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1 SIMOTION G-Code Interpreter Changelog Siemens Industry Online Support

2 Siemens AG 2019 All rights reserved Warranty and liability Warranty and liability Note The Application Examples are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The Application Examples do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible for ensuring that the described products are used correctly. These Application Examples do not relieve you of the responsibility to use safe practices in application, installation, operation and maintenance. When using these Application Examples, you recognize that we cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to these Application Examples at any time without prior notice. If there are any deviations between the recommendations provided in these Application Examples and other Siemens publications e.g. Catalogs the contents of the other documents have priority. We do not accept any liability for the information contained in this document. Any claims against us based on whatever legal reason resulting from the use of the examples, information, programs, engineering and performance data etc., described in this Application Example shall be excluded. Such an exclusion shall not apply in the case of mandatory liability, e.g. under the German Product Liability Act ( Produkthaftungsgesetz ), in case of intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract ( wesentliche Vertragspflichten ). The damages for a breach of a substantial contractual obligation are, however, limited to the foreseeable damage, typical for the type of contract, except in the event of intent or gross negligence or injury to life, body or health. The above provisions do not imply a change of the burden of proof to your detriment. Any form of duplication or distribution of these Application Examples or excerpts hereof is prohibited without the expressed consent of the Siemens AG. Security information Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement and continuously maintain a holistic, state-of-the-art industrial security concept. Siemens products and solutions only form one element of such a concept. Customer is responsible to prevent unauthorized access to its plants, systems, machines and networks. Systems, machines and components should only be connected to the enterprise network or the internet if and to the extent necessary and with appropriate security measures (e.g. use of firewalls and network segmentation) in place. Additionally, Siemens guidance on appropriate security measures should be taken into account. For more information about industrial security, please visit Siemens products and solutions undergo continuous development to make them more secure. Siemens strongly recommends to apply product updates as soon as available and to always use the latest product versions. Use of product versions that are no longer supported, and failure to apply latest updates may increase customer s exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed under Entry ID: , V3.2, 02/2019 2

3 Siemens AG 2019 All rights reserved Table of contents Table of contents Warranty and liability Introduction LGCode V General information Library changes V2.0 V Application changes V2.0 V LGCode V General information Library changes V2.0.5 V Function blocks Application changes V2.0.5 V LGCode V General information Library changes V2.1 V Function blocks LGCode V General information Library changes V Functions blocks LGCode V General information SIMOSIM Library changes V3.1.2 V Function blocks Application changes V3.1.2 V Contact History Entry ID: , V3.2, 02/2019 3

4 1 Introduction 1 Introduction This document tracks the innovations of the current SIMOTION G-code interpreter library (LGCode) compared to its previous version. Also, it describes the steps to upgrade from the previous version to the actual one. This is necessary, since improvements and new functionalities cannot always be implemented in a full compatible way. This document should ease your upgrade to a new library version. CAUTION Undesired behavior with SIMOTION Runtime Version 5.1 If the position resolution (Increment/Position) of the path object and the path axes differ, there may be undesired behavior in movement when using SIMOTION V5.1. This can lead to mechanical destruction. The user has to verify that the TO resolutions of path object and path axes are matching when using V5.1. Entry ID: , V3.2, 02/2019 4

5 2 LGCode V2.0 2 LGCode V General information The version 2.0 of the SIMOTION G-code Interpreter distinguishes between a basic and an advanced variant, at which the latter makes use of the SIMOTION Java virtual machine. The application was created with SIMOTION SCOUT (classic), the HMI configuration with the TIA portal V13. The connection between controller and HMI is done via the device proxy inside the TIA portal. CAUTION Increased performance requirements for Advanced Interpreter Due to the usage of the SIMOTION JAVA Virtual Machine, the Advanced G- code interpreter requires a more powerful controller and significant more time for parsing and interpreting of the G-code at comparable requirements. Of that the Basic Interpreter should be used preferably if the features are sufficient. Remember that a switching from Basic to Advanced Interpreter is very comfortable and in short time possible. With version 2.0 the two libraries LNCIpo and LSnc (V1.x) were merged to the new library LGCode which is incompatible to its predecessors. 2.2 Library changes V2.0 V2.0.5 Bugfixes and enhancements for the tool radius compensation (G40, G41, G42) Changes to the internal state machine of basic and advanced interpreter 2.3 Application changes V2.0 V2.0.5 HMI configuration changed to TIA portal V13 SP1 Entry ID: , V3.2, 02/2019 5

6 3 LGCode V2.1 3 LGCode V General information The advanced interpreter, based on the Java virtual machine, is no longer available. The basic interpreter is now the only interpreter within the library LGCode, therefore the function volume is limited compared to the previous version. 3.2 Library changes V2.0.5 V2.1 Omission of the global library constants LGCODE_IPR_NUMBER_OF_INTERPRETER, LGCODE_IPR_NUMBER_OF_INTERPOLATOR Program file path changed LGCODE_PRG_FILE_PATH (multi-channel) Scope of functions G-Code User variables no longer available External variables (EXB, EXI, EXL, EXF) are omitted CIP (circle definition by transition point) G5 Polynomial motion commands are omitted (POLY_SSD, POLY_SOC) String output (PRINT) not applicable anymore No program loading from the NC program (LOAD) Program flow commands (e.g. LABEL, GOTO, WHILE, ENDWHILE, IF, ELSE, LOOP; ENDLOOP, FOR, SUB, CALL) are omitted. G-Code Interface (dgcodeinterface gasgcode).scontrol sstate.sdebug removed (only for "Advanced" interpreter).sinternal removed (only for "Advanced" interpreter) Storage path of the G-Code files on the card adapted: /USER/SIMOTION/HMI/USERFILES/GCodeFiles/ /USER/SIMOTION/HMI/USERFILES/GCodeFiles_n/ (channel instance) Parser Remove spaces and tabs at the end of code lines Function blocks The "Advanced" blocks FBLGCodeProgramAdv and FBLGCodeInterpreterAdv are omitted.programmbaustein FBLGCodeProgramBas Programmbaustein - FBLGCodeProgramBas Keine inkompatiblen Änderungen Interpreter - FBLGCodeInterpreterBas Inputs executestartprogram executeprogram Entry ID: , V3.2, 02/2019 6

7 3 LGCode V2.1 executestopprogram reset executesinglestepprogram omitted (see Interpolator) executenextstep omitted (see Interpolator) interpolatorprogramstate added Table 3-1: FBLGCodeInterpreterBas V2.0.5 V2.1 Extended check if ASCII slot is free Slot-state added Interpolator - FBLGCodeInterpolator Inputs: inhibitprepocesscmds removed interpolationmode added nextstep added Table 3-2: FBLGCodeInterpolator V2.0.5 V2.1 Single step operation is now handled by the interpolator, no longer by the interpreter Entry ID: , V3.2, 02/2019 7

3 LGCode V2.1 3.3 Application changes V2.0.5 V2.1 There is no switch between Advanced and Basic variant of the G-Code Interpreter via compiler switch anymore unit dgcodeinterface.

8 3 LGCode V Application changes V2.0.5 V2.1 There is no switch between Advanced and Basic variant of the G-Code Interpreter via compiler switch anymore unit dgcodeinterface. Figure 3-1: Preprocessor Call of the function blocks of the G-Code interpreter as array multi-channels Multi-instance alarm handler (Alarm-S) OMAC Mode and State-Manager - outsourcing of the step chains to the individual modules (G-Code interpreter, axis blocks, path taps), see documentation chapter Figure 3-2: Sequence with OMAC mode and state manager OMAC G-Code MCBasic (Axis FB) Jog Path bostart bostop PRODUCTION RESETTING: wait for SC[1-n] STARTING: wait for SC[1-n] PRODUCTION RESETTING: finished SC STARTING: finished SC PRODUCTION RESETTING: finished SC STARTING: finished SC PRODUCTION SC bointerrupt ABORTING: wait for SC[1-n] ABORTING: finished SC ABORTING: finished SC STOPPING: wait for SC[1-n] STOPPING: finished SC STOPPING: finished SC MANUAL MANUAL MANUAL MANUAL RESETTING: wait for SC[1-n] RESETTING: finished SC RESETTING: finished SC RESETTING: finished SC STARTING: wait for SC[1-n] STARTING: finished SC STARTING: finished SC STARTING: finished SC ABORTING: wait for SC[1-n] ABORTING: finished SC ABORTING: finished SC ABORTING: finished SC STOPPING: wait for SC[1-n] STOPPING: finished SC STOPPING: finished SC STOPPING: finished SC SC[1] Error [1] SC[2] Error [2] SC[3] Error [3] State complete (SC) Error Figure 3-3: Modules HMI variables Multiplexer - one HMI, several interpreter channels, see documentation chapter Entry ID: , V3.2, 02/2019 8

9 4 LGCode V LGCode V General information The R-parameters are replaced by H-parameters, thus also all associated constants are changed accordingly, e.g.: LGCODE_IPO_MAX_NUMBER_OF_R_PARA LGCODE_IPO_MAX_NUMBER_OF_H_PARA 4.2 Library changes V2.1 V3.0.5 Scope of functions G-Code Command G25 (automatic contour blending) replaced by G640 / G641, see chapter Command G52 (relative zero offset) added, see chapter Tool (T): Extension by length compensation, see chapter 5.9 G-Code Interface (dgcodeinterface gasgcode) Interpolator configuration (sipocfg) name changes:.sipocfg.emfunctiontype.sipocfg.aemfunctionmode.sipocfg.scorner.r64actiavationlengthbeforecorner.sipocfg.scorner.r64activationlengthbeforecorner.sipocfg.scorner.r64actiavationlengthaftercorner.sipocfg.scorner.r64activationlengthaftercorner.sipocfg.etransitiontype.sipocfg.sautogeometryblendingparameter.etransitiontype Interpolator configuration (sipocfg) - extensions:.sipocfg.stoolparameter[n].r64radius.sipocfg.stoolparameter[n].r64radius.sipocfg.stoolparameter[n].sgname.sipocfg.stoolparameter[n].r64length.sstate.sncinterpolator.sstate.aserrorhistory.i32intnumber.sstate.sncinterpolator.sstate.aserrorhistory.i32sourcecodelineno.sipocfg.asframe : ARRAY[54..57] OF slgcodeipoframetype;.sipocfg.asframe : aslgcodeipoframelisttype;.sipocfg.astoolparameter : ARRAY[1..LGCODE_IPO_NUMBER_OF_TOOLS] OF slgcodeipotoolparametertype;.sipocfg.astoolparameter : aslgcodeipotoollisttype; Interpolator configuration (sipocfg) type changes: elgcodeipomfunctiontype elgcodeipomfunctionmodetype slgcoderparametertype Entry ID: , V3.2, 02/2019 9

10 4 LGCode V3.0.5 slgcoderparametertype Parser New parser algorithm, e.g. extended syntax check, additional functions Control structures (IF, ESE), loops (WHILE, FOR) jumps (GOTO, LABEL) added Logic and arithmetic operations added, see chapter 5.3 User-defined variables added, see chapter Function blocks Program blocks - FBLGCodeProgram No incompatible changes Interpreter - FBLGCodeInterpreter No incompatible changes Interpolator - FBLGCodeInterpolator R_Para H_Para Table 4-1: FBLGCodeInterpolator V2.1 V3.0 Entry ID: , V3.2, 02/

11 5 LGCode V LGCode V General information With version 3.1, the example application of the SIMOTION G-Code interpreter is delivered as a TIA V13 SP1 complete project consisting of CPU and HMI. This eliminates the "device proxy" approach. 5.2 Library changes V3.1.2 Scope of functions G-Code SUB, CALL sub function call added, see chapter M17 added end SUB G-Code Interface (dgcodeinterface gasgcode) No incompatible changes Parser CALL SUB function added String based error output added Functions blocks No incompatible changes Entry ID: , V3.2, 02/

12 6 LGCode V3.2 6 LGCode V General information Mit der Version V3.2 ist eine zusätzliche bahnsynchrone Achse verfügbar. Die Beispielapplikation wird als TIA V14 SP1 Projekt ausgeliefert SIMOSIM NOTE In case SIMOSIM is used instead of a real SIMOTION controller, errors may occur when loading NC-programs with SIMOTION version 5.1. A workaround is to add a preprocessor definition in library LGCODE, Unit cpublic. By defining "USE_SIMOSIM" the application also runs on SIMOSIM, see figure 6-1. As of SIMOTION V5.2.1, this preprocessor definition is no longer required and should be removed. The same applies to the use of the application with real controllers. Figure 6-1: Preprocessor instruction for use with SIMOSIM 6.2 Library changes V3.1.2 V3.2 Replacement of global library constants (aversion): LGCODE_INTERFACE_VERSION, LCODE_IPO_VERSION LGCODE_LIBRARY_VERSION Additional constants, error-ids etc., e.g. for the synchronous axis (AuxAx), see. chapter. 8 and chapter Scope of functions G-Code Different modes for path length output - sipocfg.epathlengthoutputmode Resetting the path position (length) using M20, see chapter Additional path-synchronous axis, see chapter 5.6 Synchronous axis movement Orientierung / Positionierung der Synchronachse, vgl. Kap AX_1=0 FL_1=25.0 G1 X300 Y100 F250 AX_1=90 ; Positionierung ; Gleichlaufkopplung ; Positionierung Bahnsynchrone Bewegung G1 X150 AX_1=60 G2 X200 Y50 AR=90 G1 Y0 AX_1=90 ; P4 ; P5 ; P6 Entry ID: , V3.2, 02/

13 6 LGCode V3.2 -Continuous / discontinuous synchronous axis movement using M21 / M22, see chapter Polynomial movements added (PSSD, PSOC), see chapter Automatic contour regrinding between two linear movements (G640 / G641), see chapter More flexibility in program name selection, additional constants LGCODE_PRG_DEFAULT_FILE_NAME LGCODE_PRG_DEFAULT_PROGRAM_NAME Synchronous axis interface If a synchronous axis is to be used, two further blocks must be integrated into the application, one block for the calculation (FBLGCodeCalcAuxAx) and one for the control (FBLGCodeControlAuxAx) of the synchronous axis movement. The blocks are located in the unit fauxax, see chapter 8 and chapter Figure 6-2: Synchronous axis interface G-Code Interface (dgcodeinterface gasgcode) Program configuration added (sprgcfg), see chapter / Entry ID: , V3.2, 02/

14 6 LGCode V3.2 Table 6-1: slgcodeprgconfigdatatype Name Data type Description ebrowsefoldermode elgcodebrowsefoldermodetype Browsing mode: - CREATE_MISSING_FILES: Missing files are created automatically for the limits 1 - LGCODE_PRG_NUMBER_OF_ FILES. - DO_NOT_CREATE_MISSING_FIL ES: Missing files are not created automatically u16numberofmindigits FileNumber USINT Minimum number of digits for the program number Preprocessor search / replace terms With the help of the preprocessor, the syntax of the command scope can be extended by the user. The corresponding search term, if it exists in the NC code, is replaced by the replacement term. Replacement takes place from top to bottom. Make sure that the search term is unique, e.g. a search term "point1" will also include a term "point11", "point12" etc. spreproccfg.sreplacements[1].asgsearchterm := 'xxxx'; spreproccfg.sreplacements[1].asgreplaceterm := 'yyyy; The preprocessor is run through before processing the G-code, the replacements take place internally, the G-code program remains unaffected by this. You can use the constant LGCODE_IPR_NUMBER_OF_PRE_PROCESSOR_REPLACEMENTS to set the number of possible terms. The constant LGCODE_IPR_LENGTH_OF_TOKEN determines the length of the search/replacement term. Interpolator configuration (sipocfg) Path Length Output mode.sstate.sncprogram.u16errorlinenumber removed.sstate.sncprogram.b32additionalerrorid removed.sstate.sncinterpreter.sgprompt removed (without function).sstate.sncinterpreter.i32actslotnumber.sstate.sncinterpreter.i32actslotnumber.sstate.sncinterpreter.ssubbasicsparser.sstate.sncinterpreter.ssupparser.sstate.sncinterpreter.boerror added.sstate.sauxaxes added synchronous axis.sstate.sncinterpolator.boauxaxactive axis.sstate.sncinterpolator.bobusy added.sstate.sncinterpolator.bodone added Entry ID: , V3.2, 02/

15 6 LGCode V Function blocks Program function block FBLGCodeProgram Input executeparseslot removed not supported anymore Output errorlinenumber removed Browse G-Codes create / don t create missing files Temporary workaround file handling (_filereadln) in combination with SIMOSIM Table 6-2: FBLGCodeProgram V3.1.2 V3.2 Interpreter - FBLGCodeInterpreter PSOC und PSSD (polynomial motion) added Interpolator FBLGCodeInterpolator Dynamic adaption bodynamicadaption enum In/Out: state (previously OUTPUT) reduction of the necessary stack size auxaxinterface new interface to the synchronous axis function blocks auxaxconfig configuration structure for the synchronous axis Output: auxaxactive: synchronous axis motion (orientation) active Entry ID: , V3.2, 02/

16 6 LGCode V3.2 Table 6-3: FBLGCodeInterpolator V3.1.2 V Application changes V3.1.2 V3.2 The HMI project engineering of the example application now contains several additional masks for the parameterization of the G-Code interpreter. In addition, additional diagnostic functions are available, e.g. a "path trace", see chapter For the path-synchronous axis there is an additional folder "AuxAxes" as subfolder to the folder "GCode" which contains the function block instances (dgcodeauxaxes) and the calls of the blocks (pgcodeauxaxes). The configuration data of the interpolator, the program block and the synchronous axis are stored retentively, see additional RETAIN variables Unit dgcodeinterface. Alarm handler: Additional alarm S messages for the synchronous axis (fgcode alarm handler), G-Code Main Unit (pgcode): Retain storage of configuration data, OMAC State-Machine adapted to take the additional synchronous axis into account Axis functions (folder MCBasic): Extensions for the synchronous axis Entry ID: , V3.2, 02/

17 7 Contact 7 Contact Siemens AG DF FA PMA APC Frauenauracher Straße 80 D Erlangen mailto: tech.team.motioncontrol@siemens.com Entry ID: , V3.2, 02/

18 8 History 8 History Table 8 History Version Datum Änderung V3.2 02/2019 First version Entry ID: , V3.2, 02/

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SIMOTION IT Application frame Manual 07/2017 https://support.industry.siemens.com/cs/ww/en/view/109748953 Siemens Industry Online Support Warranty and liability Warranty and liability Note The Application