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ISG,CNC内核,Twin cat CNC.pdf
1 Brief description
2 Basic principles of programming
2.1 Representation of the syntax
2.2 Explanation of the symbols
2.3 Character- and number- formats
2.3.1 Character set and file format
2.3.2 Numerical input
2.4 Structure of NC control data
2.5 NC-block structure
2.5.1 Skipping of NC blocks '/'
2.5.1.1 Standard skipping
2.5.1.2 Extended skipping (skip levels)
2.5.2 Block specific comments
2.5.3 Line break in NC block '\'
2.6 Word structure
2.6.1 Mathematical expressions
2.6.1.1 Integers
2.6.1.2 Decimal values
2.6.1.3 Arithmetical expressions
2.6.2 Operations for character strings
2.6.3 Assigned address characters
2.6.4 Program examples
3 Path information
3.1 Axis commands
3.2 Measuring systems, input and precision ranges
3.3 Coordinate systems
4 The G-functions
4.1 Path preparatory functions
4.1.1 Rapid traverse G00
4.1.2 Linear interpolation G01
4.1.3 Circular interpolation (G02/G03)
4.1.4 Helical interpolation
4.1.4.1 Simple helical interpolation
4.1.4.2 Arcs in space (G303)
4.1.4.3 Contour line programming (#ANG)
4.1.5 Dwell (G04), (#TIME)
4.1.6 Programmable homing (G74)
4.1.7 Coordinate preset (G92)
4.1.8 Setting of negative software limit switch (G98)
4.1.9 Setting of positive software limit switch (G99)
4.1.10 Measuring functions
4.1.10.1 Measurement with multiple axes (G100) (Type 1)
4.1.10.2 Measurement with a single axis (G100) (Type 2)
4.1.10.3 Measurement with movement to target point (G100/G106) (Type 3)
4.1.10.4 Measurement with main axis (G100) (Type 4)
4.1.10.5 Measurement with interruption and jump (G310) (Type 5,6)
4.1.10.6 Measuring travel on a fixed stop (G100) (Type 7)
4.1.10.7 Computation of measuring offsets (G101/G102)
4.1.10.8 Edge banding (G108)
4.1.10.8.1 Edge banding in one movement block (Method 1)
4.1.10.8.2 Edge banding for several movement blocks (Method 2)
4.1.10.8.3 Programming of residual path
4.2 Feed adaptation (G08/G09/G900/G901)
4.3 Path /Time related feed interpolation (G193/G293)
4.4 Selection of planes (G17/G18/G19)
4.5 Mirroring in plane (G21/G22/G23/G20)
4.6 Mirroring with axis information (G351)
4.7 Units (G70/G71)
4.8 Implicite subprogram calls (G80–G89/G800-G819)
4.9 Absolute or incremental dimensioning (G90/G91)
4.9.1 Exklusive programming
4.9.2 Combined programming
4.10 Exact stop (G60/G360/G359)
4.11 Polynomial contouring (G61/G261/G260)
4.11.1 Terminological definitions
4.11.2 General Properties
4.11.2.1 Maximum corner distance, remaining minimum block length
4.11.2.2 Relevant block length
4.11.2.3 Execution of additional blocks
4.11.2.4 Jerk within the polynomial
4.11.2.5 Characteristic of velocity in the contouring section
4.11.3 Parameterization of contouring modes in NC program
4.11.4 Activation of contouring modes in NC program
4.11.4.1 Corner deviation contouring
4.11.4.2 Corner distance contouring
4.11.4.3 Dynamically optimized contouring
4.11.4.4 Dynamically optimized contouring with lead axis
4.11.4.5 Interim point contouring
4.11.4.6 Dynamically optimized contouring of complete contour
4.11.5 Examples
4.11.6 Remarks
4.12 Corner deceleration
4.12.1 Setting the corner deceleration parameter values
4.12.2 Selection and deselection of corner deceleration (G12/G13)
4.13 Tool radius compensation (G40/G41/G42)
4.14 Selection/deselection methods of tool radius compensation (G138/G139/G237/G238/G239/G05)
4.15 Selection of the transition of tool radius compensation (G25/G26)
4.16 Feedrate adaptation for tool radius compensation (G10/G11)
4.17 Selection/deselection of contour masking by tool radius compensation (G141/G140)
4.18 Zero offsets NPV (G53/G54/...G59)
4.18.1 Enhanced Zero Offset Variables
4.18.2 Adding / Subtracting Offsets
4.18.3 Access to the current zero offset
4.18.4 Default zero offset
4.18.5 Creating zero offset groups
4.18.6 Extended zero offsets (G159)
4.18.7 Axes-related enabling/disabling of zero offset (G160)
4.19 Center point specification for circle definition (G161/G162)
4.20 Radius programming (R, G163)
4.21 Center point offset controlling (G164/G165)
4.21.1 Special function: circle radius compensation in combination with G164
4.22 Feedforward control (G135/G136/G137)
4.23 Weighting of maximum velocity (G128)
4.24 Weighting of rapid traverse velocity (G129)
4.25 Parameterization of acceleration profile
4.25.1 Acceleration weighting (G130/G131/G231)
4.25.2 Weighting the ramp times (G132/G133/G134/G233)
4.26 Machining time or feedrate (G93/G94/G95/G194)
4.27 Inserting of chamfers and roundings (G301/G302)
4.27.1 Inserting of chamfers on the example G301
4.27.2 Inserting of roundings on the example G302
4.28 Manual mode
4.28.1 Selection/deselection with parallel interpolation (G201/G202)
4.28.2 Selection without parallel interpolation (G200)
4.28.3 Program end (M02, M30)
4.28.4 Parametering of operating modes
4.28.4.1 Operating mode Handwheel
4.28.4.2 Operating mode Continuous jog
4.28.4.3 Operating mode Incremental jog / interruptible jog
4.28.5 Presetting of offset limits
4.28.6 Example for the parameter setting of one axis in manual mode
4.29 Requesting for offsets, command and actual values
4.29.1 Requesting for current manual mode offsets and filling them into V.A.MANUAL_OFFSETS[ ]
4.29.2 Requesting for current command positions and filling them into V.A.ABS[ ]
4.29.3 Requesting for current actual positions and filling them into V.A.ABS[ ]
4.29.4 Requesting for current command positions of specific axes and filling them into self-defined variables or into parameters
4.29.5 Requesting for current actual positions of specific axes and filling them into self-defined variables or into parameters
4.30 Gear change (G112)
4.31 Influencing of look-ahead functionality (G115/G116/G117)
4.32 Override (G166)
4.33 Cycle synchronisation at block end (G66)
5 Switching and supplementary functions (M / H / T)
5.1 User specific M/H-functions
5.1.1 Programmed stop (M00)
5.1.2 Optional stop (M01)
5.1.3 Program end (M02/M30)
5.1.4 Subroutine end (M17/M29)
5.1.5
5.2 Axis-specific M/H-functions
5.3 M/H functions with optional additional information
5.4 Tool selection (T-word)
6 Velocities (F-, E-)
7 The N-function
8 Subroutine techniques
8.1 Local sub-routines (Call LL )
8.2 Global sub-routines (Call L )
8.3 Parametric sub-routine call (LL / L V.E. or macro)
8.4 Implicit global sub-routine call at program start
8.5 Implicit global sub-routine call at program end
8.6 Cycles as global or local sub-routines (Call L | LL CYCLE)
8.7 Calling up block sequences (L SEQUENCE)
9 Parameters and parameter calculation
9.1 Programming of coordinates by parameters
9.2 Indirect parameters
10 Statements for influencing the NC program flow sequence
10.1 Conditional jumps
10.1.1 The IF - ELSE - branching
10.1.2 The SWITCH-branching
10.1.3 The $GOTO-statement
10.1.3.1 Parametric jump call
10.2 Counting loops
10.3 Loops with running condition
10.3.1 Verification of running condition at the beginning of the loop
10.3.2 Verification of running condition at the end of the loop
10.4 Influencing of loop flow sequences
10.4.1 The $BREAK-statement
10.4.2 The $CONTINUE-statement
11 Special functions
11.1 Axis exchange commands
11.1.1 Standard syntax
11.1.1.1 Requesting of axes
11.1.1.2 Releasing of axes
11.1.1.3 Definition of an axes configuration
11.1.2 Extended Syntax
11.1.2.1 Requesting of axes
11.1.2.2 Releasing of axes
11.1.2.3 Definition of an axes configuration
11.2 Dwell - functionality
11.3 Flushing NC channel
11.4 Inter-block valid comments
11.5 Waiting for event
11.6 Minimum radius for tangential feedrate adaptation
11.7 Suppression of axis offsets
11.8 Settings for measurement
11.8.1 Switching of measurement mode
11.8.2 Extended programming
11.9 Position preset
11.9.1 Deselection of position preset
11.10 Synchronous operation
11.10.1 Programming of axes couplings
11.10.2 Extended programming of axes couplings (SOFT-GANTRY)
11.10.3 Selection/deselection of axes couplings
11.10.4 Inquiring Coupling State and Coupling Number via Variables
11.11 Messages from the NC-Program
11.11.1 Programming a message
11.11.2 Programming the message information
11.11.3 Including the 'Symbolic Character Strings' functionality
11.11.4 Writing messages into a file
11.11.5 Output of additional informations at block end
11.12 Jerk limiting slope
11.12.1 Selection of the operating mode
11.13 Akima- spline interpolation
11.13.1 Selection of spline type
11.13.2 Selection of spline interpolation
11.13.3 Deselection of spline interpolation
11.13.4 Specification of the type of transition
11.13.5 Definition of start tangent
11.13.6 Definition of end tangent
11.14 B- spline interpolation
11.14.1 Selection of spline type
11.14.2 Selection of spline interpolation
11.14.3 Deselection of spline interpolation
11.15 Free form surface operation
11.15.1 Standard HSC programming
11.15.1.1 Available operation modes
11.15.1.2 Additional parameters
11.15.2 Extended HSC programming
11.15.2.1 Trimming a contour
11.15.2.2 Surface machining with surface optimizer
11.15.3 Filter programming
11.16 Writing and reading SERCOS parameters and commands
11.16.1 SERCOS parameters (IDENT)
11.16.1.1 Non-synchronized writing of a parameter (IDENT)
11.16.1.2 Non-synchronized reading of a parameter (IDENT)
11.16.1.3 Synchronized writing of a parameter (IDENT)
11.16.2 SERCOS commands (COMMAND)
11.16.2.1 Non-synchronized writing of a command (COMMAND)
11.16.2.2 Synchronized writing of a command (COMMAND)
11.16.2.3 Non-synchronized waiting of a command (COMMAND)
11.16.2.4 Synchronized waiting of a command (COMMAND)
11.17 Channel synchronization
11.17.1 Sending signals
11.17.2 Clearing broadcast signals
11.17.3 Waiting for signals
11.17.4 RESET handling
11.17.5 Synchronization scenarios
11.18 Rotation in a plane (contour rotation)
11.19 Automatic axis tracking (C-axis tracking)
11.20 User-defined error output
11.21 Time measurement
11.22 Definition of feed axes
11.23 Adaption of the path dynamic limits
11.24 Definition of a minimum block transition velocity
11.25 Writing of machine data
11.26 File operations
11.26.1 Definition of file names
11.26.2 Renaming a file
11.26.3 Deleting a file
11.26.4 Checking the existence of a file
11.27 Restoring of axes configurations and axes couplings
11.27.1 Saving of a current configuration
11.27.2 Loading or restoring of a saved configuration
11.27.3 Deleting of a saved configuration
11.28 Work space/ Protection space monitoring
11.28.1 Definition of control areas
11.28.2 Deselection/ selection of control areas
11.28.3 Deleting of control areas
11.29 Influencing of function forward/backward on path
11.29.1 Omitting of program parts
11.29.2 Clearing of backward storage
11.30 Tool change during active synchronous operation
11.31 Locking of program areas for block search
11.32 Locking of program areas for single step mode
11.33 Programmable path override
11.34 Drive independent switching of drive functions
11.34.1 Synchronous writing
11.34.2 Synchronous waiting for acknowledgement
11.35 Speed-optimized motion control by segmentation
11.36 Enlarging and reducing contours
11.37 Punching and nibbling
11.37.1 Splitting up the travel distance and programming
11.37.2 Further functions
11.37.3 Restrictions
11.38 Control of edge machining
11.39 Switching of dynamic weighting
12 Tool geometry compensation
12.1 Tool length compensation
12.2 Tool radius compensation (TRC)
12.2.1 Direct/ indirect selection (G41/G42) of TRC
12.2.1.1 Direct selection (G41/G42)
12.2.1.2 Indirect selection (G41/G42) with G25
12.2.1.3 Indirect selection (G41/G42) with G26
12.2.2 Direct/ indirect deselection (G40) of TRC
12.2.2.1 Direct deselection (G40)
12.2.2.2 Indirect deselection (G40) with G25
12.2.2.3 Indirect deselection (G40) with G26
12.2.3 Perpendicular selection and deselection (G237) of TRC
12.2.3.1 Technology functions at perpendicular selection/ deselection
12.2.3.2 Technology function in single block
12.2.4 Inner corner selection (G238) of TRC
12.2.4.1 Restrictions of the inner corner selection
12.2.5 Direct selection/deselection (G239) of TRC without a block
12.2.6 Generation of compensation blocks
12.2.7 Behavior during contour change
12.2.8 Behavior during change of tool radius
12.2.9 Selection and deselection of TRC in tangential mode
12.2.10 Limits of TRC
12.2.11 Programmable additional options
13 Variables and calculation of variables
13.1 Axis specific variables (V.A.)
13.2 Spindle specific variables (V.SPDL.)
13.3 Global variables (V.G.)
13.4 Self-defined variables
13.4.1 Global, not valid after part program end (V.P.)
13.4.2 Global, valid after part program end (V.S.)
13.4.3 Local, not valid after part program end (V.L.)
13.5 External variables (V.E.)
14 Spindle programming
14.1 Configuring spindles
14.1.1 Axis parameters
14.1.2 Channel parameters
14.2 Programming in DIN syntax
14.2.1 The spindle M-functions
14.2.1.1 Move spindle (M3, M4, M5)
14.2.1.2 Positioning spindle (M19, *.POS)
14.2.2 Spindle speed (S-word)
14.2.3 Gear changing of spindles (M40 - M45)
14.2.4 Turning functions
14.2.4.1 Cutter radius compensation (G40/G41/G42)
14.2.4.2 Diameter programming (G51/G52)
14.2.4.3 Feedrate per revolution (G95)
14.2.4.4 Constant cutting speed (G96/G97/G196)
14.2.4.5 Thread cutting with endlessly rotating spindle (G33)
14.2.5 Tapping (G63)
14.2.6 C-axis machining
14.2.6.1 Machining modes
14.2.6.1.1 Mode 1: Inclusion of the spindle into the path compound
14.2.6.1.2 Mode 2: Facing
14.2.6.1.3 Mode 3: Lateral surface
14.2.6.2 Switching between C-axis modes
14.2.6.3 Tool offsets during facing and lateral surface machining
14.2.7 Gear change (G112)
14.2.8 Homing (G74)
14.2.9 Override (G167)
14.3 Programming in spindle-specific syntax
14.3.1 The spindle M-functions
14.3.1.1 Move spindle (M3/M4/M5)
14.3.1.2 Positioning spindle (M19, POS)
14.3.2 Spindle speed (REV)
14.3.3 User specific M/H-functions
14.3.4 Homing (G74)
14.3.5 Override (G167)
14.3.6 Releasing/requesting spindle axes (PUTAX/CALLAX)
14.3.7 Acceptance of tool dynamic data (GET_DYNAMIC_DATA/ DEFAULT_DYNAMIC_DATA)
14.3.8 Spindle specific feedforward control (G135, G136, G137)
14.3.9 Spindle feed link (FEED_LINK)
14.3.10 Programmable spindle override (OVERRIDE)
14.4 Change of main spindle
14.5 Synchronous spindle operation
14.6 Cross-block synchronization (Late Sync)
14.6.1 Implicit synchronization
14.6.2 Explicite synchronization
14.7 Synchronization of the spindle M-functions
14.8 PLCopen programming
14.8.1 Command MC_Home
14.8.2 Command MC_MoveAbsolute
14.8.3 Command MC_MoveAdditive
14.8.4 Command MC_MoveRelative
14.8.5 Command MC_MoveSuperImposed
14.8.6 Command MC_MoveVelocity
14.8.7 Command MC_Stop
14.8.8 Command MC_GearIn
14.8.9 Command MC_GearOut
14.8.10 Command MC_Phasing
15 Macros
15.1 Nesting macros
15.2 Use in arithmetic expressions
15.3 Separating address letter and arithmetic expression
15.4 Limitations
16 5-axis-functionality
16.1 Rotation tool center point (RTCP)
16.2 Tool length compensation (TLC)
16.3 Tool orientation (TOOL ORI CS)
16.4 Machine kinematics (KIN ID)
16.5 Positioning without compensation motion (PTP)
16.6 Coordinate systems
16.6.1 Definition of a machining coordinate system (CS)
16.6.2 Definition of a coordinate system for fixture adaptation (ACS)
16.6.3 Linkage of coordinate systems
16.6.4 Effector coordinate system (ECS)
16.6.5 Temporary transition to the machine axes coordinate system (MCS)
16.7 Auxiliary functions for coordinate transformations
16.8 Auxiliary function for the calculation of motion limits within a workpiece coordinate system
17 Programming of modulo axis
17.1 Positioning always on shortest way
18 Extended tool programming
18.1 Description of function
18.1.1 Tool-ID
18.1.2 Tool life monitoring
18.2 Programming commands and variables
18.2.1 Weighting factors for service life and service distance
18.2.2 Reading and deleting of tool life data
18.2.3 Refreshing of tool data
19 Positioning axes
19.1 Independent axes
19.2 Oscillating axes
19.3 Cartesian / kinematic transformation and positioning axes
19.3.1 Positioning and shifts
19.3.2 Restrictions
20 Axis specific programming
20.1 Selection/deselection of axis compensations in NC program
20.2 Distance control (spindle with distance touch probe)
20.3 Programmable axis override
20.4 Programmable acceleration overload
20.5 Synchronization of an axis on a coordinated motion
20.6 Programming an axis polynomial
21 Appendix
21.1 Overview of commands
21.1.1 G-functions (G..)
21.1.2 M-functions (M..)
21.1.3 Functions reserved according to DIN and ISG-extensions
21.1.4 Control block statements ($..)
21.1.5 Additional functions (#..)
21.1.6 Additional axis specific functions ([..])
21.1.7 PLC-Open functions ([MC_..])
21.1.8 Variables programming (V.)
21.1.9 Miscellaneous functions
21.1.10 Migrated NC commands
22 Literature
DOCUMENTATION ISG-kernel
Programming manual
© Copyright
ISG Industrielle Steuerungstechnik GmbH
STEP, Gropiusplatz 10
70563 Stuttgart
All Rights reserved
www.isg-stuttgart.de
support@isg-stuttgart.de
RELEASE: 05/2018
No parts of this document may be reproduced, transmitted or exploited in any form without the prior permission of Industrielle Steuer-
ungstechnik GmbH. Non-observance results in liability for damages. All rights reserved, particularly in the event of patent award or
TM-registration.
This programming manual offers a general survey of the commands and functionality of
the ISG-KERNEL-SOFTWARE available at the moment.
The availability of commands and functionality depends on the configuration and the specific
version of the real application.
Industrielle Steuerungstechnik GmbH
Table of Contents
Brief description
PROG
14
1
2
2.1
2.2
2.3
2.3.1
2.3.2
2.4
2.5
2.5.1
2.5.1.1
2.5.1.2
2.5.2
2.5.3
2.6
2.6.1
2.6.1.1
2.6.1.2
2.6.1.3
2.6.2
2.6.3
2.6.4
3
3.1
3.2
3.3
4
4.1
4.1.1
4.1.2
4.1.3
4.1.4
4.1.4.1
4.1.4.2
4.1.4.3
15
Basic principles of programming
Representation of the syntax ..........................................................................................15
Explanation of the symbols ............................................................................................15
Character- and number- formats ....................................................................................16
Character set and file format ..............................................................................................16
Numerical input ..................................................................................................................17
Structure of NC control data ...........................................................................................19
NC-block structure ...........................................................................................................20
Skipping of NC blocks '/' ....................................................................................................22
Standard skipping ..............................................................................................................22
Extended skipping (skip levels) ..........................................................................................22
Block specific comments ....................................................................................................23
Line break in NC block '\' ...................................................................................................24
Word structure .................................................................................................................25
Mathematical expressions .................................................................................................25
Integers .....................................................................................................................26
Decimal values ...................................................................................................26
Arithmetical expressions ........................................................................................26
Operations for character strings .........................................................................................32
Assigned address characters .............................................................................................36
Program examples .............................................................................................................38
Path information
39
Axis commands................................................................................................................39
Measuring systems, input and precision ranges .........................................................41
Coordinate systems .........................................................................................................42
The G-functions
47
Path preparatory functions .............................................................................................48
Rapid traverse G00 ............................................................................................................48
Linear interpolation G01 .....................................................................................................49
Circular interpolation (G02/G03) ........................................................................................50
Helical interpolation ............................................................................................................54
Simple helical interpolation ................................................................................................60
Arcs in space (G303) .........................................................................................................61
Contour line programming (#ANG) ....................................................................................63
Programming manual
Page 3
Industrielle Steuerungstechnik GmbH
PROG
Dwell (G04), (#TIME) .........................................................................................................72
4.1.5
Programmable homing (G74) ............................................................................................73
4.1.6
Coordinate preset (G92) ....................................................................................................74
4.1.7
Setting of negative software limit switch (G98) ..................................................................75
4.1.8
Setting of positive software limit switch (G99) ...................................................................76
4.1.9
Measuring functions ...........................................................................................................77
4.1.10
Measurement with multiple axes (G100) (Type 1) .............................................................78
4.1.10.1
Measurement with a single axis (G100) (Type 2) ..............................................................80
4.1.10.2
Measurement with movement to target point (G100/G106) (Type 3) ................................82
4.1.10.3
Measurement with main axis (G100) (Type 4) ...................................................................84
4.1.10.4
Measurement with interruption and jump (G310) (Type 5,6) .............................................86
4.1.10.5
Measuring travel on a fixed stop (G100) (Type 7) .............................................................87
4.1.10.6
Computation of measuring offsets (G101/G102) ...............................................................88
4.1.10.7
4.1.10.8
Edge banding (G108) .........................................................................................................90
4.1.10.8.1 Edge banding in one movement block (Method 1) ............................................................91
4.1.10.8.2 Edge banding for several movement blocks (Method 2) ...................................................92
4.1.10.8.3 Programming of residual path ............................................................................................93
4.2
Feed adaptation (G08/G09/G900/G901) ..........................................................................94
Path /Time related feed interpolation (G193/G293).......................................................97
4.3
Selection of planes (G17/G18/G19) ................................................................................99
4.4
4.5
Mirroring in plane (G21/G22/G23/G20) .........................................................................100
Mirroring with axis information (G351) ........................................................................105
4.6
Units (G70/G71) ..............................................................................................................107
4.7
4.8
Implicite subprogram calls (G80–G89/G800-G819) ....................................................108
Absolute or incremental dimensioning (G90/G91) .....................................................109
4.9
Exklusive programming ....................................................................................................109
4.9.1
4.9.2
Combined programming ..................................................................................................110
Exact stop (G60/G360/G359) .........................................................................................111
4.10
Polynomial contouring (G61/G261/G260) ....................................................................112
4.11
4.11.1
Terminological definitions ................................................................................................113
General Properties ...........................................................................................................115
4.11.2
4.11.2.1
Maximum corner distance, remaining minimum block length ..........................................115
Relevant block length .......................................................................................................116
4.11.2.2
Execution of additional blocks ..........................................................................................119
4.11.2.3
4.11.2.4
Jerk within the polynomial ................................................................................................120
Characteristic of velocity in the contouring section ..........................................................121
4.11.2.5
Parameterization of contouring modes in NC program....................................................122
4.11.3
4.11.4
Activation of contouring modes in NC program ...............................................................122
Corner deviation contouring .............................................................................................123
4.11.4.1
Corner distance contouring ..............................................................................................125
4.11.4.2
4.11.4.3
Dynamically optimized contouring ...................................................................................127
Programming manual
Page 4
Industrielle Steuerungstechnik GmbH
PROG
4.11.4.4
4.11.4.5
4.11.4.6
4.11.5
4.11.6
4.12
4.12.1
4.12.2
4.13
4.14
4.15
4.16
4.17
4.18
4.18.1
4.18.2
4.18.3
4.18.4
4.18.5
4.18.6
4.18.7
4.19
4.20
4.21
4.21.1
4.22
4.23
4.24
4.25
4.25.1
4.25.2
4.26
4.27
4.27.1
4.27.2
4.28
4.28.1
4.28.2
4.28.3
of
tool
radius
compensation
Dynamically optimized contouring with lead axis .............................................................130
Interim point contouring ...................................................................................................131
Dynamically optimized contouring of complete contour ..................................................133
Examples .........................................................................................................................136
Remarks ...........................................................................................................................141
Corner deceleration .......................................................................................................142
Setting the corner deceleration parameter values ...........................................................143
Selection and deselection of corner deceleration (G12/G13) ..........................................144
Tool radius compensation (G40/G41/G42) ..................................................................145
Selection/deselection methods
(G138/G139/G237/G238/G239/G05) ...............................................................................145
Selection of the transition of tool radius compensation (G25/G26) .........................145
Feedrate adaptation for tool radius compensation (G10/G11) ..................................146
Selection/deselection of contour masking by tool radius compensation
(G141/G140) ....................................................................................................................147
Zero offsets NPV (G53/G54/...G59) ...............................................................................148
Enhanced Zero Offset Variables ......................................................................................149
Adding / Subtracting Offsets ............................................................................................149
Access to the current zero offset .....................................................................................151
Default zero offset ............................................................................................................151
Creating zero offset groups ..............................................................................................152
Extended zero offsets (G159) ..........................................................................................153
Axes-related enabling/disabling of zero offset (G160) .....................................................154
Center point specification for circle definition (G161/G162) .....................................155
Radius programming (R, G163) ....................................................................................156
Center point offset controlling (G164/G165) ...............................................................159
Special function: circle radius compensation in combination with G164 .........................161
Feedforward control (G135/G136/G137) ......................................................................163
Weighting of maximum velocity (G128) .......................................................................164
Weighting of rapid traverse velocity (G129) ................................................................165
Parameterization of acceleration profile .....................................................................166
Acceleration weighting (G130/G131/G231) .....................................................................166
Weighting the ramp times (G132/G133/G134/G233) ......................................................167
Machining time or feedrate (G93/G94/G95/G194) .......................................................170
Inserting of chamfers and roundings (G301/G302) ....................................................171
Inserting of chamfers on the example G301 ....................................................................176
Inserting of roundings on the example G302 ...................................................................178
Manual mode ..................................................................................................................180
Selection/deselection with parallel interpolation (G201/G202) ........................................181
Selection without parallel interpolation (G200) ................................................................183
Program end (M02, M30) .................................................................................................184
Programming manual
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for current manual mode offsets and
Parametering of operating modes....................................................................................184
Operating mode Handwheel ............................................................................................184
Operating mode Continuous jog ......................................................................................185
Operating mode Incremental jog / interruptible jog ..........................................................186
Presetting of offset limits ..................................................................................................187
Example for the parameter setting of one axis in manual mode .....................................188
Requesting for offsets, command and actual values.................................................189
Requesting
V.A.MANUAL_OFFSETS[ ] ..............................................................................................190
Requesting for current command positions and filling them into V.A.ABS[ ] ...................191
Requesting for current actual positions and filling them into V.A.ABS[ ] .........................192
Requesting for current command positions of specific axes and filling them into
self-defined variables or into parameters .........................................................................193
Requesting for current actual positions of specific axes and filling them into self-
defined variables or into parameters ...............................................................................194
Gear change (G112) .......................................................................................................195
Influencing of look-ahead functionality (G115/G116/G117) .......................................196
Override (G166) ..............................................................................................................199
Cycle synchronisation at block end (G66) ..................................................................200
filling
them
into
Switching and supplementary functions (M / H / T)
201
User specific M/H-functions ..........................................................................................201
Programmed stop (M00) ..................................................................................................202
Optional stop (M01) .........................................................................................................202
Program end (M02/M30) ..................................................................................................202
Subroutine end (M17/M29) ..............................................................................................202
Axis-specific M/H-functions ..........................................................................................203
M/H functions with optional additional information ...................................................205
Tool selection (T-word) .................................................................................................206
Velocities (F-, E-)
The N-function
207
209
Subroutine techniques
210
Local sub-routines (Call LL ) ..........................................................................211
Global sub-routines (Call L ) ..........................................................................212
Parametric sub-routine call (LL / L V.E. or macro) .....................................................213
Implicit global sub-routine call at program start ........................................................216
Implicit global sub-routine call at program end ..........................................................216
Cycles as global or local sub-routines (Call L | LL CYCLE) ......................................217
Calling up block sequences (L SEQUENCE) ................................................................222
4.28.4
4.28.4.1
4.28.4.2
4.28.4.3
4.28.5
4.28.6
4.29
4.29.1
4.29.2
4.29.3
4.29.4
4.29.5
4.30
4.31
4.32
4.33
5
5.1
5.1.1
5.1.2
5.1.3
5.1.4
5.2
5.3
5.4
6
7
8
8.1
8.2
8.3
8.4
8.5
8.6
8.7
9
Parameters and parameter calculation
Programming manual
229
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PROG
9.1
9.2
10
10.1
10.1.1
10.1.2
10.1.3
10.1.3.1
10.2
10.3
10.3.1
10.3.2
10.4
10.4.1
10.4.2
11
11.1
11.1.1
11.1.1.1
11.1.1.2
11.1.1.3
11.1.2
11.1.2.1
11.1.2.2
11.1.2.3
11.2
11.3
11.4
11.5
11.6
11.7
11.8
11.8.1
11.8.2
11.9
11.9.1
11.10
11.10.1
11.10.2
11.10.3
Programming of coordinates by parameters ..............................................................232
Indirect parameters ........................................................................................................233
234
Statements for influencing the NC program flow sequence
Conditional jumps ..........................................................................................................236
The IF - ELSE - branching ...............................................................................................236
The SWITCH-branching ...................................................................................................239
The $GOTO-statement ....................................................................................................241
Parametric jump call ........................................................................................................245
Counting loops ...............................................................................................................246
Loops with running condition ......................................................................................248
Verification of running condition at the beginning of the loop ..........................................248
Verification of running condition at the end of the loop ....................................................249
Influencing of loop flow sequences .............................................................................250
The $BREAK-statement ...................................................................................................250
The $CONTINUE-statement ............................................................................................251
Special functions
252
Axis exchange commands ............................................................................................253
Standard syntax ...............................................................................................................254
Requesting of axes ..........................................................................................................254
Releasing of axes.............................................................................................................259
Definition of an axes configuration ...................................................................................261
Extended Syntax ..............................................................................................................264
Requesting of axes ..........................................................................................................265
Releasing of axes.............................................................................................................272
Definition of an axes configuration ...................................................................................274
Dwell - functionality .......................................................................................................279
Flushing NC channel .....................................................................................................279
Inter-block valid comments ..........................................................................................283
Waiting for event ............................................................................................................284
Minimum radius for tangential feedrate adaptation ...................................................285
Suppression of axis offsets ..........................................................................................287
Settings for measurement .............................................................................................288
Switching of measurement mode .....................................................................................288
Extended programming ....................................................................................................289
Position preset ...............................................................................................................292
Deselection of position preset ..........................................................................................292
Synchronous operation .................................................................................................294
Programming of axes couplings .......................................................................................294
Extended programming of axes couplings (SOFT-GANTRY) .........................................296
Selection/deselection of axes couplings ..........................................................................301
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Inquiring Coupling State and Coupling Number via Variables .........................................303
11.10.4
Messages from the NC-Program ..................................................................................304
11.11
Programming a message .................................................................................................305
11.11.1
Programming the message information ...........................................................................308
11.11.2
Including the 'Symbolic Character Strings' functionality ..................................................309
11.11.3
Writing messages into a file .............................................................................................310
11.11.4
Output of additional informations at block end .................................................................311
11.11.5
Jerk limiting slope .........................................................................................................312
11.12
Selection of the operating mode ......................................................................................313
11.12.1
Akima- spline interpolation ...........................................................................................315
11.13
Selection of spline type ....................................................................................................315
11.13.1
Selection of spline interpolation .......................................................................................315
11.13.2
Deselection of spline interpolation ...................................................................................316
11.13.3
Specification of the type of transition ...............................................................................317
11.13.4
Definition of start tangent .................................................................................................318
11.13.5
Definition of end tangent ..................................................................................................318
11.13.6
B- spline interpolation ...................................................................................................321
11.14
Selection of spline type ....................................................................................................321
11.14.1
Selection of spline interpolation .......................................................................................321
11.14.2
Deselection of spline interpolation ...................................................................................322
11.14.3
Free form surface operation .........................................................................................324
11.15
11.15.1
Standard HSC programming ............................................................................................325
11.15.1.1 Available operation modes ...............................................................................................326
11.15.1.2 Additional parameters ......................................................................................................329
Extended HSC programming ...........................................................................................330
11.15.2
11.15.2.1
Trimming a contour ..........................................................................................................332
11.15.2.2 Surface machining with surface optimizer .......................................................................334
Filter programming ...........................................................................................................337
11.15.3
11.16
Writing and reading SERCOS parameters and commands .......................................339
11.16.1
SERCOS parameters (IDENT) ........................................................................................339
11.16.1.1 Non-synchronized writing of a parameter (IDENT) ..........................................................339
11.16.1.2 Non-synchronized reading of a parameter (IDENT) ........................................................340
11.16.1.3 Synchronized writing of a parameter (IDENT) .................................................................341
11.16.2
SERCOS commands (COMMAND) .................................................................................342
11.16.2.1 Non-synchronized writing of a command (COMMAND) ..................................................342
11.16.2.2 Synchronized writing of a command (COMMAND) .........................................................343
11.16.2.3 Non-synchronized waiting of a command (COMMAND) .................................................344
11.16.2.4 Synchronized waiting of a command (COMMAND).........................................................345
Channel synchronization ..............................................................................................347
11.17
Sending signals ................................................................................................................349
11.17.1
11.17.2
Clearing broadcast signals ...............................................................................................351
Programming manual
Page 8
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