Rexroth IndraMotion Edition 01 MTX 12VRS Block Pre-Run

Application Manual

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Linear Motion and Assembly TechnologiesHydraulics

Rexroth IndraMotionMTX 12VRSBlock Pre-Run

R911334379Edition 01

Rexroth IndraMotionMTX 12VRSBlock Pre-Run

Application Manual

DOK-MTX***-BLK*RUN*V12-AP01-EN-P

RS-4d75031e9b3952b40a6846a000b081fc-1-en-US-4

This documentation explains the configuration of the "block pre-run" functionand provides information about the use of this functionality.

Edition Release Date Notes

Edition 01 05.2011 First edition for 12VRS

Copyright © Bosch Rexroth AG 2011Copying this document, giving it to others and the use or communication of thecontents thereof without express authority, are forbidden. Offenders are liablefor the payment of damages. All rights are reserved in the event of the grant ofa patent or the registration of a utility model or design (DIN 34-1).

Validity The specified data is for product description purposes only and may not bedeemed to be guaranteed unless expressly confirmed in the contract. All rightsare reserved with respect to the content of this documentation and the availa‐bility of the product.

Published by Bosch Rexroth AGBgm.-Dr.-Nebel-Str. 2 ■ 97816 Lohr a. Main, GermanyPhone +49 (0)93 52/ 40-0 ■ Fax +49 (0)93 52/ 40-48 85http://www.boschrexroth.com/System Development MTX, OsIl (FrWe/PiGe)

Note This document has been printed on chlorine-free bleached paper.

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Bosch Rexroth AG DOK-MTX***-BLK*RUN*V12-AP01-EN-P Rexroth IndraMotion MTX 12VRS Block Pre-Run

Table of ContentsPage

1 About this Documentation.............................................................................................. 31.1 Validity of the Documentation................................................................................................................. 31.2 Required and Supplementing Documentations...................................................................................... 31.2.1 Selecting.............................................................................................................................................. 31.2.2 Configuring.......................................................................................................................................... 31.2.3 Commissioning.................................................................................................................................... 41.2.4 Operating............................................................................................................................................. 51.2.5 Maintenance........................................................................................................................................ 51.2.6 OEM Engineering................................................................................................................................ 61.2.7 Add-Ons.............................................................................................................................................. 61.3 Representing Information....................................................................................................................... 61.3.1 Safety Instructions............................................................................................................................... 61.3.2 Symbols Used..................................................................................................................................... 71.3.3 Names and Abbreviations................................................................................................................... 7

2 Important Instructions for Use........................................................................................ 92.1 Appropriate Use...................................................................................................................................... 92.1.1 Introduction.......................................................................................................................................... 92.1.2 Areas of Use and Application.............................................................................................................. 92.2 Inappropriate Use................................................................................................................................. 10

3 Block Pre-Run.............................................................................................................. 113.1 General Information about the Block Pre-Run...................................................................................... 113.1.1 Term Definition.................................................................................................................................. 113.1.2 Defining the Scope of the Block Search............................................................................................ 123.2 Block Pre-Run Approach...................................................................................................................... 133.2.1 Enabling the Block Pre-Run.............................................................................................................. 133.2.2 Operations During the Computation.................................................................................................. 143.3 Configuring the Block Pre-Run............................................................................................................. 163.3.1 System Data...................................................................................................................................... 16

Description...................................................................................................................................... 16Overview of the System Data for the Block Pre-Run...................................................................... 16Important System Data for Configuring the Block Pre-Run............................................................ 20

3.3.2 Adjusting Modal NC Functions "Adjust, ADJ".................................................................................... 233.3.3 PLC Bit Interface............................................................................................................................... 263.4 Block Pre-Run Applications.................................................................................................................. 283.4.1 Manual Input...................................................................................................................................... 283.4.2 Reentry Marks RCB Marks................................................................................................................ 293.4.3 Init Adjustment Program "InitAdjPrg"................................................................................................. 303.5 Boundary Conditions and Dependencies............................................................................................. 313.5.1 Functional Restrictions...................................................................................................................... 313.5.2 Look Ahead....................................................................................................................................... 313.5.3 Entering Subroutines......................................................................................................................... 32

DOK-MTX***-BLK*RUN*V12-AP01-EN-P Rexroth IndraMotion MTX 12VRS Block Pre-Run

Bosch Rexroth AG I/43

Table of Contents

5.4 Feed Programming (per Revolution) "G95"....................................................................................... 323.6 Examples.............................................................................................................................................. 323.6.1 Axis Configuration and Coordinate Configuration............................................................................. 323.6.2 Adjusting the Spindle......................................................................................................................... 323.6.3 Spindle Coupling............................................................................................................................... 353.6.4 Tools.................................................................................................................................................. 363.6.5 NC Functions..................................................................................................................................... 373.6.6 Auxiliary Functions............................................................................................................................ 373.6.7 Individual Axis Adjustment with G77................................................................................................. 37

4 Service and Support.................................................................................................... 39

Index............................................................................................................................ 41


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Table of Contents

1 About this Documentation1.1 Validity of the Documentation

Target group This documentation is directed at machine manufacturers wanting to effectivelyuse the "block pre-run" function as well as at machine operators wanting tomachine an incomplete workpiece using the "block pre-run" function after aprogram has been interrupted.This documentation supports the user during the following phases:● Engineering and● Operation

1.2 Required and Supplementing Documentations1.2.1 Selecting

Documentation titles with type designation codes and parts numbers

Rexroth IndraMotion MTX xxVRS System DescriptionDOK-MTX***-SYS*DES*V12-PRxx-EN-P, R911334367This documentation describes the Rexroth IndraMotion MTX control. It includes the designs, technical data, interfaces as wellas the configuration of the control components.

xx Respective version or editionFig.1-1: MTX documentation overview - Selecting

1.2.2 ConfiguringDocumentation titles with type designation codes and parts numbers

Rexroth IndraMotion MTX xxVRS Functional DescriptionDOK-MTX***-NC*FUNC*V12-RExx-EN-P, R911334355This documentation describes the functions of the Rexroth IndraMotion MTX. The basic commissioning steps and the functionsof the control are given as description and handling instruction.

Rexroth IndraMotion MTX xxVRS Machine ParametersDOK-MTX***-MA*PAR**V12-RExx-EN-P, R911334363This documentation describes handling, design and modification of the Rexroth IndraMotion MTX parameters available. Italso includes the functions of the NC Configurator and its operation.

Rexroth IndraMotion MTX xxVRS PLC InterfaceDOK-MTX***-PLC*INT*V12-PRxx-EN-P, R911334381This documentation describes interface signals and program function blocks for the integrated PLC.

xx Respective version or editionFig.1-2: MTX documentation overview - Configuring


Bosch Rexroth AG 3/43

About this Documentation

1.2.3 CommissioningDocumentation titles with type designation codes and parts numbers

Rexroth IndraWorks xxVRS Software InstallationDOK-IWORKS-SOFTINS*V12-COxx-EN-P, R911334396This documentation describes the IndraWorks installation.

Rexroth IndraWorks xxVRS EngineeringDOK-IWORKS-ENGINEE*V12-APxx-EN-P, R911334388This documentation describes the application of IndraWorks in which the Rexroth Engineering tools are integrated. It includesinstructions on how to work with IndraWorks and how to operate the oscilloscope function.

Rexroth IndraMotion MTX xxVRS CommissioningDOK-MTX***-STARTUP*V12-COxx-EN-P, R911334377This documentation describes the commissioning of the IndraMotion MTX control. Apart from a complete overview, commis‐sioning and configuration of the axes and the user interface as well as the PLC data are described.

PLC program development with Rexroth IndraLogicDOK-CONTRL-IL**PRO*V01-AWxx-EN-P, R911305036This documentation describes the operating and programming interface IndraLogic.

Rexroth IndraWorks xxVRS Basic Libraries IndraLogic 1GDOK-IL*1G*-BASLIB**V11-LIxx-EN-P, R911332305This documentation describes the system-comprehensive PLC libraries.

Rexroth IndraWorks xxVRS IndraLogic 2G Programming InstructionDOK-IWORKS-IL2GPRO*V12-APxx-EN-P, R911334390This documentation describes the PLC programming tool IndraLogic 2G and its application. It includes the basic usage, firststeps, visualization, menu items and editors.

Rexroth IndraWorks 12VRS Basic Libraries IndraLogic 2GDOK-IL*2G*-BASLIB**V12-LIxx-EN-P, R911333835This documentation describes the system-comprehensive PLC libraries.

Rexroth IndraWorks xxVRS HMIDOK-IWORKS-HMI*****V12-APxx-EN-P, R911334392This documentation describes the functions, configuration and operation of the user interfaces IndraWorks HMI Engineeringand IndraWorks HMI Operation.

Rexroth IndraWorks xxVRS WinStudioDOK-IWORKS-WINSTUD*V12-APxx-EN-P, R911333844This documentation describes the installation of the software, working with WinStudio and the creation and operation ofapplications.

Rexroth IndraWorks xxVRS FDT ContainerDOK-IWORKS-FDT*CON*V12-APxx-EN-P, R911334398This documentation describes the IndraWorks FDT Container functionality. It includes the activation of the functionality in theproject and working with DTMs.

Rexroth IndraWorks xxVRS SimulationDOK-IWORKS-SIMU****V10-AWxx-EN-P, R911327491This documentation describes the functions of the simulation components View3D, virtual control panel, virtual control and itsoperation in IndraWorks.

xx Respective version or editionFig.1-3: MTX documentation overview - Commissioning


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1.2.4 OperatingDocumentation titles with type designation codes and parts numbers

Rexroth IndraMotion MTX xxVRS Standard NC OperationDOK-MTX***-NC*OP***V12-APxx-EN-P, R911334371This documentation describes the operation of the standard user interface of the NC control of the Rexroth IndraMotion MTX.It includes the operation of the interface, the NC program development as well as the tool management.

Rexroth IndraMotion MTX xxVRS Programming ManualDOK-MTX***-NC**PRO*V12-RExx-EN-P, R911334359This documentation describes the standard programming of the Rexroth IndraMotion MTX control. Apart from the basics ofthe NC programming, the usage of NC functions according to DIN 66025 as well as the NC functions with high-level languagesyntax and CPL functions are described.

Rexroth IndraMotion MTX xxVRS Standard NC CyclesDOK-MTX***-NC*CYC**V12-PRxx-EN-P, R911334375This documentation describes the application of the standard cycles of the different technologies for Rexroth IndraMotion MTXcontrol.

Rexroth IndraMotion MTX xxVRS Shop Floor Programming Turning and MillingDOK-MTX***-SF*PROG*V09-AWxx-EN-P, R911324377This documentation describes the operation and programming of the graphical NC interface.

Rexroth IndraMotion MTX xxVRS Block Pre-RunDOK-MTX***-BLK*RUN*V12-APxx-EN-P, R911334379This documentation explains to the machine manufacturer how to setup the "Block pre-run" function at the machine for theend user.

xx Respective version or editionFig.1-4: MTX documentation overview - Operating

1.2.5 MaintenanceDocumentation titles with type designation codes and parts numbers

Rexroth IndraMotion MTX xxVRS Diagnostic MessagesDOK-MTX***-DIAGMES*V11-RExx-EN-P, R911332311This documentation provides an overview on errors, warnings and messages within the Rexroth IndraMotion MTX control.

xx Respective version or editionFig.1-5: MTX documentation overview - Maintenance




1.2.6 OEM EngineeringDocumentation titles with type designation codes and parts numbers

Rexroth IndraMotion MTX xxVRS OPC CommunicationDOK-MTX***-OPC*COM*V12-PRxx-EN-P, R911334385This documentation describes the syntax and the structure of the items for the communication with Bosch Rexroth devices.

Rexroth IndraMotion MTX xxVRS Integration of OEM ApplicationsDOK-MTX***-DEV*KIT*V09-AWxx-EN-P, R911324355This documentation is intended to assist the integration of OEM applications in the IndraWorks MTX.

Rexroth IndraMotion MTX xxVRS Automation InterfaceDOK-MTX***-AUT*INT*V12-APxx-EN-P, R911334842This documentation describes the script-based access on the IndraWorks project data via the interface of the AutomationInterface. Different objects including code examples are described. The Automation Builder is described afterwards.

xx Respective version or editionFig.1-6: MTX documentation overview - OEM engineering

1.2.7 Add-OnsDocumentation titles with type designation codes and parts numbers

Rexroth IndraMotion MTX xxVRS Efficiency Work Bench MTX cta, MTX egaDOK-MTX***-EWB*****V12-APxx-EN-P, R911333909This documentation describes the mode of operation and the use cases of the analysis tool IndraMotion MTX cta andIndraMotion MTX ega.

Rexroth IndraMotion MTX xxVRS Action RecorderDOK-MTX***-ACR*****V11-APxx-EN-P, R911329943This documentation describes the MTX action recorder. It includes the installation and commissioning as well as interfacesignals, application and operation.

Rexroth IndraMotion MTX xxVRS RCMDOK-MTX***-RCM*****V01-APxx-EN-P, R911334383This documentation describes the operation of the Remote Condition Monitoring System.

xx Respective version or editionFig.1-7: MTX documentation overview - AddOns

1.3 Representing Information1.3.1 Safety Instructions

The safety instructions available in the user documentations contain certainsignal words (Danger, Warning, Caution, Notice) and if applicable, signal alertsymbols (acc. to ANSI Z535.6-2006).The signal word should direct the attention to the safety instructions. It indicatesthe severity of the hazard.The signal alert symbol (warning triangle with exclamation mark) positioned infront of the signal words Danger, Warning and Caution indicates hazards forindividuals.


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DANGER

In case of non-compliance with this safety instruction, death or serious injurywill occur.

WARNING

In case of non-compliance with this safety instruction, death or serious injurycould occur.

CAUTION

In case of non-compliance with this safety instruction, minor or moderate injurycould occur.

NOTICEIn case of non-compliance with this safety instruction, property damages canoccur.

1.3.2 Symbols UsedNote Notes are represented as follows:

This is a note for the user.

Tip Tips are represented as follows:

This is a tip for the user.

1.3.3 Names and AbbreviationsTerm Explanation

IWE IndraWorks Engineering

IWO IndraWorks Operation

OWG Optical waveguide

NC Numerical Control

OEM Original Equipment Manufacturer

Fig.1-8: Names and abbreviations used





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2 Important Instructions for Use2.1 Appropriate Use2.1.1 Introduction

Bosch Rexroth products represent state-of-the-art developments and manu‐facturing. They are tested prior to delivery to ensure operating safety andreliability.The products may only be used in the manner that is defined as appropriate. Ifthey are used in an inappropriate manner, then situations can develop that maylead to property damage or injury of personnel.

Bosch Rexroth, as manufacturer, is not liable for any damages re‐sulting from inappropriate use. In such cases, the guarantee andthe right to payment of damages resulting from inappropriate useare forefeited. The user alone carries all responsibility of the risks.

Before using Bosch Rexroth products, make sure that all the pre-requisites forappropriate use of the products are satisfied:● Personnel that in a way, shape or form uses our products must first read

and understand the relevant safety instructions and be familiar with ap‐propriate use.

● If the product takes the form of hardware, then they must remain in theoriginal state, in other words, no structural changes are permitted. It its notpermitted to decompile software products or alter source codes.

● Do not mount damaged or faulty products or use them in operation.● Make sure that the products have been installed in the manner described

in the relevant documentation.

2.1.2 Areas of Use and ApplicationThe Rexroth IndraMotion MTX control is used to● Programming contour and machining technology (feedrate, spindle

speed, tool change) or a workpiece.● Guiding a machining tool along a programmed path.Feed drives, spindles and auxiliary axes of a machine tool are activated viaSERCOS interface.

This additionally requires I/O components for the integrated PLCwhich, in combination with the actual CNC, controls the machiningprocess as a whole and also monitors this process with regard totechnical safety.The unit may be operated only with the explicitly specified hardwarecomponent configurations and combinations and only with the soft‐ware and firmware specified in the appropriate documentations andfunctional descriptions.

The Rexroth IndraMotion MTX has been developed for control tasks in multi-axis installations.Typical applications are:● lathes● milling machines



Important Instructions for Use

● machining centers

2.2 Inappropriate UseUsing the Rexroth IndraMotion MTX outside of the above-referenced areas ofapplication or under operating conditions other than described in the documentand the technical data specified is defined as "inappropriate use".The Rexroth IndraMotion MTX may not be used if ...● they are subject to operating conditions that do not meet the above speci‐

fied ambient conditions. This includes, for example, operation under wa‐ter, in the case of extreme temperature fluctuations or extreme maximumtemperatures or if

● Bosch Rexroth has not specifically released Rexroth IndraMotion MTX forthat intended purpose. Please note the specifications outlined in the gen‐eral safety instructions!


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Important Instructions for Use

3 Block Pre-Run3.1 General Information about the Block Pre-Run3.1.1 Term Definition

Block pre-runWhen machining a workpiece, situations can occur (tool breakage, peripheryerror, etc.) that result in a program interruption and an NC program restart. Inmost cases, the workpiece is not severely damaged by interrupting the ma‐chining. Machining can be continued after the cause for interruption has beenfound and fixed.Machining would have to be restarted without the "Block pre-run" function. Thealready processed program part would unnecessarily be traversed again. Toreduce the machining time, the machine operator selects an NC block as targetblock close to the point of interruption (can also be in a subroutine), to resumemachining at this point.IndraMotion MTX recalculates the entire NC program from program start up tothis target block (computation), without generating axis motions or auxiliaryfunctions. However, the logic status of the control is modified to how it wouldhave been like in case of a regular program run at the target block. For example,the modal NC functions, the programmed velocities and the speed are set cor‐rectly so that machining at the selected target block can be resumed.

ComputationProcessing the NC program from start block to the selected target block withoutgenerating axis motions or auxiliary functions is called computation. It can bequeried in the NC program if a program is processed or if a computation iscurrently executed. The computation generally ends with the last NC blockbefore the selected target block. Thus, the preconditions to start the interruptedprogram with the target block are created.

AdjustmentAfter reaching the target block, it has to be ensured that the physical machinestatus corresponds to the logic status of the control. The axes have to traversedfrom their current actual position to the command position of the NC programcalculated during the block pre-run. Simultaneously, the spindles have to reachthe last commanded speeds, directions of rotation and states again. All modalNC functions have to be restored. The states are automatically adjusted by theNC as well as by executing special adjustment programs. Optionally, individualadjustment functions can be triggered by manual input. Information for the userwhich adjustment actions have to be used are provided on special adjustmentscreens. Subsequently, the NC program is continued at the target block as if ithas been started without a block pre-run.

OperationThe block pre-run is enabled via an M-key in the standard application.



Block Pre-Run

Fig.3-1: Enable block pre-runAlso see the documentation "IndraMotion MTX Standard NC Operation", chap‐ter "Block Search/Block Pre-Run".

3.1.2 Defining the Scope of the Block SearchBlock search By means of the block search, the user can start the selected part program from

a defined program block. The selected program has to be set to program startso that the user can select the target block. This function acts like an absolutebranch from the start of the program to the target block. This means that allother statements are ignored.After an "NC start" has been triggered, the program processing is started at thisblock, based on the current machine and control states. All preceding blocksare not executed. They are not taken into consideration with regard to theircontent.The settings can be selected under "MDI operation" if conditions have to beavailable at the machine.


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Block Pre-Run

Differentiating between blocksearch and block pre-run

The "block pre-run" functionality runs through the entire part program and itssubroutines, from start to target block and considers all programmed modalconditions, corrections and system settings that have been programmed up tothis point. As in the block search, no axes are moved and no auxiliary functionsare output.

3.2 Block Pre-Run Approach3.2.1 Enabling the Block Pre-Run

The block pre-run can be called via M-keys after a program has been selected.The target block is selected using the "Apply Block" function key that simulta‐neously starts the computation...

Fig.3-2: Apply block…and changes to the screen "Machine" after the computation has been com‐pleted successfully. Due to individual configurations, an additional adjustmentis required for the individual areas before the actual approaching motion. Thisadjustment is represented by an additional symbol.



Block Pre-Run

Fig.3-3: Adjustment screen

More information about the individual adjustment groups (axes,spindles, etc.) can be obtained by using the left M-keys.

In this state, an "NC start" triggers a block pre-run that optionally starts with theadjustment before the approaching motion.

3.2.2 Operations During the ComputationSchematic representation


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Block Pre-Run

Fig.3-4: Block pre-run adjustmentSequence

The computation is defined by its specifications in the system data in the blockpre-run operating mode (see chapter 3.3 Configuring the Block Pre-Run, page16). The control-internal block preparation recalculates itself and executed a"Delete Distance to Go". Subsequently, the adjustment conditions are executedaccording to the configured system data before executing an approaching mo‐tion to the target block.The adjustment conditions are implemented in two steps:● 1. Generate program conditions (states) before or in the target block● 2. Optionally add supplementing conditionsThe basic conditions of all program blocks up to the target block are fulfilled,starting with the "initialization status" and the "InitAdjustPrg" adjustment pro‐gram. Important for the basic conditions are the axis, coordinate and spindleconfiguration. Furthermore, the NC functions, tools and if required the auxiliaryfunctions have to be adjusted. After having executed the InitAdjustPrg, specialfunctions and states can be manually adjusted via an optional system date"manual input". If this option is used, an "NC start" has to be set after the Ini‐tAdjustPrg to continue the adjustment in the block pre-run.Once the first step of the adjustment is completed, it is verified if the axis con‐figuration has been adjusted to the target block status.The now saved status at the start of the target block is used again in the control-internal block preparation. If individual states cannot be adjusted, error mes‐sages are reported or - worst case scenario - the machine fails to operatecorrectly.In the second step, more actions such as e.g. auxiliary function can be option‐ally enabled in an action block and/or an additional adjustment program "Tar‐getAdjustPrg". To complete the adjustment in the block pre-run, an approachingmotion occurs, i.e. the axes are automatically positioned to their target position(position adjustment). Some modal NC function groups have been adjustedautomatically if they have been changed in the action block or under "Targe‐tAdjustPrg".



Block Pre-Run

All axes to be adjusted are traversed simulta‐neously.

CAUTION

If this is not possible, the axes have to be adjusted manually via G77 in Tar‐getAdjustPrg, see example.

3.3 Configuring the Block Pre-Run3.3.1 System DataDescription

The block pre-run is parameterized by means of the system data. All settingsand status queries are saved in the system data structures.Only the most important system data relevant to the block pre-run are describedin detail in this documentation.

Overview of the System Data for the Block Pre-RunFor more information, see the documentation "IndraMotion MTX Machine Pa‐rameter", chapter "System Data".

Block pre-run data for axes "/Sy‐sAxSRun"

Structure element Description

Adjusted Axis adjusted

NotAdjusted Axis not adjusted

PosAdjusted Axis position adjusted

PosNotAdjusted Axis position not adjusted

ConfAdjusted Channel assignment adjusted

ConfNotAdjusted Channel assignment not adjusted

ReqPosAdjust Position adjustment required

TargChan Target channel

ReleaseChan Release channel

Fig.3-5: Overview on structure elements SysAxSRunSpindle block pre-run data "/

SysChSpSRun"The system data structure "SysChSpSRun" is created for each channel in thevolatile memory.The system data structure consists of three parts:General data (SysChSpSRun):


MaxSpNumber Highest spindle number available in the channel

PrgSpNumber Highest programmed spindle number in pre-run

PrgCpNumber Highest programmed coupling number in pre-run

ConstCutStatus Adjust G-function group G96/97

SpeedStr Speed syntax of a spindle

MoveStr Movement syntax of a spindle


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Block Pre-Run


GearStr Gear syntax of a spindle

SpConfNotAdjusted Spindle configuration adjustment required

Fig.3-6: Overview on structure elements "SysChSpSRun" (general data)Data for channel spindles (SysChSpSRun.Sp[<ChannelSpindleNumber>]):


SysSpNo System spindle number

DriveNo Drive number

IsProg Spindle programmed in pre-run

NotAdjusted Adjustment required

MoveNotAdj Adjustment status of the movement function

GearNotAdj Adjustment status of the gear

SpeedNotAdj Adjustment status of the speed

LimitNotAdj Adjustment status of the speed limitation

CcvNotAdj Adjustment status of the G96 state

CAxisNotAdj Adjustment status of c-axis required

OpModeNotAdj Adjustment status of the drive operation mode

CpDataNotAdj Adjustment status of the coupling data

CoupleNotAdj Adjustment status of the coupling state

Move Movement function

Gear Gear level

AutoGearShift Automatic gear shifting

CAxisOn Switch on c-axis

CAxisType C axis type

CcvOn Switch on constant cutting velocity

CcvAxis Channel reference axis for constant cutting velocity

CcvCoordSystem Coordinate system for constant cutting velocity

PosCtrlOn activates positioning interface

OriPos Orientation position

CcvVelocity Cutting velocity

ProgSpeed Programmed speed

ProgMinSpeed Minimum speed

ProgMaxSpeed Maximum speed

CoupleDistance Coupling distance

SyncWindow Synchronization window for coupling

SyncErrorWindow Synchronization window error for coupling



Block Pre-Run


CouplePosOffset Angular offset in case of active coupling

CouplePosOffsetSpeed Speed to approach the angular offset

Fig.3-7: Overview on structure elements "SysChSpSRun" (data for channel spin‐dles)

Data for spindle couplings (SysChSpSRun.Cp[<CouplingNumber>]):


IsProg Couple link programmed in pre-run

NotAdjusted Adjustment status of spindle coupling

CoupleOn Switch on couple link

Master Channel spindle number of the master spindle

Slave[1..8] Channel spindle number of the slave spindle

Fig.3-8: Overview on structure elements "SysChSpSRun" (data for spindle cou‐plings)

Channel-specific block pre-run data"/SysChSRun"


Prep/ChAxNames[1..8] Channel axis names in the block preparation

Act/ChAxNames[1..8] Active channel axis names in adjustment

Targ/ChAxNames[1..8] Channel axis names in the target block

PosAdjust[1..8] Axis names for position adjustment

TargPos[1..8] Target Position of the Approaching Block

AcsTargPos[1..8] Target position in the axis coordinate system

ActAxConf[1..8] current axis configuration in adjustment

PrepAxConf[1..8] Axis configuration in the block preparation

TargAxConf[1..8] Axis configuration in the target block

TechAxAdjust Technological axis adjustment

Active Computation active

TargAdjPrgActive Target block adjustment program (TargAdjPrg) active

InitAdjPrgActive Init adjustment program (InitAdjPrg) active

LookAheadPreRun Block pre-run Active in Look-Ahead Range after TargetBlock

ChanNotAdjusted Channel is not adjusted

NcfNotAdjusted Modal NC functions are not adjusted

AuxNotAdjusted Modal auxiliary functions are not adjusted

AxConfNotAdjusted Axis configuration is not adjusted

CoordNotAdjusted Axis transformation is not adjusted

ActStatus Active adjustment state

TargBlkSrc Target Block Code


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Block Pre-Run


TargetBlkAvailable Backed up target block available

LockTargBlock Target blocks locked

Fig.3-9: Overview on structure elements "SysChSRun"Data of the repositioning logic "/

SysReentry"


FeedVal Individual return to path velocity

OptFeedVal Optional velocity if no feed was programmed

TangCircleRadius Return to path radius

NameOfAsup Adjustment program name of the return to path logic(ReentryAsup)

Approach Return to contour

FeedMode Return to path velocity selection

AsupActive Adjustment program of the return to path logic(ReentryAsup) active

Fig.3-10: Overview on structure elements "SysReentry"General block pre-run data "/SysS‐

Run"


LockWarning Note Text for Locked Target Block

NameOfAsup Name of target block adjustment program (Asup)

NameOfInitAdjPrg Name of the Init adjustment program

ActionBlock Action block

Timeout Runtime monitoring for block pre-run

RetPaStrategy Approaching strategy after block pre-run

TargetBlkCheck Backed up point of interruption available

ManWaitForStart Manual data input after block pre-run

Fig.3-11: Overview on structure elements "SysSRun"Active and preselected tool forblock pre-run "/SysToolSRun"


ActTool.K1 Tool data element K1 of the active tool

ActTool.K2 Tool data element K2 of the active tool

ActTool.SKQ Tool data element SKQ of the active tool

ActTool.IKQ1 Tool data element IKQ1 of the active tool



ActTool.IQ1 Tool data element IQ1 of the active tool




Block Pre-Run



ActTool.BQ1 Tool data element BQ1 of the active tool



PreTool.K1 Tool data element K1 of the prepared tool

PreTool.K2 Tool data element K2 of the prepared tool

PreTool.SKQ Tool data element SKQ of the prepared tool

PreTool.IKQ1 Tool data element IKQ1 of the prepared tool



PreTool.IQ1 Tool data element IQ1 of the prepared tool



PreTool.BQ1 Tool data element BQ1 of the prepared tool



TargEd Number of the active edge in the target block

TargDNr Number of the active D correction in the target block

TCorrNotAdj Tool correction not adjusted

Fig.3-12: Overview on the structure elements "SysToolSRun"

Important System Data for Configuring the Block Pre-RunFor more information, see the documentation "IndraMotion MTX Machine Pa‐rameter", chapter "System Data".

Computation active Active

Provides the channel-specific information that the computation of block pre-runis active in the channel.By querying in the program, NC or CPL parts (such as a tool change or modi‐fications in the database) can be hidden during the computation.

Path /SysChSRun[<Channel>]/ActiveDescription of parameter values 0 Block pre-run is not active.

1 Block pre-run is active.

Lock target blocks LockTargBlock

Areas can be blocked for the target block selection in the parts program of therespective channel.In the part program, areas in which no target blocks are permissible can thusbe locked. When the lock is enabled, the target block is accepted, but an NCstart is not executed. In this case, either a general warning or – if available – anindividual message (see /SysSRun/LockWarning system date) is output. Theblock pre-run cannot be continued on another target block.The date is generally written in the NC program.


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Block Pre-Run

Path /SysChSRun[<Channel>]/LockTargBlockDescription of parameter values 0 Target blocks are not disabled.

1 Target blocks are disabled.

Individual repositioning velocity FeedVal

Specifies an individual repositioning velocity. It becomes active if the value 2 isentered in "/SysReentry/FeedMode".The value can be modified in the part program.

Path /SysReentry/FeedValDescription of the variable values Approaching velocity

Optional repositioning velocity OptFeedVal

Specify an optional repositioning velocity. The velocity becomes active if a val‐ue of 1 is entered in "/SysReentry/FeedMode" and no valid F-value becomesactive in the interruption block or if time programming is active (G93).If an invalid value is parameterized for the optional repositioning velocity, theemergency strategy to use the low jog velocity of the respective first axis in thechannel as optional repositioning velocity is used.It is recommended to enter an adequate velocity value. The value can also beentered in the part program.

Path /SysReentry/OptFeedValDescription of the variable values Approaching velocity

Repositioning velocity selection FeedMode

Defines how the approaching velocity is to be determined.The value can be modified in the part program.

Path /SysReentry/FeedModeDescription of the variable values 0 Approaching velocity = jog velocity

1 Approaching velocity = active feed in the interruption block(programmed feed)

2 Approaching velocity = value from "/SysReentry/FeedVal"

Note for locked target block LockWarning

Defines an individual note if the target block is locked.If no specification has been made, the general warning "This target block islocked." is displayed in the selected language. The identification "%s" can beused in the text. It is replaced by the general warning.

Path /SysSRun[<Channel>]/LockWarningDescription of the variable values <EmptyString> If the target block is locked, a general warning is output.

<Note> If the target block is locked, this note is output.

Name of the target block adjustment program NameOfAsup

Defines the name including the path specification of the program to be calledas target block adjustment program.If no program is specified, no target block adjustment program is called beforethe approaching motion.

Path /SysSRun[<Channel>]/NameOfAsup



Block Pre-Run

Description of the variable values <EmptyString> No target block adjustment program is called before theapproaching motion.

<Valid program name> The indicated target block adjustment program is calledbefore the approaching motion.

Name of the Init adjustment program NameOfInitAdjPrg

Defines the path and name of the subroutine that is to be called as the initiali‐zation adjustment program.If no subroutine is specified, no Init adjustment program is called before theapproaching motion.

Path /SysSRun[<Channel>]/NameOfInitAdjPrgDescription of the variable values <EmptyString> No Init adjustment program is called before the approach‐

ing motion.

<Valid program name> The indicated Init adjustment program is called before theapproaching motion.

Action block ActionBlock

Defines an action block for each channel.If an NC block is specified, it is processed at the start of machining after a blockpre-run and before the start of the adjustment program which is also defined.

Path /SysSRun[<Channel>]/ActionBlockDescription of the variable values <EmptyString> No action block available.

<Action block> When machining is started after block pre-run, the defined actionblock is processed first.

Runtime monitoring for block pre-run Timeout

Allows canceling the block pre-run in the respective channel after the monitor‐ing time has elapsed.The runtime monitoring can be used if a target block was skipped in a programdue to an unfulfilled condition and if the block pre-run is not automatically closeddue to an endless loop in the program. Programs containing potential endlessloops should set this system date to a sufficiently high value at the beginningand subsequently restore it.

If the control load is high, the block pre-run might be canceled in‐correctly in case of a timeout and if the timeout value is set to onlya slightly higher value than the block pre-run runtime of the unloa‐ded control.Set a sufficient high value or completely disable monitoring.

Path /SysSRun[<Channel>]/TimeoutDescription of the variable values 0 The runtime monitoring is deactivated.

> 0 The runtime monitoring is active (e.g. 10000 ms).

ActTool.K1 ActTool.K1

Tool data element K1 of the active toolPath /SysTool[<Channel>]/ActTool/K1


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Block Pre-Run

The date can be freely assigned. Usually it is used for the sectorselection and is e.g. used to differentiate between spindle, gripperand tool list.

ActTool.K2 ActTool.K2

Tool data element K2 of the active toolPath /SysTool[<Channel>]/ActTool/K2

The date can be freely assigned. Usually, the date is used to selectthe position. It is used to divide the sectors into positions.

Number of the active edge in the target block TargEd

Number of the active edge in the target block.Path /SysToolSRun[<Channel>]/TargEd

Description of the variable values 0 No edge active1..16 Number of the active edge in the target block

Number of the active D-correction in the target block TargDNr

Number of the active D-correction in the target block.Path /SysToolSRun[<Channel>]/TargDNr

Description of the variable values 0 No correction active1..99 Number of the active D-correction in the target block

3.3.2 Adjusting Modal NC Functions "Adjust, ADJ"Description: Using the adjustment function "Adjust", modal NC functions within the adjust‐

ment programs can be comfortably adjusted after block pre-run. The syntax ofa modal NC function is provided as parameter to the adjustment function. Thecontrol enables the NC function in the respective modal group in front of thetarget block of the block pre-run.

Syntax: ADJ(<NCF Name>)<NCF Name> Syntax of a modal NC function of the group that should

be adjusted.

Fig.3-13: ADJ syntax

Example: ADJ(G0)The modally effective geometry function (G0, G1, G2, G3...) before the targetblock becomes active and thus the NC function group is adjusted.The function-specific parameters for the NC functions listed in the following areadjusted simultaneously:

Modal group NC functions Supported parameters

Interpolation func‐tions

G0 Polar programming and exact stop window(NIPS, IPS<n>)

G1 Polar programming and exact stop window(IPS<n>)

G2, G3 Polar programming



Block Pre-Run


Path slope G8 Path shape

G9 Path shape, axis shape

Level G17, G18, G19,G20

Axis assignment

Tool Lengths Correc‐tion

G47 Length assignment

Zero point offset 1 G52.1 Programmable ZO 1*)

G53.1 ZO 1 off *)

G54.1,...,G59.1 Active ZO table bank 1*)

...

Zero point offset 5 G52.5 Programmable ZO 5*)

G53.5 ZO 5 off *)

G54.5,...,G59.5 Active ZO table bank 5*)

Placements: "inclinedplane" 1

G151.1 Tool orientation**)

G152.1 Programmable inclined plane 1**)

G153.1 Inclined plane 1 off**)

G154.1,...,G159.1

Active inclined plane table bank 1**)

...

Placements: "inclinedplane" 5

G151.5 Tool orientation 5**)

G152.5 Programmable inclined plane 5**)

G153.5 Inclined plane 5 off**)

G154.5,...,G159.5

Active inclined plane table bank 5**)

Exact stop G61 Exact stop window (IPS<n>)

Tool length assign‐ment

G78 ActPlane or length assignment

Path feed G93 F-value

G94 F-value, F2-value

G95 F-value, reference axis (FRA)

Spindle programming G96 Reference axis, spindle assignment

G97 Spindle assignment

D-correction D0 D-correction off***)

D1,...,D99 Active D-correction***)

Axis acceleration AAC Programmed axis accelerations

Axis jerk AJK Programmed axis jerks

Additive program co‐ordinate offset

ATR Program zero point coordinates

Maximum axis veloci‐ty

AVE List of axis velocities


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Block Pre-Run


Workpiece position BCR Workpiece zero point coordinates, phase

Chamfer/Roundings CHLCHSRNDRNE

Chamfer length, chamfer sectionRadius, epsilon

Automatic corner de‐tection

CLD Angle, angle factor, max. point distance, dis‐tance factor, accuracy bound

Milling path collisiondetection

CLN Monitoring type, preview area

Axis transformation COORD Axis transformations 1 and 2 with transfor‐mation options

Radius/diameter pro‐gramming

DIARAD

Diameter coordinates

Channel spindles andspindle groups

DSP, GSP, RSPSPGn, SPGALL

Channel spindles and channel group as‐signment (corresponds to SPADJSP)

Block transition with‐out reduction of veloc‐ity

DTT Transition angle

Feed hide axes FAD List of hide axes

Feed coordinategroup

FDGFDGT

List of path coordinates, feed group type

Straightness and an‐gle error compensa‐tion

GCT -

Active axis jerk JAL List of path-relevant axis jerk axes

Jerk limit JKC -

Input tool "Mirroring" MIR Mirroring axes

Master spindle MSP Spindle

Path acceleration PAC Path acceleration, path deceleration

Pole definition PLS Mirroring/turning point

Rotary axis position‐ing mode

PMD Positioning mode

Pole definition POP Pole coordinates

Accuracy program‐ming

PRP Radius contour error (EPS), afterrun (DIST)

Maximum radial ac‐celeration

RAC Acceleration

Input assistanceTurning

ROT Angle

Input assistance Scal‐ing

SCL Axis factors

Input assistance Off‐set

SHT Contour zero point coordinates



Block Pre-Run


Spline definition SPD Spline type, spline coordinates, start condi‐tions (SBC), end conditions (EBC), splineparameter length (PL)

Geometric splitting SPT Mode, length

Program coordinateoffset

TRS Program zero point coordinates

Tapping spindle TSP Spindle

Fig.3-14: Adjustable modal parameterizable NC functions*) Implicit ZO table selection (ZOS)**) Implicit placement table selection (PMS)***) Implicit D-correction table selection (DCS)

Special Features and Restrictions: ● If necessary, the adjustment of modal parameterizable NC functions thatare not mentioned above must be made using pre-run system data in theadjustment program (InitAdjPrg) or by means of the action block.

● Each bank of a zero point offset of an inclined plane must be adjustedseparately: ADJ(G54.1), ADJ(G54.2), etc.

● The tool radius correction G41/G42 becomes only active in the adjustedstate with the approaching block after the adjustment. During the adjust‐ment, the internal effect is suppressed. The correction is not calculated.

Modal NC function groups that arerestored during the approaching

motion

The following modal functions and states are restored automatically in the ap‐proaching block in case they have been switched over or changed in the actionblock or the TargetAdjustPrg.


Milling cutter path cor‐rection

G40 Milling cutter path correction OFF.

G41 Milling cutter path correction to the left of theworkpiece

G42 Milling cutter path correction on the right ofthe workpiece

Tool Lengths Correc‐tion

G47 Tool length correction ON

G48 Tool length correction OFF.

Exact stop G61 Exact stop ON

G62 Exact stop OFF

Abs/Rel G90 Absolute dimension programming

G91 Relative dimension programming

Feed programming G93 Time programming

G94 Feed programming in mm

G95 Feed programming in revolutions

Fig.3-15: Modal NC functions during the approaching motion

3.3.3 PLC Bit InterfaceFor third-party communication, special system data as well as signals are avail‐able at the bit interface. The system data is used to control block pre-run and


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Block Pre-Run

the compensation. The data is set at the time of block preparation and the in‐terface signals are output at the active time.

Fig.3-16: Switching of Modal Statuses in the Adjustment Program or Action Block● Block pre-run active "iCh_SRunAct"

The signal acts together with the block pre-run functionality.Signal level 1: This signal is applied as long as the program is executed during

"computation" up to the abort block (target block-1).



Block Pre-Run

0: The signal is active if no "computation" is started in the pro‐gram.

● Re-entry active "iCh_SRunReEnter"The signal acts together with the block pre-run functionality.

Signal level 1: The action block or the adjustment program is processed.0: No action block or adjustment program is processed.● Repositioning active iCh_SRunRepos

The signal acts together with the block pre-run functionality.Signal level 1: The approaching block to the target block is active.

0: The approaching block is not active.

3.4 Block Pre-Run Applications3.4.1 Manual Input

One or more NC blocks can be specified and processed via the manual inputafter the block pre-run. The NC states can thus be manually adjusted.

The manual input is optional and can be called after InitAdjustPrg.A preceding InitAdjustPrg is mandatory.


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Block Pre-Run

Fig.3-17: Releasing the manual inputIf the manual input is released, the block progress display is automatically re‐placed by the manual entry editor after exiting the adjustment program (InitAd‐justPrg) in the overview adjustment screen. NC blocks can be entered for theMDI operating mode. They can be transferred to the NC and they can be pro‐cessed with the NC start key (control panel).Without having entered an NC block, the next NC start calls an action block andthe adjustment program (TargetAdjustPrg), if it is parameterized. The manualinput is completed. The manual input editor in the adjustment screen is replacedby the block progress bar.

Restrictions The manual input is only available if an InitAdjustPrg is used.No CPL statements and no subroutine calls are possible.Only individual blocks and no buffered NC block specification is possible.Only basic NC function can be programmed.On this topic, also see the documentation "IndraMotion MTX Standard NC Op‐eration", Chapter "Block Search/Block Pre-Run " .

3.4.2 Reentry Marks RCB MarksDescription Marks a position in the program from which the program can be continued after

having been canceled. As opposed to the normal block pre-run with manual



Block Pre-Run

specification of the target block it is possible to skip program passages pro‐cessed successfully in a targeted manner of to allow for finding the target blockunder certain prerequisites.

Application If an NC program is terminated during processing due to different reasons,processing shall begin at a predefined position immediately. Reasons for anabort can be tool rupture, power failure, NC control error, etc. For these cases,the NC programmer can determine where (NC block) repositioning in the NCprogram is reasonable.Please refer to the documentation "IndraMotion MTX Programming Manual",chapter "Program Continuation with Block Pre-Run After Program CancelationRCB".

3.4.3 Init Adjustment Program "InitAdjPrg"In the "InitAdjPrg" adjustment program, the target block state (-1) has to bereached.The following has to be adjusted:● Axis configuration● Coordinate configuration● Spindles● Couplings● Tools● NC functions● Auxiliary Functions● Axis and axis name configuration (unless the NC command "TAX" is

used!)● Miscellaneous

The "TAX" NC command automatically creates the axis and axisname configuration!

The control uses the TAX command to activate the axis configuration prior tothe target block of the block pre-run. Superfluous axes are removed. Requiredaxes are included into the channel. Axis names are also applied.Axes assigned otherwise are not taken into account:● An axis that is assigned to another channel cannot be included.● A C-axis that is in spindle mode cannot be included.● An axis that is part of a transformation cannot be removed.Please refer to the documentation "IndraMotion MTX Programming Manual",chapter "Adjust Axis Configuration, TAX".

Adjustment program sequence Possible functional sequence for adjustment in the InitAdjPrg.● Adjust channel spindle configuration● Switch off active transformations● Convert C-axis to spindles● Remove channel spindle● Remove redundant axes (RAX)● Get axis (WAX)● Adjust spindle configuration


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Block Pre-Run

● Get C-axes● Enable transformation● Tool change● Adjust spindle● If required, adjust more NC functions● Adjust auxiliary functions

The adjustment sequence depends on the ap‐plication

CAUTION

Thoroughly check the application and customize the adjustment. Thoroughlycheck the machine state after the adjustment before triggering a traversingmotion.

3.5 Boundary Conditions and Dependencies3.5.1 Functional Restrictions

Currently, the following functional restrictions are applicable:● Only the InitAsup starts with the state before the program selection. The

action block or the adjustment program jump to the state resulting fromthe abort block (predecessor of the target block). It has to be ensured inthe InitAsup that both states are adjusted.

● No block pre-run in tapping (G63): Lock in TP.● No block pre-run in a spline sequence. However, the target block may be

a switching block to G6.● No block pre-run into the center of a ramp interpolator sequence, but per‐

mitted onto the start of this sequence.● No NC program restart on thread cutting G33 (also see G63).● No 3D tool correction (G140 - G142).● No fixed stop● Axis coupling AXC

3.5.2 Look AheadDuring NC program restart, NC functions may be active before the target blockwhich requires Look Ahead, e.g. milling cutter path correction G41/G42. Forthis reason, the NC blocks behind the target block are prepared up to the pointwhere the last block before the target block (the abort block) has become active.Within the Look-ahead function, CPL expressions are executed as well; somevalues, e.g. of variables, may change.With the start of processing, these program passages are re-run. Before, thecontents of the CPL variables are reset to their original status.Contrarily, the contents of permanent variables and system data remain un‐changed!To exclude a passage from execution in the frame of NC program look-aheadbehind a target block, the part program has to be modified, and the passage inquestion locked from a programming point of view by means of query of thesystem data "SD.SysSRun.LookAheadPreRun".



Block Pre-Run

3.5.3 Entering SubroutinesIn subroutines which are called with the CPL variable, it is not possible to usethe MTX block pre-run dialog.

3.5.4 Feed Programming (per Revolution) "G95"G95 requires a turning master spindle.If a G95 has been enabled as last cycle in the computation but no spindle speedhas been programmed, the feed of the channel axes is 0. A feed is required forthe approaching motion of the axes at the end of a block pre-run. This feedcannot be generated via the "FeedVal" or "OptFeedVal" system data in thiscase.The axes are not adjusted.

Select the target block to enable a spindle speed in the computa‐tion.Manually adjust the axes in the manual input.Adjust the axes using G77 in the TargetAsupPrg.

3.6 Examples3.6.1 Axis Configuration and Coordinate Configuration

The axes can be configured in the InitAdjPrg using the NC command TAX. Anaxis transformation is previously disabled and enabled again after the axeshave been adjusted. The coordinates are configured using the adjustmentcommand "COORD".Axis and coordinate adjustment

; switch off transformersG40 G48 COORD(0); generate axis configurationTAX; adjust transformerADJ(COORD)ADJ(G47)ADJ(G40)

The tool change and the spindle adjustment have to be taken intoconsideration, depending on the application.

3.6.2 Adjusting the SpindleThe spindle adjustment has to be separated into different sections, dependingon the application. The example gives a rough overview and suggests a pos‐sible adjustment sequence.Adjust channel spindles and spindle groups0000 DIM SADR$(8) :REM For spindle syntax (e.g., S1=)0001 DIM GADR$(8) :REM for gear (e.g., M142);N100 SPADJSP

Disable all non-adjusted C-axes

0200 FOR SP% = 1 TO SD.SysChSpSRun.MaxSpNumber0201 IF SD.SysChSpSRun.Sp[SP%].CAxisNotAdj <> 0 THENN202 RAX([SD.SysChSpSRun.Sp[SP%].DriveNo])N203 ATSW([SD.SysChSpSRun.Sp[SP%].DriveNo])


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Block Pre-Run

0204 ENDIF0290 NEXT

Adjust spindles0300 FOR SP% = 1 TO SD.SysChSpSRun.MaxSpNumber0301 IF SD.SysChSpSRun.Sp[SP%].NotAdjusted <> 0 THENN302 SpAdjStr[SP%] 0303 SADR$ = SD.SysChSpSRun.SpeedStr0305 GADR$ = SD.SysChSpSRun.GearStr0306 MOVE% = SD.SysChSpSRun.Sp[SP%].Move;; Gear0310 IF SD.SysChSpSRun.Sp[SP%].GearNotAdj <> 0 THEN0311 IF SD.SysChSpSRun.Sp[SP%].AutoGearShift THEN0312 SYSSPNO% = SD.SysChSpSRun.Sp[SP%].SysSpNoN313 SSPGEAR([SYSSPNO%],[SD.SysChSpSRun.Sp[SP%].Gear])0314 ELSEN315 [GADR$]0316 ENDIF0317 ENDIF;; Speed limit0320 IF SD.SysChSpSRun.Sp[SP%].LimitNotAdj <> 0 THENN321 SMX([SADR$][SD.SysChSpSRun.Sp[SP%].ProgMaxSpeed])N322 SMN([SADR$][SD.SysChSpSRun.Sp[SP%].ProgMinSpeed])0323 ENDIF;; SERCOS operation mode0330 IF SD.SysChSpSRun.Sp[SP%].OpModeNotAdj <> 0 THEN0331 IF SD.SysChSpSRun.Sp[SP%].PosCtrlOn THENN332 SPM([SADR$]1)0333 ELSEN334 SPM([SADR$]0)0335 ENDIF0336 ENDIF0337 ENDIF0390 NEXT SP%N400 ADJ(G96)

Specify S-values and if required AutoGear0500 FOR SP% = 1 TO SD.SysChSpSRun.MaxSpNumber0501 IF SD.SysChSpSRun.Sp[SP%].NotAdjusted <> 0 THENN502 SpAdjStr[SP%];; Speed or cutting velocity0510 IF SD.SysChSpSRun.Sp[SP%].SpeedNotAdj <> 0 THEN0511 SADR$ = SD.SysChSpSRun.SpeedStrN512 [SADR$][SD.SysChSpSRun.Sp[SP%].ProgSpeed]0513 ENDIF;; AutoGear0520 IF SD.SysChSpSRun.Sp[SP%].AutoGearShift THEN0521 GADR$ = SD.SysChSpSRun.GearStrN522 [GADR$]0523 ENDIF0524 ENDIF0590 NEXT SP%

If a spindle coupling is available, it has to be adjusted, too. A pos‐sible sequence is given in the following example.

Switch on all required C-axes asynchronously0700 FOR SP% = 1 TO SD.SysChSpSRun.MaxSpNumber0701 IF SD.SysChSpSRun.Sp[SP%].CAxisNotAdj AND 2 = 2 THEN0702 IF SD.SysChSpSRun.Sp[SP%].CAxisType AND 32 = 32 THEN0703 SETERR("Block pre-run cannot be executed in a G63 sequence!")0704 ENDIF0705 IF SD.SysChSpSRun.Sp[SP%].CAxisType AND 16 = 16 THEN0706 SETWARN("Block pre-run in turret operation! Intentionally?")N707 M0 ; Turret operationN708 STAW([SD.SysChSpSRun.Sp[SP%].DriveNo])0709 ELSEN710 STAW([SD.SysChSpSRun.Sp[SP%].DriveNo])0711 ENDIF



Block Pre-Run

0712 ENDIF0760 NEXT SP%

Adjustment successful

0800 WAIT0801 IF SD.SysChSpSRun.SpConfNotAdjusted <> 0 THEN0802 SETERR("Incorrect channel spindles.")0803 ENDIF0811 FOR SP% = 1 TO SD.SysChSpSRun.MaxSpNumber0812 IF SD.SysChSpSRun.Sp[SP%].NotAdjusted <> 0 THEN0813 IF SD.SysChSpSRun.Sp[SP%].GearNotAdj <> 0 THEN0814 SETERR("Incorrect gear.")0815 ENDIF0816 IF SD.SysChSpSRun.Sp[SP%].LimitNotAdj <> 0 THEN0817 SETERR("Incorrect speed limit.")0815 ENDIF0819 IF SD.SysChSpSRun.Sp[SP%].CAxisNotAdj <> 0 THEN0820 SETERR("Incorrect C-axes.")0821 ENDIF0822 IF SD.SysChSpSRun.Sp[SP%].OpModeNotAdj <> 0 THEN0823 SETERR("Incorrect drive operating mode.")0824 ENDIF0825 IF SD.SysChSpSRun.Sp[SP%].CpDataNotAdj <> 0 THEN0826 SETERR("Incorrect coupling data.")0827 ENDIF0828 IF SD.SysChSpSRun.Sp[SP%].CoupleNotAdj <> 0 THEN0829 SETERR("Incorrect coupling state.")0830 ENDIF0831 IF SD.SysChSpSRun.Sp[SP%].SpeedNotAdj <> 0 THEN0832 SETERR("Incorrect S-value.")0833 ENDIF0834 ENDIF0835 NEXT SP%

The spindles are only started at the end of the adjustmentAdjust speed and motion function0000 DIM SADR$(8) :REM for spindle syntax (z.B. S1=)0001 DIM MADR$(8) :REM for motion function (e.g. M103);;; Specify speed and direction of travel0100 FOR SP% = 1 TO SD.SysChSpSRun.MaxSpNumber0101 IF SD.SysChSpSRun.Sp[SP%].NotAdjusted <> 0 THENN102 SpAdjStr[SP%] ; load syntax elements of current spindle0103 SADR$ = SD.SysChSpSRun.SpeedStr0104 MADR$ = SD.SysChSpSRun.MoveStr0105 MOVE% = SD.SysChSpSRun.Sp[SP%].Move; ; Speed or cutting velocity0110 IF SD.SysChSpSRun.Sp[SP%].SpeedNotAdj <> 0 THENN111 [SADR$][SD.SysChSpSRun.Sp[SP%].ProgSpeed]0112 ENDIF;; Motion function0120 IF SD.SysChSpSRun.Sp[SP%].MoveNotAdj <> 0 THEN0121 IF MOVE% = 19 THENN122 [MADR$][SADR$][SD.SysChSpSRun.Sp[SP%].OriPos]0123 ELSEN124 [MADR$]0125 ENDIF0126 ENDIF0180 ENDIF0190 NEXT SP%;; Adjustment successful?0200 WAIT0201 FOR SP% = 1 TO SD.SysChSpSRun.MaxSpNumber0202 IF SD.SysChSpSRun.Sp[SP%].NotAdjusted <> 0 THEN0203 SETERR("Spindle adjustment failed.")0204 ENDIF0205 NEXT SP%

If a TargetAdjustPrg becomes active, the speed and the motionfunction should be adjusted in this adjustment program.


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3.6.3 Spindle CouplingDifferent steps have to be executed during the adjustment in a spindle coupling.A rough classification with an example explains the connection.● Adjust coupling data of spindles● Adjust coupling state.● Evaluating master and slave● Enable new coupling or disable old coupling● Position phase offset

The spindles are moving.CAUTION

Ensure a basic level of safety.

Adjust spindle coupling0000 DIM SADR$(8) :REM for spindle syntax (e.g. S1=);; adjust coupling data of spindles0100 FOR SP% = 1 TO SD.SysChSpSRun.MaxSpNumber0101 IF SD.SysChSpSRun.Sp[SP%].CpDataNotAdj <> 0 THENN102 SpAdjStr[SP%] 0103 SADR$ = SD.SysChSpSRun.SpeedStrN104 SPCS([SADR$][SD.SysChSpSRun.Sp[SP%].SyncWindow])N105 SPCE([SADR$][SD.SysChSpSRun.Sp[SP%].SyncErrorWindow])N106 SPCD([SADR$][SD.SysChSpSRun.Sp[SP%].CoupleDistance])0107 ENDIF0108 NEXT;; adjust coupling state0200 FOR CP% = 1 TO SD.SysChSpSRun.PrgCpNumber0201 IF SD.SysChSpSRun.Cp[CP%].NotAdjusted <> 0 THEN0202 NADJ% = SD.SysChSpSRun.Cp[CP%].NotAdjusted0203 MAST% = SD.SysChSpSRun.Cp[CP%].Master0300 IF NADJ% = 1 THEN; incorrect master, delete coupling and rebuild0301 IF SD.SysChSpSRun.Cp[CP%].CoupleOn THENN302 SPCC(CP=[CP%],MA=0)N303 SPC_WAIT(CP=[CP%])0304 INDEX% = 10305 SP% = SD.SysChSpSRun.Cp[CP%].Slave[INDEX%]0310 WHILE SP% <> 0 DON311 SpAdjStr[SP%] 0312 SADR$ = SD.SysChSpSRun.SpeedStrN313 SPCC(CP=[CP%],MA=[MAST%],[SADR$]1)0314 INDEX% = INDEX% + 10315 IF INDEX% <= 8 THEN0316 SP% = SD.SysChSpSRun.Cp[CP%].Slave[INDEX%]0317 ELSE0318 SP% = 00319 ENDIF0320 ENDN330 SPC_WAIT(CP=[CP%])0331 ELSE0332 SETERR("MTX error: Cp[].NotAdjusted=1 and CoupleOn=FALSE")0333 ENDIF0334 ENDIF0400 IF NADJ% = 2 THEN; incorrect slaves0401 IF SD.SysChSpSRun.Cp[CP%].CoupleOn THEN0410 FOR SP% = 1 TO SD.SysChSpSRun.MaxSpNumber0411 CPNOTADJ% = SD.SysChSpSRun.Sp[SP%].CoupleNotAdj0412 IF (CPNOTADJ% = 1) OR (CPNOTADJ% = 4) THENN413 SpAdjStr[SP%] ; load syntax elements of the current spindle0414 SADR$ = SD.SysChSpSRun.SpeedStrN415 SPCC(CP=[CP%],MA=[MAST%],[SADR$]0)0416 ENDIF0417 NEXTN418 SPC_WAIT(CP=[CP%])0420 FOR SP% = 1 TO SD.SysChSpSRun.MaxSpNumber0421 CPNOTADJ% = SD.SysChSpSRun.Sp[SP%].CoupleNotAdj0422 IF CPNOTADJ% = 2 THENN423 SpAdjStr[SP%] ; load syntax elements of the current spindle0424 SADR$ = SD.SysChSpSRun.SpeedStr



Block Pre-Run

N425 SPCC(CP=[CP%],MA=[MAST%],[SADR$]1)0426 ENDIF0427 NEXTN428 SPC_WAIT(CP=[CP%])0430 ELSE0431 SETERR("MTX error: Cp[].NotAdjusted=2 and CoupleOn=FALSE")0432 ENDIF0433 ENDIF0500 IF NADJ% = 3 THEN; New coupling0501 IF SD.SysChSpSRun.Cp[CP%].CoupleOn THEN0502 INDEX% = 10503 SP% = SD.SysChSpSRun.Cp[CP%].Slave[INDEX%]0504 WHILE SP% <> 0 DON505 SpAdjStr[SP%] 0506 SADR$ = SD.SysChSpSRun.SpeedStrN507 SPCC(CP=[CP%],MA=[MAST%],[SADR$]1)0508 INDEX% = INDEX% + 10509 IF INDEX% <= 8 THEN0510 SP% = SD.SysChSpSRun.Cp[CP%].Slave[INDEX%]0511 ELSE0512 SP% = 00513 ENDIF0514 END0515 ELSE; Cancel couplingN516 SPCC(CP=[CP%],MA=0)0517 ENDIFN518 SPC_WAIT(CP=[CP%])0519 ENDIF;; If required, position the phase offset of coupling; Do not confuse with coupling distance0700 IF SD.SysChSpSRun.Cp[CP%].CoupleOn THEN0701 FOR SP% = 1 TO SD.SysChSpSRun.MaxSpNumber; Is the phase offset correct?0702 IF SD.SysChSpSRun.Sp[SP%].CoupleNotAdj AND 16 = 16 THEN; Adjust phase offset and speedN703 SpAdjStr[SP%] ; load syntax elements of the current spindle0704 SADR$ = SD.SysChSpSRun.SpeedStr0705 SPEED = SD.SysChSpSRun.Sp[SP%].CouplePosOffsetSpeedN706 SPCP([SADR$][SD.SysChSpSRun.Sp[SP%].CouplePosOffset],POSVEL[SPEED])0707 ELSE0708 IF SD.SysChSpSRun.Sp[SP%].CoupleNotAdj = 8 THEN; Adjust phase offsetN709 SpAdjStr[SP%] ; load syntax elements of the current spindle0710 SADR$ = SD.SysChSpSRun.SpeedStrN711 SPCP([SADR$][SD.SysChSpSRun.Sp[SP%].CouplePosOffset])0712 ENDIF0713 ENDIF0714 NEXT N715 SPCP_WAIT(CP=[CP%])0716 ENDIF0800 ENDIF0990 NEXT

3.6.4 ToolsDepending on the application, processing the tool change in the block pre-runcan be structured very differently. Via the system data, it can be differentiatedbetween block pre-run and program processing in the tool change program.Query in the tool change program100 IF SD.SysChSRun[1].Active=1 THEN110 ...120 ...130 ENDIF

The tool change is not actually executed during the block pre-run. Some datainformation has to be provided for the computation in the block pre-run.Amongst others, the DCT corrections are affected for the path correction. Thelast active tool can be saved in a system date. The E- and D-corrections areautomatically archived in the system data.


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Tool data in block pre-run300 FOR I% = 1 TO EDGE%350 SD.EdGeo = SD.ToolPre.UD.Ed[I%].Geo360 SD.EdLife = SD.ToolPre.UD.Ed[I%].Life370 SD.EdWear = SD.ToolPre.UD.Ed[I%].Wear380 SD.EdOffset = SD.ToolPre.UD.Ed[I%].Offset410 DCT(1,I%,0)=SD.EdGeo.L1 + SD.EdWear.L1 + SD.EdOffset.L1 420 DCT(2,I%,0)=SD.EdGeo.L2 + SD.EdWear.L2 + SD.EdOffset.L2430 DCT(3,I%,0)=SD.EdGeo.L3 + SD.EdWear.L3 + SD.EdOffset.L3440 DCT(4,I%,0)=SD.EdGeo.Rad + SD.EdWear.Rad + SD.EdOffset.Rad450 DCT(5,I%,0)=SD.EdGeo.Ori 460 NEXT I%810 SD.SysToolSRun[1].ActTool.K1=1810 SD.SysToolSRun[1].ActTool.K2=SD.ToolPre.Hd.IKQ3

The tool change can be executed in the InitAdjPrg.Tool changeN10 M6 T[SD.SysToolSRun[1].ActTool.K2]100 IF SD.SysToolSRun[1].TargDNr = 0 THENN50 D0110 ELSEN60 D[SD.SysToolSRun[1].TargDNr] 120 ENDIF150 IF SD.SysToolSRun[1].TargEd = 0 THENN80 ED0160 ELSEN90 ED[SD.SysToolSRun[1].TargEd]170 ENDIF

3.6.5 NC FunctionsA part of the modal NC functions can be adjusted via the adjust command.Some modal NC function are also considered in the approaching block, seeabove.Adjusting NC functions

...ADJ(G47)ADJ(G1)ADJ(G61)ADJ(G8)ADJ(RAD)ADJ(G53.1)ADJ(G94)ADJ(G96)ADJ(G16)ADJ(G40)...

3.6.6 Auxiliary FunctionsAuxiliary functions are suppressed in the computation. Auxiliary functions suchas e.g. coolant can be executed in the TargetAdjustPrg.The "/SysChSRun/AuxNotAdjusted" system date specifies that not all modalauxiliary functions have been adjusted.

3.6.7 Individual Axis Adjustment with G77All axes to be adjusted are traversed simultaneously during the approachingmotion. However, this is not required for some machine types. The axes haveto be approached depending on the type of machining.At a lathe, the z-axis can only be traversed for e.g. machining of internal diam‐eters if the x-axis has already been adjusted.In TargetAdjustPrg, individual axes can be adjusted using the NC commandG77. In the following example, a differentiation of the adjustment sequence is



Block Pre-Run

shown. Depending on a PLC variable that can e.g. be set via M-keys, the ad‐justment sequence is influenced in the TargetAdjustPrg.Axis adjustment with G77 in the TargetAdjustPrg

WAIT 1 CASE @MODEG77% OF1 LABEL 11 PRN#(0,"Mode 1: first X then Z") G77 X1 F2000 G77 Z1 F20001 LABEL 21 PRN#(0,"Mode 2: first Z then X") G77 Z1 F2000 G77 X1 F20001 LABEL 31 PRN#(0,"Mode 3: X and Z together") G77 X1 Z1 F20001 OTHERWISE1 SETERR("Invalid startup mode G77")1 ENDCASEWAIT


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4 Service and SupportOur service helpdesk at our headquarters in Lohr, Germany and our worldwideservice will assist you with all kinds of enquiries. You can reach us around theclock - even on weekend and on holidays.

HelpdeskService HotlineWorldwide

Phone +49 (0) 9352 40 50 60 Outwith Germany please con‐tact our sales/service office inyour area first.For hotline numbers refer tothe sales office addresses onthe Internet.

Fax +49 (0) 9352 40 49 41

E-mail service.svc@boschrex‐roth.de

Internethttp://www.boschrexroth.comYou will also find additional notes regarding service, mainte‐nance (e.g. delivery addresses) and training.

Preparing Information For quick and efficient help please have the following information ready:● Detailed description of the fault and the circumstances● Information on the type plate of the affected products, especially type co‐

des and serial numbers● Your phone, fax numbers and e-mail address so we can contact you in

case of questions.



Service and Support

mailto:[email protected]


http://www.boschrexroth.com


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IndexAAbout this documentation..................................... 3

Representing information ............................... 6Validity of the documentation ......................... 3

Action block......................................................... 22Active.................................................................. 20ActTool.K1.......................................................... 22ActTool.K2.......................................................... 23ADJ..................................................................... 23Appropriate use

Areas of application ........................................ 9Introduction .................................................... 9

Appropriate UseAreas of use ................................................... 9

BBlock pre-run....................................................... 11

Block pre-run applications ............................ 28Block pre-run approach ................................ 13Boundary conditions and dependencies ...... 31Configuring the block pre-run ....................... 16Examples ..................................................... 32General information about the block pre-run ................................................................ 11

Block pre-run active............................................ 27Block pre-run applications

Init adjustment program ............................... 30Manual input ................................................. 28Reentry marks RCB marks .......................... 29

Block pre-run approachEnabling the block pre-run ........................... 13Operations during the computation .............. 14

Boundary conditions and dependenciesEntering subroutines .................................... 32Feed programming (per rev.) ....................... 32Functional restrictions .................................. 31Look ahead .................................................. 31

CConfiguring the block pre-run

Adjusting modal NC functions ...................... 23PLC bit interface ........................................... 26System data ................................................. 16

EExample

Tools ............................................................ 36Examples

Adjusting the spindle .................................... 32Auxiliary functions ........................................ 37Axis configuration and coordinate config‐uration .......................................................... 32Individual axis adjustment with G77 ............. 37NC functions ................................................. 37

E...Examples

Spindle coupling ........................................... 35

FFeedMode........................................................... 21FeedVal............................................................... 21

GGeneral information about the block pre-run

Defining the scope of the block search ........ 12Term definition ............................................. 11

IiCh_SRunAct....................................................... 27iCh_SRunReEnter............................................... 28iCh_SRunRepos................................................. 28Inappropriate use................................................ 10

Consequences, disclaimer of liability ............. 9Information representation

Names and Abbreviations .............................. 7

LLockTargBlock.................................................... 20LockWarning....................................................... 21Look Ahead......................................................... 31

NNameOfAsup...................................................... 21NameOfInitAdjPrg............................................... 22NC functions with high level language syntax

Adjusting modal NC functions ...................... 23

OOptFeedVal......................................................... 21

RRe-entry active.................................................... 28Repositioning active............................................ 28Representing information

Safety instructions .......................................... 6Symbols used ................................................. 7

SSupport

see Service Hotline ...................................... 39

TTargDNr.............................................................. 23TargEd................................................................ 23



Index

TTimeout............................................................... 22


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Index

T

Notes



Printed in GermanyDOK-MTX***-BLK*RUN*V12-AP01-EN-PR911334379

Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebel-Str. 297816 Lohr, GermanyTel. +49 (0)93 52-40-0Fax +49 (0)93 52-48 85www.boschrexroth.com/electrics


http://www.boschrexroth.de

Rexroth IndraMotion Edition 01 MTX 12VRS Block Pre-Run

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Transcript of Rexroth IndraMotion Edition 01 MTX 12VRS Block Pre-Run