coordinate system

The TCS tool coordinate system differs from the range of coordinate
systems because it is not defined when it takes the reference pose but is
determined by the programmed movement (exception:. position defini-
tion in case of active axis transformation, see Section 8.1.3).
When the movement is programmed in the part program, the path of the
tool in relation to the workpiece is specified in the PCS program coordi-
nate system.
These path coordinates are the coordinates of the tool contact point.
Taking into account the length and radius compensations of the active
tool, the control unit calculates the actual path of the TCP which repre-
sents the zero point of the TCS.
ZP ZT
TCS (tool coordinate system)
YP
ZP
XP
P YT YP
PCS (program
coordinate system) zt
yt
rotation symmetrical tool

XT TCP XP
Tool reference point TCS

(T or TCP=tool center point) Tool contact point
xt
Workpiece
non-rotation symmetrical
gripping tool
If the TCS is parallel with the coordinates of the PCS and a rotation sym-
metrical tool is used, the position of the TCS in relation to a workpiece
coordinate system does not play any role. In this case, working range
coordinate programming is not active.
8.1.3 Tool coordinate system with active axis transformation

In case of working range coordinate programming with active axis
transformation (TCP programming), the relative position of the tool
contact point with regard to the PCS program coordinate system is pro-
grammed.
The position of the TCP is determined using the L and R tool compensa-
tions relative to the E tool zero point, the current tool orientation and the
programmed coordinates.
In case of non-rotation symmetrical tools, the position of the TCS can be

determined indirectly via an NC function (ROTAX(..), O(..)).
and Controls
Tool compensations
ZT
ZP
YP
E tool zero point
P XP
L tool length
TCS
TCP tool reference point

XT
Tool contact point
Direction of tool
orientation
R tool radius
In many instances, machining with spatially changing tool orientation

is performed with active axis transformation. The tool compensation
is then performed within the axis transformation along the axes of the
TCS tool coordinate system.
Spatially changing tool orientation
ZT
ZP
YP
YT
XP
P
PCS (program
coordinate system)
XT
ZT TCP
Direction of tool
orientation
YT
Workpiece contour
TCS (tool coordinate system)
TCP
XT
Tool contact point

Direction of tool T tool reference point
orientation (TCP=tool center point)
and Controls
Tool compensations
Reference pose
In case of 5 axis and 6 axis transformation, the TCS tool coordinate sys-
tem first assumes a reference pose which is aligned paraxial relative to
the BCS and allows for 24 different orientations (see example below or
refer to page 595 ff. for details)
The tool coordinate system in its reference pose is referred to as TCS1
(for all orientations). The TCS1 can be defined with the axis transforma-
tion parameter MP 1030 00150 for the tool.
Example: Three out of 24 possible orientations of the TCS relative to

the BCS in the reference pose of the axis transformation.
Type: 1 2 3 Type: 2 1 3 Type: 1 2 3

z y z y z y
zt TCS1
yt TCS1 xt
xt x yt x yt xt x
TCS1 BCS zt BCS zt BCS
Relevant MACODA parameter (MP):

1030 00150: Reference orientation of the tool coordinate system
Orientation of the tool coordinate system
The orientation of the TCP and the TCS connected to it can be in-
fluenced by the axis transformation. The TCS1 is shifted and rotated, if
required, by special compensations and definitions.
The orientation of the TCS1 can be changed as follows:

D by shifting the TCS1 in a tool coordinate system TCSc with an ex-
plicit tool compensation (e.g. CPL command TC)
D by shifting and optionally rotating the TCS1 in a tool coordinate
system TCSc with an explicit tool compensation (e.g. CPL command
TC)
D by specifying working range coordinates for the tool coordinate
system TCSp with the function TCS definition in program coordi-
nates (TCSDEF command) .
and Controls
Tool compensations
Explicit tool compensation
Precondition:
D Is only applicable in connection with an active 5 axis or 6 axis trans-
formation.
Function:
A TCSc is created via an explicit tool compensation (e.g. CPL command
TC), which can be shifted and rotated in relation to TCS0 or TCS1.
zt yt
xt
Type: 1 2 3
BCS
ltc TCSc (shifted) only for 5 axis
z y
transformation and for
yt 6 axis transformation type
zt
3033101
xt
x xt
TCS1 yt
zt
Type: 1 2 3
Ttc
BCS TCSc (shifted and rotated)
z y ltc
for 6 axis transformation type
yt 3333301 only
zt
xt
x
TCS1
Restrictions:
D Shifting and rotating the tool coordinate system only works for the 6
axis transformation type 3333301.
D Shifting the tool coordinate system only works for the 5 axis trans-
formations and for 6 axis transformation type 3033101.

TC(..) write (absolute/additive) and read access to compensation
values stored within the CNC (L, R, Eulerian angles , , )
e.g.
in ASCII geometry tables with freely definable names
external geometry compensation values
in data base tables K4 and K5
(for details, please refer to the CPL Programming Manual).
and Controls
Tool compensations
TCS definition in program coordinates
Precondition:
D It is only applicable in connection with an active 6 axis transforma-
tion.
Function:
The function TCS definition in program coordinates creates a tool
coordinate system TCSp, which supersedes the current TCSc or TCS1 .
The coordinate values specified in the TCSDEF command for the TCSp,
p p
are converted to the variables lt and T t within the NC and stored in the
tool compensation memory. Switching off with TCSUNDEF reactivates
the TCSc, or, if no explicit tool compensation is active, the TCS1.
The figure below shows the active TCSp and the remaining inactive tool
coordinate systems:
z y
TCSDEF x.. y.. ..
PCS x xt
Type: 1 2 3 Type: 2 1 3
yt
BCS
BCS zt
z y z y
ltp
zt yt xt TCSp

MACODA yt Ttp CPL command
xt
TC
TCS1
x x yt
ltc zt
zt
TCS1 Ttc
TCSc
xt
Restrictions:
D The command TCSDEF can only be used if an axis transformation
with orientation identification 3 (tensor orientation) is active.
Relevant G functions and addresses:

TCSDEF[<Linear coordinates>][<Orientation coordinates>]
Defining orientation of the tool coordinate system TCSp
Linear coordinates: coordinates related to the current PCS
Orientation coordinates: coordinates related to the current PCS or all
alternative syntaxes of the tensor orientation
(see page 571 ff.)
TCSUNDEF: reset to previously active tool coordinate
system (e.g.: TCS0 or TCS1)
An automatic reset is performed for every
coordinate switching N.. COORD(n).
and Controls
Tool compensations
Example:
N10 COORD(1) Axis transformation on
N20 x300 y100 phi315 Movement of the TCS1 to the initial
position
N30 TCSDEF x100 y150 phi0 Movement of the TCS1 to the initial posi-
tionool compensation to
N40 phi45 rotation of the TCSp
N45 ... Position and orientation data related to
... the TCSp
N50 TCSUNDEF Programming related to the TCS1 again
In the following figure, the TCS1 permanently connected to the tool is

located at position x=300, y=100 and has the orientation =315. By
programming TCSDEF x100 y150 phi0 the TCSp is defined:
200 yt
y = 315
xt
yt
TCSp
100
x
TCS1
Tool xt
PCS
100 200 300
The position and orientation data following TCSDEF in the NC program

are related to the movement of the TCSp (NC program section: N45
phi45):
yt
y
N50
TCS1
xt
yt
N45: = 45
xt
200 yt
= 45 y
xt yt
BCS
N30: (150,100) TCSp
100
N20: (100, 300) x
TCS1
xt
Tool = 315
100 200 300 x

PCS
and Controls
Tool compensations
Application example: sheet steel machining system
Two coupled robots (see also channel-independent coordinate cou-

pling) hold a sheet steel plate at two positions and move it in space.
The tool coordinate systems TCS1a and TCS1b of the two gripping de-
vices are compensated to a joint TCSp of the sheet steel plate. If the
sheet steel plate is to be moved in space, you only have to program the
position and orientation of the joint TCSp.
Gripping device 1
Sheet steel plate

TCS1a
TCS1b Gripping
TCSp device 2
Gripping
device 1
TCS1a and TCS1b inactive

TCSp
Sheet steel plate
z
y
PCS x
Gripping device 2
and Controls
Tool compensations
8.1.4 Assigning
1. Enter all settings for your application as described in Section 5.7.4.
2. Please note the selection of the transformation type: The TCS can
only be shifted and rotated for certain types (see restrictions on page
85).

2. Please note the selection of the transformation type: The TCS defini-
tion can only be used for types with tensor orientation (see restric-
tions on page 86).
8.1.5 Activating
2. The function is activated e.g. with the CPL-TC function.

2. The function is activated with TCSDEF .....
8.1.6 Deactivating
2. The function is reset for every coordinate switching COORD(n).

2. The function is deactivated with:
D TCSUNDEF or
D coordinate switching COORD(n).
and Controls
Geometry compensations
8.2 Geometry compensations

8.2.1 Overview
Taking into account the current tool data (e.g. length, radius, cutting
edge orientation), the PNC can automatically calculate the actually re-
quired
D paths and
D path depths (e.g. for drilling)
for a programmed workpiece contour in dependence on the tool used.
These tool data are referred to in the PNC as geometry compensations
of the tool.
In this manner, it is possible to use construction drawing dimensions di-
rectly as a basis for part program preparation. Your part program be-
comes independent on the tool with regard to the dimensions.
In order to use geometry compensations, the control unit has to know

the relevant tool data.
Depending on the geometry compensation type used, the tool data are
provided by a geometry compensation table (GEO table) or by the PLC.
CAUTION
Input of wrong tool dimensions results in incorrect contour!
As the tools are subject to wear in the course of machining, their
length or radius will change, depending on the tool type. This ef-
fect also occurs in case of sharpening.
Therefore verify that all tool data always correspond to the actual
dimensions of the tools employed when you are working with ge-
ometry compensations!
Take new measurements of the tools used at regular intervals (de-
pending on e.g. tool life, tool contact time) and update the tool
data provided.
The relationship between geometry compensation type, the used (tool)

parameters and how they are made available is shown in the table be-
low:
Geometry com- Compensa- used Made
pensation type tion group tool parameters (set) available
Standard 1 D=radius via
compensation H=length GEO table
External Rext=radius via PLC
compensation Lext=length
General 2 R=radius via PLC
compensation L(2)1= length (log. axis 1)
L(2)2= length (log. axis 2)
L(2)3= length (log. axis 3)
TO=cutting edge orientation
and Controls
Compensation values of simultaneously activated geometry com-

pensation types may act additively or overwrite each other, depending
on what compensation group they pertain to:
Dependencies of the length compensations Dependencies of the radius compensations
1st compensation group 2nd compensation group 1st compensation group 2nd compensation group
Standard External compensation General compensation Standard External compensa- General compensation
compensation (G145..G845) (G147..G847) compensation tion (G145..G845) (G147..G847)
H Hext L(2)1 L(2)2 L(2)3 D Rext R
added
+
added
no compensation +
permitted between the compensation
the 1st and 2nd com- programmed last is
pensation group! applicable!
Max. 4 length compensations active simultaneously: The radius compensations of the 1st and 2nd com-
the length compensation of the 1st compensation group pensation group are added and/or replace each other
as well as the three length compensations of the 2nd partially.
compensation group have an effect on the respective
different axes (determination via MACODA or G78).
For details on the individual geometry compensation types, see the fol-
lowing pages:
D Standard compensation (1st compensation group): page 813 ff.
D External compensation (1st compensation group): page 814 ff.
D General compensation (1st compensation group): page 817
ff.
For details on the structure of geometry compensation tables, see page

830 ff.
If tool data are used in connection with activated geometry compensa-

tion types, the following functions may be used:
D G41/G42 path compensation.
Determines whether positive radius compensation values are to act
to the left (G41) or to the right (G42) of the contour (in relation to the
traversing direction).
In case of activated path compensation, the control unit causes the
tool to move along an equidistant path at the distance of the active
radius compensation value to the programmed path.
See description on page 837 ff.
D G78 drill axis switching.
Using the Drill axis switching function (see page 832 ff.), it is pos-
sible to switch the length compensation to any linear machining axis.
and Controls
The following examples show how the geometry compensations from

the 1st and 2nd compensation group can be applied to different tools.
Drilling (length compensation) Milling (radius and length compensation)

1st compensation group: H 1st compensation group: D,H
Machine
Machine
Z Z
Drilling tool Milling tool
H H, D
1st compensation group: G145..G845 (Hext) 1st compensation group: G145..G845 (Hext , Rext)
Machine Machine
Z
Z
Combined tool
Hext1 Hext1,Rext1
Hext2 Hext2,Rext2
... ...
1st Compensation group: H + G145..G845 (Hext) 1st compensation group: H, D + G145..G845 (Hext , Rext)
Machine Machine
Z Z
Hext1+ H Hext1+ H, Rext1+ D

Hext2+ H Hext2+ H, Rext2+ D
... ...
2nd Compensation group: G147..G847 (L(2)3) 2nd compensation group: G147..G847 (L(2)3, R)
Machine Machine
Z Z
H, D
L(2)3
2nd Compensation group: G147..G847 (L(2)1, L(2)2, L(2)3) 2nd Compensation group: G147..G847 (L(2)1, L(2)2, L(2)3, R)
Machine Machine
X, Y, Z Anglehead tool X, Y, Z
R
L(2)1 (assigned to the X axis) L=resulting length L(2)1 (assigned to the X axis) L=resulting length
L(2)2 (assigned to the Y axis) L(2)2 (assigned to the Y axis)
compensation compensation
L L(2)3 (assigned to the Z axis) L L(2)3 (assigned to the Z axis)
1st+2nd Compens. group: H, G147..G847 (L(2)1, L(2)2, L(2)3) 1st+2nd compensation group: G145..G845 (Hext, Rext)
Machine or G147..G847 (L(2)3, R)
Z Z1 Z2 Z3
Machine
Z Z1
H must not be
assigned to the Z1,
Hext, Rext L(2)3, R
H L(2)1 L(2)2 L(2)3 Z2 and Z3 axis
and Controls
8.2.2 Standard compensation
Precondition:
D Compensation group 1 has to be released in MP 7050 00410.
Function:
The standard compensation takes into account the tool dimensions
length and radius. For this purpose, a maximum of 48 compensation
value pairs can be stored in each geometry compensation table.
. For details on naming conventions, activation and structure of ge-

ometry compensation tables, see page 830 ff.
Following a tool change, the relevant compensation data can be acti-

vated from the geometry compensation table using address D (radius)
and/or H (length). To do this, the correct geometry compensation table
must first have been selected using the G22 block.
Spindle axis
(e.g. Z axis)
Chucking device
Length (H)
Tool
Radius (D)
. Depending on the measuring method, the length compensation

may refer to the spindle nose or a zero tool!
Restrictions:
D The following have an additive effect on the standard compensa-
tion:
D the length compensation value of a possibly active external com-
pensation (G145.. G845)
D the radius compensation value of a possibly active external com-
pensation or the radius compensation value of a possibly active
general compensation (G147.. G847).
D If with regard to the path depth or drilling direction the tool is ob-
structed by a machining axis which is not arranged paraxial to the
working spindle, a drill axis switch has to be performed before the
machining phase so that the length compensation value is taken into
account correctly (G78, see page 832).
and Controls
Relevant G functions and addresses:

G22 K <Path/table name>:
Activating a geometry compensation table via NC block.
H1... H48: Activating the length compensation value (148).
H0: Switching off the length compensation value 1 through
48.
D1... D48: Activating the radius compensation value (148).
D0: Switching off the radius compensation value 1 through
48.

7050 00410: Channel-specific release of
compensation group 1 (for H compensation value within
the standard compensation and for external compensa-
tion)
and/or
compensation group 2 (general compensation).
7050 00420: Channel-specific determination which logical axes are
assigned to the individual length compensations/com-
pensation groups.
9020 00010: Specifies the unit of measure used to save the geometry
table values within the CNC.

TC(..) write (absolute/additive) and read access to compensa-
tion values stored within the CNC.
MCODS(...) see Compensations under MCDOS in the CPL Pro-
gramming Manual
8.2.3 External compensation (1st external compensation)
Precondition:
Function:
The external compensation (also referred to as 1st external com-
pensation) takes into account the tool dimensions length and ra-
dius, as the standard compensation does.
In contrast to the standard compensation, however, the compensation
values are not provided via the geometry compensation table but trans-
ferred by the PLC automatically to the CNC (required program module
B22WZKOR) in dependence on the tool number (T word) after a tool is
exchanged (via M function).
and Controls
A maximum of 8 compensation value pairs (Hext: length compensation;

Rext: radius compensation) are possible for each tool.
The following compensation values are used in dependence on the tool
type (MP 7050 00430):
D drilling tool:L(1)3 (Hext)
D milling tool: L(1)3 (Hext), R (Rext)
The transfer having been performed, it is possible to activate the rele-

vant compensation pair using G145 through G845.
. The CNC internally saves all compensation values. Read and write
access to these values is thus possible using CPL (TC command).
Owing to the 8 possible compensation value pairs, the external com-

pensation is well-suited for use with combination tools or tools with ex-
changeable head because several length and radius compensation
values are required for each tool used.
Example: tool with 3 compensation value pairs (combination tool)
Chucking device
Length (Hext3)
Tool Length (Hext2)
Length (Hext1)
Radius (Rext3)
Radius (Rext2)
Radius (Rext1)
Restrictions:
D The following have an additive effect on the external compensation:
D the length compensation value of a possibly active standard
compensation (H)
D the radius compensation value of a possibly active standard
compensation (D).
D The radius compensation value of the external compensation is
overwritten by the radius compensation value of a general com-
pensation activated later (G147.. G847).
and Controls
D If the PLC changes the currently active external compensation val-
ues in the course of the execution of a part program, this change will
only become active in the block being under preparation as the
next block.
are due to execution without this change.
In order to avoid this effect you must program the WAIT CPL com-
mand directly after the block, causing the PLC to hand over the new
compensation values. By doing so you hold the block preparation of
the PNC until all program blocks ahead of WAIT have been exe-
cuted.
D Following the control units start-up, the compensation values saved
internally are set to zero. Internal values may only be changed by
PLC or CPL.
D In case of control reset, the compensation values saved within the
NC are maintained.

tion)
and/or
pensation groups.
7050 00430: Channel-specific determination for which type of tool the
compensation groups 1 and 2 are to be used:
Drilling tool, milling tool, lathe tool, anglehead tool.
In this manner, you determine how many compensation
values the NC can expect from the PLC in case of exter-
nal or general compensation.
9020 00010: Specifies how the control unit interprets the compensa-
tion values received from the PLC.
G145..G845: Activating the corresponding compensation value pair of
the external compensation.
G146: Deactivating the compensation value pair of the exter-
nal compensation.
and Controls

NC-O19.0 through NC-O19.3:
External tool compensation 2 0 ... 23 (channel inter-
face).
The signals show which compensation pair
(G145G845) of the external compensation is active
on the channel.

tion values stored within the CNC.
gramming Manual
WAIT Stops block processing.
8.2.4 General compensation (2nd external compensation)
Precondition:
Function:
The general compensation (also referred to as 2nd external com-
pensation) corresponds to the external compensation with regard to
the functions, except for some extensions.
In this context too, compensation values are transferred by the PLC au-
tomatically to the CNC (required program module B22WZKOR) in de-
pendence on the tool number (T word) after a tool is exchanged (via M
function).
A maximum of 8 compensations sets are possible for each tool. In
contrast to the external compensation, a compensation set consists of
D L(2)1, L(2)2, L(2)3: length compensation or shift values
D R: Radius compensation
D TO: cutting edge orientation
(Description of cutting edge orientation, see 821 ff.)
The following compensation values are used in dependence on the tool
type:
D Drilling tool (L(1)3)
D Milling tool (L(1)3,R)
D Lathing tool (L(2)1,L(2)3,R,TO)
D Anglehead tool (L(2)1, L(2)2, L(2)3, R, TO)
The transfer having been performed, it is possible to activate the rele-

vant compensation set using G147 through G847.
. The CNC internally saves the compensation sets. Read and write
access to these values is thus possible using CPL (TC command).
and Controls
Owing to the 8 compensation sets and the extended compensation

value number (in contrast to the external compensation extended by 2
additional length compensation values and cutting edge orientation per
set), the general compensation is well-suited for use, e.g. for the si-
multaneous machining of several similar tools (e.g. several spindles lo-
cated on different Z axes), in connection with lathing applications or
anglehead tools.
Example 1:
Length compensations for the simultaneous machining of a workpiece
using a maximum of 3 similar tools:
Tool T01 T02 T03
L(2)1 = L(2)2 = L(2)3 =

+85.251 mm +75.101 mm +78.234 mm
Radius Radius Radius
Example 2 :
Constant three-dimensional tool shift:
The resulting three-dimensional tool shift in the direction of the tool
axis is calculated on the basis of the shift values of the axes involved.
+Z
Tool
+Y
+
constant
three-dimensional
L(2)3 (Z) tool shift
L(2)1 (X)
L(2)2 (Y)
+ +X
Shift values: L(2)1 , L(2)2, L(2)3
and Controls
Restrictions:
D The radius compensation value of an active standard compensa-
tion (D) acts additively with the radius compensation value of an ac-
tive general compensation (G147..G847).
D The radius compensation value of the general compensation is
overwritten by the radius compensation value of an external com-
pensation activated later (G145.. G845).
D The default assignment of the length compensation values L(2)1 to
L(2)3 to the individual logical axes of a channel is preset channel-spe-
cific in MP 7050 00420.
In this context, the individual compensations have to be assigned to
different axes. In addition, there may be no overlapping with the drill
axis of the 1st compensation group during axis assignment. As a con-
sequence, the compensations of the 1st and 2nd compensation
group cannot act additively.
D If the PLC changes the currently active compensation values in the
course of the execution of a part program, this change will only be-
come active in the block being under preparation as the next
block.
are due to execution without this change.
In order to avoid this effect you must program the WAIT CPL com-
mand directly after the block, causing the PLC to hand over the new
compensation values. By doing so you hold the block preparation of
the PNC until all program blocks ahead of WAIT have been exe-
cuted.
D Following the control units start-up, the compensation values saved
internally are set to zero. The internal values may only be changed
by the PLC or CPL.
D In case of control reset, the compensation values saved within the
NC are maintained.
D The general compensation can be used in connection with the PLC
program module B22WZKOR (external tool compensation) only
from V4.4.1 on.

tion)
and/or
and Controls

pensation groups.
In this manner, you determine how many compensation
values the NC can expect from the PLC in case of exter-
nal or general compensation.
9020 00010: Specifies how the control unit interprets the compensa-
tion values received from the PLC.
G147..G847: Activating the corresponding compensation set of the
general compensation.
G148: Deactivating the compensation set of the general com-
pensation.

NC-O23.0 through NC-O23.3:
General tool compensation 2 0 ... 23 (channel inter-
face).
The signals show which compensation set
(G147G847) of the general compensation is active on
the channel.

tion values of the general compensation stored within
the CNC.
gramming Manual
WAIT Stops block processing.
and Controls
Description of the cutting edge (tool) orientation (TO):

The objective is to move the tool contact point along the programmed
contour. In this context, please note that the tool contact point may shift
along the cutting edge radius in dependence on the programmed con-
tour.
If length compensations are used for the main and second axis exclu-
sively, this will result in a fixed theoretical cutting edge tip P.
Since the control unit leads P along the programmed contour, the ma-
chining of freely defined contour paths will also lead to situation where
the material is either cut insufficiently or too much:
the material is not cut completely ... the contour is infringed ...
P
P
Contour
R S R R
Hx Contour
S Hx
Hz
SA
W
W
SA
Hz
R: Cutting edge radius
S: Cutting edge center
W: Tool zero point
P: Theoretical cutting edge tip (= measured tool tip)
Hx: Length compensation in x direction
Hy: Length compensation in y direction
SA: Tool symmetry axis
Two types of compensation acting in different ways are used together to

compensate the problem shown in the figure above.
D Cutting edge orientation compensation and
D Tool radius compensation (G41, G42).
The cutting edge orientation compensation has the effect that the S tool
center point is now located on the programmed contour instead of P.
The tool radius compensation then guides the S cutting edge center
point to the programmed contour on an equidistant at distance R.
The cutting edge orientation (TO) and the cutting edge radius (R) are
needed for the cutting edge compensation.
The cutting edge orientation TO=1 to TO=8 describes the basic orienta-
tion of the tool, related to the main and second axis (see figure below).
The cutting edge orientation compensation is deactivated with TO=9.
and Controls
+X R: Cutting edge radius

SA: Tool symmetry axis SA
SA
R R R R
R R R R
Z
SA SA
TO= 3 (2) TO= 4 (1)
TO= 1 (4) TO= 2 (3)

+X SA
R R R R
SA R R SA
R R
Z
SA
TO= 5 (5) TO= 7 (7) TO= 8 (6)
TO= 6 (8)
6 (8) = Cutting edge orientation TO=6 in the coordinate system rotating to the right
(Cutting edge orientation TO=8 in the coordinate system rotating to the left)
Using the cutting edge radius, the NC calculates an additional shifting of

the shape, taking into account the specified cutting edge orientation,
which has an additive or subtractive effect on the normal length com-
pensation.
D ()Hx = R and ()Hz = R (for cutting edge orientations 1 to 4)
D ()Hx = R (for cutting edge orientations 6 or 8)
D ()Hz = R (for cutting edge orientations 5 or 7)
and Controls
The principle is shown in the figure below:
DHx = R
SK
R
Contour
R S
Hx
SA
W
DHz = R Hz
R: Cutting edge radius
S: Cutting edge center without shift
SK: compensated position of the cutting edge center point
W: Tool zero point
Hx: Length compensation in x direction
Hy: Length compensation in y direction
Hx: additional length compensation in x direction
Hy: additional length compensation in y direction
SA: Tool symmetry axis
The tool radius compensation then shifts the path by the value of the
cutting edge radius so that the cutting edge is positioned precisely on
the programmed contour.
and Controls
8.2.5 Overview: Methods of tool compensation
Compensation Save under Activate via Programm- Notes Effect

method ing (exam-
ple)
G22 K{<Path>} G22 K Geo1 Length and ra- The effect of a
<File name> .. dius compensa- radius com-
Standard and .. tion values are pensation al-
length com- Length: H1 H48 H.. G1 Z.. H.. activated using ways comes to
pensation Radius: D1 D48 D.. (G41, G42) G41 X.. Y..D.. H or D ad- bear on the
Radius com- dresses in the K working plane
pensation compensation selected in the
table <file program coordi-
name>, which is nate system.
activated with
G22.
For deactiva-
tion, use H0,
D0.
External tool Length: Hext. G145 G845 G145 Up to 8 external Additive on
compensation Radius: Rext. length and ra- D standard
dius paired val- length com-
(1st external tool ues can be acti- pensation
compensation) vated by PLC. and radius
For deactivation compensation
use G146.
General tool Length: L(2)1, L(2)2 G147 G847 G147 Up to 8 external Independent of:
compensation and/or L(2)3 length and ra- D standard
Radius: R dius paired val- length com-
(2nd external Cutting edge (tool) ori- ues can be acti- pensation
tool compensa- entation: TO vated by PLC. D external
tion) For deactivation length com-
use G148. pensation
Additive on:
D standard ra-
dius com-
pensation.
External ra-
dius com-
pensation is
overwritten!
Drill axis com- G78 G78 X22 The drill axis Length com-
pensation of (the axis on pensation val-
1st com- Length: which the length ues refer to the
pensation H or Hext. compensation axes to which
group takes effect) is the compensa-
2nd com- L(2)1, L(2)2 and/or switched using tion group re-
pensation L(2)3 G78. lates.
group
and Controls
Compensation Save under Activate via Programm- Notes Effect

method ing (exam-
ple)
Tool orientation with Eulerian angles: Coord(<n>) Coord(2) Selection of axis In case of active
(phi), (theta), (psi) G1 x10 y20 transformation axis transforma-
or in Cartesian z30 O(90,90) 2: tion, the tool
coordinates: or The tools orien- compensation is
O(x, y, z) G1 x10 y20 tation is along performed along
or specifying the axis of z30 O(0,1,0) the Y axis. the TCS tool
rotation u and the angle or coordinate sys-
of rotation : O(1,0,0) tem.
ROTAX (ux, uy, uz) O ROTAX
() (1,0,1) O(90)
8.2.6 Assigning
1. Make sure that the required compensation group (1 and/or 2) is re-
leased for the respective channel in MP 7050 00410.
Individual Effect Default setting
parameter
1 Release/inhibit compensation group 1 (=released)
1
(for H compensation value within
the standard compensation and for
external compensation)
2 Release/inhibit compensation group 0 (=inhibited)
2
(for general compensation)
2. Use MP 7050 00420 to determine channel-specifically which logical

axes are assigned to which length compensation/compensation
group.
The setting made here acts as default setting in the respective chan-
nel and can be modified via G78.
G79 sets the active setting for compensation group 1 and/or 2 back
to the default setting.
Individual Length compensation value Com- Default set-
parameter which is to take effect on pensation ting
the assigned axis group (log. axis no.)
1 reserved 0
2 reserved 0
3 H or L(1)3 1 3
4 L(2)1 2 0
5 L(2)2 2 0
6 L(2)3 2 0
and Controls
Example: assigning of 4 drill axes
Individual Length compensation value Com- Setting exam-

parameter which is to take effect on pensation ple
1 reserved 0
2 reserved 0
3 H or L(1)3 1 3
4 L(2)1 2 4
5 L(2)2 2 5
6 L(2)3 2 6
Example: constant three-dimensional tool shift (3 axes)
Individual Length compensation value Com- Setting exam-

parameter which is to take effect on pensation ple
1 reserved 0
2 reserved 0
3 H or L(1)3 1 0
4 L(2)1 2 1
5 L(2)2 2 2
6 L(2)3 2 3
3. If compensation values are specified by the PLC (in case of exter-

nal or general compensation, use MP 7050 00430 to determine
channel-specifically for which type of tool the compensation group is
to be used. The following are defined as types of tools:
1 = drilling tool, 2 = milling tool, 3 = lathe tool, 4 = anglehead tool
parameter
1 Determines the type of tool used 2 (=milling tool)
in compensation group 1
(for external compensation)
and Controls
Example: a drilling tool is used under compensation group 2 (gen-

eral compensation)
Individual Effect Setting example
parameter
2 Determines the type of tool used 1 (=drilling tool)
Example: an anglehead tool is used under compensation group 2

(general compensation):
Individual Effect Setting example
parameter
2 Determines the type of tool used 4 (=anglehead tool)
4. Use MP 9020 00010 to specify in which unit of measure the values of

geometry compensation tables are stored within the CNC and how
the control unit is supposed to interpret the shift values transmitted
by the PLC (in case of external or general compensations).
. Changes in MP 9020 00010 also influence zero shift tables, tables

for the inclined plane and the interpretation of zero shift values
transmitted by the PLC!
CAUTION
Applies additionally when standard compensation is used:

1. Create a new geometry compensation table:
MANAGE " EDIT NEW FILE " GEO TABLE
. The file name extension of geometry compensation tables is de-

fined via MP 3080 00200 (individual parameter: 2).
Presetting: *.geo.
and Controls
2. Enter name.
5. Fill table with length and radius compensation values for machining.
Applies additionally when external or general compensation

is used (compensation values provided via PLC):
1. Adapt PLC program module B22WZKOR for the provision of the
length and radius compensation and integrate it into the PLC pro-
gram.
8.2.7 Activating
Standard compensation
Precondition:
D Geometry compensation table for the machining program exists and
contains the correct compensation values of the required tools.
D Tools for machining are available.
1. Activate geometry compensation table (see page 830).

2. Change machining tool.
3. Prior to the machining phase, activate
the required radius compensation value via D address
or/and
the required length compensation value via H address.
External and general compensation

Precondition:
D Any geometry compensations still active must be taken into account
when programming other geometry compensations because these
may have an additive effect or overwrite each other mutually.
D Tools for machining are available.
1. By programming the T address, the next tool available for machining

is identified and its relevant compensation values are transferred to
the control unit when it is exchanged (via M function) using the PLC
program module B22WZKOR.
You should then program WAIT in order to halt the block prepara-
tion. This is the only way to make sure that the current values will be
used in the subsequent activation of the compensation data.
and Controls
2. Activate a compensation value pair of the external compensation

using G145G845,
or
a compensation set of the general compensation using
G147G847.
8.2.8 Deactivating
Standard compensation
Precondition:
D The tool must no longer be involved in the machining process.
1. Deactivate active compensation values by programming D0 and H0

after the machining phase.
External and general compensation

Precondition:
D The tool must no longer be involved in the machining process.
1. Deactivate the active compensation pair of the external compensa-

tion using G146,
or
the active compensation set of the general compensation using
G148.
and Controls
8.2.9 Structure of geometry compensation tables

If you use the standard compensation as geometry compensation
(see page 813 ff.) the compensation values will be provided in a geom-
etry compensation table. A maximum of 48 compensation value pairs
(radius: D, length: H) can be stored in each table.
fined structure.
The table editor is available (see PNC operating instructions) for com-
fortable editing of these tables at the control unit.
The table editor starts automatically when a geometry compensation
table has been selected in GOM MANAGE and you press the EDIT soft-
key (for prerequisites, refer to Relevant MACODA parameters, MP
3080 00200).
If the control unit loads the selected table into the NC editor (ASCII edi-
tor), the required preconditions have not been fulfilled. In these cases,
we recommend that you close the editor without changing the table and
edit the table manually via MANAGE " TABLES and subsequent path/
file selection via the table editor.
. Program block -B24FLTAB (access to geometry compensation or

axis zero shift tables) is no longer supported from PNC software
version 5.1.18 on!
Table name
name extension (e.g. test.geo).
The file name extension can be changed, for details, see MP
3080 00200 on page 831.
Structure
A geometry compensation table is structured as follows:
D 1 headline containing an internal system coding of the table
D 48 lines for radius compensation values (2nd to 49th line)
D 1X = <Value>
:
D48X = <Value>
D 48 lines for length compensation values (50th to 97th line)

H 1Z = <Value>
:
H48Z = <Value>
Both positive and negative compensation values are permitted as

<value>.
G22 K <Path/table name>:
Activating a geometry compensation table via NC block.
and Controls

3080 00200: Determines in individual parameter 2 which file name ex-
tension the control unit uses as identification criterion for
geometry compensation tables (standard: geo).
Selected files with this file name extension are automati-
cally opened with the table editor (and not with the ASCII
editor) for editing.
Please note that the entry is case sensitive: TEST.
GEO and test.geo designate different files for the con-
trol unit!
3080 00001: Search path.
9020 00010: Specifies in which unit of measure the table values are
stored internally and how the control unit is supposed to
interpret the compensation values transmitted by the
PLC (in case of external or general compensations).
. Changes in MP 9020 00010 also influence zero shift tables, tables

for the inclined plane and the interpretation of zero shift values
transmitted by the PLC!
8.2.10 Activating
To activate a geometry compensation table via NC block, use G22 with
address K:
G22 K<Path><Table name>
. If <Path> has not been specified, the PNC uses the search path
(MP 3080 00001) to search for the <Table name>.
Example:
Activating the geometry compensation table test.geo in the root direc-
tory:
G22 K/test.geo
To activate the compensation values, proceed as follows:

1. Activate the geometry compensation table which contains the re-
quired compensation values.
2. Activate the desired radius compensation value (148) via D ad-
dress (example: 12th radius compensation value: D12)
or/and
activate the desired length compensation value (148) via H ad-
dress (example: 32nd length compensation value: H32).
To deactivate active compensation values, program the D or H address,
respectively, with the following value 0 (e.g. D0 or H0, respectively).
and Controls
Compensation switchover
8.3 Compensation switchover
Function:
Machining on machine tools may be performed using tools of different
sizes, with the tool clamped in different directions, depending on the
machine, or oriented in any direction in space in case of the correspond-
ing machine kinematics.
The G78 compensation switchover function assigns the different

length compensations of the individual functions to the geometry
compensation of either
D the individual directions of the current workpiece coordinate system
(WCS) or
D the directions of the tool coordinate system (TCS).
An assignment with respect to the directions of the workpiece coordi-

nate system (WCS) is possible if the tool is aligned perpendicularly to
the current working plane and its orientation remains constant during
machining.
Examples: drilling and turning, milling of plane surfaces.
An assignment of compensations referring to the directions of the tool

coordinate system (TCS) is necessary if the orientation of the tool
changes during machining, e.g. the milling of free-form surfaces. This
allows for a tool length compensation at variable tool orientation. An ac-
tive axis transformation (e.g. 5 axis or 6 axis transformation) is neces-
sary for this compensation. The compensation values are taken into
account within the axis transformation.
The switchover can be activated manually or in the part program.
The tool length compensations are divided into 2 compensation groups

within the PNC:
D 1st compensation group refers to axes to which the following com-
pensations apply:
H and Hext/L(1)3 of the external tool compensation (G145G845)
D 2nd compensation group refers to axes to which the following com-

pensations apply:
L(2)1, L(2)2, L(2)3 of the general compensation (G147G847).
and Controls
Tool compensation in Tool compensation Z

the WCS workpiece in the TCS tool
coordinate system coordinate system
L3
Z Y
L2
Y Z TCS
L1
L3 L2 Y
L1 X
X
WCS X WCS
Precondition:
D Geometry compensations (see page 810 ff.) have been properly
established.
Restrictions:
D Drill axes must be linear axes and be suitable for the machine kine-
matics. The tool has the corresponding drive (e.g. spindle).
D The axis addresses programmed under G78 refer to the workpiece
or tool coordinates (XT, YT, ZT).
D The required compensation group (1 and/or 2) has to be released in
MP 7050 00410.
D A certain length compensation within a compensation group may not
be assigned to several axes at one point in time (see MP
7050 00420).

tion)
and/or
compensation group 2 (general compensation)
(individual parameter=1: compensation group is re-
leased)
pensation groups.
In this manner, you tell the control unit how many com-
pensation values are transferred by the PLC in case of
external or general compensation.
and Controls
G78..: Switch over of the drill axis.
Program-controlled assignment of an existing length
compensation to a coordinate (in the WCS) or to a work-
ing range coordinate (in the TCS) on the channel.
For parameters, see DIN Programming Instructions.
G79.. .: Deactivating drill axis switching.
Compensation groups 1 and/or 2 can be reset to the set-
tings in MP 7050 00420.
For parameters, see DIN Programming Instructions.
G145..845: External tool compensation ON
G147..847: General tool compensation ON
G81..86, G186: Boring cycles

NCF(G78) Provides information on whether G78 or G79 is active on
the respective channel.
SD(10,1) Provides the number of the last programmed drill axis
(L3 or H compensation) for compensation group 1.
SD(10,1,1) the same as SD(10,1)
SD(10,2) Provides the number of the active drill axis for com-
pensation group 1.
SD(10.2,1) the same as SD(10.2)
SD(10,1,2) Provides the number of the last programmed drill axis
(L3 compensation)
SD(10,2,2) Provides the number of the active drill axis for com-
pensation group 2.
MCODS(...) see Compensations under MCODS in the CPL Pro-
gramming Manual
8.3.1 Assigning
1. Make sure that the required compensation group (1 and/or 2) is re-
leased for the respective channel in MP 7050 00410.
2. Use MP 7050 00420 to determine channel-specifically which logical
axes are assigned to which length compensation.
The setting made here acts as default setting in the respective chan-
nel and can be modified via G78.
G79 sets the active setting for compensation group 1 and/or 2 back
to the default setting.
Example: the Z axis (log. axis number 3) is assigned the length com-
pensation H or L3 from compensation group 1. Because the com-
pensation values are taken into account automatically, it becomes
usable as drill axis.
and Controls
Individ- Length compensation value Com- Default

ual pa- which is to take effect on the as- pensation setting
rameter signed axis group (log. axis
no.)
1 reserved 0
2 reserved 0
3 H or L3 1 3
4 L1 2 0
5 L2 2 0
6 L3 2 0
3. If compensation values are specified by the PLC (in case of exter-

nal or general compensation, use MP 7050 00430 to determine
channel-specifically for which type of tool the compensation group is
to be used. The following are defined as types of tools:
1 = drilling tool, 2 = milling tool, 3 = lathe tool, 4 = anglehead tool
parameter
CAUTION
8.3.2 Activating
Precondition:
D Drill axis switching is activated (see Section 8.3.1).
1. Program G78.
For possible parameters, see DIN Programming Instructions.
2. Activate the corresponding geometry compensations (H,
G145 G845 or G147 G847).
and Controls
8.3.3 Deactivating
Precondition:
D The drill axis is no longer in contact with the workpiece.
1. Deactivate the active geometry compensations using the respective

functions (H0, G146 or G148).
2. Program G79.
It is optionally possible to reset either all compensation groups or a
specific compensation group to the settings according to MP
7050 00420.
and Controls
Path compensation (cutter radius compensation)
8.4 Path compensation (cutter radius compensation)

Function:
The path compensation leads to an offset of the tool with right-angle
constant distance to the left (G41) or to the right (G42) of the pro-
grammed contour.
This offset path is referred to as equidistant. The distance between
the equidistant and the programmed path depends on the active radius
compensation value of the current tool.
Principle:
Cutter path compensation

to the right of to the left of the
the workpiece workpiece
=feed direction
=programmed contour
=equidistant
G42 G41
The radius compensation value of the tool can be made available by the
following geometry compensations:
D Standard tool compensation (D)
D External tool compensation (Rext)
D General tool compensation (R)
. The radius compensations of the standard, external and general

compensation act additively in part or exclude each other.
Preconditions:
D Tools and their dimensions (compensations) are measured for the
machining process.
D The machining program exchanges the tools in accordance with the
machining phase.
D The PLC or tool compensation table provides the correct compensa-
tions for the tools used.
and Controls
Restrictions:
D If the control unit is in a circular mode (e.g. G2, G3, G5), no traversing
movement must be programmed in the G40, G41 and G42 blocks.
D In case of active path compensation, the following functions are not
permitted:
G17 to G20 (plane change-over)
G32 (tapping without compensation chuck)
G70, G71 (inch/metric change-over)
G74 (approach reference point)
G75 (probe input)
G92 (set actual value)
D G76 (traverse to machine-oriented absolute axis position) deacti-
vates an active path compensation.
G41: Switching path compensation on to the left of the
workpiece (seen in the direction of machining), referred
to positive compensation values.
If no traversing movement is programmed in the G41
block, the control unit will activate the compensation
immediately and vertically to the next traversing block.
If a traversing movement is programmed in the G41
linearly on the way to the end point of the traversing
movement.
G42: Switching path compensation on to the right of the
workpiece. Apart from that, identical to G41.
G40: Path compensation OFF.
If no traversing movement is programmed in the G40
immediately and vertically to the previous traversing
block.
If a traversing movement is programmed in the G40
block, the control unit will deactivate the compensation
linearly on the way to the end point of the traversing
movement.
G145..G845: External tool compensation ON
G147..G847: General tool compensation ON
NC-O20.5: Set: G41 is active on the respective channel.
NC-O20.6: Set: G42 is active on the respective channel.
If both signals are not active, the path compensation is deactivated
(G40).

NCF(G40) Provides information on whether G40, G41 or G42 is ac-
tive on the respective channel.
and Controls
8.4.1 Assigning
Using a geometry compensation table:
1. Create a new geometry compensation table:
MANAGE " EDIT NEW FILE " GEO TABLE
. The file name extension of geometry compensation tables is de-

fined via MP 3080 00200 (individual parameter: 2).
Presetting: *.geo.
2. Enter name.
5. Fill table with length and radius compensation values for machining.
When external or general geometry compensation (com-

pensation values provided via PLC) is used:
1. Adapt PLC program module B22WZKOR for the provision of the
length and radius compensation.
8.4.2 Activating
1. Activate the desired table via G22 K<path/table name>.
2. Program D.. and H.. to select the respective radius and length com-
pensation value from the activated table.
3. Select a starting point which allows a nearly tangential approach to
the contour. Make sure that activation of the compensation does not
lead to a damage of the contour.
4. Program G41 or G42.

1. Select tool using T.. tool address and change the tool using the M
function: the relevant tool compensations will be selected automati-
cally.
2. Program G145...G845 (external tool compensation) and/or
G147...G847 (general tool compensation).
3. Select a starting point which allows a nearly tangential approach to
the contour. Make sure that activation of the compensation does not
lead to a damage of the contour.
4. Program G41 or G42.
and Controls
8.4.3 Deactivating
Precondition:
D The tool is no longer in contact with the workpiece and has moved
away from the contour.

1. Make sure that deactivation of the compensation does not lead to a
damage of the contour. Approach an adequate end point for this pur-
pose.
2. Program G40.
3. Program D0, H0 if required.

1. Make sure that deactivation of the compensation does not lead to a
damage of the contour. Approach an adequate end point for this pur-
pose.
2. Program G40.
3. Program G146 (external tool compensation) and/or G148 (general
tool compensation), if required.
and Controls
Safety / Monitoring
9 Safety / Monitoring
9.1 Electronic limit switches (software limit switches)

Function:
Prevents an axis from deviating from a defined physical traversing
range due to positional data.
Features:
D Two physical traversing ranges (travel limit ranges) can be defined
for each axis. The ranges may overlap.
D The desired traversing range can be selected via two interface sig-
nals at the respective axis interface.
D Monitoring of the limit switches can be deactivated (suppressed) dy-
namically by means of an interface signal.
Restrictions:
D As long as the control unit does not know the absolute axis position
(see interface signal NC-O15.7), the electronic limit switches will not
take effect for this axis (reference point has to be known).
D The limits of the area must not exceed the position limits (S-0-0049,
S-0-0050) set in the drive.
D Exceeding the selected active limit switch range results in a runtime
error.

1020 00001: Software limit switch positive.
1020 00002: Software limit switch negative.
1020 00003: 2. Software limit switch positive.
1020 00004: 2. Software limit switch negative.

NC-I1.4: Activate travel limit range bit 0 (axis interface).
NC-I1.5: Activate travel limit range bit 1 (axis interface).
Selection of the desired travel limit range:
NC-I1.4 and NC-I1.5 = 0: Range 1
NC-I1.4 = 0 and NC-I1.5 = 1: Range 2
NC-I3.2: Suppress software limit switch (axis interface).
High signal: selected range is suppressed
NC-O15.7 Reference point is known (axis interface).
Low signal: limit switches for the axis are not effective!
and Controls
Electronic limit switches
9.1.1 Activating
1. Adapt MP 1020 00001 through 1020 00004.
CAUTION

. Unless the relevant interface signals are activated by the PLC,

range (area) 1 is always selected and activated if the value
99999.999 has not been parametrized for the corresponding axis
in MP 1020 00001.
Switching off (permanent)

1. Deactivate travel limit range 1 and 2:
MP 1020 00001= 99999.999.
Suppressing (switching off temporarily)

1. Set NC-I3.2 Suppress software limit switch at the relevant axis in-
terface.
Moving from one travel limit

range to the other range
Precondition:
D Active traversing range has been selected at the relevant axis inter-
face via NC-I1.4 and NC-I1.5.
1. Suppress active travel limit range (set NC-I3.2 at the relevant axis
interface).
2. Move axis to the other travel limit range manually.
3. Select other traversing range at the relevant axis interface via
NC-I1.4 and NC-I1.5.
4. Reset the NC-I3.2 signal set previously at the relevant axis interface.
and Controls
Torque reduction
9.2 Torque reduction

Function:
Torque reduction allows a temporary influencing of the set torque limit
value of an axis (S-0-0092: bipolar torque limit value).
Features:
D The function can be activated/deactivated via the NC-I3.7 interface
signal Torque reduction.
D Feedback of the function status is received via the axis-related
NC-O17.6 interface signal Torque reduction active.
D The desired temporary torque limit value of the axis can be entered
via MP 1003 00010 and changed program-controlled using G177. A
torque limit value change via G177 becomes active with the next
positive edge of the axis-related NC-I3.7 interface signal.
Restrictions:
D Switching the torque reduction on/off is only permitted with the axis
standing still.
D S-0-0092 has to be interpreted as % of the nominal torque in the
drive (in S-0-0086, percent weighting has to be set as type of
weighting).

1003 00010: Presetting for reduced maximum axis torque.
G177: Torque reduction.

NC-I3.7: Torque reduction (axis interface).
L/H edge: switch on torque reduction.
H/L edge: switch off torque reduction.
When switched off, the torque limit value set in S-0-0092
after the last SERCOS phase start-up will be set in the
drive again.
NC-O17.6: Torque reduction active (axis interface).
and Controls
Torque reduction
9.2.1 Assigning
1. Adapt MP 1003 00010 correspondingly for all relevant axes.
CAUTION

Precondition:
ated, respectively.
D The axis is standing still.
CAUTION
Any random or unintended change of the torque limit value can
cause damage to the workpiece/tool or lead to hazardous states
on the machine.
Therefore consider the possible consequences before you influ-
ence the torque limit value.
1. If required, program the desired torque limit value using G177 if you
do not want to use the value from MP 1003 00010.
2. Specify the L/H edge at NC-I3.7 of the relevant axis interface to acti-
vate the function
or
specify the H/L edge at NC-I3.7 of the relevant axis interface to deac-
tivate the function.
and Controls
Limit rapid travel
9.3 Limit rapid travel

Function:
When part programs are activated, it is in many instances not desired
for rapid travel blocks to be traversed at maximum speed. A reaction by
the operator using Override (see page 723) may be too late in case of
incorrect programming to avoid potential damage.
That is why the control unit reduces the rapid travel movements of syn-
chronous axes (G0, G10, G200, ...) on the respective channel in depen-
dence on the channel-related NC-I1.7 interface signal Limit rapid
travel to
D a parametrizable value (in case of MP 7030 00110 > 0), or
D to the feedrate speed programmed last on the channel (in case of
MP 7030 00110 = 0).
. You can also use the function to limit rapid travel as long as no ref-
erence points have been approached yet.
If the Override function has been activated on the relevant channel, it

will also take effect on limit rapid travel. In this case, an override of 100%
corresponds to the limit rapid travel.
Restrictions:
D Is only effective in the modes Manual input NC block, Automatic,
Program block and Single step.
D Does not take effect on spindle speeds or on the active path feed.
D A change of the NC-I1.7 interface signal does not act on program
blocks which were already processed by block preparation at the
time the change was performed.
If this behavior is not desired, you have to stop the machining pro-
cess using Feed hold, cancel blocks already prepared using Can-
cel distance to go (see page 729) and continue machining by
means of cycle start.

7030 00110: Value of limited rapid traverse velocity.

NC-I1.7: Limit rapid travel (channel interface).
and Controls
Limit rapid travel
9.3.1 Assigning
1. Adapt MP 7030 00110.
CAUTION

1. Set NC-I1.7 at the channel interface in order to activate the limit rapid
travel.
Reset NC-I1.7 in order to deactivate the limit rapid travel.
and Controls
Axis position monitoring
9.4 Axis position monitoring

Function:
Reports via interface signal in which area the axis is located with refer-
ence to a parametrizable position ( MP 2010 00110). The position al-
ways refers to the axis coordinate system (ACS).
Any active LSECs (see page 101 ff.) are taken into account by the con-
trol unit automatically for the current axis position.
Please note for signal generation:
current axis position parametrized position: signal set
current axis position < parametrized position: signal not set
The function is suited for the activation of other functionalities by the

PLC.
Features:
D Up to 8 positions per axis can be defined with one corresponding in-
terface signal each.
D In case of rotary axes, the monitoring position may refer to the com-
plete traversing range or to the range between 0 and 360 degrees.
D It is possible to set whether the monitoring is performed at refer-
enced or non-referenced axis only.
Restrictions:
D Monitoring positions refer to the axis coordinate system
D A maximum of 64 monitoring positions throughout the system

2010 00100: Monitored axis.
2010 00110: Position (of the point).
2010 00120: Interface signal (of the point).
2010 00130: Cyclic monitoring of rotary axes.

NC-O18.x: Axis position x (axis interface).
High signal: current axis position parametrized posi-
tion
Low signal Signal: current axis position < parame-
trized position
. In order to monitor two-dimensional areas with paraxial limits, the

function Area control is available (see page 910 ff.).
and Controls
Axis position monitoring
9.4.1 Activating
1. Adapt all individual parameters of MP 2010 00100 through MP
2010 00130 which have the same index, for each desired monitoring
position.
CAUTION

and Controls
Distance to end point
9.5 Distance to end point

Function:
Output of an axis interface signal as soon as the current distance to the
programmed end point of an NC block falls below a defined length.
This way it is possible for the PLC to e.g. initialize or prepare own func-
tions before the axis has reached its actual end point. This may, under
certain circumstances, reduce the overall time required for a manufac-
turing process.
Restrictions:
Distance to end point has no effect for
D slave axes with active axis coupling
D handwheel mode
D operation mode Approaching the reference point

1015 00010: Distance to end point.
NC-O17.2: Axis near end point (axis interface)
9.5.1 Assigning
1. Enter the desired distances in mm or degrees, respectively, into the
corresponding individual parameters of MP 1015 00010.
CAUTION
9.5.2 Deactivating
1. Set the corresponding individual parameters in MP 1015 00010 to
value 1.0.
CAUTION

and Controls
Area control
9.6 Area control

Function:
By means of the area control, it is possible to monitor 10 two-dimen-
sional rectangular areas with paraxial limits throughout the system.
Traversing movements which infringe an activated area, produce a
runtime error in automatic mode; in jog mode, it is only possible to move
the axis up to the limit of the area. In this case, the PNC will display a
warning message.
A control area can either be parametrized as working range or as dead

range:
D Working range:
Traversing movements exceeding an active working range are not
possible. The limits are part of the working range.
When a working range is activated, the current machine position has
to be within the working range.
D Dead range:
Traversing movements into a dead range are not possible. The limits
are part of the dead range.
When a dead range is activated, the current machine position has to
be outside the dead range.
Several control areas may be active simultaneously within one channel.

Thus it is possible to e.g. monitor one working range and several dead
ranges located inside the working range simultaneously.
Examples: Dead ranges and working range

M M

Working range Dead range
To be able to define an area, the control unit requires the basic informa-
tion of which system axes define the plane where a control area is to be
located. These data can be parametrized exclusively via MP 8002
00001 and MP 8002 00002.
Any further data such as area position, size or type (dead/working
range) can be parametrized via configuration parameters as presetting
and changed program-controlled via AREADEF NC command. The
program-controlled change of a control area can also be deactivated
selectively using MP 8002 00032.
and Controls
Area control
The AREADEF and AREAVALID NC commands are available to acti-

vate/deactivate control areas.
Restrictions:
D A max. of 10 control areas may be defined throughout the system.
D To activate a control area, all system axes involved in the area have
to be present on the current channel.
D Area control is possible only if the control unit knows the absolute
position of all axes involved (axes referenced).
D An axis can only be transferred to another channel (Axis transfer
function) if the respective axis is not involved in an active control area
on the channel from which the axis is transferred.
D If all axes of a control area are transferred to another channel, the
control unit replaces all data of the control area both on the channel
from which the axes are transferred as well on the new channel with
the presetting values in the corresponding configuration parame-
ters. The control areas are deactivated in the process.
D In automatic mode, only those activated areas are monitored which
are located in the active plane of the channel. In jog mode, all active
areas of the channel are monitored.
D The two axes involved in a dead range may not be jogged simulta-
neously.
D Traversing movements initiated by handwheel are not monitored.
AREADEF: Parametrizing control area with regard to position, ex-
tension and type. Activation/deactivation is possible ad-
ditionally.
The programming of an area using AREADEF is only
valid for the current channel and will be effective there
until the area is changed by means of a new AREADEF
command.
Only one single area can be parametrized for each
AREADEF block. For information on syntax, see DIN
Programming Instructions.
AREAVALID: Activating/deactivating control area.
The control unit has to know the position, extension and
type of the area (either by means of parametrization in
MACODA or a previously used AREADEF command).
Syntax: AREAVALID(<Area number>,<Action>)
Please note: <Area number>: 1..10; 1=all areas
<Action>: 0: deactivate
1: activate
and Controls
Area control

For definition of all 10 control areas in the PNC, use the configuration
parameter group 8002.
Directly after start-up, the control area data are preset with precisely
these values.
The control areas are still deactivated.
8002 00001: System axis number of 1st dimension of area.

8002 00002: System axis number of 2nd dimension of area.
Both parameters have to include the system axis
number of the axes defining the plane of the control
area.
The control area limits are always parallel with these
axes.
8002 00011: Center of area, 1st dimension.
8002 00012: Center of area, 2nd dimension.
Both parameters determine the center point of the con-
trol area within the machine coordinate system.
8002 00021: Enlargement of area, 1st dimension.
8002 00022: Enlargement of area, 2nd dimension.
Both parameters determine the side length of the control
area relative to the unit of measurement set in the control
unit.
8002 00031: Type of control area.
0: Area is not used
1: Dead range
2: Working range
8002 00032: Area is programmable.
0: Area cannot be modified using AREADEF
1: Area can be modified using AREADEF
MP 800200002
MP 800200021
Control area
Center
MP 800200012 MP 800200022
M
MP 800200011 MP 800200001
and Controls
Area control
9.6.1 Assigning
1. Make sure that the correct system axis numbers have been entered
in MP 8002 00001 and MP 8002 00002 for all areas used.
2. Enter the data for the control area used into the remaining parame-
ters of group 8002. The PNC uses these data as presetting.
These can be overridden later using the AREADEF NC command, if
the value 1 has been assigned using MP 8002 00032.
CAUTION
3. If you have changed the configuration parameters, initiate a control

reset.
9.6.2 Activating
Precondition:
D The control areas used have been assigned correctly in accordance
with Section 9.6.1.
D The Inclined plane function is not effective in connection with a sys-
tem axis involved in the area control.
D All axes involved are present on the channel.
D All axes involved are referenced (axis-related interface signal
NC-O15.7 Reference point is known has been set).
D Handwheel mode is not activated.
1. Make sure that the machine position is located in the permitted

range.
When a working range is activated, the current machine position has
to be within the working range.
When a dead range is activated, the current machine position has to
be outside the dead range.
If required, move the axes to permitted machine coordinates.
2. Program AREAVALID(<Area number>,1) with the desired area num-
ber.
If, in addition to activating, you wish to enter the data of a control
area, use the AREADEF command with the corresponding parame-
ters instead of the AREAVALID command (only possible if AREA-
DEF is not blocked via MP 8002 00032).
9.6.3 Deactivating
CAUTION
After deactivation of control areas, the machine may traverse into
dead ranges or leave the permitted working range again.
1. Program AREAVALID(<Area number>,0) with the desired area num-

ber (1 for all areas).
and Controls
Area control
Notes:
and Controls
Axis compensations
10 Axis compensations
Axis compensations include
D leadscrew error compensation (LSEC)
D cross compensation (CCOMP)
10.1 Leadscrew error compensation (LSEC)

Function:
Compensates linearity errors of an axis occurring in the area of
D the axis measuring system and
D mechanical transmission of movement (motor axis). This also in-
cludes the backlash of an axis.
. Servodyn drives are capable of compensating the backlash (re-

versing play) automatically via SERCOS parameter S-0-0058.
Restrictions:
D Maximum 12000 compensation values for all axes to be compen-
sated.
D The compensation values of an active cross compensation
(CCOMP; see page 107 ff.) reduce the maximum number of LSEC
values possible.
Commissioning of LSEC:
1. Determine compensation values for all relevant axes
2. Enter compensation values into the control unit
3. Activate the compensation values entered
10.1.1 Determining the compensation values of an axis

1. Divide the traversing range to be compensated into a number of
sections of equal size (recommended value: approx. 1020 mm).
By this grid you determine the positions within the traversing range
where compensation values have to be determined.
. The maximum number of compensation values, including LSEC

and CCOMP (cross compensation), is 12000.
. For rotary or endless axes (cf. MP 1003 00004), it is only necessary

to determine the compensation values for axis positions in the in-
terval [0 .. 360]. In case of axis positions outside of this interval, the
control unit first transforms the actual position into the interval [0 ..
360] before it takes into account the respective compensation
value in this interval.
and Controls
Leadscrew error compensation (LSEC)
. Compensation values of Hirth axes ( page 46) have to be on the

Hirth grid (necessary for compensation value determination).
pos. traversing direction neg. traversing direction
complete traversing range

A traversing range for recording of measuring values B
starting point with the step size end point with the
compensation value compensation value
P0 or N0 Pn or Nn
Sep size: Distance between two consecutive measuring positions.

Value range (linear axis):
0.1 through 214748364.7 m
Value range (rotary/endless axes):
0.1 through 359999.9*10-3 degrees
For axis positions between two consecutive measuring
positions, the control unit automatically calculates a
compensation from the two adjacent compensation
values by means of linear interpolation.
Starting point: Lowest coordinate value for which a compensation value
is determined.
Range of values (linear axes):
214748364.7 m
If the subsequent measuring process is not started at
this position, all measured compensation values will
have to be sorted accordingly before they can be
entered in the LSEC file.
If the starting point is not identical with the beginning of
the complete traversing range, the PNC applies the
compensation values of the starting point (P0 and N0) to
range A (cf. figure).
End point: Highest coordinate value for which a compensation
value is determined.
Range of values the same as starting point, however,
end point must be greater than the starting point.
If the end point is not identical with the end of the com-
plete traversing range, the PNC applies the compensa-
tion values of the end point (Pn and Nn) to range B (cf.
figure).
2. Make sure that neither LSEC nor CCOMP (cross compensation)
have been activated for the axis to be measured.
To deactivate LSEC, see page 106.
To deactivate CCOMP, see page 1014.
and Controls
3. Make sure that the axis has been referenced.

4. Move the axis to the start of the traversing range.
5. Determine the compensation value Pi (i=absolute number of the
measuring position: 0 to n; cf. figure) for each measuring position in
positive traversing direction with the help of an external measuring
device (e.g. laser).
Please note:
Compensation value in mm = position setpoint (NC) actual

position (machine)
All compensation values must be determined in the unit of measure

micrometer with a maximum resolution of 0.1 m at present and
may be in the range of 3276.7 m.
6. Having determined the last compensation value in positive travers-

ing direction, move the axis to the end of the traversing range.
7. Now determine the compensation value Ni (i=absolute number of
measuring position: n to 0; cf. figure) for each measuring position in
negative traversing direction.
Calculation of the compensation values as under item 5.
10.1.2 Entering compensation values

All compensation values for an axis must be entered in an ASCII file
named lsecc<Axis number>.tab.
<Axis number>: system axis index (cf. MP 1003 00004).
Examples:
lsecc01.tab (Compensation values for axis 1)
:
:
For reasons of compatibility, it is also possible to use the name

lsec<Axis number>.tab for axes 1 through 8: <Axis number>: 0
through 7 !!
Examples:
lsec0.tab (Compensation values for axis 1)
:
. If both file name types exist for an axis, the PNC automatically eval-
uates the contents of lsecc<Axis number>.tab!
and Controls
Required structure of LSEC files:

<Starting point> <Step size> <Comment>
<P0> <N0> <Comment>
<P1> <N1> <Comment>
<P2> <N2> <Comment>
<P3> <N3> <Comment>
<P4> <N4> <Comment>
:
<Pn> <Nn> <Comment>
D At least one blank must be programmed between the individual

items in one line.
D Finish every line by hitting<enter>.
<Starting point> For more information, please refer to Section

10.1.1.
<Step size> For more information, please refer to Section
10.1.1.
<Comment> Optional character string. Is not evaluated by the
control unit when the file is read. For example, you
may enter a line number (starting with 0) and/or the
axis position.
The string must not exceed the current line because 2
compensation values are always expected at the
beginning of a new line.
<Pi> Compensation value for positive traversing direction
effective at the axis position <Starting point> + i
* <Step size>. The following applies:
Compensation value = position setpoint (NC) actual
position (machine)
Unit: m
Resolution: 0.1 m
Max. range of values: 3276.7 m
<Ni> Compensation value for negative traversing
direction.
Apart from that, identical to <Pi>.
Programming example:
The traversing range of the X axis (0 to 90 mm) was subdivided into a
grid with a step size of 10000 (10 mm).
The absolute axis position of 20000 mm (20 mm) was selected as start-
ing point for LSEC.
Seven axis positions were measured for each the positive and negative
traversing direction. The compensation values of the starting point ap-
ply to axis positions below 20 mm. The compensation values of the end
point apply to axis positions greater than 80 mm.
The X axis is defined as 1st axis in the system. Therefore, the LSEC data
for this axis must be entered in file lsecc01.tab .
and Controls
Error
[m]
10
8
6
4
2
0
2 10 20 30 40 50 60 70 80 90 Setpoint
4 position
6 [m * 1000]
8
10 : Measuring points
: Compensation path in pos. direction
: Compensation path in neg. direction
Contents of file lsecc01.tab :

20000.0 10000.0 (starting point 20mm; step size 10mm;
7 measurements)
2.0 6.0 (position 20mm)
and Controls
10.1.3 Activating
1. Copy or load all necessary LSEC files into the root directory (/) or
the User FEPROM (/usrfep) subdirectory (for directory struc-
ture, refer to the Operating Instructions manual).
CAUTION
Compensation values of axes will not be activated if

D there is no LSEC file for an axis or
D an existing LSEC file contains values that are not allowed.
Possible error messages if an LSEC file contains values that are not al-
lowed:
LSEC: Error when reading the line <n>, file <m> !
or
LSEC: One of the numbers in line <n>, file <m> is too
high !
or
LSEC: Maximum number of LSEC values in line <n>, file
<m> is exceeded !
Meaning:
<n> Line number (1,2,3...)
<m> Name of incorrect LSEC file:
lsec0.tab ... lsec7.tab: old LSEC file name syntax
lsecc01.tab ... lsecc64.tab: new LSEC file name syntax
10.1.4 Deactivating
1. Rename the relevant LSEC files existing in the root directory (/)
or the User FEPROM (/usrfep) subdirectory.
We recommend that you only change the file name extension tab to
off, for example (e.g. lsecc03.tab lsecc03.off ).
CAUTION

The respective LSEC compensation values will no longer be active after
start-up.
and Controls
Cross compensation (CCOMP)
10.2 Cross compensation (CCOMP)

Function:
Compensates the geometric deviation between theoretical and actual
position of an axis, if this deviation is dependent on the actual positions
of max. two reference axes.
The axis to be compensated will also be referred to as target axis in the

following.
Example:
Portal milling machine. The sagging of the Z axis is to be compensated
in dependence on the Y axis position.
target axis (axis to be compensated): Z
reference axis: Y
y axis
z axis
z level of the milling head of an
ideal machine (no sagging of
workpiece the portal)
workpiece holder
lowered z level of the milling

head due to sagging
z level of the milling head with

activated cross compensation
z level of the milling head without

cross compensation
Restrictions:
D Maximum 12000 compensation values for all axes to be compen-
sated.
D The number of compensation values of active LSEC tables (see
page 101 ff.) reduces the maximum number of cross compensa-
tion values possible.
D A max. of two reference axes can be taken into account for a target
axis.
and Controls
10.2.1 Assigning
1. If you wish to use the CCOMP function, commission LSEC first. This
is to make sure that the corresponding linearity error of the reference
axis is minimized when determining the CCOMP values.
2. Determine compensation values for all relevant axes
3. Enter compensation values into the control unit
4. Activate the compensation values entered
Determining the compensation values

of an axis
1. Divide the traversing range of the reference axis (axes) into a
number of sections of equal size.
By this grid you determine the positions within the traversing range
where compensation values for the target axis have to be deter-
mined.
If you have to use two reference axes (positions of the target axis are
influenced by two axes), these may have different grids.
. The maximum number of compensation values, including CCOMP

and LSEC, is 12000. CCOMP and LSEC compensation values may
have different grids.
. If you use rotary or endless axes (cf. MP 1003 00004) as reference

axis, it is only necessary to determine the compensation values for
axis positions in the interval [0 .. 360]. In connection with CCOMP,
axis positions outside of this interval are always transformed into
the interval [0 .. 360[.
. If you use a Hirth axis ( page 46) as reference axis, the positions
have to be on the Hirth grid (necessary for compensation value de-
termination).
pos. traversing direction neg. traversing direction
complete traversing range of the reference axis

A traversing range for recording of measuring values B
starting point with the step size end point with the
compensation value compensation value
P0 or N0 Pn or Nn
Division of the traversing range of the reference axis

and Controls
Sep size: Distance between two consecutive measuring positions.

Value range (linear axis):
0.1 to 214748364.7 m
For axis positions between two consecutive measuring
positions, the control unit automatically calculates a
compensation from the two adjacent compensation
values by means of linear interpolation.
Starting point: Lowest coordinate value for which a compensation value
is determined.
Range of values (linear axes):
214748364.7 m
If the subsequent measuring process is not started at
this position, all measured compensation values will
have to be sorted accordingly before they can be
entered in the CCOMP file.
If the starting point is not identical with the beginning of
the complete traversing range, the PNC applies the
compensation values of the starting point (P0 and N0) to
range A (cf. figure 1).
End point: Highest coordinate value for which a compensation
value is determined.
Range of values the same as starting point, however,
end point must be greater than the starting point.
If the end point is not identical with the end of the com-
plete traversing range, the PNC applies the compensa-
tion values of the end point (Pn and Nn) to range B (cf.
figure 1).
2. Make sure that CCOMP has been deactivated for the axis pair(s) tar-
get axis/reference axis.
To deactivate CCOMP, see page 1014.
3. Make sure that the target and reference axis (axes) has (have) been
referenced.
4. Move the reference axis (axes) to the start of the traversing range.
5. Move the target axis to the position setpoint to be measured. It is not
necessary to change this position in the measurement process for
the current target axis.
6. If you use two reference axes, proceed through items 7. to 8. first for
one and then for the other reference axis.
Which reference axis you begin with, is up to you.
7. Determine the compensation value Pi (i=absolute number of the
measuring position: 0 to n; cf. next figure) for each measuring posi-
tion in positive traversing direction with the help of an external mea-
suring device.
In this context, you exclusively move the reference axis and measure
the resulting actual position of the target axis.
and Controls
Please note for the target axis:

Compensation value in m = position setpoint (NC) actual
position (machine)
All compensation values must be determined in the unit of measure

micrometer with a maximum resolution of 0.1 m at present and
may be in the range of 3276.7 m.
Measuring positions (reference axis: Y)

pos. traversing direction 2 1 0
ideal guiding path
Guiding path with

sagging
z axis
Z = 0 m
Z = 30 m
Z = 50 m
Calculation example: Compensation value = position setpoint (NC) actual position

(machine) P0 = 0 m (0 m) = 0 m
P1 = 0 m (30 m) = 30 m
P2 = 0 m (50 m) = 50 m
Figure 2: Determination of the compensation values for pos. traversing

direction of the reference axis
After having determined the last compensation value in positive tra-

versing direction, move the reference axis to the end of the axis tra-
versing range.
The position of the target axis remains unchanged.
8. Now determine the compensation value Ni (i=absolute number of

measuring position: n to 0) for each measuring position in negative
traversing direction.
Calculation of the compensation values as under item 7.
After having determined the last compensation value in negative tra-
versing direction, move the reference axis to the start of the axis tra-
versing range.
The position of the target axis remains unchanged.
Entering compensation values

The compensation values determined for individual axis pairs (target
axis/reference axis) have to be entered in separate ASCII files.
The control unit recognizes via the file name to which pair of axes the file
content is to be assigned.
and Controls
Syntax for CCOMP file names: cnc##r$$.tab
Meaning:
## System axis index of the target axis (01 to 64)
$$ System axis index of the reference axis (01 to 64)
D $$ and ## must be different
D System axis index : cf. MP 1003 00004
Examples for CCOMP file names:

cnc03r01.tab contains CCOMP compensation values for target
axis 3. Axis 1 is the reference axis.
cnc03r02.tab contains CCOMP compensation values for target
axis 3. Axis 2 is the reference axis.
. Max. two CCOMP files can be created for one target axis because
the CCOMP function is limited to max. two reference axes per tar-
get axis.
Required structure of CCOMP files:

<Starting point> <Step size> <Comment>
<P0> <N0> <Comment>
<P1> <N1> <Comment>
<P2> <N2> <Comment>
<P3> <N3> <Comment>
<P4> <N4> <Comment>
:
<Pn> <Nn> <Comment>
D At least one blank must be programmed between the individual

items in one line.
D Finish every line by hitting<enter>.
<Starting point> For more information, please refer to page

109.
<Step size> For more information, please refer to page 109.
<Comment> Optional character string. Is not evaluated by the
control unit when the file is read. For example, you
may enter a line number (starting with 0) and/or the
reference axis position.
The string must not exceed the current line because 2
compensation values are always expected at the
beginning of a new line.
and Controls
<Pi> Compensation value for positive traversing direction

effective at the axis position <Starting point> + i
* <Step size>. The following applies:
Compensation value = position setpoint (NC) actual
position (machine)
Unit: m
Resolution: 0.1 m
Max. range of values: 3276.7 m
<Ni> Compensation value for negative traversing
direction.
Apart from that, identical to <Pi>.
Programming example:
In case of a portal machine, Y axis sagging is to be compensated be-
cause it unduly influences the Z axis position.
target axis (axis to be compensated): Z
reference axis: Y
The traversing range of the Y axis (0 to 700 mm) was subdivided into a
grid with a step size of 100000 (100 mm).
The absolute axis position of 20000 mm (20 mm) was selected as start-
ing point for CCOMP.
Seven axis positions were measured for each the positive and negative
traversing direction. The compensation values of the starting point ap-
ply to axis positions below 20 mm. The compensation values of the end
point apply to axis positions greater than 620 mm.
Error
[m]
10
8
6
4
2
0
2 20 120 220 320 420 520 620 Setpoint position
4
6 [m * 1000]
8
10 : Measuring points
: Compensation path in pos. direction
: Compensation path in neg. direction
The target axis Z has system axis index 3, the reference axis Y has sys-
tem axis index 2.
Therefore CCOMP data must be entered in file cnc03r02.tab .
and Controls
Required file contents of cnc03r02.tab:

20000.0 100000.0 (starting point. 20mm; step size.
100mm; 7 measurements)
10.2.2 Activating
1. Copy or load all necessary CCOMP files into the root directory (/)
or the User FEPROM (/usrfep) subdirectory (for directory struc-
ture, refer to the Operating Instructions manual).
CAUTION
Compensation values of a target axis will not be activated if

D there is no CCOMP file for an axis or
D an existing CCOMP file contains values that are not allowed.
Possible error messages if a CCOMP file contains values that are not
allowed:
CCOMP: Error when reading the line <n>, file <m> !
or
CCOMP: One of the numbers in line <n>, file <m> is too
high !
or
CCOMP: Maximum number of CCOMP values in line <n>, file
<m> is exceeded !
Meaning:
<n> Line number (1,2,3...)
<m> Name of incorrect CCOMP file
. If more than two CCOMP files exist for one and the same target
axis, the control unit will only take into account the two files it en-
counters first during start-up.
. If the CCOMP and LSEC functions are active simultaneously for a

target axis, the respective compensation values will take effect ad-
ditively.
and Controls
10.2.3 Deactivating
1. Rename the relevant CCOMP files existing in the root directory
(/) or the User FEPROM (/usrfep) subdirectory.
We recommend that you only change the file name extension tab to
off, for example (e.g. cnc03r01.tab cnc03r01.off ).
CAUTION

The respective CCOMP compensation values will no longer be active
after start-up.
and Controls
Communication with the PLC
11 Communication with the PLC

11.1 Auxiliary functions
The PNC provides different auxiliary functions (auxiliary function types)
which can be used to create own auxiliary functions.
These auxiliary functions can then be used both in the part program as
well as in the manual mode to exchange information with the PLC by
means of markers (e.g. to switch functions on the machine on, off or
over or to transfer or receive numerical data values).
In case of auxiliary functions with compulsory acknowledgment, the
control unit first waits for a positive acknowledgment (e.g. by reset of
markers by the PLC), before it executes the next program block or
changes over into READY state.
The table below provides an overview of the types of auxiliary functions

available and their properties:
Properties of the types of auxiliary functions available
Auxiliary One-dimen- discrete bit individually 32-bit BCD aux. function 64-bit BCD aux. function
function sional array aux.fct. defined bit
type with channel- aux.fct.
dependent bit
aux.fct.
Use Exchange of binary information with the PLC Exchange of numerical information with the PLC in BCD
(e.g. switching functions on, off, over) format (transfer of values to the PLC, e.g. tool numbers)
Coding bit-coded BCD-coded
Memory dependent on 1 bit 1 bit 64 bit 96 bit
required the array size; (Bit 0: acknowledge/change (Bit 0: acknowledge/change
per channel- Bit 1: sign Bit 1: sign
dependent bit Bit 231: reserved Bit 231: reserved
aux.fct.: 1 bit Bit 3263: 32-bit BCD) Bit 3263: 32-bit BCD
Bit 6495: 32-bit BCD)
Number defined via 3010 00010 [2]. defined via defined via defined via defined via
A total maximum of 1536 bit-coded auxiliary 3010 00010 3010 00010 3010 00010 3010 00010
functions per channel (192 bytes). [5] [3] [6] [4]
Type channel-de- channel-inde- channel-de- channel-de- channel-inde- channel-de- channel-inde-
pendent pendent pendent pendent pendent pendent pendent
Existence 1x 1x 1x 1x 1x 1x 1x
per channel in the system per channel per channel in the system per channel in the system
(on precisely
one channel)
Access to from the re- from all chan- from the re- from the re- from all chan- from the re- from all chan-
auxiliary spective channels spective spective nels spective nels
functions nel. With re- channel. With channel. With channel. With
strictions, also restrictions, restrictions, restrictions,
possible from also possible also possible also possible
other channels. from other from other from other
channels. channels. channels.
For definition of all auxiliary functions in the PNC, use the configuration
parameter group 3010. A max. of 30 separate auxiliary functions can be
and Controls
Auxiliary functions
parametrized, each auxiliary functions having to be assigned to a cer-

tain auxiliary function type.
Restrictions:
D Marker ranges of the individual types of auxiliary functions may not
overlap.
D The M0 through M319 M functions are reserved for internal pur-
poses.

3010 00010: Number of auxiliary functions.
3010 00020: Acknowledgment requirement for bit-coded auxiliary
functions.
3010 00030: Names of auxiliary functions.
3010 00040: Classes of auxiliary functions.
3010 00050: Dependencies of bit-coded auxiliary functions.
3010 00060: BCD format of integer positions, starting bit addresses or
bit addresses for individually defined auxiliary functions.
3010 00070: BCD format of decimal positions, end bit addresses or
channel numbers.
3010 00080: BCD index, starting code of bit-coded auxiliary functions.
3010 00090: BCD acknowledgment requirement or end code of bit-
coded auxiliary functions.
2060 00002: Operand type.
(Individual parameters relevant for auxiliary functions:
[5], [6], [7])
2060 00003: Operand address (general).
(Individual parameters relevant for channel-indepen-
dent 32-bit and 64-bit BCD aux. functions: [6], [7])
2060 00009: Addresses of channel-specific bit-coded auxiliary func-
tions.
2060 00010: Addresses of channel-specific 32-bit BCD-coded auxil-
iary functions.
2060 00011: Addresses of channel-specific 64-bit BCD-coded auxil-
iary functions.
11.1.1 Assigning
. For detailed information, please refer to the manual Configuration

parameters and MACODA, parameter description. An example for
parametrization is included.
Use the table below to see which configuration parameters are used to
parametrize an auxiliary function type.
and Controls
Auxiliary functions
Overview for parametrization of the auxiliary functions available

Auxiliary func- One-dimen- discrete bit individually 32-bit BCD aux. function 64-bit BCD aux. function
tion type sional array aux.fct. defined bit
with chan- aux.fct.
nel-depen-
dent bit
aux.fct.
Type channel-de- channel-inde- channel-de- channel-de- channel-inde- channel-de- channel-inde-
pendent pendent pendent pendent pendent pendent pendent
Existence of the 1 x per 1x 1 x per 1 x per 1x 1 x per 1x
aux. function channel in the system channel channel in the system channel in the system
type (on precisely
one channel)
Coding bit-coded BCD-coded
Auxiliary func- 301000030 (max. 30 names)
tion name
Usable number 301000010 [1]
of all defined
aux. fct. names
Auxiliary func- 301000040 = 301000040 = 301000040 = 301000040 = 301000040 = 301000040 = 301000040 =
tion class 1 1 1 4 2 5 3
Number of all 301000010 [2]. 301000010 301000010 301000010 301000010
aux. functions Max. total of 1536 bit-coded auxiliary func- [5] [3] [6] [4]
of one class tions per channel
Bit auxiliary 301000050 = 301000050 = 301000050 = 301000050
function type 1 3 4 =0
Digits before 301000060
decimal point
Digits after deci- 301000070
mal point
BCD index 301000080
Compulsory ac- 301000020 301000020 301000020 301000090
knowledgment
Start address of 301000060 301000060 301000060
the aux. fct.
End address of 301000070
the aux. fct.
Channel (for 301000070
discrete aux.
functions)
Starting code 301000080
End code 301000090
and Controls
Auxiliary functions
Start address of 206000009. 206000010. 206000003 [6]. 206000011. 206000003 [7].

the aux. func- The address ranges for the individual chan- Order of the Order of the Order of the Order of the
tion range in the nels have to be chosen so that they do not aux. fct. acc. aux. fct. acc. aux. fct. acc. aux. fct. acc.
PLC overlap. to BCD index to BCD index to BCD index to BCD index
Minimum range size: 301000010 [2] ! (301000080). (301000080). (301000080). (301000080).
Minimum Minimum Minimum Minimum
range size: range size: range size: range size:
64-bit x 64-bit x 96-bit x 64-bit x
301000010 [5] 301000010 [3] 301000010 [6] 301000010 [4]
. If the number of auxiliary functions is to be dependent on the range

of functions of individual options of a machine, define the auxiliary
functions relative to the index of the individual parameters of
3010 00030 needed for the minimum range of functions before
those auxiliary functions intended to expand your machines
range of functions.
This way you can first parametrize the auxiliary functions accord-
ing to the maximum options and, if required, simply use
3010 00010 individual parameter [1] to suppress auxiliary func-
tions that have not been released (see page 116).
1. Define the NC syntax of the desired auxiliary function by means of

3010 00030.
2. Specify the auxiliary function class in 3010 00040:

1: bit-coded auxiliary function
2: channel-independent 32-bit BCD aux. function
3: channel-independent 64-bit BCD aux. function
4: channel-dependent 32-bit BCD aux. function
5: channel-dependent 64-bit BCD aux. function
3. For BCD-coded auxiliary functions only:

Define the number of integer positions by means of 3010 00060
(Value range 32-bit BCD aux. fct.: 0 to 8
64-bit BCD aux. fct.: 0 to 16)
and the number of decimal positions by means of 3010 00070
(Value range 32-bit BCD aux. fct.: depending on integer
position
64-bit BCD aux. fct.: depending on integer
position)
Specify the index of the BCD auxiliary function using 3010 00080.
You thereby influence the order in which several auxiliary func-
tions are stored in the marker field within one function class.
Value range: 0, 1, 2, ..., n; where n depends on the number of
existing BCD auxiliary functions in the respective class. See also
item 13.
and Controls
Auxiliary functions
Example:
Name and index of 32-bit BCD Order of the aux. functions in the
aux. functions used marker field
STEVE (index: 2) SARAH
SARAH (index: 0) 64 bits free
STEVE
Please note: STEVE can only be assigned index 2 if at least 3

BCD auxiliary functions of this class have been defined in
3010 00010!
Define compulsory acknowledgment via 3010 00090:
0: no compulsory acknowledgment
1: compulsory acknowledgment
Make sure that the value 0 has been assigned to 3010 00050.
4. If it is a BCD-coded auxiliary function, the definition is complete now.

If it is a bit aux. fct., continue with 5.
5. For BCD-coded auxiliary functions only:

Enter in 3010 00050 whether the bit aux. fct. is defined channel-de-
pendent, discrete or individually:
1: channel-dependent
3: discrete
4: individually defined
6. For discrete auxiliary functions only:

Enter the channel (0 to 12) in 3010 00070 in whose marker range
the auxiliary function bit is to be located.
7. For discrete and individually defined auxiliary functions only:

Enter the address of the auxiliary function bit in 3010 00060.
8. For channel-dependent bit aux. fct. (bit field) only:

Enter the address of the first bit in 3010 00060 and the address of
the last bit of the auxiliary function in 3010 00070.
Enter the programming code of the first bit in 3010 00080 and the
programming code of the last bit of the auxiliary function in
3010 00090.
Example: channel-dependent bit aux. fct. with the name RUDY
Address of the first bit: 301
Address of the last bit: 320
Programming code of the first bit: 1
Programming code of the last bit: 20
Programming RUDY1 sets bit 301 in the marker field.
Programming RUDY20 sets bit 320 in the marker field.
9. Define compulsory acknowledgment via 3010 00020.
10. The definition of the auxiliary function type bit aux. fct. is completed.
and Controls
Auxiliary functions
11. Repeat steps 1. through 10. if you want to define further auxiliary
functions. If all required auxiliary functions have been defined, con-
tinue with 12.
12. Adapt individual parameters [1] in MP 3010 00010.

If you do not wish to suppress auxiliary functions, you have to enter
the number of all auxiliary functions whose name is specified in
3010 00030.
13. Adapt the corresponding individual parameter ([2] to [6]) in

3010 00010, depending on the auxiliary function class.
The sum of all bit-coded auxiliary functions per channel (individual
parameter[2]) or the number of the respective BCD-coded auxiliary
functions (individual parameters [3] to [6]) has to be entered there.
. Changes in the configuration parameters 3010 00020 and

3010 00040 through 3010 00090 are accepted by system control
reset (DIAGNOSTICS " RESET FUNCTIONS " SYSTEM CON-
TROL RESET).
Changes in 3010 00010 and 3010 00030 are only accepted after a
CAUTION
Programming the respective auxiliary function now leads to the corre-

sponding marker bit being set.
The PLC program is responsible for evaluating the markers, for locking,
if required, or for resetting markers (acknowledgment).
11.1.2 Activating
Parametrized auxiliary functions can be released for use or suppressed
via MP 3010 00010 [1]. This way, you can, e.g. completely parametrize
all auxiliary functions available within a machine series and then only
release those for use which are relevant for a certain machine type / op-
tion.
and Controls
Auxiliary functions
Example 1:
3010 00010 3010 00030 Auxiliary function is valid
[1] M yes
[2] M500 yes
[1] 3 [3] M999 yes
[4] O no
[5] S? no
Example 2:
By increasing the value in 3010 00010 [1], a further auxiliary function is
released for use. This way, the function range of the machine regarding
auxiliary functions is quickly established:
Number of parametrized auxiliary functions *)
[30]
3rd option
[20] 2nd option 2nd option suppressed auxiliary functions
1st option 1st option 1st option

The limit is determined
[10]
via 3010 00010 [1]
Basic op- Basic op- Basic op- Basic op-
tion tion tion tion
[1] released auxiliary functions
Function range
*) Index of the individual parameters in 3010 00030, which are assigned a value unequal to 0.
1. Adapt individual parameters [1] in MP 3010 00010.

Enter the number of usable parametrized auxiliary functions.
CAUTION
CAUTION

and Controls
Auxiliary functions
Notes:
and Controls
Technology / machining functions
12 Technology / machining functions
12.1 Oscillating axis

Function:
Assigns a random synchronous axis as oscillating axis. Oscillating
axes perform an independent oscillating movement, whereas interpola-
tion is carried out for the other synchronous axes on the channel.
The function is suitable, e.g. for simple surface grinding applications.
After activation ( G301), the oscillating axis first traverses to the re-
versing point ( G350) it can reach on the shortest path.
For as long as oscillating is active, the oscillating movement will be
steady and can be differentiated across block limits.
If oscillating is deactivated (see Section 12.1.2), the oscillating axis first
traverses to the next reversing point it can reach. The subsequent pro-
grammed movement will then start.
After control reset, an active oscillating process will only be interrupted
upon reaching the next reversing point.
Restrictions:
D Circular interpolation with combined oscillating movement is not pos-
sible.
D Feed potentiometer does not act on oscillating axes.
D When oscillating is activated, G4, G14/G15, G32, G75, G114/G115,
G374, G590/G591 or G900 must not be programmed.
Otherwise, the interpolation will be stopped abruptly. This may cause
a servo error.
D Oscillating movements are performed according to a cosine function
with a sinusoidal speed pattern and cosine-shaped acceleration pat-
tern.
D In the axis display, the last position before the oscillating movement
starts is shown as end position and value 0 as program value.
G350: Initializing the oscillating axis
(axis selection, reversing points, frequency/speed of the oscil-
lating movement).
The data are retained until they are overwritten by G350 or
control reset is performed.
G301: Activating the oscillating movement.
Programming the path feed and the target positions for a linear
interpolation of the axes involved.
The oscillating movement can also be carried out for a specific
period of time, if no traversing movement has been pro-
grammed in a G301 block.
and Controls
Oscillating axis
12.1.1 Activating
Precondition:
D The axis is already available in the system as a synchronous axis
(machining axis) with its speed, dynamics and, if required, its posi-
tioning logic correctly parameterized in accordance with your re-
quirements.
ated, respectively.
1. If active, switch the In position function off for the oscillating axis.
2. Program the required initialization via G350.
3. Activate oscillating by programming G301 accordingly.
12.1.2 Deactivating
1. Deselect G301 by another G function of group 2 (e.g. G1).
. For information on groups, see Overview of G instructions in the

annex of the DIN Programming Instructions.
and Controls
Punching and nibbling
12.2 Punching and nibbling

Function:
Expands the PNC by various functions which are required for its ap-
plication in punching or nibbling machines with hydraulic punchers.
Features:
D Program-controlled switching on and off of punching/nibbling by
means of G functions G 662 (Nibbling ON), G661 (Punching ON)
and G660 (Punching/nibbling OFF). All three functions form a
modal group, i.e. at any point in time, one of the functions can be ac-
tive only.
For information on groups, see Overview of G instructions in the an-
nex of the DIN Programming Instructions.
D Automatic segmentation of a programmed traversing block into lin-
ear path segments with identical length (block splitting). The end
points of the path segments are always located on the programmed
path.
D Automatic tangential axis setting of the punching/nibbling tool on the
programmed path at the block end via function Tangential tool orien-
tation (see page 1210 ff.).
D Providing a high-speed input and output signal for communication
with a stroke-related punching control.
D PNC-P: plug-in card PNC Highspeed I/O
D PNC-R: module osa dc I/O.
The signal wave between NC and punching control can be controlled
by the NC using a stroke time monitoring system.
D The NCs internal high-speed logic for exchange of information be-

tween punching control, NC and PLC.
D Stroke request possible via the NC as well as via the PLC. The NC
provides different signals at the general interface for communication
with the PLC. Among others, the PLC may thus also initiate a stroke
inhibit.
D Shifting the stroke release times by the NC (early or delayed stroke
release). The time referenced point may be when the interpolator
reaches the end point of a traversing movement or all axes reach the
Inpos window.
and Controls
Punching and nibbling differ with respect to the following points:

Function for punching for nibbling
Block splitting possible if required required
Stroke release at only required at the end of required at the end of each
block end the programmed traversing path segment
block
Stroke release at not required only required, if
the start of a pro- the previous block was not
grammed travers- a traversing block, or
ing block G60 was active in the pre-
vious block (Punching/nib-
bling OFF)
In case of active punching or nibbling, a stroke is always released at the

block end, as a rule. Exceptions:
D The current block does not have an axis coordinate in the active
plane. Machining is continued without stroke with the next block.
D stroke release is suppressed by the PLC. In this case, machining is
only continued carrying out the stroke after release by the PLC.
Restrictions:
D Nibbling and punching is not suited for machine tools with a free-run-
ning puncher
D Nibbling and punching can only be switched on if MP 8001 00010
(Activation of punching function has been assigned the value 1
D Nibbling and punching can only be used on one channel at any given
point in time.
D Path shape (G408 or G608) must be active
D PNC-P: plug-in card PNC Highspeed I/O required
PNC-R: module osa dc I/O required
D One high-speed digital input and output is necessary to communi-
cate with the punching control

8001 00010: Activation of punching function.
8001 00020: Axis-specific stroke release times.
8001 00021: Reference of stroke release times.
8001 00030: Stroke check (monitoring) time
G660: (programming alternative: SPOF)
Punching or nibbling OFF.
G661: (programming alternative: PON)
Punching ON.
and Controls
G662: (programming alternative: SON)

Nibbling ON. Block splitting has to be activated for nib-
bling (LEN= > 0).
G612: Determination of axis-specific stroke release times in
relation to the time referenced point Inpos window
reached. Early stroke release is not possible here.
G611: Determination of axis-specific stroke release times in
relation to the time referenced point Interpolator end
point reached. Both early stroke release as well as
delayed stroke release possible.
G610: Set stroke release times and time referenced points of all
axes to the MACODA values (MP 8001 00020 and
MP 8001 00021).

HSO-0: High-speed digitaloutput
(can be set via MP 4075 00102).
NC demands stroke release.
HSO-0: High-speed digitalinput
Punching control acknowledged.
NC-O5.0: Stroke intended (global interface).
The NC indicates to the PLC that it wants to release a
stroke.
NC-O5.1: Stroke is not running (global interface).
Image of HSI-0 for the PLC.
NC-I1.0: Stroke inhibit (global interface).
PLC prevents the setting of HSO-0.
NC-I1.1: Stroke reservation (global interface).
PLC reserves the HSO-0 for own stroke release.
NC-I1.2: Stroke ON (global interface).
The PLC instructs the NC to release a stroke.
12.2.1 Assigning
1. Set MP 8001 00010 (activation of punching and nibbling) to value
1.
2. Set time referenced point (MP 8001 00021) and stroke release
times (MP 8001 00020) in accordance with your application.
3. If desired, parametrize stroke monitoring (MP 8001 00030).
4. Reserve a high-speed digital input and output via MP 4075 00101
and MP 4075 00102.
and Controls
5. In order to determine the function status during start-up and after

control reset, we recommend the following settings in
MP 7060 00010 (start-up) and in MP 7060 00020 (control reset) as
default status:
G660 Nibbling/punching OFF
G610 Stroke release times and time referenced point according to
MP 8001 00020 and MP 8001 00021
G630 Tangential tool orientation OFF.
CAUTION
12.2.2 Activating
Precondition:
D Punching/nibbling is assigned
D High-speed digital input and output has been reserved via MP 4075
00101 or MP 4075 00102.
D Path shape (G408 or G608) is active
D The necessary interface signals are evaluated or generated, respec-
tively.
1. Optional for punching, required for nibbling:

Specify block segment length via LEN=.
2. To activate punching, program G661
or
program G662 to activate nibbling.
12.2.3 Deactivating
1. Program G660.
and Controls
Tangential tool guidance
12.3 Tangential tool guidance

Function:
Moves a tool axis (rotary or endless axis) along tangentially to the pro-
grammed path in the active plane of a channel.
Features:
D Parametrizable offset angle (angle between symmetry axis of the
tool and the path tangent).
D Taking into account the tool symmetry. This allows the control unit to
optimize the required offset rotation of the tool in case of knees in the
contour automatically (shortest path logic).
D Automatic insertion of intermediate blocks for rotating the tool in
case the knee angle between two contour elements exceeds a para-
metrizable value.
D Communication with the PLC, if automatic insertion of an intermedi-
ate block is necessary due to a knee in the contour. This way, the
PLC can execute any necessary steps (e.g. lift the tool) prior to exe-
cuting the intermediate block, before the NC rotates the tool.
D Complete parametrization of the Tangential tool guidance via G131
in the part program alternatively, or by means of the MACODA pa-
rameters.
D Read access to active parameters of G131 possible via SD function.
Restrictions:
D The Tangential tool orientation function (for nibbling/punching; see
page 1210 ff.) must not be active at the same time
D Only rotary and endless axes are permitted as tool axes
D G131 must never be programmed in a block with a traversing move-
ment.
D Automatic insertion of an intermediate block is not possible if a single
WAIT block has been programmed between 2 traversing blocks with
active Tangential tool guidance.
D Tangent angles at start and end of the programmed contour section
must be located within the travel limit range of the tool axis (if the tool
axis is a rotary axis).

The MACODA parameter values act as initialization values if G131 has
been programmed without parameters. You can overwrite the initializa-
tion values in the G131 block by the parameters indicated in brackets.
7050 00210: Number of the axis of rotation (TAX=)
7050 00220: Tool symmetry (SYM=)
7050 00230: Adaptation angle (IA=)
7050 00240: Offset angle (ANG=)
7050 00250: Init mode of the offset angle
7050 00260: NC-PLC communication in respect of
intermediate blocks (PLC=)
and Controls
G131: Initializing and activating the Tangential tool guidance.
G131 does not lead to a traversing movement. The tool
axis is only offset with the next traversing block. Depend-
ing on the active adaptation angle, the tools axis rotates
either within an automatically generated intermediate
block or jumps to the offset position.
G130: Deactivating the Tangential tool guidance.
NC-O4.0: G131 tool rotation (channel interface).
High signal indicates to the PLC that the knee angle be-
tween two contour elements exceeds the currently set
adaptation angle.
You determine via MP 7050 00260 or using G131 pa-
rameter PLC= whether the NC should wait for the re-
lease by the PLC before it executes the intermediate
block.
NC-I3.2: G131 tool rotation release (channel interface).
High signal releases the execution of the intermediate
block by the NC, if MP 7050 00260 or G131 parameter
PLC= has been assigned the value 1.
Any blocks following the intermediate block will only be
executed by the control unit when the PLC resets this
signal.
Relevant SD functions:
SD(131,1) provides the logical axis number of the axis of rotation
SD(131,2) provides the tool symmetry
SD(131,3) provides the offset angle in degrees
SD(131,4) provides the adaptation angle in degrees
12.3.1 Activating
Precondition:
D The axis of rotation is already available in the system as a rotary or an
endless axis with its speed, dynamics and, if required, its positioning
logic correctly parameterized in accordance with its operational re-
quirements.
D MP 7050 00250 (init mode of the offset angle) is parameterized in
accordance with your requirements.
We recommend that all other MACODA parameters which are rele-
vant for the Tangential tool guidance be set to appropriate values.
This way you make sure that the function is initialized correctly even
if not all parameters available have been programmed in the G131
block.
If you want to activate the Tangential tool guidance via G131 block
without parameters, all MACODA parameters need to be set to ap-
propriate values!
and Controls
D The necessary axis- and channel-related interface signals are evalu-

ated or generated.
1. If it is active, deactivate the Tangential tool orientation function for

the respective axis (G630).
2. Activate Tangential tool guidance via G131 block. If required, ad-
just the initialization values via G131 parameters.
12.3.2 Deactivating
1. Program G130.
and Controls
Tangential tool orientation
12.4 Tangential tool orientation

Function:
Offsets a synchronous tool axis, type endless movement
( MP 1003 00004) tangentially to the programmed path in the active
plane of a channel for each stroke, in case of active punching (G661)
or nibbling (G662).
The tool axis moves synchronously with the linear axes defining the
plane arriving at the offset angle at the same time they reach their target
position. The term target position refers both to the end position of the
programmed block and the end position of block segments which the
NC can generate in connection with the automatic block splitting.
If a stroke has to be released at the start of the programmed block al-
ready (may be required for nibbling), the NC automatically generates a
separate block in which the tool axis is first rotated to the required offset
angle.
Features:
D Parametrizable offset angle (angle between symmetry axis of the
tool and the path tangent).
D Taking into account the tool symmetry. This allows the control unit to
optimize the offset rotation of the tool required for a stroke in case of
knees in the contour automatically (shortest path logic).
D Offset angle and tool symmetry are parametrizable in the program
Restrictions:
D The Tangential tool guidance function (see page 127 ff.) must
not be active at the same time
D The Tangential tool orientation can only be programmed while
G662 (Nibbling ON), G661 (Punching ON) or G660 (Punching/
nibbling OFF) are active.
D G631 must be programmed in a separate block.
D The tool axis must be defined via MP 7050 00210. A program-con-
trolled change of the tool axis is not possible.
D Only synchronous endless axes are permitted as tool axes

7050 00210: Number of the axis of rotation
G631: (programming alternative: TTON)
Initializing and activating the Tangential tool orientation.
G631 does not lead to a traversing movement. The offset of the
tool axis only starts with the next punching or nibbling travers-
ing block, if it is not necessary to release a stroke at the block
start (cf. section Function).
G630: (programming alternative: TTOFF)
Deactivating the Tangential tool orientation
and Controls
Tangential tool orientation
12.4.1 Activating
Precondition:
D The axis of rotation is already available in the system as a synchro-
nous endless axis with its speed, dynamics and, if required, its posi-
tioning logic correctly parameterized in accordance with your
operational requirements.
D MP 7050 00210 (number of axis of rotation) is parametrized in ac-
cordance with your requirements.
D The necessary axis- and channel-related interface signals are evalu-
ated or generated.
1. If active, deactivate the Tangential tool guidance function for the re-
spective axis (G130).
2. Activate (Nibbling ON), G661 (Punching ON) or G660 (Punch-
ing/nibbling OFF).
3. Activate Tangential tool orientation via G631 block or TTON com-
mand. Set the initialization values of tool symmetry and offset angle
via SYM= or ANG= parameter, depending on your application, in
one and the same block.
. The Tangential tool orientation can also be parametrized and ac-

tivated in case of active G660 (Punching/nibbling OFF).
Offset movements of the tool axis, however, are only carried out in
case of active G661 or G662.
12.4.2 Deactivating
1. Program G630.
and Controls
Rounding of corners
12.5 Rounding of corners

Function:
The control unit can use G34/G134 to insert tangential transition arcs
between linear or circular/helical blocks in the active plane.
This results in a slight modification of the programmed contour at the
block transition, on the one hand, but on the other, it is possible to
achieve continuous speed and acceleration patterns (if the radius is
sufficiently large) on the path.
Configuration parameters 7050 00120 and 7050 00130 are used to de-
termine under which conditions the control unit inserts transition arcs.
: modified contour
: programmed contour
7050 00110
7050 00130 in m
in degrees
E 7050 00120
in m
R
R
Restrictions:
D G34 can only be used in connection with two linear blocks, whereas
G134 acts on circular blocks and helical blocks additionally.
D Both neighboring blocks have to be located on the selected main
plane. In the case of helical blocks, only the components of the circu-
lar plane for rounding are taken into account.

7050 00110: Max. admissible deviation from programmed contour.
Based on this, the control unit automatically calculates
the matching radius of the transition arc.
7050 00120: Minimum block length for corner rounding function.
If one of the neighboring traversing blocks is smaller, no
transition arc is generated.
7050 00130: Maximum angle for corner rounding function (up to
which block transitions are considered to be quasi-con-
tinuous).
No transition arcs are generated in case of larger angles.
and Controls
Rounding of corners
G34: Switches on Corner rounding between 2 linear blocks. Using
E address, the maximum admissible deviation between mod-
ified and programmed contour (presetting via
MP 7050 00110) can be influenced temporarily (see G36).
G35: Switches off Corner rounding.
G36: Deletes a maximum admissible deviation programmed via E
address. The value from MP 7050 00110 is effective again.
G134: Switches on Corner rounding between linear or circular
blocks. The desired radius of the transition arc has to be pro-
grammed via R address when G134 is first called. It is effec-
tive until it is overwritten by reprogramming using G134.
. The G34, G35 and G134 G functions form a group and therefore de-
select each other mutually.
12.5.1 Assigning
1. Use MP 7050 00110 to determine the presetting for the maximum
admissible deviation at the block transition between the modified
and the programmed contour.
This data is only relevant when G34 is used.
2. Use configuration parameters 7050 00120 and 7050 00130 to spec-
ify under which conditions it is permitted to insert transition arcs.
CAUTION
3. Initiate system control reset

(DIAGNOSTICS " RESET FUNCTIONS " SYSTEM CONTROL
RESET).
12.5.2 Activating
1. Program G34 or G134, depending on the function that you want.
12.5.3 Deactivating
1. Program G35.
and Controls
Switching NC blocks via high-speed signal
12.6 Switching NC blocks via high-speed signal

Function:
Using the Switching NC blocks via high-speed signal function (G575),
it is possible to initiate an early block change in the PNC via high-
speed input.
This way, e.g. external control/monitoring devices can cancel an active
linear traversing movement. The control unit subsequently continues
machining with the next programmed block.
The function permits

D on-the-fly change of blocks:
the programmed end points of axes are not deleted.
If these axes are not programmed with new end points in the next
block, the control unit takes over the end points from the cancelled
block and interpolates these axes together with the other axes.
The current speed in the cancelled block is not influenced at the
block change (see exceptions under Restrictions). Any necessary
change in speed will be initiated by the NC in the subsequent block
only, however without checking the maximum velocity step change.
D Block change with Cancel distance to go.
The programmed end points of axes are deleted.
If these axes are not selectively programmed again in the subse-
quent block, they will not be traversed anymore.
The current path speed of the cancelled block is always reduced to
v=0 at the block change. In this context, a downslope with the current
deceleration as well as a speed jump to v=0 can be selected via
HSSTOP parameter.
You can use on-the-fly block change e.g. if you intend to traverse
along a straight path at different feedrates in dependence on an exter-
nal event.
Block change with Cancel distance to go is suitable e.g. for applica-
tions requiring pressure or torque-driven Traversing to dead stop.
For examples, see G 575 in the DIN Programming Instructions.
CAUTION
The function changes the programmed contour!
This may cause damage to the workpiece and/or the tool!
Only use this function if the tool is not in contact with the work-
piece or damage to workpiece and/or tool can be excluded!
Restrictions:
D A linear traversing movement has to be programmed both in the can-
celled block as well as in the subsequent block (with active G0, G1,
G10, G11, G73 or G200).
D PNC-P: plug-in card PNC Highspeed I/O required
PNC-R: module osa dc I/O required
D The desired high-speed input has to be assigned the G575 func-
tionality in MP 4075 00101.
and Controls
D On-the-fly block change within the automatic operation mode is

performed at axis standstill if
D there is a knee > 90 degrees in the contour between the block to
be cancelled and the next block.
D the G575 block would always end with v=0 due to the currently
active type of interpolation (in case of active G0, G10, G73)
D the In position function is active (G61, G161, G163)
D the next block begins with v=0 due to additional information pro-
grammed (G14, G15, G114, G115)
D the Shape function is active (see page 67).
D In the Single block and Single step operating modes, decelerat-
ing to v=0 is performed in spite of programmed on-the-fly block
change because the control unit executes only one single program
block per cycle start.
D In the Program block and Manual input modes, decelerating to
v=0 is performed in spite of programmed on-the-fly block change
and the distance to go is cancelled! Any next NC block with incre-
mental programming will therefore not lead to the previously pro-
grammed end point.
G575: Activating Switching NC blocks via high-speed signal
for the duration of the G575 block.
The desired conditions for initiation and the selection of
the digital input can be set via the HS parameters:
HSx=0: low level (x: number of the input)
HSx=1: high level.
The HSSTOP parameter influences the effects of the
function:
without HSSTOP: on-the-fly change of blocks.
No change of speed at the block
transition.
HSSTOP=0: block change with Cancel distance to
go and downslope to v=0.
HSSTOP=1: block change with Cancel distance to
go and velocity jump to v=0.
If the level of the high-speed input for the G575 block
does not change during the machining time, the block is
executed to the end position in accordance with its pro-
gramming (with or without HSSTOP parameter). Then
the PNC executes the next program block.

HSO-0: High-speed digitalinput
Initiates change of blocks.
The input is requested in the interpolation cycle.
and Controls

4075 00101: Assignment of digital inputs.
Determines which high-speed digital input is assigned to
the G575 function, among others.
Example: on-the-fly change of blocks.

The resulting traversing movement to the end point (X50/Y20) may
change in dependence on the signal change at the high-speed input,
but the end point itself remains the same.
The programmed speed is maintained during the change of blocks.
N05 G1 F1000 X0 Y5 End point: X0 Y5

N10 G575 HS1=1 G90 X50 End point: X50 Y5
N20 G575 HS1=0 G91 Y10 End point: X50 Y15 (abs. Y5+incr. Y10)
N30 G91 Y5 End point: X50 Y20 (abs. Y15+incr. Y5)
X50 Y20
N30
X50 Y15
HS1=0
N20
N10
X0 Y5 HS1=1 X50 Y5
programmed travel path

travel path modified by signal change at the
high-speed input
Example: block change with Cancel distance to go.

The programmed end point (X50/Y20) is only maintained if there is no
signal change at the high-speed input. In all other instances, the end
point is dependent on the signal change at the high-speed input.
Decelerating to v=0 is performed via downslope at block transitions.
N05 G1 F1000 X0 Y5 End point: X0 Y5

N10 G575 HS1=1 HSSTOP=0 G90 X50 End point: external event at
X 50
N20 G575 HS1=0 HSSTOP=0 G91 Y10 End point: external event at
Y 10
N30 G91 Y5 End point: distance from the last
occurrence of external event is
incremental Y5
and Controls
X50 Y20
X50 Y15
N30
HS1=0
N10 N20
X0 Y5 HS1=1 X50 Y5
programmed travel path

travel path modified by signal change at the
high-speed input
12.6.1 Assigning
1. Make sure that all high-speed inputs which you want to use in con-
nection with the Switching NC blocks via high-speed signal func-
tion are assigned the value 0003 in MP 4075 00101.
CAUTION
2. If you have changed the configuration parameter, initiate a control

reset.
12.6.2 Activating
Precondition:
D A linear type of interpolation is active (G0, G1, G10, G11, G73 or
G200).
1. Program G575 in connection with the HS and, if required, the

HSSTOP parameters (see Relevant G functions).
The function is active up to the block change initiated, but no longer
than the duration of the G575 block and is then switched off automat-
ically, unless a new G575 blocks follows right away.
and Controls
Tapping
12.7 Tapping
Tapping can be performed in two ways:
D with compensation chuck
D without compensation chuck.
Tapping with
compensation chuck
Function:
As there is no direct (interpolary) synchronization of drill axis feedrate
and spindle rotation when Tapping with compensation chuck, there is
an unintended offset between the drill axis position and the spindle
position (one axis lags behind the other axis).
This offset (limited in time and size) is compensated by using a com-
pensation chuck.
In contrast to tapping without compensation chuck, the spindle is in
Speed mode all the time during the tapping procedure.
Tapping Infeed depth Retraction Retraction Retraction Initial point

with compensa- reached reached
tion chuck
Tool
holder
compensation x
chuck
x
x
Tap
Workpiece
Reversal of sense of Spindle Spindle standing

Sense of direction of spindle Speed = 0 still
direction of spindle accelerates
Direction of movement no axial no axial

of tool holder movement movement
Direction of movement no axial no axial no axial

of the tap movement movement movement
x = axial compensation between tool holder and tool

and Controls
Tapping
The Tapping with compensation chuck function can be

D programmed with linear interpolation at feedrate, specification of the
spindle speed and sense of rotation, or
D with tapping cycle G84 via parameter assignment.
Restrictions:
D G84 is only permitted in automatic mode.
D Switchover of the drill axis via G78 has been assigned correctly.
D Control reset deselects an active cycle; selection via M02 and M30 is
only performed if G80 has been entered in MP 3030 00001.
D G9321/G9322 (retraction from tapped hole) cannot be used in case
of Tapping with compensation chuck.

Definition of the NC syntax (G84) and the subprogram name
309000005: Defines the NC syntax of up to 16 functions which can be
used to call 15 modal subprograms.
309000006: Defines up to 16 names of subprograms which are called
in dependence on 3090 00005.
G1: Linear interpolation
G84[Z,...]: Tapping cycle Tapping with compensation chuck
G80: deselects cycle
Relevant M functions:
M3, M4, M5 programmed spindle turn right or left, spindle stop
CAUTION
It is possible that the wrong spindle is addressed!
The syntax for available spindle functionalities are determined in
MACODA parameters 1040 00101 ff.
Therefore make sure that the syntax used in the cycle corre-
sponds to the entries in MACODA!

NC-I 7.6 General drive OFF has to be blocked for the duration of
the cycle, if required.
and Controls
Tapping
Tapping
without compensation chuck
Function 1: Tapping without compensation chuck
Higher demands regarding thread quality require a precise interaction
between drill axis and spindle.
To produce a thread without compensation chuck, the PNC synchro-
nizes the linear infeed movement of the drill axis with the rotation move-
ment of the spindle. No offset is produced in the process because the
infeed position of the drill axis and the spindle rotation interpolate with
each other, i.e. the drill axis and the spindle accelerate/decelerate at
the same time and ratio.
1st G32 block 2nd G32 block
Tapping Infeed depth Retraction Initial point

without com- reached reached
pensation chuck
Tool
holder
Tap
Workpiece
Sense of direction Spindle standing

of spindle Speed = 0
still

of tool holder movement movement

of the tap movement movement
Tapping without compensation chuck always consists of two consec-

utive blocks
D G32 for drilling and
D G32 for retraction from the tapped hole.
Instead of block-by-block programming, it is also possible to select a
tapping cycle (e.g. G184). The program called with the tapping cycle
contains the consecutive G32 blocks.
The thread pitch is specified as follows:

D as the ratio between path feed of the drill axis and spindle speed
(F/S). Programming: G32 F.. S..
and Controls
Tapping
D or by direct input of the thread pitch (H).

Programming: G32 H..
D or by input of the thread pitch with G184 (boring (tapping) cycle).
Programming: G184[...,GS,...]
Function 2: Retraction from the tapped hole (without compensa-

tion chuck)
It may occur that the tapping process is interrupted. This may be due to
various causes:
Cause of the Tapping Tapping Programming
interruption data continued
available
Feed poten- yes Yes: set feed po-
tiometer = 0 tentiometer >0
Control reset yes No: automatic re- G9321 and
initiated traction of the tap G9322 with parameter F
Power failure no No: manual G9321 and
(PNC startup retraction of the G9322 with the parameters
required) tap S, F, M3/M4, drill axis and
incremental retraction path
Breaking of yes No: automatic re- G9321 and
tool traction of the tap G9322 with F
after Control reset
Retraction (automatic and manual) is principally initiated by the G9321

function (switching the spindle to C axis operation). The retraction
movement is started with G9322.
The corresponding parameters

D starting position of the 1st tapping block (G32)
D thread pitch (F/S)
D direction of rotation
D spindle involved
are either provided automatically by the control unit (after Control reset)
or have to be entered manually (after power failure and subsequent
control unit start-up).
G 9321 and G9322 can either be programmed via manual data input or
via cycle.
Restrictions for function 1 and 2:
D The spindle has to be appropriate for C axis operation
D Switching the spindle to C axis operation is performed automatically
via G32. When G32 is deselected, the spindle is set back to spindle
mode.
D Drill axis and spindle (in C axis operation) have to be located in the
in-position range before tapping is started.
and Controls
Tapping
D In case of active G32, controlling the spindle

via machine function
D speed S or SSPG,
D spindle functions M3/M13, M4/M14, M5 or M19,
D gear ranges M41M44 or M48
or via the interface is not possible.

D Spindle manual M3, M4, M5, M19
D Spindle jog M3, M4
D During tapping, only the feed potentiometer is active.

D Drilling and retraction must always be programmed with identical
thread pitch (F/S or H, respectively).
D A block must not be programmed between the NC blocks for drilling
and retraction.
D If manual or automatic retraction (G9321/G9322) is used, axis move-
ment type 2 (rotary axis with modulo calculation) has to be set in
MP 1003 00004 for the C axis operation of the spindle.
D The retraction movement can only be carried out manually after an
interruption with active inclined plane (G352).

1001 00001: Drive function type (drive moves a spindle which can be
switched to C axis operation temporarily)
1003 00004: Axis movement type: C axis/spindle is a rotary axis with
modulo calculation (endless rotary axis for
G9321/G9322).
The setting has to be compatible with S-0-0076!
1040 00001: Selection of spindle type (e.g. SERCOS/analog spindle,
..)
1050 00001: Specifies the manufacturer for each drive.

S-0-0016: C axis/spindle: configuration list DT.
Has to include S-0-0051 or S-0-0053.
S-0-0024: C axis/spindle: configuration list MDT.
Has to include S-0-0047.
S-0-0057: C axis/spindle: positioning window.
S-0-0261: C axis/spindle: positioning window rough in phase 3 (for
Servodyn drives)
S-0-0076: C axis/spindle: Type of weighting for position data in
phase 2 (C axis/spindle as endless rotary axis).
The setting has to be compatible with MP 1003 00004!
S-0-0033: C axis/spindle: secondary mode 1 in phase 2:
position mode required.
S-0-0034: C axis/spindle: secondary mode 2 in phase 2:
position mode required.
S-0-0103: C axis/spindle: modulo value in phase 3
and Controls
Tapping
G32.. Tapping without compensation chuck (acts block by
block) with specification of the drill axis, infeed depth,
feedrate, sense of rotation of spindle, speed, thread
pitch
G184[Z,...]: Tapping cycle Tapping without compensation
chuck (active G32 required)
G80: deselects cycle

NC-O 20.2 G32 active for the duration of tapping
at the spindle interface

NC-O 14.3 Spindle command active for the duration of C axis
switching active
NC-O 17.0 C axis active for the duration of tapping

NC-O 14.3 Travel command for the C axis and drill axis for the
duration of tapping
12.7.1 Assigning
1. Set telegrams for the C axis. See Relevant SERCOS parameters:
S-0-0016, S-0-0024.
2. Set operating modes for the C axis. See Relevant SERCOS param-
eters: S-0-0033, S-0-0034.
3. Adjust SERCOS drive data of the C axis/spindle and the drive of the
drill axis so that the in-position data (S-0-0057, S-0-0261) meet the
desired production specifications (thread quality, speed).
4. Set the drive function type of the spindle drive to 3 (spindle can be
switched to C axis operation) in MP 1001 00001.
5. Set spindle type to 1 (SERCOS spindle) in MP 1040 00001.
6. The drive type (e.g. 0=Servodyn) has to be entered in MP 1050
00001.
Continue with item 11. if G9321/G9322 is not used.
If G9321/G9322 is used (retraction from tapped hole):

7. The axis movement type for the C axis/spindle has to be set to 2
(rotary axis with modulo calculation) in MP 1003 00004.
8. Set the processing format to modulo format (bit 7 =1) in S-0-0076
of the C axis/spindle (type of weighting of position data).
and Controls
Tapping
9. Bit 8 (drive-controlled change of operation mode) must not be set in

S-0-0033 of the C axis/spindle (drive-controlled change of operating
mode).
Position control has to be activated via bit 0 and 1 (depending on
the encoder used).
Bit 3 has to be set (feed forward control).
10. Set C axis/spindle modulo value to 360 in S-0-0103.
11. Modify the interface program with the required interface signals, e.g.
NC-O 20.2 G32 active
NC-O 14.3 Spindle command
NC-O17.0: C axis active
NC-O 14.3 Spindle command.
12. Start up the control unit with the set MACODA parameters.
13. Initialize SERCOS.
12.7.2 Activating
G32 (tapping):
D The spindle has to be in spindle mode before it is activated.
D The tool for the tapping process has been installed in the spindle.
Create G32 tapping program or G184 tapping cycle with the following
specifications:
1. Position the tool above the position to be carried out.
2. Set absolute or incremental data via G90/G91.
3. Select program with 2 blocks G32 drilling and G32 retraction.
G9321/G9322 (automatic retraction after control reset):

D Abort condition Control reset has occurred.
D The tapping tool is stuck in the workpiece.
1. Enter G9321 and G9322 via manual data input with a feedrate value
and activate.
or
call cycle (which contains G9321 and G9322) with the respective
data for retraction.
G9321/G9322 (manual retraction after power failure and subse-

quent control start-up):
D Abort condition power failure has occurred.
D The tapping tool is stuck in the workpiece.
and Controls
Tapping
D Control unit is ready for operation again after start-up!
1. Define retraction position above the tapped hole position.

2. Enter G91 (incremental programming) manually and activate.
3. Enter G9321 and G9322 via manual data input with all tapping pa-
rameters and activate.
As an alternative, call a cycle (which contains points 1. to 3.) for retrac-
tion.
. For detailed information on cycles, see DIN Programming Instruc-

tions (G instructions).
12.7.3 Deactivating
When the second G32 block is completed, the spindle switches from C
axis operation back to spindle mode.
G32, G9321/G9322 is thus deactivated.
and Controls
Probe
12.8 Probe
Function:
The control unit supports the evaluation of a probe signal for synchro-
nous axes fed in at the respective drive. For Servodyn drives, this hard-
ware input is referred to as MT (probe).
. To be able to use the probe function within the control unit, a corre-
sponding probe functionality has to be available in the SERCOS
drive which the NC can access.
The NC activates the drives own probe function and guides the mea-
suring axis to the programmed position at feedrate after programming
the respective G function (G75, G275). Determination of the probe
switching time and saving the encoder position current at the switching
time is performed directly in the drive. This ensures extremely short re-
sponse times and thus highly accurate switching position values.
At the end of the block, the NC reads the switching position value from
the drive.
The communication between NC and the drive can take place in 2 ways:
D via service channel (standard; data are only transmitted if required)
D via cyclical communication.
Since other data can be transmitted on the service channel too, unnec-
essary waiting times may occur in the part program. If this is not accept-
able, use the cyclical communication.
. For the use of cyclical communication, the drive telegram (DT)

must be freely configurable.

1003 00011: Probe edge.
1003 00012: Probe function can be activated.
G75 Start measuring cycle.
G175 On-the-fly measurement: initialize.
G275 On-the-fly measurement: start measuring cycle.
PPOS,PROBE Request of the current axis actual position at the
probe switching time. For information on the differences
between the two CPL functions, please refer to the CPL
Programming Manual.
SD(9) Provides the information whether one of the activated
probes (see MP 1003 00012) has performed a switching
action.
and Controls
Probe
12.8.1 Assigning
L Make sure that the connected drive supports the probe functionality.
Otherwise, the probe function within the control unit cannot be used.
L Make sure that the probe switching signal is generated appropriately

and connected at the correct hardware input of the drive (Servodyn-D:
hardware input MT).
L Create a suitable CPL program for measurement evaluation.

For examples, please refer to G75 in the DIN Programming Instruc-
tions or PPOS in the CPL Programming Manual.
Depending on the desired type of communication (service channel, cy-

clical communication), the probe function has to be applied in different
ways in the following.
. Please note that the drive telegram (DT) has to be freely configur-
able for the use of cyclical communication!
Communication via service channel

1. Configure MP 1003 00011 and MP 1003 00012 in accordance with
your requirements.
2. If the probe function at the relevant drive has never been set to cycli-
cal communication, no further settings are needed.
However, if communication via service channel is required instead of an
already assigned cyclical communication, remove
SERCOS parameters S-0-0130 or S-0-0131 in S-0-0016, and
SERCOS parameters S-0-0409 or S-0-0410 in S-0-0026.
files of the NC. The SERCOS files are transferred by the control unit to
the drive during SERCOS initialization (for information on SERCOS, see
page 467 ff.).
CAUTION

and Controls
Probe
Cyclical communication
1. Configure MP 1003 00011 and MP 1003 00012 in accordance with
your requirements.
2. Depending on the probe edge parametrized previously, enter
D SERCOS parameters S-0-0130 or S-0-0131 in S-0-0016, and
D SERCOS parameters S-0-0409 or S-0-0410 in S-0-0026.
files of the NC. The SERCOS files are transferred by the control unit
to the drive during SERCOS initialization (for information on SER-
COS, see page 467 ff.).
CAUTION

and Controls
Digitizing
12.9 Digitizing (recording measured values)

Function
The digitizing function provides the technical prerequisites to record a
surface profile and to store recorded axis positions:
D Recording of the workpiece in X/Y plane and Z direction with auto-
matic level compensation by means of simultaneous online
correction of the Z axis:
In order to measure a specified surface (e.g. free-form surface), it is
necessary to record a dot matrix of the surface that is as detailed as
possible. Using an appropriate sensor (e.g. laser), the workpiece is
scanned in wave form. The Z sensor infeed axis is continuously
adapted to the axis distance line of the surface profile online (axis
distance control, see page 1231).
D Recording axis positions in real time via SERCOS:
By recording the X, Y axis positions and the Z axis position compen-
sated in real time, the axis distance lines are digitized by placing the
dots in a row.
The surface profile can also be measured with active 5 axis trans-
formation through recording the axis positions of 5 axes.
D Storing the real time data (axis data and Z compensation values) in
a recording file:
Saving on the hard disk of the PC panel or an external PC via Ether-
net network.
D Digitizing process controllable via NC program:
The recording of axis positions can be started, interrupted, contin-
ued and cancelled via NC command in the program.
D Influencing the digitizing process with programmable presettings.
D Synchronizing an external device with the NC-internal recording
of the measured values. One of the high-speed digital outputs of the
control unit can be used for this purpose. For more information,
please refer to Section 12.9.1 (page 1242 ff.) under item 5.
D The recording file provides additional information (standardization
functions) for the subsequent processing of the real time data.
D Programming the laser path where the workpiece is scanned is not
part of the Digitizing function. A program-flow related solution has
to be found so that the recorded data are suitable for subsequent
processing using a CAD system.
Application options:
D Transfer of the data into an appropriate CAD/CAM system (chang-
ing, visualizing workpieces, implementing design requirements).
D Creating an NC program for direct automatic execution from the
recording data (copying the part on the same or different machine).
Required hardware components for digitizing:

D SERCOS drive with additional input for external measuring system.
D internal measuring systems (drives) for recording of the real time
positions
D external measuring system (e.g. laser) for the online correction
and Controls
Digitizing
D Ethernet network (TCP/IP) for data transfer to PC

D PNC with largest possible free RAM
D PC panel for operation
D free harddisk memory on PC panel for saving real time data if there is
no external PC or UNIX computer (via NFS) (see also Network set-
tings in PNC Software Installation).
D ext. PC or UNIX computer networked with PNC to store the real time
data on the harddisk.
Example: structure and connection of the PNC and Servodyn-D

components for digitizing on a 3 axis machine.
internal Offset in
measuring Z direction
system
from external
measuring
Drive Z axis system (laser)
Laser P2=0000002
to X55 (OM1)
P1=0000001
Drive Y axis
Z
Drive X axis Y
P3= 0000003
X x= 111.111
y= 666.666
Servodyn-D z= 100.000
Laser= 150.444
OM1
File structure:
0000001 111.111 222.222 100.000 150.444

SERCOS 0000002 111.111 444.444 200.000 250.444
interface 0000003 111.111 666.666 100.000 150.444
.....
Save real time

data on PC
For axis panel or ext. PC
and
laser data Ethernet network, if applicable
Hard
Stroke Hard disk
disk
PC panel ext. PC
Ethernet or
Ethernet UNIX
computer
Ethernet
formatted
real time data
PNC-R
and Controls
Digitizing
Digitizing process:
D The digitizing process must be initialized in the NC program. The dig-
itizing itself is program-controlled, i.e. the process can be started, in-
terrupted, continued and cancelled in the program.
D For digitizing you need a probe (e.g. laser) which scans the work-
piece contactless on a wave-shaped path (see figure below). The la-
ser has its own measuring system which is used to keep a preset
distance (offset) to the surface constant during the scanning pro-
cess, i.e. the signals of the laser measuring system are taken into ac-
count with the internal measuring system of the laser infeed axis
(e.g. Z axis) in real time. Thus it is possible to guide the Z axis along
the axis distance line of the surface in the interpolation cycle (axis
distance control ).
. Extended options in context with the (laser) feed axis (e.g. colli-
sion detection, hole detection) are available when you use the
Axis distance control for digitizing function (see page 1249 ff.).
The external measuring system (laser) is fed in via a free input of

the OM1 (X55) at a Servodyn-D drive module (see figure above).
and Controls
Digitizing
Level compensation:
The laser follows the axis dis-
tance line (incl. offset) on a
path in the X-Y plane
End position
active laser beam

scanned points in the interpolation cycle
Pn (x,y,z)
Axis distance lines of the

surface profile
Segment
Z
Starting position
Y
P0 (x,y,z) X
Free-form surface with axis
distance lines
Offset =
distance of
Wave-shaped path of the
laser to
laser in the X-Y plane
surface
D During scanning, all required axis positions (e.g. X, Y and Z axis) in

the interpolator cycle (or a multiple thereof) are recorded and saved
on the harddisk of a PC panel, external PC or UNIX computer.
D The saving process is performed via so-called digitizing buffers
(memory 2 in the PNC). The real time position data coming from the
drive are written into the free RAM of the PNC portion by portion. Al-
ready filled buffers are saved in the output file (see RECFILE) on
the harddisk of a connected PC panel or external PC (via network).
The time needed for the saving process depends on the current net-
work load or the system utilization rate of the control unit.
In this time, several buffers can be filled from the real time part (data
coming in via SERCOS) (see already filled buffers in the figure be-
low).
and Controls
Digitizing
Example: Buffering of incoming and outgoing real time data
Saving real time data in PC panel

file on harddisk or ext. PC
Harddisk: 0000001 111.111

PC panel 666.666
or 100.000
external PC 150.444
Ethernet outgoing real time data
Buffer size = 512 bytes
Buffer 1 555.555
Buffer 2 555.555 250.444 200.000 444.444 111.111 0000002 already
555.555 250.555 200.111 444.555 111.222 0000003 filled buffer
...
incoming
real time data: 555.555 250.666 200.222 444.666 111.333 0000004
0000006 555.555 250.777 200.333 444.777 111.444 0000005

111.555
666.666 Max. usable
100.000 Free buffer buffer 2 in the
150.444 PNC
555.555
0000007
111.666
666.777
100.111 Reserve buffer
150.555 ... (=MP8006 00002)
... Buffer n
PNC n=MP 8006 00001
SERCOS
interface
Servodyn-D Real time data: Info1=0000001 Info1=0000002
x= 111.111 Info1=0000003
y= 666.666 Z
z= 100.000
Laser= 150.444 Y
Info2=555.555
X
In case of high network load, the data reach the hard disk with delay.
This causes a data jam in the digitizing buffer, i.e. more data arrives
than can be saved.
and Controls
Digitizing
If the number of buffers needed is so large that the number of free

buffers falls below the number of reserve buffers, the control unit
reacts in accordance with the parametrization in command REC-
FILE( , ,[<File-I/O>]) and RECTIME( , [<AutoStop>], ) of the Record-
Set:
D The control unit sets the channel feed to zero, so that the loading
of real time data is interrupted. This allows full buffers to be saved
first (see RECFILE( , ,<File-I/O=1 or2>).
D Each standstill of the channel axes leads to an automatic interrup-
tion of the loading of real time data. This allows already filled buff-
ers to be saved (see RECTIME( ,<AutoStop=1>, ).
D If the number of reserve buffers is not observed and data cannot
be saved in time as a result, there is an overflow of the digitizing
buffers. Remedy: Increase number of digitizing buffers in MP
8006 00001 (see RECFILE( , ,<File-I/O=0>), or change parame-
ter RECTIME in the RECORDSet NC function.
Restrictions:
D The Digitizing function may be active only once in the PNC at any
point in time throughout the system. Repeated start (e.g. in different
channels) is not permitted.
D Incorrect data entry (e.g. identification number has not been config-
ured in the cyclical axis telegram) or problems with file processing
(e.g. insufficient memory available on the hard disk) lead to a runtime
error.
D If the desired recording file already exists, it is overwritten by a new
digitizing procedure (depending on the parametrization).
D Axis numbers can be selected throughout the system. There is no
restriction to the axes of the channel where the digitizing program
was started.
D An active digitizing process is cancelled at the end of the program at
the latest. The recording file is closed.
D The digitizing procedure is stopped using the RecordBreak instruc-
tion, i.e. the control unit interrupts the loading of real time data. The
opened recording file stays open.
D If the commanded (setpoint) feedrate of the channel and the actual
feedrate of all axes of this channel is equal to 0, the creation of redun-
dant data is avoided (see parameter RECTIME(..,[AutoStop]).
D If saving is not possible because the network load is too high, the fee-
drate of the channel is set to zero (see above) and the recording of
data is aborted at standstill. Buffers which have already been filled
with real time data can be saved in spite of possible network load
(see RECFILE( , ,[File-I/O])).
D Up to 8 measuring points (axis numbers, axis positions, ..) can be
defined (see RECPROBE1 ... RECPROBE8).
D The recorded values can be weighted with a factor for further data
processing (e.g. for a CAD system).
D A formatted output of the recorded values is possible.
and Controls
Digitizing
D Up to 8 additional measuring points (e.g. offsets, ..) can be defined

(RECPROBE101 ... RECPROBE108) which can be coupled
arithmetically (+/) with RECPROBE1 ... RECPROBE8.
These measuring points are not saved in the file.
D If the drive (e.g. by other manufacturer) has no backlash compensa-
tion, incorrect position values will be output.
Initializing the digitizing procedure

The Digitizing function is initialized using the RecordSet and Re-
cordSetProbe NC functions and is located at the start of the NC pro-
gram which contains the traversing movements needed to measure the
workpiece surface.
RecordSet NC function:
D All parameters of RecordSet have to written in one line.
D The transfer of all parameters is performed using the RecordSet
command. Digitizing is thus initialized and can be started.
D In case of RecordSet, the input of RECFILE, RECTIME and RECSE-
PARATOR is sufficient if the measuring points (position data) have
been parametrized using RecordSetProbe prior to the RecordSet
command.
This means that the requirement of writing the RecordSet function in
one line is no longer applicable because the RECPROBEx parame-
ters are defined in the lines ahead of RecordSet.
RecordSet RECFILE(<Name>, {<Rewrite>}, {<File-I/O>})

{RECTIME(<Time>, {<AutoStop>}, {<Potentiometer>})}
RECPROBE1(<Number>,<Name>, {<Factor>},
{<Format>}, {<RECPROBEx>})
{. . .}
{. . .}
{RECPROBE8(<Number>, <Name>, {<Factor>},
{<Format>}, {<RECPROBEx>})}
{<Format>})}
{. . .}
{. . .}
{<Format>})}
{RECSEPARATOR(<Char>)}
and Controls
Digitizing
Parameter definition of the RecordSet NC function:

RECFILE(<Name>, {<Rewrite>}, {<File-I/O>})
<Name>: Default: /mnt/<file name>
Name of the recording file incl. path
(max. 100 characters)
{<Rewrite>}: Optional, default: 0,
Options:
Save file under the specified <Name> overwrites (=1)
the existing file with the same name or is rejected (=0).
{<File-I/O>}: Optional, default: 1,
If saving is not possible due to network overload, the fee-
drate of the channel is set to zero. If the channel axes are
at standstill, the loading of the real time data is aborted.
This allows already filled buffers to be saved. The num-
ber of reserve buffers has to be large enough, so that
the data generated during the deceleration process can
be saved.
Options:
0: The feedrate is not set to zero.
1: Having saved the filled buffers, the process is
continued automatically.
2: Having saved the filled buffers, the process is only
continued after cycle start.
{RECTIME(<Time>, {<AutoStop>}, {<Potentiometer>})}

RECTIME is optional. If RECTIME has not been programmed, <Time>
is set to the current NC cycle time, [<AutoStop>] and [<Potentiometer>]
to zero.
<Time>: Default: current interpolation cycle in ms,
in all other cases 0.5 to 10000.0 ms. Indicating the time
cycle in which the position data should be read (e.g. in-
terpolation cycle or an integer multiple thereof). The
value is automatically rounded off to an integer multiple
of the interpolation, if it is located between an interpola-
tion cycle.
{<AutoStop>}: Optional, default: 0
Options:
0: The saving process is not aborted.
1: Digitizing interrupts the saving of data as long as the
axes of the channel starting the digitizing process are
standing still.
{<Potentiometer>}: Optional, default: 0
Options:
0: The value of the channel potentiometer is not
effective.
1: Depending on the value of the channel potentiometer,
the scanning rate of the digitizing procedure is
changed (e.g. potentiometer 50%: double the
scanning time).
and Controls
Digitizing
RECPROBE1(<Number>,<Name>, {<Factor>}, {<Format>},

{<RECPROBEx>})
{. . .}
{. . .}
{RECPROBE8(<Number>, <Name>, {<Factor>}, {<Format>},
{<RECPROBEx>})}
The so-called measuring points are defined using RECPROBE 1..8.
These may be position data in the form of SERCOS parameters or in-
ternal measuring points in the form of I-ACTPOS (actual position,
compensated by various PNC compensations).
At least 1 measuring point has to be programmed!

<Number>: 0: for measuring points not derived from axes.
1..64:Axis number or specification of the physical axis
name.
<Name>: Using the <Name> parameter, the position data of the
axis designated under <Number> are transferred.
The following options exist:
S-0-xxxx: SERCOS parameter (according to
the convention e.g.: S-0-0051)
P-0-xxxx: SERCOS parameter (according to
the convention e.g.: P-0-0022)
. It is necessary to agree on the SERCOS parameter in the cyclical

axis telegram.
I-xxxx: Internal measuring point

I-ACTPOS
Actual position LSEC CCOMP tempo-
rary compensation). Its unit is 0.1 m.
IHSINPUT1 .. IHSINPUT8
High-speed input of the PNC highspeed
I/O (PNC-P) or osa dc I/O (PNC-R)
{<Factor>}: Optional,
the unit of measure of the incoming position data is con-
verted into a different unit using a conversion factor (e.g.
1 m = 0.001mm). The position data are saved using the
new unit of measurement in the recording file. The result
is rounded.
{<Format>}: Optional, default: %d, formatting the incoming posi-
tion data into one of the following options:
%d: 4-byte integer,
%f: 4-byte float,
%e: 4-byte float (exponential display)
and Controls
Digitizing
{<RECPROBEx>}: Optional: RECPROBEx (x=101, 102, ... ,108).

The position value is compensated by + or REC-
PROBE x and the result is saved in the recording file
(e.g. offset of laser to surface).
The compensation is indicated by RECPROBE num-
berx (e.g. RECPROBE1 (1,IACTPOS, , , +101)
adds the RECPROBE101 to probe 1). The compen-
sated value is saved in the recording file.
. RECPROBE101 ... RECPROBE108 are not saved in the recording

file. These measuring points (e.g. offset) can only be used for tak-
ing into account with RECPROBE1 through RECPROBE8.
{RECSEPARATOR(<Char>)}: Optional, default: \t (Tab)

with the parameters:
(<Char>): Separators between the recorded position data, just in
case the data have to be exported later (e.g. into a
Microsoft Excel table file).
Options: all ASCII characters.

recommended characters:blanks: , Tab: \t , comma:
,, semicolon: ;, colon: :.
Using a dot as separator may lead to misinterpretation
of the data because the dot is also used in the floating
point format (e.g. 10.102).
and Controls
Digitizing
NC function RecordSetProbe
D With the aid of RecordSetProbe, the measuring points (position

data) can be parametrized prior to the RecordSet command. Re-
cordSetProbe can be programmed several times. In this context,
RECPROBEx which have already been parametrized cannot be
overwritten.
RecordSetProbe RECPROBE1(<Number>, <Name>, {<Factor>},

...
...
RECPROBE8(<Number>, <Name>, {<Factor>},
{<Format>})}
...
{<Format>})}
Parameter definition of the RecordSetProbe NC function:

RECPROBE1(<Number>, <Name>, {<Factor>}, {<Format>},
{<RECPROBEx>})
...
...
RECPROBE8(<Number>, <Name>, {<Factor>}, {<Format>},
{<RECPROBEx>})
> see description of the RecordSet NC function:
RECPROBE101(<Number>, <Name>, {<Factor>}, {<Format>})

...
...
RECPROBE108(<Number>, <Name>, {<Factor>}, {<Format>})
> see description of the RecordSet NC function

and Controls
Digitizing
Controlling the digitizing procedure

The RecordOn, RecordOff, RecordBreak, RecordContinue NC
functions are used to influence the saving of the real time data during
the execution of the NC program.
NC function RecordOn
RecordOn Starts the digitizing process.
The recording file is opened.
RecordOn starts the recording and saving of the mea-
sured values (position data). Required parameters have
to be set previously using RecordSet. If the digitizing
function has already been activated, further RecordSet
instructions result in a runtime error.
NC function RecordOff
RecordOff Ends the digitizing process.
RecordOff is used to end the recording of the measured
values and closes the recording file.
Following the RecordOff command, it is possible to re-
start digitizing with RecordOn or to perform a further init-
ialization using RecordSet (...).
Other functions to end the digitizing process:

End of program
Channel or system control reset
NC function RecordBreak
RecordBreak Interrupts the digitizing process.
RecordBreak interrupts the digitizing process, mea-
sured values are no longer recorded and saved, but the
recording file stays open.
The feedrate is not affected by this, so that execution of
the NC program continues. If End of program (e.g.
M30), control reset or RecordOff is detected during the
recording break, the recording file is closed.
NC function RecordContinue
RecordContinue{RECTIME(<Time>, {<AutoStop>}, {<Potentiome-
ter>})}
Continue the digitizing process.

RecordContinue is used to continue the digitizing pro-
cess, i.e. the recording and saving of measured values.
A scanning time can be specified when RecordContinue
is programmed. It is thus possible to change the time in-
dicated in RECTIME.
For information on the RECTIME parameter, see the

RecordSet NC function.
and Controls
Digitizing
In addition, the digitizing process can be influenced by the following set-

tings:
D Stop Saving of real time data automatically when there is no tra-
versing movement:
> Setting in RecordSet(..., RECTIME(<AutoStop=1>),...)
D Close recording file automatically at the end of the program:
> Programming of M30 in the NC program.

8006 00001: Number of digitizing buffers (buffer size 512 bytes).
The maximum number of digitizing buffers is obtained
using the equation:
max. number of buffers=size of the free memory 2 /
512.
The size of the free memory 2 can be determined via

DIAGNOSTICS " CONTROL " MEMORY
$1: 15.03.00
NC: PNC 12:15:22
A: Diagnostics / control / memory
Module: BASIS
Free memory
Bosch Software: Basic-Release x.x.x, xxxxxx
(C) Copyright Robert Bosch GmbH xxxx - xxxx
Memory 1: 58208 bytes
Customer extension: none
Module:
Memory 4: 0 bytes
Bosch Software: Basic-Release x.x.x, xxxxxx
Customer extension: knsd Release x.x.x.

Module: SNCI
Bosch Software: opid-Release x.x.x, xxxxxx

Customer extension: knsd Release x.x.x.

OK
8006 00002: Number of reserve buffers.

Recommendation: approx. 30% of MP 8006 00001. In
case of data jam, the number of reserve buffers can be
increased and/or, it is possible to work with a lower fee-
drate, if required.
4075 00102: Assignment of digital outputs.
See Section 12.9.1 (page 1242 ff.) under item 5.
and Controls
Digitizing
12.9.1 Assigning
The RecordSet and RecordSetProbe NC instructions used to initialize
and program the digitizing process partly require data that should be set
at the assigning stage already.
Therefore, identify:
D the name or physical number of the axes involved in MACODA (e.g.
1= X axis).
D the relevant SERCOS identification numbers (e.g. actual position of
the motor encoder: S-0-0051) or use the IACTPOS internal mea-
suring point.
D unit and format of the SERCOS identification numbers or of the
IACTPOS internal measuring point, respectively.
D offset of the laser (e.g. SERCOS identification number P-0-0553
Position actual value 2 of the Z axis)
D format, unit and separators of the real time data, so that these can
later be loaded into a CAD or table calculation program for further
processing without any problems.
D if required, include external PC in the network in which the PNC is
working.
D mount directory and PC for saving of the recording file. If required,
include an external PC in the network in which the PNC is working.
D The NC-internal recording of measured values can be synchronized
with an external device. If the value 6 is entered in MP 4075 00102
Assignment of digital outputs, the level of this high-speed output is
changed with every internal recording procedure.
Assigning:
1. Determine the number of possible digitizing buffers with the aid of
Memory 2 (DIAGNOSTICS " CONTROL " MEMORY) and enter
it in MP 8006 00001.
2. Determine reserve buffer (= approx. 30% of MP 8006 00001) and
enter it in MP 8006 00002.
3. If no mount directory for saving the recording file has been defined in
the PNC, you have to link a directory:
to do this, start the T3Config program on the PC panel.
Select the Select NFS-Mount-Directory sub-item in the
T3SWConfig menu item.
You can choose any directory on a released drive (hard disk) of a
networked PC for your mount directory (for more information, please
refer to the Software Installation manual).
4. Due to an axis telegram (SERCOS) with the respective configura-
tion, both the axis actual value and the sensor actual value are avail-
able in the PNC.
For this purpose, modify the SERCOS file by including the SERCOS
parameter for the sensor actual value (e.g. P-0-0553, position ac-
tual value 2) of the connected external measuring system in the sec-
tion for the cyclical drive telegram.
and Controls
Digitizing
5. If the NC-internal recording of the measuring values is to be syn-

chronized with an external device, one of the high-speed digital out-
puts of the control unit can be used for this purpose.
To do this, assign the value 0006 to the desired digital output in
MP 4075 00102. The level of this output will then change with every
internal recording process.
6. Restart the control unit and the drives.
Define the parameters of the RecordSet NC function:
7. Determine strategy in case of data jam in the buffer of the PNC (via
RECFILE (..)).
8. As an alternative to 7. via RECTIME (...), when the real time data are
to be recorded in the interpolation cycle (or a multiple thereof; inter-
polation cycle: MP 9030 00001).
9. Determine potentiometer reaction RECTIME (..).
10. Selection of the real time data RECPROBE1 ...8.
11. Standardize unit and format of the position data to be saved REC-
PROBE1 ...8.
12. Enter offset of the laser RECPROBE101 ...108.
13. Determine separators between two real time values, if you intend to
export the data.
14. Program digitizing test run: A path in the X-Y plane is programmed
for the surface area to be digitized, on which the scanning head (e.g.
laser) moves to record the workpiece surface in Z direction.
15. Starting the test run.
16. Test the RecordOn, RecordOff, RecordBreak and RecordContinue
functions in the digitizing process.
17. Analysis of the recording file:
Settings: are all settings from RecordSet available?!
Data: have the real time data been recorded?!
Statistics: buffer overflow, network failure, ...?!
Example 1: programming the actual position with the IACTPOS internal measur-
ing point of the PNC and (S-0-0053)
RecordSet RECFILE(/mnt/digit/example.dig,1,0) REC-
TIME(8,1,0) RECPROBE1(1,IACTPOS) RECPROBE2(2, IACT-
POS) RECPROBE3(3, IACTPOS) RECPROBE4(3, S-0-0053)
RecordSet is programmed in one single line here. The parameters have

the following meaning:
D The real time data are stored in the example.dig recording file. It is
saved in the /mnt/digit path. An existing file with the same name is
deleted before recording starts.
D The recording takes place every 8 msec.
D Since <File-I/O> is equal to 0, no measures will be taken in case of
network problems to prevent a memory overflow.
D The compensated actual positions are recorded of the axes with the
physical axis numbers 1, 2 and 3.
D The second actual value of axis 3 is recorded additionally.
and Controls
Digitizing
D Since <AutoStop> is equal to 1, no data is recorded when the axes

are standing still.
D Since <Potentiometer> is equal to 0, the potentiometer does not
change the scanning time.
Example 2: programming the actual position with the actual position of the motor
encoder (S-0-0051)
RecordSet RECFILE(/mnt/digit/example.dig,1) RECTIME(8)
RECPROBE1(1, S-0-51) RECPROBE2(2, S-0-0051)
RECPROBE3(3,, S-0-0051)
RecordSet is programmed in one single line here. The parameters have

the following meaning:
D The real time data are stored in the example.dig recording file. It is
saved in the /mnt/digit path. An existing file with the same name is
deleted before recording starts.
D The recording takes place every 8 msec.
D The actual positions of the motor encoder (S-0-0051) of the drives
with the physical axis numbers 1, 2 and 3 are to be recorded.
D Since<File-I/O> is not indicated, the feedrate will be reduced to zero
in case of network problems. Having saved the buffers already filled,
the part program is continued automatically.
D Since <AutoStop> is equal to 0, data is also recorded when the axes
are standing still.
Example 3: programming the actual position with the IACTPOS internal measur-
ing point of the PNC and an offset (S-0-0053) (position actual value 2)
RecordSetProbe RECPROBE1(X, IACTPOS, 0.0001, %9.3f)
RecordSetProbe RECPROBE2(Y, IACTPOS, 0.0001, %9.3f)
RecordSetProbe RECPROBE3(Z, IACTPOS, 0.0001, %9.3f,101)
RecordSetProbe RECPROBE101(Z, P-0-0553, FACTOR)
RecordSet RECFILE(/mnt/digit/example.dig,1,2) RECTIME(8,1,0)
RecordSet is considerably shorter here, because the RECPROBE pa-

rameters have been programmed previously using RecordSetProbe.
The parameters have the following meaning:

D The compensated actual positions are recorded of the axes with the
physical axis names X, Y and Z.
D RECPROBE101 is assigned the identification number P-0-0553
(position actual value 2) of the Z axis. In the example, the value of the
identification number P-0-0553 is normalized to match REC-
PROBE3 with the aid of the FACTOR CPL variable.
D In case of axis Z, the value of RECPROBE101 is subtracted.
and Controls
Digitizing
D The measured values are stored in the /mnt/digit/example.dig file.

An existing file with the same name is deleted before recording
starts.
D Since<File-I/O> is equal to 2, the feedrate will be reduced to zero in
case of network problems. Having saved already filled buffers, the
part program is only continued after Cycle start.
D Since <AutoStop> is equal to 1, no data is recorded when the axes
are standing still.
12.9.2 Activating
Precondition:
D RecordSet has been set according to the machine configuration.
Creating an NC program
1. Select name for the NC program.
2. Insert the parametrized RecordSet at the start of the NC program.
3. Program the path where the laser is supposed to scan the work-
piece.
4. By programming the RecordOn command, you determine from
what point on the position data is recorded.
5. Program the RecordBreak command to temporarily interrupt the
digitizing process (e.g. for traversing outside of the workpiece sur-
face).
Program RecordContinue to continue the digitizing process.
6. Program RecordOff or M30 end of program to end the digitizing
process.
Executing:
7. Start the digitizing process with recording and saving of the position
data.
. If the movement of the laser halts during execution, the cause may
be a bottleneck in transferring the real time data via the network.
Information on the cause of the fault may be found in the recording
file in the [Statistics] area.
In many instance, these problems can be solved by modifying the
settings in RecordSet.
12.9.3 Deactivating
1. The digitizing process can be cancelled via
RecordOff,
end of program,
channel control reset or
system control reset.
and Controls
Digitizing
12.9.4 The recording file
Type of file
The digitizing result is saved as recording file in ASCII format.
File name and path

Indicate file name and path under which the recording file is to be saved
in <Name> of the RECFILE parameter (see RecordSet initialization
function).
Example: <Name> corresponds to /mnt/digit/example.dig
Opening of file:
(start of the recording process)
Open the recording file: RecordOn command.
Incoming position data are saved in the structure indicated below.
Closing of file:
(end of the recording process)
Close the recording file: RecordOff command.
Position data which are still in the buffer are saved.
File structure
The structure of the recording file is divided into 3 sections. The follow-
ing keywords are used to identify the start of a section:
1. [Settings]:
Contains information on configuration, recording file and part pro-
gram used to digitize the workpiece.
2. [Data]:
Contains real time data, organized in lines and columns.
The columns contain the recorded values (e.g. axis position of the X
axis) defined using RECPROBE1..8.
Each line contains a complete block of RECPROBE1..8 of a single
scanning time. Within the data, programmed interruptions are indi-
cated with RecordBreak and a comment. If no comment is entered in
connection with the RecordBreak command, this entry is totally de-
leted.
Column
0000001 111.111 222.222 100.000 150.444 555.555

0000002 111.111 444.444 200.000 250.444 555.555 Line
0000003 111.111 666.666 100.000 150.444 555.555
.....
and Controls
Digitizing
3. [Statistics]:
Contains statistical information which occurred during the digitizing
process.
Detailed description of the file structure:

[Settings]: [Settings]:
[DATE]
<Creation date of the output file >
[PROGRAM]
<File name of the part program>
[RECFILE]
(see also RecordSet RECFILE)
Name: <File name>, Rewrite: <Rewrite>, File-I/O: <File-I/O>
[RECTIME]
see also RecordSet RECTIME
RECTIME: <Time>, AutoStop: <AutoStop>, Potentiometer: <Poten-
tiometer>
[RECPROBE1]
see RecordSet RECPROBE1
Axis: <Number>, Name: <Name>, Factor: <Factor>, Format: <Format>
....
[RECPROBE8]
[RECSEPARATOR]
[Data] [Data]
<RECPROBE1(<Name>)> {<RECPROBE2(<Name>)} ... {<REC-
PROBE8(<Name>)}
[Statistics] [Statistics]
NmbOfSamples: Number of recorded lines
LimitUsedBuffers: Max. number of buffers available.
The real time data of the digitizing process are
temporarily stored in buffers before they are
written into the file.
MaxUsedBuffers: Max. buffer distance reached.
Saving in the file may be much slower than the
recording of the real time data, depending on
the system or network load. This leads to a
buffer distance between the buffer described in
the PNC at present and the buffer being saved
on the hard disk.
DownSlopesDetected: Number of Exceeding the critical buffer dis-
tance.
If the above mentioned buffer distance exceeds
a maximum value (=MP 8006 00002, the con-
trol unit tries to stop the axis movement in de-
pendence on the File-I/O parameter, in order
to subsequently interrupt the digitizing process.
and Controls
Digitizing
DownslopesExecuted: Number of downslopes executed until standstill

(see AutoStop).
When the critical buffer distance is exceeded, a
deceleration process of the axes is initiated.
When standstill is reached, the digitizing pro-
cess is interrupted, so that the real time data
can be written into the recording file. The NC
program can be continued as soon as free buff-
ers are available again.
The output number is a measure for the system
or network load.
TimeAtEnd: Time End of digitizing.
Info: for internal purposes only
Example: Contents of the example.dig recording file

[Settings]
[DATE]
6.11.2000 10:35
[PROGRAM]
Example.cnc
[RECFILE]
Name: /mnt/digit/example.dig, Rewrite: 1, File-I/O: 0
[RECTIME]
RECTIME: 8, AutoStop: 0, Potentiometer: 0
[RECPROBE1]
Axis: X, Name: IACTPOS, Factor: 1, Format: %d:
[RECPROBE2]
Axis: Y, Name: IACTPOS, Factor: 1, Format: %d:
[RECPROBE3]
Axis: Z, Name: IACTPOS, Factor: 1, Format: %d:
[RECPROBE4]
Axis: Z, Name: S-0-53, Factor: 1, Format: %d:
[RECSEPARATOR]
<Tab>
[DATA]
111.111 222.222 100.000 150.444
111.111 444.444 200.000 250.444
111.111 546.345 122.000 350.444
...
...
[Statistics]
NumbOfSamples: 1000
LimitUsedBuffers: 50
MaxUsedBuffers: 30
DownslopesDetected: 0
DownslopesExecuted: 0
TimeAtEnd: 7.11.2000 11:50
Info
and Controls
Axis distance control for the digitizing process
12.10 Axis distance control for the digitizing process

Function:
When digitizing a 3-dimensional contour, it is necessary to determine
and save the coordinates of the surface in question. For this purpose,
you use a part program which
1. first of all moves a measuring device (e.g. laser) via the feed axis
(e.g. Z) to a predefined distance from the contour. This distance
serves as reference value in the subsequent process.
2. activates the Axis distance control for digitizing function
3. starts the digitizing process (see page 1229 ff.) and
4. subsequently scans the object to be digitized in wave-shaped move-
ments in the plane defined by the two other axes (e.g. X/Y plane).
Using the measuring system, changes in the distance in relation to the
reference value are recorded constantly, transmitted to the NC and con-
verted to the unit mm, if required (for information on standardization,
please refer to MP 7050 00720). For this purpose it is necessary to feed
the measured data into the external encoder connection (e.g. as incre-
mental encoder signal) and to transmit them to the NC cyclically via
SERCOS interface.
Having activated the axis distance control, the NC is able to control the
position of the feed axis so that the distance between measuring device
and object surface current at the time of activation remains constant
(deviation from the reference value = 0). It is thus ensurde that the avail-
able working range of the measuring device is not exceeded.
Scanning
direction
Path on which the feed axis is to
Distance between move the measuring device when
measuring device
axis distance control is active
and object surface
when axis distance
control is activated Surface profile
(=reference value)
Section of the object.

Side view.
Start of axis dis-
tance control
Deviation > 0
Possible path of deviation
Reference value
(deviation = 0)
Scanning
direction
Deviation < 0
Deviation = current, standardized measured value reference value

and Controls
The following options are available within the function:

D program-controlled activation, interruption, continuation and deac-
tivation of axis distance control. See Relevant NC functions.
. Axis distance control is always switched off following control unit

start-up.
D program-controlled suppression of pertaining MACODA parame-

ters. See Relevant NC functions.
. Suppressed MACODA configuration data become effective again

after program deselection, channel or system control reset only!
D monitoring of the deviation via programmable tolerance range.

In this context, a collision and hole detection is possible (see Section
12.10.1, page 1254 ff.).
D limitation of the current, standardized measured value with regard to
speed and acceleration. See MP 7050 00740 and MP 7050 00741.
D Smoothing of the arriving measured values.
Suppresses freak values, see MP 7050 00730.
Measured data Setpoint position

7050 00714
7050 00702
+
7050 00720 7050 00740
7050 00730
7050 00721 7050 00741
Standardization Smoothing Intermediate memory Limiter Compensa-

tion memory
7050 00750 compensated

7050 00752 setpoint position
Monitoring
Points in the measured data processing path where MACODA parameters take effect
Restrictions:
D Software version V47 (or higher) is required for our Servodyn-D
drives.
D The feed axis must not be removed from the channel (e.g. via axis
transfer) when axis distance control is active.
D Axis distance control is only possible for axes which are not involved
in an axis transformation with active coordinate programming.
D The software limit switches of the feed axis are inactive when axis
distance control is switched on.
D The feed axis cannot be moved to a machine-oriented absolute posi-
tion when axis distance control is active.
and Controls

7050 00700 Axis distance control available.
0: no; 1: yes
7050 00702 Axis distance control: number of the channel axis and
compensation direction.
Determines which axis of the channel is to undergo axis
distance control. An axis number
with or without positive sign has the effect that the
compensation values are taken into account in posi-
tive movement direction of the distance-controlled
axis.
with negative sign has the effect that the compensa-
tion values are taken into account in negative move-
ment direction of the distance-controlled axis.
7050 00708 Axis distance control: interface signal, number of the
customer output of the channel.
Determines at which output of the respective channel in-
terface an active axis distance control is to be reported
(output set: axis distance is active).
1: no signal output
0: NC-O22.0
:
7: NC-O22.7
7050 00710 Axis distance control: sensor selection, device group.
7050 00712 Axis distance control: sensor selection, number of the
device.
7050 00714 Axis distance control: sensor selection, special identifi-
cation (S-0-xxxx, P-0-xxxx, @xxxx).
Specifies in which drive parameter the encoder pulses
coming from the measuring device are counted. The
SERCOS parameter entered here must be included in
the drive telegram (S-0-0016) as well.
7050 00720 Axis distance control: sensor increments > mm factor.
Serves to convert (together with MP 7050 00721) the
data (e.g. encoder pulses) transmitted to the NC to the
unit millimeters.
7050 00721 Axis distance control: sensor increments > mm divi-
sor.
See MP 7050 00720.
7050 00730 Axis distance control: filter smoothing time in ms.
Parametrizes a square filter. Entering 0 deactivates the
filter.
7050 00740 Axis distance control: limiter speed in mm/min.
Maximum speed by which the current, standardized
measured value is allowed to change. This can be used,
e.g. when traversing over a hole, to prevent the feed axis
from sinking into the hole at its maximum permitted
speed.
and Controls
7050 00741 Axis distance control: limiter acceleration in m/sec2

Maximum acceleration by which the current, standard-
ized measured value is allowed to change.
7050 00750 Axis distance control: monitoring collision detection in
mm (0.000=off).
Determines the tolerance limit for the collision detection
(in mm). If the deviation from the reference value ex-
ceeds the value specified here, the NC reports a colli-
sion.
Entering 0.000 deactivates the collision detection.
7050 00752 Axis distance control: monitoring hole detection in mm
(0.000=off).
Determines the tolerance limit for the hole detection (in
mm). If the deviation from the reference value exceeds
the value specified here, the NC freezes the axis dis-
tance control. In this state, the feed axis remains in her
momentary position.
Entering 0.000 deactivates the hole detection.

S-0-0016: Configuration list DT.
Determines which SERCOS parameters are to be trans-
mitted to the NC cyclically.
The SERCOS parameter specified in MP 7050 00714 has
to be contained here (e.g. P-0-0553 Position actual value 2
incremental).
S-0-0115: Position encoder type (external encoder).
S-0-0117: Rotation encoder 2 resolution (external encoder).
Only necessary if encoder type rotation encoder has been
set in S-0-0115.
S-0-0118: Linear encoder resolution (external encoder).
Only necessary if encoder type linear encoder has been
set in S-0-0115.
S-0-0257: Multiplication 2 (external encoder).
P-0-0552 Evaluation external encoder
Must be assigned the value 1.
DistCtrlOn Starts axis distance control. In addition, the current dis-
tance between measuring device and surface is adopted as
reference value.
If programmed alone, the configuration data programmed
via MACODA will take effect.
It is possible optionally to suppress some configuration data
by programming various additional commands.
. Suppressed MACODA configuration data become effective again

after program deselection, channel or system control reset only!
and Controls
DCAXIS(<Axis>,<Comp>)
Suppresses MP 7050 00702.
<Axis> Name or number of the channel axis which is to
undergo axis distance control.
<Comp> +1 or 1: takes into account compensation val-
ues in positive movement direction
1: takes into account compensation val-
ues in negative movement direction
DCFILTER(<Time>)
Suppresses MP 7050 00730.
<Time> 0: Filter off
>0: filter on, values in ms
DCLIMIT([<Speed>],[<Accel>])
Suppresses MP 7050 00740 and 7050 00741.
<Speed> Suppresses MP 7050 00740.
Input value depending on active unit of mea-
sure system (G71,G70) in mm/min or inch/min.
<Accel> Suppresses MP 7050 00741.
sure system (G71,G70) in m/s2 or 1000 inch/s2.
DCMON([<Collision>],[<Hole>])
Suppresses MP 7050 00750 and 7050 00752.
<Collision> Suppresses MP 7050 00740.
sure system (G71,G70) in mm/min or inch/min.
<Hole> Suppresses MP 7050 00741.
sure system (G71,G70) in m/s2 or 1000 inch/s2.
DistCtrlBreakOn Interrupts axis distance control. The current com-

pensation value remains active.
DistCtrlContinue Continues a previously interrupted axis distance con-

trol. The NC adjusts the deviation from the reference value
as quickly as possible.
DistCtrlOff Ends axis distance control, adopts the current compensa-

tion value and stops the axis movement.
If DistCtrlOff is programmed together with a traversing
movement in one block, the NC deactivates axis distance
control only after execution of the movement.
and Controls

CPOS, WPOS: Neither function takes into account the compensation
value of the axis distance control!
MPOS: Provides the position of the coordinate including the com-
pensation value.
MPOS: Provides the setpoint position of the axis including the com-
pensation value.
APOS, PPOS, PROBE: All CPL functions which are based on the ac-
tual position or the measured value of a drive take into ac-
count the axis distance control.

NC-O 22.x see MP 7050 00708.
12.10.1 Monitoring deviations

The data coming from the measuring device via SERCOS interface are
converted to the unit mm by the NC using MP 7050 00720 and MP
7050 00721.
Please note that for correct interpretation of the measured data
D you need an appropriate configuration of the external encoder inter-
face in the drive (S-0-0-0115, bit 3 or bit 5),
D you have to take the compensation value into account correctly (via
MP 7050 00702: sign, axis number).
As a consequence, the reported position data must

D decrease when the distance between measuring device and surface
increases, because the surface position (in relation to the measuring
device) is lowered.
D increase when the distance between measuring device and surface
decreases, because the surface position (in relation to the measur-
ing device) is raised.
The standardized measured value is now checked for compliance with
the maximum permissible tolerance limits.
The basis for the check is the distance between measuring device and
object surface active when axis distance control is switched on. In the
following, the reference value serves as zero line of a tolerance range.
If the current standardized measured value does not correspond to the
reference value, this indicates a positive or negative deviation from the
zero line.
Traversing a hole becomes apparent by a jump of the deviation in nega-
tive direction because the encoder suddenly signals a lower position of
the scanned surface.
Opposed to this, the effect of a sudden rise in the contour is that the re-
ported surface position is raised abruptly, which in turn leads to a jump
of the deviation in positive direction.
and Controls
Example:
D When the axis distance control is activated, the distance to the sur-
face is 100 mm. The encoder thus reports e.g. the standardized
value 100 mm. This distance is now used as reference value:
Deviation = current, standardized measuring value reference value =
100 mm 100 mm = 0 mm
D The surface contour now drops by 60 mm. The encoder reports the
position 40 mm:
40 mm 100 mm = 60 mm
The NC immediately compensates the deviation by readjusting the
feed axis. The deviation is thus reduced to 0. At the same time, the
standardized position reported by the encoder increases to 100 mm
again.
D The surface contour now abruptly rises from 40 mm to 100 mm. The
encoder reports the position 160 mm:
160 mm 100 mm = +60 mm
The NC immediately compensates the deviation by readjusting the
feed axis. The deviation is thus reduced to 0. At the same time, the
standardized position reported by the encoder decreases to 100 mm
again.
The sudden increase of the deviation in positive or negative direction

can be used for collision and hole detection. For this purpose, the cur-
rent deviation is constantly compared with MP 7050 00750 (collision
detection) and MP 7050 00752 (hole detection).
If the current deviation exceeds the respective parametrized limit value,
the NC responds as follows:
D after detection of a collision:
the NC generates a warning and stops the movement on the channel
via feed hold.
The operator can, if no collision has occurred, continue the move-
ment with cycle start (possibly with lower feedrate potentiometer set-
ting).
D after detection of a hole:
the NC interrupts the axis distance control for the duration the value
is exceeded (the same effect as DistCtrlBreak). Scanning of the ob-
ject continues. In this case, the current compensation value remains
active, i.e. the feed axis does not change its coordinate.
and Controls
Scanning direction Path on which the feed axis

moves the measuring device
when axis distance control is
Distance between active (without smoothing, with-
measuring device
out addressing the limitation)
and object surface
when axis distance
control is activated
(=reference value)
Side view.
Start of axis dis-

tance control
With activated collision detection:

Deviation > 0 initiation of feed hold. Continuation
possible via cycle start.
MP 7050 000750
Reference value
(deviation = 0)
Collision detection responds

Deviation < 0 Deviation = current, standardized measuring value reference value
Principle of collision detection
Scanning direction Path on which the feed axis

moves the measuring device
Distance between when axis distance control is
measuring device active (without smoothing, with-
and object surface out addressing the limitation)
when axis distance
control is activated
(=reference value)
Side view.
Start of axis dis-

tance control
Deviation > 0 Freezing of axis distance

control for the duration
the value is exceeded
Reference value
(deviation = 0)
MP 7050 000752
Hole detection responds

Deviation < 0 Deviation = current, standardized measuring value reference value
Principle of hole detection

and Controls
12.10.2 Assigning
1. Make sure that the measured data signals of the measuring device
are suited for the external encoder connection of the drive.
2. Set the relevant SERCOS parameters (see above) in the drive cor-
rectly and save them in the EEPROM or transfer them via the control
unit to the drive during SERCOS initialization (for information on
SERCOS, see page 467 ff.).
Make sure that the function Position monitoring 2nd encoder is de-
activated (P-0-0510; bit 5=0).
3. Check whether the position actual value in P-0-0553 (pulse of exter-
nal encoder) behaves correctly in case of changes in distance be-
tween measuring device and scanned surface.
A decrease in distance must result in an increase in the pulse num-
ber in P-0-0553. The behavior can be set via S-0-0115 (bit 3, direc-
tion of movement or bit 5, counting direction).
4. Enter the SERCOS parameter which contains the position actual
value of the measuring device and is to be transmitted cyclically to
the NC into the drive telegram (S-0-0016).
If the measured data are fed into the drive e.g. as incremental en-
coder signals, enter the SERCOS parameter P-0-0553 into the
drive telegram (S-0-0016).
Check whether the correct telegram has been configured in
S-0-0015. SERCOS parameters contained in S-0-0016 are only
transmitted to the NC if the freely configurable telegram is selected
in S-0-0015.
5. Configure the parameters specified under Relevant MACODA pa-
rameters according to your application.
CAUTION
Make sure that the compensation direction (MP 7050 00702) has
. MP 7050 00702 and MP 7050 00730 through 7050 752 may also be
influenced via the DistCtrlOn function.
CAUTION
6. Start up the control unit and the drives again.

and Controls
12.10.3 Switching on/off

Switching on: Program DistCtrlOn (possibly with additional parame-
ters).
Switching off: Program DistCtrlOff.
and Controls
Spline
12.11 Spline
Function:
Compared to the linear interpolation, spine interpolation achieves
approximately the same surface or contour accuracy with fewer inter-
polation points, because curves are created between the points.
The spline function offers

D different processing options for spline data coming from the CAD/
CAM or digitizing system,
D different types of spline for practice-oriented requirements (e.g. free-
form surface machining),
D parametrization of boundary conditions for application-oriented
spline machining in the NC program.
Origin of spline data

Point sequences can be specified as follows:
D manual programming in the NC program
D creating spline via CAD program with post-processor function and
transmitting only the spline coefficients in the NC program.
CAD/CAM system
(Creating spline coefficients and
transmitting them to the NC)
Coefficients Coefficients
Transmitting spline N30 X(0.1, 1.25, 0.5, 0.73) B(0.0, 1.0, 0.1, 0.2)
coefficients in NC N40 X(0.2, 1.05, 0.3, 0.51) Y(0.2, 1.2, 0.81, 0.1)
block format ...
N50 Y(0.8, 1.09, 0.1, 0.44) X(0.0, 1.5, 0.3, 0.4)
N00 ;rational monomial spline NC (interpreting coefficients

N10 G1 F50000 X[A] Y0 Z0 and interpolating spline)
N20 SplineDef(3)
N25 G108 G99
N30 X(0.1, 1.25, 0.5, 0.73) B(0.0, 1.0, 0.1, 0.2)
N40 X(0.2, 1.05, 0.3, 0.51) Y(0.2, 1.2, 0.81, 0.1)
N35 ...
N36...
N50 Y(0.8, 1.09, 0.1, 0.44) X(0.0, 1.5, 0.3, 0.4)
N60 ...)
N80...
Creating spline curve

at the workpiece
Spline curve
Workpiece
and Controls
Spline
D a CAD/CAM system creates interpolation points or control points for

the NC program which are used to generate the NC spline curves
(see figure below).
D digitizing: records the surface as individual points (see figure below).
CAD/CAM system Digitizing system

(Creating interpolation points (Surface points are adopted and
and transmitting them to the NC transmitted to the NC)
P5
P9
P1
Transmitting interpolation points or control

points of the CAD/CAM or digitized surface
points in NC block format
Interpolation or
Surface points
control points
N20 X30 Y25 Z12 N20 X30 Y25 Z12

N30 X40 Y32 Z20 N30 X40 Y32 Z20
N40 X50 Y40...Z22) N40 X50 Y40...Z22)
N00 ;C1 spline

NC (creating C1 spline from the inter-
N10 G1 F50000 X[A] Y0 Z0 B0 U0 polation points and interpolating)
N20 SplineDef(1213,X,Y,B)
N25 G99
N30 X30 Y25 Z12
N31 X40 Y32 Z20
N32 X50 Y40 ZB22
N35 ...
N36...
Machining spline
curve at the workpiece
Spline curve
Workpiece
Advantages:
D Softer contour lines and smoother surfaces on the workpiece.
D The number of points created by the CAD/CAM program or the digi-
tizing process may be reduced, maintaining the required accuracy.
D The machine and its moving parts are exposed to less load by spline
interpolation as opposed to the angular transition of linear interpola-
tion, because the tool changes its direction less abruptly.
and Controls
Spline
Types of spline (overview)

The NC supports the following spline programming:
D Splines with coefficient programming:

Every spline can be represented as polynomial (e.g. parab-
ola=square polynomial). Its coefficients determine the shape of the
curve, the start and end point. The coefficients are provided by the
CAD/CAM system, where they are programmed individually as NC
blocks, transmitted to the NC and interpolated in the NC.
Polynomials: Coefficients X0, X1, X2, X3

X(w) = X0+X1*w+X2*w2+X3*w3 Y0, Y1, Y2, Y3
Y(w) = Y0+Y1*w+Y2*w2+Y3*w3 Interval: w = 0...1
Y axis
Spline
Y0
Y0+Y1+Y2+Y3
X axis
X0 X0+X1+X2+X3
Advantage: the data provided by the CAD/CAM system determine

the spline
Disadvantage: the CAD/CAM system must have a corresponding
post-processor interface. Compensation in the NC via parametriza-
tion are not possible. Possible deviations only become apparent in
the course of the machining process.
D C1-continuous cubic splines with point programming:

The interpolation points are programmed as NC blocks. From this,
the NC generates cubic splines, the interpolation points of which
have tangential transitions.
The tangential transitions are calculated according to the Akima,
Bessel or chordal method and have an effect on max. 4 interpolation
points.
Advantage: little computation demand in the NC.
Look-ahead of only one block required (local spline).
Disadvantage: The transitions at the support points do not have a
continuous bend; that is why jumps occur in the axis acceleration.
D C2-continuous cubic splines with point programming:

The interpolation points are programmed as NC blocks. From this,
the NC generates cubic splines, the interpolation points of which
have transitions with a continuous bend.
Advantage: no jumps in the axis acceleration.

Disadvantage: high computation and memory demand in the NC.
Great number of blocks in the look-ahead (global spline)
and Controls
Spline
P4 P5
P3 P6
Linear interpolation
P2 P9
P1 P7
P8
C spline interpolation
P1- P9: Interpolation points
D B splines with control point programming:

In case of B spline programming (e.g. NURBS) the spline curve cal-
culated by the NC does not pass through the interpolation points but
as close as possible to the control points programmed in the NC
block (the points attract the curve).
This is used for programming the tool path for free-form surfaces.
P4 P5
Linear interpolation
P3 P6
P2 P9
P1 P7
P8
B spline interpolation
P1- P9: Control points
Advantage:
D The curve bend is principally less pronounced than in C2-continu-
ous cubic splines.
D All curves defined by cone sections (ellipse, circle, parabola, hy-
perbola) can be programmed precisely.
D Less computation required in the NC than for C2-continuous cubic
splines.
D Fewer blocks in the look-ahead (local spline)
Disadvantage: As a rule, the control points are not approached pre-

cisely but only approximately.
and Controls
Spline
12.11.1 Spline with coefficient programming
. The coefficient programming of splines requires a corresponding

CAD/CAM programming system capable of generating the coeffi-
cients in an NC program.
Integral monomial splines with coefficient programming:

The spline is represented by a polynomial up to degree n=5. The n+1
coefficients of the polynomial are specified directly in the NC block.
Vector Polynomial
n

r (w) = rj wj w [0,we]
j=0
Example: Monomial splines (e.g. cubic spline: degree 3) with coeffi-

cient programming. It is assumed here that the channel axes X, Y, Z, A
and B constitute the spline movement.
Vector Channel axes 3rd degree polynomial
X(w) X0 X1 X2 X3
Y(w) Y0 Y1 Y2 Y3
Z(w) Z0 Z1 Z2 Z3
r (w) = = + .w + . w2 + . w3
A(w) A0 A1 A2 A3
B(w) B0 B1 B2 B3
Interval size w
w [0,we]
3+1 coefficients
Example: Specification of coefficients in the NC program for channel

axes X and B
G99 X(0.1, 1.25, 0.5, 0.73) B(0.0, 1.0, 0.1, 0.2)
For the channel axis X and B, this results in:

X(w)= 0.1+1.25w+ 0.5w2+0.73w3
B(w)= 0.01.0w+ 0.1w20.2w3
The coefficients are used to calculate the vectors creating the spline
curve in the definition interval 0 through we, the components of which
are the channel coordinates. The channel coordinates are used to cal-
culate the axis positions of the physical axes within the NC, taking into
account an active axis transformation, if required.
and Controls
Spline
Example: Spline r(w) curve with the two channel coordinates x and y
y
Spline curve

r (we )
r (w)
Vector

r (0)
x
Spline parameter length

The spline parameter length defines the length of the definition inter-
val of w. The definition interval is programmed in the NC block via the
rule PL...
Example:
G99 X(0.1, 1.25, 0.5, 0.73) B(0.0, 1.0, 0.1, 0.2) PL0.6
Mixed programming
Within each NC block, coordinates may be programmed either as
spline or as linear segment.
Application example:
N10 G1 X100 Y100 Z20 B10 U0 F1000
N20 SplineDef(3)
N30 G2 X200 Y100 Z30 I100 J0
N40 G99 X(200,1,0.5,0.1) Y(100,1,0.2,0.2) B(10,1.0) Z60 U10 PL10
N50 X(160,20) Y(310,4.0,0.2,0.01) Z0
N60 G1 X10 Y20 Z30 B40
N70 G99 Y(...) ....... PL12
Explanation:
N20: The G99 syntax is assigned a cubic spline.
N40: Changing from path type helical to spline.
X, Y and B have coefficient programming and are considered as
spline members in this block.
Z and U have end point programming and move on a linear path.
The spline parameter w passes through interval [0,10]. The spline
members move correspondingly.
X(w)=200+1.0w+0.5w20.1w3 End point: X(10)=160
Y(w)=1001.0w+0.2w20.2w3 End point: Y(10)=310
B(w)=101.0w+0.0w20.0w3 End point: B(10)=20
N50: Second spline in the NC program. The spline parameter length is
10 (modal effect of PL from N40).
X and Y are spline members, Z moves on a linear path.
N60: Changing to path type linear
N70: Changing to path type spline. PL must be programmed again.
and Controls
Spline
Rational monomial splines
If the polynomial of the integral monomial spline is extended using a

common denominator polynomial, the result is a rational monomial
spline.
Vector Polynomial
n

rj . wj
j=0
r (w) = w [0,we]
n
gj . wj
j=0
Denominator polynomial
The denominator polynomial is programmed by coefficient program-

ming in the NC via rule DN(...).
Example: Specification of coefficients in the NC program for channel

axes X and B
G99 X(0.1, 1.25, 0.5, 0.73) B(0.0, 1.0, 0.1, 0.2) DN(1.0,0.0,1.0)
For the channel axis, this results in:

X(w)= 0.1+1.25w+ 0.5w2+0.73w3
1+w2
and for
B(w)= 0.01.0w+ 0.1w20.2w3
1+w2
Application example:
N00 ;ellipse as rational monomial spline
0001 A=100
0002 B=50
N10 G1 F50000 X[A] Y0 Z0
N20 SplineDef(2)
N25 G108 G99
N30 X(A,0,A) Y(0,2*B) DN(1,0,1) PL1
N40 X(0,2*A,A) Y(2*B,2*B) DN(2,2,1)
N50 X(A,0,A) Y(0,2*B) DN(1,0,1)
N60 X(0,2*A,A) Y(2*B,2*B) DN(2,2,1)
N80 G1
. All cone section (ellipse,..) as well as rational Bezier and B splines

(NURBS) can be represented by rational monomial splines.
and Controls
Spline
In addition, the splines have the following properties:
D A C0 continuity exists when the starting point of the spline is identical

with the end point of the previous block. Inaccurate coefficient pro-
gramming may result in differences between starting and end point.
A tolerance value e0 can be set in MP 8007 00010 for the block tran-
sition.
D The path speed on the spline curve is approximated internally using
a path length function on the basis of the relationship between the
path length and the spline parameter w.
In MP 8007 00020, it is possible to set a tolerance v in this context as
max. relative path velocity error. As accuracy requirements in-
crease, the value entered has to be smaller. However, this also leads
to a rising NC block cycle time. If the specified accuracy is not
reached, the NC generates a warning, but machining is continued.
If MP 8007 00020 is set to 100 %, the path length function is approxi-
mated by a line.
D Even axes involved in the spline curve can be removed from the fee-
drate calculation. However, the spline curve must not include a path
point in which all feedrate generating coordinates/axes have a so-
called zero tangent (i.e. no shift in axis direction). In this case, a run-
time error will be generated.
Example: the space curve in the following figure is considered as

curve of the axes X and Y. The spline r(w) has two path points with a
tangent along the X axis. If X is not feedrate generating, this is ex-
actly where the error occurs.
Y (feedrate generating) Tangent parallel with X

axis only
Tangent parallel with

X axis only

ry (w)=0

Spline curve ry (w)=0
Y (not feedrate generating)

and Controls
Spline
12.11.2 Spline with point programming and tangential transitions

(C1-continuous cubic splines)
Function
The splines are calculated from the specified points (n curve points) and
the tangents of these points. The points are specified in the NC pro-
gram.
The tangents in the points ri (i=2,...n1) are calculated from three con-
secutive points ri1 , ri , ri1.
The tangents at the points r1 and rn result from the start and end condi-
tions (see next page).

ri1 ri
Tangent

ri1 (w)
ri (w)
ri2 (w)
ri2 ri+1

ri+2

ri+1 (w)
The splines have the following properties:

D On the basis of n points and a start and end condition of the spline
sequence n1 splines are created. A spline ri(w) connects the points

ri and ri1.
D They are C1-continuous (tangential) at the transition points ri .
D They are local, i.e. the modification of a point ri influences a restricted
number of neighboring splines only. In this case, the splines ri2(w),

ri1(w), ri(w) , ri1(w) would be affected. In the reverse case, a spline is
only determined by the points ri1 , ri , ri1 , ri2.
Tangent calculation:
The tangential transition is set via parametrization (for information on
spline ID, see Section 12.11.5). The following methods are available for
this purpose:
D Bessel method
The programmed points ri1 , ri , ri1 determine a parabola (2nd de-
gree spline). This results in the tangent in ri .
Length and direction of the tangent depend on the selected spline
parametrization (see page 1269).
and Controls
Spline

ri1 ri
Tangent
Parabola

ri (w)

ri+1
D Akima method
The tangent in ri points in the direction of the bisector of the two
chords ri1 ri and ri ri1. The tangent length depends on the selected
spline parametrization (see page 1269).

ri1 ri

Chord ri1 ri Chord ri ri+1
Tangent=
ri (w) ri+1 bisector
D Chordal method
The tangent in ri points in direction of the chord ri1 ri1.

ri1 ri Tangent= parallel
with chord
ri1 ri+1

Chord ri1 ri+1 ri (w)

ri+1
Start and end condition

A start and end condition is programmed to determine the first and last
spline segment. Programming is performed with the parameters:
D Start Boundary Condition SBC(<Typ>[,<Values>]) and
D End Boundary Condition EBC(<Typ>[,<Values>]).
For the start and end conditions, it is possible to select as follows:

D Type =1: specification of the tangent direction at the starting/end
point of the spline sequence. Only the relationship between the val-
ues of the spline members is of significance. The tangent length is
calculated internally (for chordal parametrization, the tangent length
= 1).
D Type =2: specification of the second derivation ri following w at the
starting/end point of the spline sequence.
and Controls
Spline
D Type =11: the first/last spline starts tangentially to the linear block of
the preceding/subsequent block.
A value has to be specified in the <Values> list for each spline.
SBC and EBC may also be programmed within a spline sequence

(G99,..,G1). This divides the original sequence into two partial se-
quences to specifically generate corners within a spline curve.
Without programmed start and end condition, the natural boundary
condition SBC(2,0,...,0) or EBC(2,0,...,0) is used.

The spline parameter length takes into account the point size and spline
curve bend. Depending on the application, 3 different parametrizations
are allowed:
D Equidistant parametrization (w=1) :
This parametrization is suitable for identical spline point intervals. If
the spline interpolation points are located at varying distances, there
is an increased tendency, in particular in case of bend continuity, that
there will be bulges in the curve.
D Chordal parametrization w r i1 r i :

If the spline interpolation points are located at varying distances, the

distance and the direction of the interpolation points will be taken into
account.
D Centripetal parametrization w
r i1 r i :

This parametrization is used if the spline interpolation points are lo-
cated at varying distances and the spline curves have strong bends.
The curve slope will be smoother and display fewer unexpected bends,
the better the position and distances of the interpolation points are
taken into account. Therefore, a combination of the above mentioned
parametrization methods may be required depending on the interpola-
tion points specified.
The spline parameter length can also be specified manually via param-
eter PL<w> instead of using the parametrization calculated by the NC.
P2 P3 P2 P3 P2 P3
P6 P1
P6
P4 P4 P4
P1 P6
P1
P5 P5
P5
Equidistant Chordal Centripetal
parametrization parametrization parametrization
and Controls
Spline
Tool orientation movement

as C1-continuous cubic spline
Not only the tool tip can move on a spline but the tool orientation as
well, if a rotation-symmetrical tool is involved which is programmed to-
gether with a corresponding 5 axis transformation. A distinction is made
between vector orientation and linear orientation (see page 556 ff.).
. The orientation of non-rotation-symmetrical tools (tensor orienta-

tion in connection with the corresponding 6 axis transformation)
cannot be programmed as spline.
D Vector orientation as C1-continuous cubic spline:

In case of vector orientation as C1-continuous cubic spline, a spline
is created in each NC block in the six coordinates x, y, z, rx , ry, rz
using a common parametrization (equidistant, chordal, centripetal).
The tangent method (Bessel, Akima, chordal method) stated in the
SplineDef function is also used for the orientation vector (w). At
the block transitions, both the path movement (x, y, z) and the orien-
tation vector are C1-continuous.
Tool moves to =60_
Orientation vector
r (w) Tool vector orientation as
spline
Tool path at the
workpiece = spline Orientation
contour coordinates rx , ry, rz
rz
=0_ y
ry
z rx
x
r
r

r

r =60_
Tool
y
Tool moves
z back to
r
x =0_
and Controls
Spline
D Linear orientation movement as C1-continuous cubic spline

For linear orientation movement, splines are created in the five coor-
dinates x, y, z, phi, theta. The splines are mathematically equivalent
to splines for an axis movement in three linear and two rotary axes
(see page 1270).
Tool moves to =60_

Linear tool orienta-
tion as spline
Tool path at the work-

piece edge = spline
contour
=0_ orientation-
vector
r ()
=60_

r r
Tool

r
r
z Tool moves back to

x
r =0_
In addition, the splines have the following properties:

D The r movement (r (x, y, z)) is dependent on the movement and
vice versa. This means that e.g. in blocks where only is pro-
grammed, an additional r movement can occur if not all r spline-de-
termining points ri1 ,..., ri2 are identical.
D Special boundary conditions for cannot be programmed.
D The spline parameter w [0,we] is applicable to ri(w) as well as to

i(w).
and Controls
Spline
Examples
N0 SplineDef(1213,x,y,z,O)
;Linear coordinates and orientation are spline members (C1)
;5 axis transformation with vector orientation
N0 Coord(1)
;alternatively N0 Coord(3); 5 axis transformation with linear orientation

N0 x0 y0 z0 phi0 theta0
N0 G99 G8
N1 y20
N2 y40 theta30
N3 y60 theta0
N4 y80
N5 ...
Explanation:
N1: the theta orientation movement of the tool starts in this block al-
ready
N4: the theta orientation movement of the tool only ends in this block
z
Spline swing-back move-

ment of the tool orientation
vector before/after theta
programming in block
N1/N4 already (C1-spline
Theta x vector orientation
0
20
30 40
y
0 20 40 60 80 60
80
y
and Controls
Spline
12.11.3 Spline with point programming and continuous bend transitions

(C2-continuous cubic splines)
Function
The splines are calculated using the specified points ri with i=1,..,n and
a start and end condition of the spline sequence.
The splines have the following properties:

D On the basis of n points and a start and end condition of the spline
sequence n1 splines are created. A spline ri(w) , w [0, w e] con-
nects the points ri and ri1.
D They are C2-continuous (continuous bend) at the transition points ri .
D They are global, i.e. the modification of a point ri influences all
splines of the spline sequence. However, the influence decreases
strongly with increasing distance from the point ri .
The calculation of the splines requires a distinctly higher look-ahead

range than the C1-continuous cubic splines because of the global spline
property.

ri ri+1

ri (w) Tangent

ri1 (w)
ri+1 (w)
ri1 ri+2
ri+1 (w)
Spline curve with C1-
tangential transitions
Spline curve with C2-continuous

bend transitions ri+3
Start and end condition

In addition to the boundary conditions type 1, 2 and 11, which are also
possible for C1-continuous splines (see page 1268), there are two fur-
ther conditions:
D Type =3: the De-Boor boundary condition connects the two deriva-
tions with each other at the first two interpolation points or at the last
two interpolation points.
SBC(3,<v>) or EBC(3,<v>) v is usually =1
D Type =4: the periodic boundary condition is used for closed curves
(e.g. ellipse). In this case, the last and the first point of the spline se-
quence have to be identical.
The periodic boundary condition cannot occur in combination with
another boundary condition, i.e. with SBC(4) at the start, EBC(4) at
the end is mandatory.
The spline sequence of SBC(4) through EBC(4) must be located in
the look-ahead range of the NC. If that is not the case, a runtime error
will be generated.
and Controls
Spline
SBC and EBC may also be programmed within a spline sequence

(G99,..,G1). This divides the original sequence into two partial se-
quences to specifically generate corners within a spline curve.
Without programmed start and end condition, the natural boundary
condition SBC(2,0,...,0) or EBC(2,0,...,0) is used.

See C1-continuous cubic spline (see page 1270).
Tool orientation movement

as C2-cubic spline
The same preconditions as for the C1-continuous cubic spline are appli-
cable (see page 1270).
The vector orientation can also be programmed as C2-continuous cubic
spline. In this context, a distinction is made between two options which
can be determined in MP 8007 00099 [3]:
D Vector orientation (option 1) as common C2-cubic spline Spline

with the space spline of the linear coordinates x, y, z.
This option uses a spline in the six coordinates x, y, z, rx , ry, rz with a
joint parametrization. In this case, the spline vector orientation has
the following properties:
D The r movement (r (x, y, z)) is dependent on the movement

and vice versa. This means that e.g. in blocks where only is pro-
grammed, an additional r movement occurs (see figure on
1276).
D Special boundary conditions for the orientation vector cannot
be programmed.
D The spline parameter w [0,we] is applicable to ri(w) as well as to

(w).
D Vector orientation (option 2) as separate C2-cubic spline, inde-

pendent of the space spline of the linear coordinates x, y, z.
This option requires a large number of blocks in the look-ahead
range. The number of blocks (MP 706000120[3]) should be approxi-
mately three times the number of blocks provided for option 1. Option
2 has the following special properties:
D The r movement (r (x, y, z)) is independent of the movement.

A movement only occurs in blocks with start orientation unequal
to end orientation (see figure on page 1276).
D (w), w [0, w ~
e] always has an own chordal parametrization, and
w e is the angle between the start and the end orientation vector of
~
the block.

This w ~
e of spline i(w) differs from w e of spline r i(w) .
D Special boundary conditions for the orientation vector cannot

be programmed.
and Controls
Spline
Examples
If the program is executed using the setting MP 8007 00099[3] = 1, this
results in the theta-y path shown in the following figure.
Vector orientation and path movement as joint spline

;(Option 1)
N0 Coord(1); 5 axis transformation with vector orientation
N0 G99 G8
N1 y20
;the theta orientation movement of the tool already starts in N1
N2 y40 theta30
N3 y60 theta0
N4 y80
;the theta orientation movement of the tool only ends in N4
N5 ...
If the program is executed using the setting MP 8007 00099[3] = 2, this

results in the theta-y path shown in the following figure. A movement
is also generated in the blocks N1 and N4, in which the orientation vec-
tor was not programmed.
;Vector orientation as separate spline

;(Option 2)
N0 Coord(1); 5 axis transformation with vector orientation
N0 G99 G8
N1 y20
N2 y40 theta30
;the theta orientation movement of the tool starts in N2
N3 y60 theta0
;the theta orientation movement of the tool ends in N3
N4 y80
N5 ...
and Controls
Spline
Vector orientation with C2 -continuous z

spline according to option 1
Spline swing-back move-

ment of the tool orientation
vector before/after theta C2 spline
programming in block vector orientation
N1/N4 already x
0
20
40
30
y 60
0 20 40 60 80
80
y
Vector orientation with C2- continuous z

spline according to option 2
Spline movement of the tool

orientation vector in blocks
N2/N3 only C2 spline
vector orientation
Theta x
0
20
30 40
y
0 20 40 60 80 60
80
y
D Linear orientation movement as C2-continuous cubic spline

D For the linear orientation movement as C2-continuous cubic
spline the same is applicable as for linear orientation movement
as C1-continuous cubic spline (see page 1271 ff.).
D In case of long spline sequences (number of blocks between SBC
and EBC), which are not fully located in the look-ahead range
(see page 1280) of the NC, an appropriate method is used to
create two or more partial spline sequences which are in turn exe-
cuted C2-continuously. Thus you can use splines for contours of
any length (free-form surface machining).
The number of partial sequences should be kept as low as pos-
sible, i.e. MP 800700099[2] should be set as high as possible.
D In case of periodic boundary conditions, sequence interruption is
not possible. The entire spline sequence must be located in the
look-ahead range in this case.
and Controls
Spline
12.11.4 Spline with control point programming (B spline)

Function
B splines are generated by so-called control points. In contrast to the
C1/C2 splines, the spline curve of B splines does not pass specified in-
terpolation points but approximates the specified control points (see
figure on page 1262).
. NURBS (NonUniform Rational B Spline) are a special variation of

the B splines. They are dealt with here under the designation B
spline. For information on the special properties of the NURBS,
please refer to the relevant literature.
B splines have the following properties:

D From n points, i.e. from n1 NC blocks, np splines are gener-
ated, where p is the degree of the B splines (see example below).
D In general, smaller bends occur as compared to the global cubic
splines because B splines do not run through the control points with
the exception of special cases. They do not tend to overswing and
nevertheless have a continuous bend at the transition.
D By programming point weights using the PW function, it is possible to
modify splines in the area surrounding a point. A point weight >1 at-
tracts the spline towards the point, a point weight <1 pushes it
away from the point. This is referred to as rational B spline or
NURBS.
D B splines have a local effect, i.e. the modification of a point influences
a number of splines dependent on the degree of the B spline.
D Programming of start and end conditions is not possible (open or pe-
riodic node vectors are not supported).
Control points
For a B spline curve with degree p, at least p+1 different control points
have to be defined. Within the spline sequence, there have to be at least
p NC blocks (with end point unequal to start point).
Double control points are not supported, i.e. they are filtered out by the
NC. The result is a spline without traversing movement.

See C1-continuous cubic spline (see page 1270). For practical ap-
plications, only the equidistant parametrization (uniform B spline) plays
a role.
A non-uniform B spline is obtained when the value of the PL spline pa-
rameter length is set to a value unequal to 1 in individual blocks.
Point weights
The control points can be given a Point Weight using the syntax PW ...
By different weighting it is thus possible to influence the path of the
spline curve at every control point (depending on the degree of the
spline even in the area surrounding the control point). A point weight of
0 is not permitted.
and Controls
Spline
Control point
Spline curve farther away

from the control points
Spline curve closer to the control points
Example:
3rd degree B spline:
;Selection 3rd degree B spline:

;5 axis transformation with vector orientation:
N0 Coord(1)
N0 G99 G108
N1 x10y20z11 O(0.1,0,1.0)
N2 x.. y.. z.. O(..)
;1st spline:
N3 x.. y.. z.. O(..)
;2nd spline, point weight 2.3:
N4 x.. y.. z.. O(..) PW2.3
... ....
... ...
;18th spline:
N20 x,.. y.. z.. O(..)
N21 G1
Explanation:
N0: Selection of a 3rd degree B spline
N1: Starting point of the spline curve tangentially to the connection
line
start point - end point
N1-N2: Non-traversing block
N1-N20: Determining 21 control points
N3-N20: 18 splines which are executed
N20: End point of the spline curve tangentially to the connection line
start point - end point
and Controls
Spline
12.11.5 Programming spline

All usable splines can be parametrized in the program using:
SplineDef(<Id>,<Members>))
The table gives an overview of the available options:

<Id> Meaning Recommended
combinations
Spline Parametrization Tangent calculation De- Example: cubic spline
type 1= equidistant 1=Bessel grees SplineDef(<Id>,
2=chordal 2=Akima <Members>)
3=centripetal 3=chord
0 0 0 1, .., 5 Monomial spline with SplineDef(3)
coefficient programming
1 1, 2, 3 1, 2, 3 3 C1-continuous local cu- SplineDef(1213,...)
bic spline from specified
points with different tan-
gent calculation at the
block transitions
2 1, 2, 3 0 3 C2-continuous global SplineDef(2203,...)
cubic spline from speci-
fied points.
3 1 0 1, .., 5 B spline and NURBS SplineDef(3103,...)
from specified control
points and weights
Restrictions:
The following functions cannot be programmed with splines:
D Tensor orientation: this concerns the tensor syntax Ox(..), Oy(..) and
Oz(..) as well as the Eulerian angles phi, theta, psi.
D Polar coordinate interpolation
D G41/G42 path compensation
D Canceling the distance to go
D Punching and nibbling with contour calculation
D Circle or helix with tangential entry to previous spline element
D Chamfers and radiuses
D Tangential tool guidance
D Precision programming
D Area control
and Controls
Spline

7060 00120[3]: Maximum number of blocks for look-ahead function
Recommended minimum values:
for spline type 2:
20 blocks: without the Vector orientation as spline
function
20 blocks: for option 1 (spline for vector orientation
together with space spline)
60 blocks: for option 2 (separate spline for
vector orientation)
for all other spline types:
10 blocks
7060 00130[3]: Percentage splitting of look-ahead
8007 00010: Tolerance value 0 in % for the C0-continuity for splines
with coefficient programming. If the starting point is not
identical with the end point of the preceding spline, a
deviation exceeding the set tolerance value 0 will gen-
erate a runtime error.
The value selected should be as low as possible (de-
pends on the accuracy of the programming system), be-
cause axis jumps may occur at the segment transitions
otherwise.
8007 00020: Maximum admissible relative path speed error v. in %.
The ratio (inverse path length function) of spline param-
eter length w and path length of the curve is ap-
proached within the NC by means of splines. The path
speed error reflects the accuracy of this approximation.
The value selected should not be smaller than neces-
sary because the NC cycle time rises with increasing ac-
curacy demands. If the specified accuracy is not reached
with eight approximating splines, the NC generates a
warning. The machining process is continued.
If the MACODA parameter is set to 100%, the path
length function w(s) is approximated by a line.
8007 00099: Spline configuration (only relevant for C2-continuous cu-
bic spline)
[1] Degree of the spline between two partial sequences:
3: cubic spline (C1-continuous at the starting point
only)
4: square spline (C2-continuous relative to the
preceding spline)
[2] Overlapping (number of NC blocks) of two partial
sequences
[3] Spline option for vector orientation:
1: Spline for vector orientation together with
space spline
2: Separate spline for vector orientation:
and Controls
Spline
D Spline with coefficient programming
G99 with modal parameters:
<CoordName >(..)
Coefficient programming of individual coordinates
(CoordName) with their polynomial coefficients.
O1(..), O2(..), =3(..)
Coefficient programming of the vector orientation
(working range coordinate programming (Coord(..)) has
to be activated first)
DN(..) Denominator polynomial in case of coefficient pro-
gramming for the description of rational monomial
splines (Bezier spline, rational B spline (NURBS), all
cone sections).
PL(..) Spline parameter length
D C1-continuous cubic splines

<CoordName>
Programming of coordinates; are only taken into account
for calculation of the splines if they are listed under the
<Members> parameter in the SplineDEF(..) NC function.
All others are carried along linearly.
<Axes> Programming of axes; see above <CoordName>
<Orientation coordinates>
Programming of vector orientation (5 axis transforma-
tion) as spline
SBC(..) 3 possible boundary conditions for the starting point of
a spline sequence
EBC(..) 3 possible boundary conditions for the end point of a
spline sequence
D C2-continuous cubic splines:

<CoordName>
tion) as spline
SBC(..) 5 possible boundary conditions for the starting point of
a spline sequence
EBC(..) 5 possible boundary conditions for the end point of a
spline sequence
and Controls
Spline
D Rational Bezier splines, B splines (NURBS) and cone sections:

G99 with the modal parameters:
<CoordName>
tion) as spline
PW(..) Providing a point weight to control points to either attract
the spline curve to the control points or to push it away.
SplineDef(<Id>,<Members>)
Definition of the spline type
<Id>: Spline type, see table on page 1279
<Members>: Determines the coordinate or axis names which partici-
pate in the spline movement. Coordinates/axes which
are not listed can only be moved linearly.
Specifying <Members> is not applicable to type 0.
Default: 0
12.11.6 Assigning
1. Configure the parameters specified under Relevant MACODA pa-
rameters according to your application.
12.11.7 Activating
Precondition:
D Before you use G99 in the NC program for the first time, the initializa-
tion SplineDef has to be programmed or the initialization stored in the
MACODA init string has to be taken over.
1. G99 activates the path type spline
12.11.8 Deactivating
D The path type spline is deactivated by programming a different path
type, e.g. using G1, G2, G3 etc. The corresponding function has to
be applied.
and Controls
Path-speed-dependent laser power control
12.12 Path-speed-dependent laser power control

Function
The function controls the power of a laser, in dependence on the current
actual value of the feedrate (Vpath). For this purpose, a corresponding
voltage value is output on an analog output, as defined in MP 4075
00104.
Below a certain path speed Vpath , the laser power is limited to an adjust-
able minimum value. Over a certain path speed Vpath, the laser power is
maintained at an adjustable maximum value.
Between VMin and VMax the laser power is adapted in dependence on
the path speed, see figure:
A [%]
(Voltage in %)
Upper limit value
Lower limit value
Vpath
VMin VMax [mm/min]
The voltage output value is specified in %.

100% output value corresponds to 10 volts at the analog output.
The effective path speed Vpath results from the speeds of the selected
coordinates:
D by selecting the active plane (APL) or the active space (ASP). In this
context, a possibly active axis transformation or coordinate trans-
formation (inclined plane) is taken into account.
D by direct selection of coordinates in the part program:
D no axis transformation active:
all pseudo coordinates (axes) of a channel can be selected.
D an axis transformation is active:
working range and pseudo coordinates can be selected. The se-
lected working range coordinates are linked to the transformation
active at this point in time.
and Controls
Restrictions:
D The available analog outputs limit the number of channels which the
function can use.
D When the Inclined plane function is used, it is only possible to use
the active space with PL(ASP) for coordinate selection to generate
the speed Vpath .
D The operation with axes and coordinates is supported with active 5
D When an error occurs (runtime error, diagnostics class 1 error), when
Drive under control (no FG (enable), drive off) is deactivated for a
drive involved in the path and in case of Feed hold, no laser voltage
is output.

4075 00104: Assignment of analog outputs
701: Channel 1
..
712: Channel 12
7050 00810: Laser power control: power limit values in %
7050 00815: Laser power control: speed limit values in mm/min
7050 00820: Laser power control: coordinate selection in connec-
tion with PL(..)
LFPON Starts the path-speed-dependent laser power control.
If programmed alone, the configuration data programmed
via MACODA will take effect. Additional parameters can be
programmed optionally.
LFP Parametrizes the active laser power control via part pro-
gram.
Parameters for LFPON and LFP:

LL([<%Voltage>], [<VMin>])
Lower power limit: the voltage value deter-
mined here is output below the specified
path speed.
UL([<%Voltage>], [<VMax>])
Upper power limit: the voltage value deter-
mined here is output over the specified path
speed.
<%Voltage> 0% .. 100%: corresponds to 0 .. 10 Volt
<VMin> Lower corner value of the path speed in
mm/min or inch/min
<VMax> Upper corner value of the path speed in
mm/min or inch/min
and Controls
PL(<Plane designation>)
Coordinate selection for the path speed cal-
culation via plane selection
<Plane des- APL: Current plane (G17, G18, G20)
ignation> ASP: Current space
MCD: MACODA values
CD(<Coordinate 1>, [<Coordinate 2>], ... , [<Coordinate

n>])
Coordinate selection for the path speed cal-
culation directly via logical name
<Coordinate x = 1..n
x> Logical name of the working range coordi-
nates or pseudo coordinates involved
(axes)
LFPOFF Ends the path-speed-dependent laser power control.

LPCOFF alternatively to LFPOFF

S-0-0040 Speed actual value
If S-0-0040 is not included in the drive telegram, the
speed is obtained from the change in the axis actual
position (S-0-0051 or S-0-0053).

NC-I 7.5 Feed inhibit
NC-I 7.6 Feed hold

NC-I 7.5 Drive inhibit
NC-I 7.6 Drive off
NC-I 7.7 Feed inhibit
and Controls
12.12.1 Assigning
Precondition:
Analog outputs must be available:
D at the PNC-P via PROFIBUS-DP
D at the PNC-R via the osa dc I/O module.
1. Configure the relevant MACODA parameters according to your ap-

plication.
Make sure that the assignment of an analog output for the power
control of a channel is applied correspondingly in MACODA.
Example:
MP 4075 00104 [2] 703 activates the laser power control of the 3rd
channel using the 2nd analog output.
2. Enter the power and speed limit values applicable to the machine in
MP 7050 00810 and 7050 00815.
3. Parametrize the relevant SERCOS parameters (see above) in the
drive:
The drive telegrams (configured via S-0-0016) of the axes involved
should include the speed actual value (S-0-0040).
If S-0-0040 is not included in the drive telegram, the speed is ob-
tained from the change in the axis actual position (S-0-0051 or
S-0-0053).
4. Link the relevant interface signals in the PLC program.
12.12.2 Activating
Following control unit start-up, the power control is deactivated and the
settings from the relevant MACODA parameters are selected.
Entries from MP 7060 00010 Default state upon start-up and MP
7060 00020 Default state upon a control reset overwrite this preset-
ting.
The laser power control can be activated using the presettings stored in
MACODA and, if required, it can be influenced additionally in the part
program using parameters:
1. switching on the laser power control with LFPON (with the default pa-
rameters) or
2. switching on the laser power control with additional parameters:
LFPON LL(..) UL(..) PL(..).
The active laser power control can be set in the part program using: LFP
LL(..) UL(..) PL(..).
and Controls
Example 1 :
Setting the MACODA parameters:
4075 00104 [3] 701 Channel 1 uses the 3rd analog output
7050 00810 [1] 20 Lower power limit value 20% (= 2V)
[2] 90 Upper power limit value 90% (= 9V)
7050 00815 [1] 500 Lower speed limit value 500 mm/min
[2] 2000 Upper speed limit value 2000 mm/min
7050 00820 [1] 2 The path actual speed is obtained from the
active plane.
Part program:
N010 G17 G8 G62 F2500
N020 G0 X0 Y0 Z0
N110 G1 X10 LFPON Laser on
N120 Y10
N130 X0
N140 Y0 LFPOFF Laser off
Caution: The axes have not reached their
end point
N200 G54
N210 X10 LFPON Laser on
N220 Y10
N230 X0
N240 Y0
N250 G4 F0.5 LFPOFF Laser off after dwell time
N300 G55
N320 Y10
N330 X0
N340 Y0 G61 LFPOFF Laser off when in position window is
reached
M30 All MACODA data are effective again
Explanation:
The output voltage ranges between 2 and 9 V.
When the path speed in the active plane exceeds 2000 mm/min, 9 V are
output.
When the path speed falls below 500 mm/min, 2 V are output, e.g. at the
start of the movement, at the corners (depending on the maximum axis
step change), at the end of the movement.
Deactivating the laser:
N140: When the laser is deactivated, the axes have not yet reached
the end point because of the lag. That is why the machined part
will be defective.
N250: Deactivating the laser is delayed by a programmed time.
N340: The laser is deactivated when all axes have reached the in
position window.
and Controls
Example 2 :
Setting the MACODA parameters:
4075 00104 [3] 701 Channel 1 uses the 3rd analog output
7050 00810 [1] 20 Lower power limit value 20% (= 2V)
[2] 90 Upper power limit value 90% (= 9V)
7050 00815 [1] 200 Lower speed limit value 200 mm/min
[2] 1500 Upper speed limit value 1500 mm/min
7050 00820 [1] 2 The path actual speed is obtained from the
active plane.
Part program:
N010 G17 G8 G62 F2500
N020 G0 X0 Y0 Z0
N030 LFP UL( ,1800) Upper speed limit value 1800 mm/min
N040 LFP CD(X,Y) Coordinate selection X and Y
N060 Y10
N070 X0
reached
N090 G62 G54
N100 LFPON PL(APL) Selecting active plane and activating laser
N110 X10
N120 Y10
N130 X0
reached
M30 All MACODA data are effective again
Explanation:
The output voltage ranges between 2 and 9 V.
N030 Upper speed limit value 1800 mm/min
N040 When the path speed in the selected coordinates (X and Y)
with the active plane (N100) exceeds 1800 mm/min, 9 V are
output.
When the path speed falls below 200 mm/min, 2 V are output.
12.12.3 Deactivating
1. LPCOFF (or LFPOFF) deactivates the power control at the end of
the NC block.
2. Following control reset and M2/M30, the power control is deacti-
vated and the settings from the relevant MACODA parameters are
effective again.
1070 073 871 / 02 PNC Electric Drives Bosch Rexroth AG A1
and Controls
Appendix
A Appendix
A.1 Abbreviations
Abbreviation Description
Aux.fct. Auxiliary function
C: Drive name, in this case drive C (hard
disk drive)
CCOMP Cross Compensation
CEST Central European Summer Time
CET Central European Time
ESD Electro-Static Discharge
Abbreviation for all terms relating to
electro-static discharge, e.g. ESD pro-
tection, ESD hazards, etc.
Fx Function key with number x
GOM Group Operating Mode
HP Main Program (Hauptprogramm)
LSEC Lead Screw Error Compensation
MDI Manual Data Input mode
MP MACODA configuration parameter
MSD Machine-Status Display
MTB Machine-Tool Builder
NC, CNC Numerical Control (Computerized Nu-
merical Control)
OI Operator Interface
PE Protective Earth
PLC Programmable Logic Controller
SK Softkey
SP Subprogram
UTC Universal Time Coordinated (formerly
GMT)
A2 Bosch Rexroth AG Electric Drives PNC 1070 073 871 / 02
and Controls
Appendix
A.2 Memory demand for function extensions
In case of function extensions, please note that the memory available in

the NC (memory 2) is limited. Depending on the hardware used, the fol-
lowing memory is available to you as standard configuration for function
extensions:
D SNCI (1,2,3): approx. 2000 KB
D SNCI 4: approx. 5600 KB
. The current size of the free memory 2 can be determined via

DIAGNOSTICS " CONTROL " MEMORY.
Memory demand in bytes

Extension / (memory 2)
Set via
functionality Standard Extension
configuration
1001 00001 Drive function type
1003 00001 Physical axis designation 9600 1200
Additional axis
1003 00002 Channel assignment (8 axes) per axis
1003 00004 Axis movement type
Additional approx. 920000 approx. 230000
9040 00001 Number of channels
channel (4 channels) per channel
541200
Additional (Channel 0: 3 blocks,
8200
block in prepa- 7060 00110 Number of blocks in preparation Channel 1: 30 blocks,
per block
ration Channel 2: 30 blocks,
Channel 3: 4 blocks)
Data memory
49152
for CPL pro- 7070 00010 Data areas for CPL programs max. 524000
(4 channels)
grams
Buffer size re-
quired for exe- 3080 00002 Buffer size required for execution
8192 max. 418000
cution through through NFS
NFS
25600 in case of ac-
tive digitizing max. 1024000
Digitizing 8006 00001 Number of digitizing buffers
(= 50 buffers of 512 (= 2000 buffers)
bytes each)
Tool adminis- 34650 26330
Number of tool locations
tration (105 tools) per tool
and Controls
Appendix
A.3 Index
Numbers Axis of rotation orientation vector

3x3 orientation tensor, 559 calculated internally, 562
5 axis transformation programmed, 562
Definition, 580 Axis position monitoring, 97
Type 3032101, 581 Axis transfer, 434
Type 3232101, 580 Axis displays, 439
Type 3232201, 580 Axis zero shift tables, 535
6 axis transformation Changing of axes between axis groups, 434
Definition, 590 Changing the axis classification, 438
Type 3033101, 590 Removing axis, 436
Type 3333301, 590 Renaming axes, 438
Taking over axis, 437
A Axis transformation, 510, 516, 577
Acceleration, max. path, 63 Axis zero shift, 510, 516, 530
ACS, 511 external, 539
ACS axis coordinate system, 511 Zero shift tables, 519
Akima method, Spline, 1268 Axis zero shift tables, 534
Angle of rotation, 562 Axis transfer, 535
Area control, 910
AREADEF, 911 B
AREAVALID, 911 B splines, NURBS, 1262
Asynchronous axes, 52 Backlash, 101
Automatic program reselection, 728 Basics, Tool compensations, 81
Auxiliary axes, 52 Basis vectors, Tensor orientation, 560
Auxiliary functions, 111 BCS, 511
Axes, 52 BCS basis workpiece coordinate system, 511, 553
C axis, 453 Bessel method, Spline, 1267
Gantry , 49
linear, 41 C
linear modulo, 45 C axis, 453
modulo, 43 C1 cubic spline
rotary, 42 Linear orientation movement, 1271
turret, 458 Vector orientation, 1270
Axes of rotation arrangement, 592 CAD/CAM, Spline, 1259
Axis and coordinate names, 51 Canceling the distance to go, 729
Axis compensations, 101 Cartesian components, 556
Axis connection vectors Cartesian coordinate designation, Working range
5 axis configuration, 583 coordinates, 58
6 axis configuration, 593 CCOMP, 107
Axis coupling, 414 Changing of axes between axis groups, Axis transfer,
Axis distance control, 1229 434
Axis distance control for the digitizing process, 1249 Changing the axis classification, 438
Axis group, 52 Channel, 52
Axis index Chordal method, Spline, 1268
logical, 52 Circle compensation at the quadrant transition, 618
physical, 52 Coefficient programming, Spline, 1261
Axis of rotation orientation tensor Collision detection, axis distance control, 1255
calculated internally, 567 Compensation switchover, 832
programmed, 568 contourdependent feedrate reduction, jerklimited
velocity profile generation, 614
Control reset, 36, 71
and Controls
Appendix
Coord(..), 569 G22, 532, 537, 543, 814, 830

Coordinate identifiers, 54 G32, 1223
Coordinate systems, 59 G34, 1213
Coordinate transformation, 59, 517, 553 G35, 1213
Cross compensation, 107 G36, 1213
Cutter radius compensation, 837 G40, 838
Cutting edge orientation, 821 G41, 838
Cutting edge orientation compensation, 821 G42, 838
Cutting edge radius, 822 G53, 532
G54...G59, 532
D G60, 543
Dead range, 910 G63, 724
Default state, 36 G66, 724
Deviations G67, 543
geometric, 107 G70, 39
Linearity errors of axis measuring systems, 101 G71, 39
mechanical transmission of movement (motor G74, 426
axis), 101 G75, 1226
Digitizing, 1229 G78, 834
Axis distance control, 1249 G79, 834
Direct automatic execution, 31 G81...G86, 834
Direction of rotation, mathematically positive, 55, G84, 1219, 1223
58 G105, 45
Distance to end point, 99 G108, 62, 616
Documentation, 17 G130, 128
Drill axis switching, 832 G131, 128
Drivecontrolled interpolation, 431 G134, 1213
Drivecontrolled oscillation, 466 G138, 541, 543
Dynamic limit values, 623 G139, 543
G145...G845, 816, 834, 838
E G146, 816
EMC Directive, 11 G147...G847, 820, 834, 838
EMERGENCYSTOP devices, 15 G148, 820
End of program, 36 G150, 43
Endless axis, 43, 1222 G151, 43
ESD G153, 532
Electrostatic discharge, 16 G154...G159, 532
grounding, 16 G160, 540
workplace, 16 G167, 540
ESDsensitive components, 16 G168, 543
Eulerian angle, 522, 561 G169, 543
Execution, direct, 31 G175, 1226
Explicit tool compensation, TCS, 85 G186, 834
G189, 44
F G228, 62
Feedrate, 552 G253, 532
Following distance for coupled axes, 414 G254...G259, 532
G260, 540
G
G268, 543
G2/G3, 313
G269, 543
G8, 61, 611
G275, 1226
G9, 611
G301, 121
G16, 441
G328, 65
G21, 441
G329, 65
and Controls
Appendix
G350, 121 Inclined plane, 542

G352, 543 Tables, 545
G353, 543 Indexing, Axis designation, 55
G354...G359, 543 Interpolation, drivecontrolled, 431
G360, 540 Interpolator clock pulse, 61
G374, 427
G408, 68 J
G510, 440 Jerklimited velocity profile generation, contour de-
G511, 440 pendent feedrate reduction, 614
G512, 440 Jog
G513, 440 Manual mode in machine coordinates, 73
G515, 440 Manual mode in workpiece coordinates, 77
G516, 440 Jog axis
G517, 454, 459 in machine coordinates, 73
G518, 454, 459 in workpiece coordinates, 77
G520, 432
G521, 432 L
G522, 432 Laser power control, pathspeeddependent, 1283
G523, 432 Leading gantry axis, 414
G524, 432 Leadscrew error compensation , 101
G575, 1215 Length compensation, 824
G595, 311 LFP, 1284
G608, 68 LFPOFF, 1285
G610, 125 LFPON, 1284
G611, 125 Limit switch, electronic, 91
G612, 125 Limit values, dynamic, 623
G630, 1210 Limitation of the dynamics, 623
G631, 1210 Linear axis, 41
G660, 124 Linear modulo axis, 45
G661, 124 Linear orientation movement, 565
G662, 125 Programming, 570
Gantry axes, 49 Linearity error
Gantry axis group, Total static torque, 414 Axis measuring system, 101
Gear range switching with Spindle idling, 465 mechanical transmission of movement (motor
geometric deviation, 107 axis), 101
Geometry compensation tables, 830 Logical axes, 52
Geometry compensations, 810 Lookahead function, 613
External (1st external) , 814 Jerklimited velocity profile generation, 614
General (2nd external) , 817 LowVoltage Directive, 11
Standard , 813 LPCOFF, 1285
Grounding bracelet, 16 LSEC, 101
Group assignment, 528
M
H Machine zero point, 510
Handwheel, 712 Manufacturer, 1222
Online correction, 716 Maximum axis step change, 61
Hirth axis, 46 MCS, 510
Hole detection, axis distance control, 1255 MCS machine coordinate system, 510, 553
Metric/inch switching, 38
I Modules sensitive to electrostatic discharge. See
Idling, spindle, 465 ESDsensitive components
Inch/metric switching, 38 Modulo axis, 43
linear, 45
and Controls
Appendix
Modulo calculation, 1222 Programmed contour shift, 541

Monitoring position, 97 Properties, 551
Pseudo coordinates, 54
N Punching, 123
NC functions, (orientation and orientation movement,
569 Q
Nibbling, 123 Qualified personnel, 12
Nonrotation symmetrical tools, 559
R
O Radius compensation, 824
O(...), 569 Rapid travel, limit, 95
Linear orientation movement, 570 Rational monomial splines, 1265
Online correction with handwheel, 716 recording a surface profile, 1229
Options for Eulerian angle orientation, 523 Recording file, Digitizing, 1246
Orientation, 522, 554 Reference orientations of the tool coordinate system
with Eulerian angles, 561 (TCS), 6 axis transformation, 595
Orientation coordinates, 551 Reference point, 511
Machine kinematics, 554 approach, 424
Orientation movement, 552 Reference pose
of the tool, 562 5 axis configuration, 582
Orientation movement, linear, 565 6 axis configuration, 594
Orientation of the tool coordinate system TCS, 84
Explicit tool compensation, 85 Release, 18
TCS definition in program coordinates, 86 Remove and return to the contour, 730
Orientation tensor, 559 Removing axis, 436
Rotation speed, 568 Renaming axes, 438
Orientation tensor movement, 567 RESET, 36
Orientation vector, 556 Reverse transformation, 553, 577
Rotation speed, 564 Rotary axis, 42, 1222
Orientation vector movement, 562 Rotary axis speed scaling, 311
Oscillating axis, 121 Rotation matrix, 559
Oscillation, drivecontrolled, 466 Rotation symmetrical tool, 556
Override, 723 ROTAX(..), 570
Rounding of corners, 1212
P
Path acceleration, limit, 63 S
Path compensation, 837 Safety instructions, 14
Path slope, 61, 611 Safety markings, 13
PCS, 514 Sagging, 107
PCS program coordinate system, 514 saveph3.scs, 476
Physical and logical axes , 52 Scalar orientation, 555
Physical axes, 52 SERCOS, 467
Polar coordinate transformation, 5103 Initialization, 467
Polar coordinates, 522 Logging ID numbers, 474
Position coordinates, 551 Logging of SERCOS timing, 475
Position monitoring, 97 parameter download, 470
Position of the tool tip, 553 Parameter downloading in phase 3 on demand,
Precision programming, 64 476
PREPNUM, 613, 617 SERCOS monitor, 473
Probe, 1226 Serration, 46
Program coordinate shift, 541 Shape, 67, 614
Program reselection, 728 Shifts, 528
Program zero point, 514 Singularities, Orientation tensor, 568
Programmed contour, manipulate, 521 Space vector, 5 axis configuration, 583
and Controls
Appendix
Spare parts, 16 Tool length, 81

Speeds of rotary/endless axes (Inch/metric), 311 Tool orientation, 510, 554
Spindle, 451 See also Cutting edge orientation
Spindle idling, 465 tangential, 1210
Spindle type, 1222 Tool radius, 81
Spindle/turret axis, 458 Tool reference points, 81
Spline, 1259 Tool zero point, 81
B, 1262, 1277 Torque reduction, 93
C1continuous cubic, 1261, 1267 Total static torque of a gantry axis group, 414
C2continuous cubic, 1261, 1273 Trademarks, 18
Coefficient programming, 1261, 1263 Turret axis, 458
programming, 1279 Type and position of the axes of rotation, 6 axis trans-
Standard operation, 11 formation, 591
Startup, 36 Type identification, Axis transformation, 578
Startup time, 476
Surface grinding applications, 121 V
Switching NC blocks via highspeed signal, 1214 Vector orientation, 556
Synchronous axes, 52 Programming, 569
sysgrph2.scs, 470
sysgrph3.scs, 470 W
System control reset, 36, 71 Working range, 910
Working range coordinate programming, 551
T Working range coordinates, 56, 551
Tables Workpiece position compensation, 541
Axis zero shift, 519, 534 Workpiece zero point, 511
Geometry compensation, 830
Inclined plane, 545 Z
Taking over axis, 437 Zero shift, 516
Tangential tool guidance, 127 Zero shift tables, 534
Tangential tool orientation, 1210
Tapping
with compensation chuck, 1218
without compensation chuck, 1220
TCP, 553, 81
TCS, 514, 82
Reference pose, 84
TCS definition in program coordinates, TCS, 86
TCS orientation, Programming, 571
TCS1, Reference pose, 84
TCSc, 85
TCSDEF, 86
TCSp, 86
TCSUNDEF, 86
Tensor orientation, 559
Programming, 571
Test activities, 15
Tool clamping point, 81
Tool compensation tables, 830
Tool compensations, 81
Tool contact point, 81
Tool coordinate system, TCS, 514, 82
Tool coordinate system with active axis transform-
ation, 82
Tool guidance, tangential, 127
and Controls
Appendix
Notes:
and Controls
Bosch Rexroth AG
Electric Drives and Controls
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr a. Main, Germany
info@boschrexroth.de
www.boschrexroth.de
Printed in Germany
DOK-PNC***-NC*FUNCTION-FK02-EN-P

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Industrial Electric Drives Linear Motion Service Mobile

Hydraulics and Controls Assembly Technologies Pneumatics Automation Hydraulics

Rexroth PNC 1070 073 871

Function description, V7.3

Title Rexroth PNC

Type of Documentation Function description

Document Typecode DOK-PNC***-NC*FUNCTION-FK02-EN-P

Purpose of Documentation This manual contains information on the following:

Record of Revisions Description Release Notes

Copyright E Bosch Rexroth AG, 2002 2003

Published by Bosch Rexroth AG

4 Drives (axes, spindles) . . . . . . . . . . . . . . . . . . . 41

4.7 Approaching the reference point . . . . . . . . . . . . . . . . . . . . 424

5.4 NC functions for defining coordinate systems . . . . . . . . 515

6.5 Path slope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611

10 Axis compensations . . . . . . . . . . . . . . . . . . . . . . 101

11 Communication with the PLC . . . . . . . . . . . . . 111

12 Technology / machining functions . . . . . . . . . 121

12.9 Digitizing (recording measured values) . . . . . . . . . . . . . . 1229

1.1 Intended use

The PNC controls serve as

Any other application is deemed improper use!

The products described hereunder

. This is a Class A device. In a residential area, this device may cause

The faultless, safe functioning of the product requires proper transport,

1.2 Qualified personnel

The present manual is designed for

These persons need special knowledge of

Programming, start and operation as well as the modification of pro-

Interventions in the hardware and software of our products, unless de-

Only electrotechnicians as recognized under IEV 826-09-01 (modified)

Such personnel are

With regard to the foregoing, please note our comprehensive range of

1.3 Safety markings on products

Warning of dangerous electrical voltage!

Warning of danger caused by batteries!

Electrostatically sensitive components!

Components sensitive to electrostatic discharge!

Warning of hazardous light emissions

Disconnect mains power before opening!

Lug for connecting PE conductor only!

Connection of shield conductor only

1.4 Safety instructions in this manual

DANGEROUS ELECTRICAL VOLTAGE

. This symbol is used to draw the users attention to special circum-

L This symbol is used to mark descriptions of tasks to be performed by the

1.5 Safety instructions for the described product

Furthermore, Rexroth accepts no liability for consequential dam-

DANGEROUS ELECTRICAL VOLTAGE

Measuring or test activities on the live system are reserved to

The following protective measures must be observed for modules and

1.6 Documentation, software release and trademarks

Overview of available documentation Part no.

. This manual refers to the following versions:

The current release number of the individual software modules can be

The software version of Windows may be displayed as follows:

Upon delivery, all installed software is copyright-protected. The software

MS-DOSr and Windowst are registered trademarks of Microsoft

PROFIBUSr is a registered trademark of the PROFIBUS Nutzerorgani-

SERCOS interfacet is a registered trademark of the SERCOS interface

. In part, a certain memory size is required in the NC for the applica-

. Therefore, please also refer to other relevant manuals.

MACODA parameter: Configuration Parameters and MACODA Pa-

With MACODA, you have write access to the NC configuration parame-