Rexroth MTC200/TRANS200 Parameter Description

Industrial Hydraulics Electric Drives and Controls Linear Motion and Assembly Technologies Pneumatics Service Automation Mobile Hydraulics Rexroth / Parameter Description 294494 Edition 02 Application Manual

About this Documentation Parameter Description Title Type of Documentation Rexroth / Parameter Description Application Manual Document Typecode Internal File Reference Document Number 1200400B38102/EN of Documentation This documentation describes the different parameters of and. The system parameters, the process parameters, the axis parameters and the APRSERCOS parameters are described in detail. Record of Revisions Description Release Date Notes 1200400B38101/EN 09.2002 Valid from version 22 1200400B38102/EN 07.2003 Corrections, new APR SERCOS parameter Copyright 2003 Bosch Rexroth AG Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 341). Validity The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract. All rights are reserved with respect to the content of this documentation and the availability of the product. Published by Bosch Rexroth AG Bgm.Dr.NebelStr. 2 D97816 Lohr a. Main Telephone +49 (0)93 52/400 Tx 68 94 21 Fax +49 (0)93 52/4048 85 http://www.boschrexroth.com/ Dept. BRC/ESM3 (GeVa) Dept. BRC/ESM6 (DiHa) Note This document has been printed on chlorinefree bleached paper.

Parameter Description Contents I Contents 1 Preface 11 2 System Parameters 21 2.1 General... 21 2.2 of the Master Process... 211 2.3 s of Processes 1 6... 212 2.4 of the External Mechanism... 212 Defining Types... 216 2.5 Tool Management... 218 2.6 Organization of Setup Lists... 221 2.7 Maximum Number of Tool Edges... 222 2.8 Wear / Offset Register... 223 2.9 Comment... 224 2.10 Wear Factors... 225 2.11 Tool Life Data... 226 2.12 Geometry Limit Values... 226 2.13 s of Tool User Data 1 9... 227 2.14 of Tool Edge User Data 1 5... 228 2.15 of Tool Edge User Data 6 10... 229 2.16 Symbol for User Tool Status Bits 1 8... 230 2.17 Symbol for User Tool Edge Status Bits 1 4... 231 2.18 Global M Function Behavior... 232 2.19 Global Q Function Behavior... 233 2.20 Global S Function Behavior... 234 2.21 Global T/E Function Behavior... 234 2.22 Tool Technology... 235 3 Process Parameters 31 3.1 General... 31 3.2 Default System of s for Programming... 313 3.3 Programmable Decimal Places for Distances... 314 3.4 Displayed Decimal Places for Distances... 316 3.5 Default Interpolation Plane... 316 3.6 Maximum Path Velocity... 317 3.7 Maximum Path Velocity Step... 319 3.8 Maximum Path Acceleration... 320 3.9 Maximum Offset Table Number... 321 3.10 Default for Radius/Diameter Programming... 322

II Contents Parameter Description 3.11 Tool Management... 322 3.12 Type of Tool Storage... 323 3.13 Endlessly Rotating Tool Storage... 323 3.14 Number of Tool Locations in Tool Storage... 324 3.15 Number of Tool Spindles / Rail Heads... 325 3.16 Number of Grippers... 326 3.17 Axis Number of Tool Storage Axis... 326 3.18 Position 1 4 (Offset 1 4 to Reference)... 327 3.19 Maximum Entry for Length / Radius Wear and Offset... 329 3.20 D Corrections... 330 3.21 Maximum Entry for Length / Radius D Correction... 332 3.22 Home Position Required... 333 3.23 Reference Required... 334 3.24 Acceleration Time Constant... 335 3.25 Cartesianpolar Coordinate Transformation... 336 3.26 Manual Axis Jogging causes Reset... 336 3.27 Default Interpolation Type... 337 3.28 Default Tool Length Correction... 337 3.29 Default Zero Offset... 338 3.30 Default Feed Programming... 338 3.31 Default Spindle Speed Programming... 339 3.32 Default Trigonometric Arguments... 339 3.33 Activate Tool Correction... 340 3.34 Asynchronous Turret Movement... 341 3.35 Storage Axis Repositioning... 342 3.36 Deviating M and Q Functions... 342 3.37 M Function Groups... 343 3.38 Default Rotary Axis Approach Logic... 344 3.39 Activate Tool Correction for Turret... 345 3.40 Auxiliary Function Output during NC Program Restart... 346 3.41 Adaptive Feed Control... 347 3.42 Reference Axis for Adaptive Feed Control... 348 3.43 Limiting Machining Torque... 348 3.44 Minimum Machining Torque... 349 3.45 Maximum Idling Torque... 350 3.46 Maximum Feed Reduction... 351 3.47 Amplification... 351 3.48 Measuring Period... 352 3.49 Maintaining the Reference System upon Control Reset... 353 3.50 Reference Coordinate System for G96 (Constant Cutting Speed)... 354 3.51 Page No. for Variable Positions... 354 4 Axis Parameters 41 4.1 General... 41 4.2 Process Allocation... 422 4.3 Axis... 423

Parameter Description Contents III 4.4 Feed Constant / Graduations per Revolution... 424 4.5 Gearbox Input and Output Revolutions... 426 4.6 Positive and Negative Travel Limits... 427 4.7 Reference position... 429 4.8 Position Polarity... 431 4.9 Maximum Velocity... 432 4.10 Maximum Speed Step Change... 433 4.11 Maximum Acceleration Rate... 436 4.12 Homing Speed... 437 4.13 Jogging Feed Speed... 439 4.14 Jogging Speed Rapid... 440 4.15 Parametric Jogging Distance... 441 4.16 Inposition Window... 442 4.17 Waypoints... 443 4.18 Direction Reversal (for Main Spindle Mode)... 445 4.19 Reference Position for Main Spindle Mode... 446 4.20 Reduced Torque at Positive Stop... 448 4.21 Maximum Speed to Positive Stop... 449 4.22 Gearbox Input and Output Revolutions for Main Spindle Mode... 450 4.23 Maximum Spindle Speed... 451 4.24 Maximum Acceleration Rate... 452 4.25 Reference Orientation Rotation Speed... 453 4.26 Inposition Window (for Main Spindle Mode)... 454 4.27 Axis Meaning (Axis Functions)... 455 4.28 Axis designation for rotary axis mode... 457 4.29 Drive Parameter Record for Rotary Mode... 458 4.30 Axis Number of Allocated Rotary Axis... 459 4.31 Jog Rotation Speed (for Main Spindle Mode)... 460 4.32 Jog Rotation Speed Rapid (for Main Spindle Mode)... 461 4.33 Spindle Position Jogging... 462 4.34 Position Sensor Allocation... 464 4.35 Number of Gear Ranges... 465 4.36 Minimum / Maximum Spindle Speed, Gear Range 1 4... 465 4.37 Maximum Spindle Acceleration, Gear Range 1 4... 467 4.38 Automatic Gear Range Selection... 468 4.39 Axis 2... 469 4.40 Rotation Direction for Transformation... 470 4.41 Droop Compensation... 471 4.42 Number of Allocated Axis... 473 4.43 Number of Compensation Points... 473 4.44 Distance between Compensation Points... 474 4.45 Table Start Position... 475 4.46 of Compensation Values... 476 4.47 Droop Compensation Values... 477 4.48 Spindle Acceleration, Position Mode... 478 4.49 Travel Limits immediately active... 478

IV Contents Parameter Description 4.50 Adjustment Window for Repositioning and Return to Contour... 479 4.51 Adaptive Depth... 480 4.52 Reference Position of 2 nd Encoder... 481 4.53 Positive Travel Limits of the 2 nd Encoder System... 481 4.54 Negative Travel Limits of the 2 nd Encoder System... 482 4.55 Permissible Sensor Deflection in the 1 st Encoder System... 482 4.56 Safety Function... 483 4.57 Maximum Speed 2 for Safety Function... 484 4.58 Upper Position Limit 1 for the Safety Function... 484 4.59 Lower Position Limit 1 for the Safety Function... 485 4.60 Maximum Speed for the 2 nd Safety Function... 486 4.61 Upper Position Limit 2 for the Safety Function... 486 4.62 Lower Position Limit 2 for the Safety Function... 487 4.63 Upper Position Limit for Position Switching Point 1... 488 4.64 Lower Position Limit for Position Switching Point 1... 488 4.65 Upper Position Limit for Position Switching Point 2... 489 4.66 Lower Position Limit for Position Switching Point 2... 490 4.67 Upper Position Limit for Position Switching Point 3... 490 4.68 Lower Position Limit for Position Switching Point 3... 491 4.69 Upper Position Limit for Position Switching Point 4... 492 4.70 Lower Position Limit for Position Switching Point 4... 492 4.71 Position Monitoring Window for Safe Operation Stop... 493 4.72 Reference Position for Safe Referencing... 494 4.73 Selection of Safety Functions... 494 4.74 Transition Time to Switchingover of the Safety Function... 495 4.75 Time Interval for Forced Dynamics... 496 4.76 Checksum of Weighting Data... 496 5 APR SERCOS Parameters 51 5.1 General Information... 51 5.2 Axis Functions... 55 Activation of the Simulation Mode... 55 Active Encoder System... 55 Filter Time Constant for 2nd Encoder System... 55 Current Position of 2 nd Encoder System... 56 Actual Axis Position... 56 Actual Torque Value of Drive... 56 Positive Limit of Dynamic Limit Surveillance... 57 Negative Limit of Dynamic Limit Surveillance... 57 Sensitivity of Dynamic Limit Monitoring... 58 Activate Parking Axis... 58 Reduced Motor Torque... 59 Reduced Motor Torque at Hard Stop... 510 Reduced Motor Torque When Driving to Positive Stop... 510 Axis Command Position... 511 Static Monitoring Window for the ControllerInternal Drive Monitoring Function for the Drives... 511

Parameter Description Contents V Virtual Axis... 512 Delete Home Point Reference... 512 5.3 Filter Functions... 513 Filter Acceleration Override... 513 Filter Jerk Limiting... 513 Command Filter Command Position Value... 514 5.4 Gearbox Functions... 514 Spindle Function During Gear Change... 514 Spindle Acceleration... 515 Set Spindle Speed for Spindle Function... 515 Spindle Angle... 516 5.5 Interpolation Functions... 517 Switch on/off Droop Compensation... 517 Polygon Mode... 517 Position Window for Block Enabling in Polygon Mode 2... 518 Jerk Limiting... 518 5.6 IST Functions... 519 Acknowledgment Forced Dynamization... 519 Safe Reference... 519 Definition of Forced Dynamization... 520 5.7 Combined Spindle/Turret Axis... 520 Number of Turret Locations... 520 Homing of the Spindle Necessary... 521 Shifting the Reference Cam... 521 5.8 Measurement Functions... 522 Activate Measuring Function... 522 Measured Torque Distribution... 523 Measured Maximum Lag Error... 523 Measured Torque Value... 524 Maximum Measured Torque Peak... 524 Maximum Torque Peak for Tool Breakage Monitoring... 525 Measuring Period for Idling Torque Measuring... 525 Measured Idling Torque... 526 Measuring Period for Standstill Torque Measuring... 526 Measured Standstill Torque... 527 Triggering Oscilloscope Function... 527 5.9 MultiFunction Interpolator... 528 Number of Data Points for 3D Compensation... 528 Activating the 2 nd Encoder of a Digital Drive... 528 Coupling Type for Axis Coupling on APR, Interpolator 1... 529 Coupling Type for Axis Coupling on APR, Table 2 of MultiFunction Interpolator... 529 Coupling Type for Axis Coupling on APR, Table 3 of MultiFunction Interpolator... 530 Coupling Type for Axis Coupling on APR, Table 4 of MultiFunction Interpolator... 530 Length of the APR Table of Values 1 (Interpolator 1)... 531 Length of APR Table of Values 2 (Interpolator 2)... 531 Length of APR Table of Values 3 (Interpolator 3)... 532

VI Contents Parameter Description Length of APR Table of Values 4 (Interpolator 4)... 532 MultiFunction Interpolator Mode (Coupling Type 2 only), Interpolator 1... 533 MultiFunction Interpolator Mode (Coupling Type 2 only), Interpolator 2... 534 MultiFunction Interpolator Mode (Coupling Type 2 only), Interpolator 3... 534 MultiFunction Interpolator Mode (Coupling Type 2 only), Interpolator 4... 535 Activate MultiFunction Interpolator Axis Coupling... 536 Number of the Reference Axis (Coupling Types 2 or 4) of Interpolator 1... 536 Number of the Reference Axis (Coupling Type 2) of Interpolator 2... 537 Number of the Reference Axis (Coupling Type 2) of Interpolator 3... 537 Number of the Reference Axis (Coupling Type 2) of Interpolator 4... 538 Table 1 Start Position... 538 Table 2 Start Position... 539 Table 3 Start Position... 539 Table 4 Start Position... 540 Support Point Distances of Table 1 (Interpolator 1)... 540 Support Point Distances of Table 2 (Interpolator 2)... 541 Support Point Distances of Table 3 (Interpolator 3)... 541 Support Point Distances of Table 4 (Interpolator 4)... 542 Tables Factor for Interpolator 1... 542 Tables Factor for Interpolator 2... 543 Tables Factor for Interpolator 3... 543 Tables Factor for Interpolator 4... 544 Transfer of Table Values for Table 1 (Interpolator 1)... 544 Transfer of Table Values for Table 2 (Interpolator 2)... 545 Transfer of Table Values for Table 3 (Interpolator 3)... 545 Transfer of Table Values for Table 4 (Interpolator 4)... 546 5.10 SERCOS Functions... 547 Adaptation of Thirdparty SERCOS Drives... 547 Length of the SERCOS Fiber Optic... 547 SERCOS Drive Telegram Error Counter Number of Drive Telegrams... 548 SERCOS Test Mode... 548 5.11 Spindle Functions... 549 Servo Drive as Spindle Drive... 549 Maximum Spindle Speed... 550 Reference Angle Position "DDS as Main Spindle"... 550 Spindle Function Parameter... 551 Actual Spindle Speed... 551 Switching Speed of Spindle NonLinear Acceleration Curve in Position Control Mode... 552 Switching Torque of Position Control in Velocity Loop... 552 5.12 Synchronous Axes... 553 Offset Angle of a Slave Spindle... 553 P Factor for Spindle Synchronization Compensation Controller... 553 Angular Deviation of the Synchronous Spindle from the Master Spindle with Active Spindle Synchronization... 554 5.13 Transmit Functions... 554 Switching off Speed Reduction when Using the Transmit Function or Triaglide/Rod Kinematics... 554

Parameter Description Contents VII Additional Reference Offset of the Feed Axis with Active Transmit Function... 555 5.14 Programmable Position Contacts... 555 Switching Between Position Contacts and Waypoints... 558 Preselection of the Position Contact Data to be Transferred... 558 Transferring Position Contact Data... 559 Configurations to Signal "Axis in Positioning Window"... 560 6 Index 61 7 Service & Support 71 7.1 Helpdesk... 71 7.2 ServiceHotline... 71 7.3 Internet... 71 7.4 Vor der Kontaktaufnahme... Before contacting us... 71 7.5 Kundenbetreuungsstellen Sales & Service Facilities... 72

VIII Contents Parameter Description

Parameter Description Preface 11 1 Preface of the description Definition Parameter groups This manual provides a detailed description of the individual parameters of the P (PCbased controller) R (RECObased controller) referred to as in this document R (RECObased controller) referred to as in this document. If the description is valid for both the "" and for the "", the expression "control" is used. In this document, a parameter is a variable that cannot be modified during operation. The following parameter groups are available for parameter value assignment: Name of the parameter group Association Association SYSTEM PARAMETERS System configuration CNC PROCESS PARAMETERS Process configuration CNC AXIS PARAMETERS (for drives with SERCOS interface) Axis configuration CNC CNC APR SERCOS PARAMETERS Specific functions Interpolator Interpolator SERCOS PARAMETERS Drive configuration Drive with SERCOS interface Drive with SERCOS interface Fig. 11: Parameter groups System Parameters Process Parameters Axis parameter APR SERCOS parameters SERCOS parameters The system parameters (A parameters) describe the overall structure of the system. The process parameters (B parameters) give a detailed description of the processes and/or stations that belong to the system. The configuration of the axes (drives with SERCOS interface) is carried out on the control side with the help of axis parameters (C parameters). The APRSERCOS parameters are used within the controller to set parameter values and to activate specific functions on the axis processor modules (interpolators). The SERCOS parameters contain all parameters that are required for a drive with a SERCOS interface. In contrast to the other parameters, SERCOS parameters are loaded directly into the drive, not into the control. Further information on these

12 Preface Parameter Description parameters can be found in the application description for drives with SERCOS interface (S and P parameters without APR SERCOS parameters). Parameter records Parameter handling Parameter records can be created and modified with the help of a PC. They can be saved on diskettes or hard disks, or be uploaded into the control. Parameter records, the number of which is limited only by the storage medium, can be stored in archived form on diskettes or hard disks. SERCOS parameters can be similarly archived. Note: Further information on creating, editing and storing of parameter records, in particular with regard to user interface handling, can be found in the user interface description.

Parameter Description System Parameters 21 2 System Parameters 2.1 General Task of system parameters procedure procedure List of system parameters System parameters describe the system whose parameter values are to be assigned with respect to: existing processes, external mechanisms, required axes, tool data records and the behavior of the global auxiliary functions. Entering the process or mechanism designation defines a process or external mechanism as existing. Axes are made known to the by defining the type of axis. In addition to the master process, an can control six further processes and up to 25 external mechanisms. The P and the R, with up to 4 axis processors, can distribute up to 32 NCcontrolled axes over existing processes. If tool management is needed, the tool data records that are used within the system can be configured using the system parameters. The behaves the same as an with one master process. It can manage up to 7 axes. No system parameters can be edited. The type of axis is defined when it is laid out. The following list contains all system parameters without breaking these down into controller types..

22 System Parameters Parameter Description Parameter Page A00.000 of the master process X 211 A00.001... A00.006 of process 1 6 X 212 A00.007... A00.031 External mechanism 7 31 X 212 A00.032... A00.038 Axis / device 1... 7 X X 216 A00.039... A00.051 Axis / device 8... 20 X 216 A00.052 Tool Management X 218 A00.053 Organization of the setup list X 221 A00.054 Maximum number of tool edges X 222 A00.055 Wear register X 223 A00.056 Offset register X 223 A00.057 Comment (assembly instructions) X 224 A00.058 Wear factors X 225 A00.059 Tool life data X 226 A00.060 Geometry limit values X 226 A00.061 A00.069 s of tool user data 1 9 X 227 A00.070... A00.074 of Tool Edge User Data 1 5 X 228 A00.075... A00.082 Symbol for user tool status bits 1 8 X 230 A00.083... A00.086 Symbol for user tool edge status bits 1 4 X 231 A00.087 Global M Function Behavior X 232 A00.088 Global Q Function Behavior X 233 A00.088 Global S Function Behavior X 234 A00.090 Global T/E function behavior X 234 A00.091 Tool technology X 235 A00.092... A00.096 of Tool Edge User Data 6 10 X 229 A00.097 A00.098... A00.109 Axis / device 21... 32 X 216 Fig. 21: System parameter overview Forms The forms on the following pages can be used to define the process parameters. They should be completed for each process before commissioning is started. Note: The forms are not contained in the Online help.

Parameter Description System Parameters 23 No. of parameter record: Created: Date: Name: Param. record designation: Name of section: System parameter: Processes Sheet 1 of 6 Parameter Process number A00.000 Master process designation 0 Process designation A00.001 of process 1 1 A00.002 of process 2 2 A00.003 of process 3 3 A00.004 of process 4 4 A00.005 of process 5 5 A00.006 of process 6 6

24 System Parameters Parameter Description No. of parameter record: Created: Date: Name: Param. record designation: Name of section: System parameter: External mechanisms Sheet 2 of 6 Parameter No. of external mecha nism A00.007 External mechanism 7 7 A00.008 External mechanism 8 8 A00.009 External mechanism 9 9 A00.010 External mechanism 10 10 A00.011 External mechanism 11 11 A00.012 External mechanism 12 12 A00.013 External mechanism 13 13 A00.014 External mechanism 14 14 A00.015 External mechanism 15 15 A00.016 External mechanism 16 16 A00.017 External mechanism 17 17 A00.018 External mechanism 18 18 A00.019 External mechanism 19 19 A00.020 External mechanism 20 20 A00.021 External mechanism 21 21 A00.022 External mechanism 22 22 A00.023 External mechanism 23 23 A00.024 External mechanism 24 24 A00.025 External mechanism 25 25 A00.026 External mechanism 26 26 A00.027 External mechanism 27 27 A00.028 External mechanism 28 28 A00.029 External mechanism 29 29 A00.030 External mechanism 30 30 A00.031 External mechanism 31 31 Mechanis m type MTC PLC of external mechanism

Parameter Description System Parameters 25 No. of parameter record: Created: Date: Name: Param. record designation: Name of section: System parameter: Axis types for P & R Sheet 3 of 6 Axis configuration Axis identification Number Axis type Г Г Parameter Axis number (Sercos drive address) No. of axis processor module digital linear axis digital rotary axis digital main spindle digital main spindle with rotary capability digital combined spindle/turret axis Axis designation 1 Axis designation 2 Axis designation (axis functionality) A00.032 Axis / device 1 1 A00.033 Axis / device 2 2 A00.034 Axis / device 3 3 A00.035 Axis / device 4 4 A00.036 Axis / device 5 5 A00.037 Axis / device 6 6 A00.038 Axis / device 7 7 A00.039 Axis / device 8 8 A00.040 Axis / device 9 9 A00.041 Axis / device 10 10 A00.042 Axis / device 11 11 A00.043 Axis / device 12 12 A00.044 Axis / device 13 13 A00.045 Axis / device 14 14 A00.046 Axis / device 15 15 A00.047 Axis / device 16 16 A00.048 Axis / device 17 17 A00.049 Axis / device 18 18 A00.050 Axis / device 19 19 A00.051 Axis / device 20 20

26 System Parameters Parameter Description A00.098 Axis / device 21 21 A00.099 Axis / device 22 22 A00.100 Axis / device 23 23 A00.101 Axis / device 24 24 A00.102 Axis / device 25 25 A00.103 Axis / device 26 26 A00.104 Axis / device 27 27 A00.105 Axis / device 28 28 A00.106 Axis / device 29 29 A00.107 Axis / device 30 30 A00.108 Axis / device 31 31 A00.109 Axis / device 32 32

Parameter Description System Parameters 27 No. of parameter record: Created: Date: Name: Param. record designation: Name of section: System parameter: Tool management Sheet 4 of 6 Parameter min max A00.052 Tool Management Yes No A00.053 Organization of the setup list Stationspecific programspecific A00.054 Maximum number of tool edges 1 9 A00.055 Wear register Yes No A00.056 Offset register Yes No A00.057 Comment (assembly instructions) Yes No A00.058 Wear factors Yes No A00.059 Tool life data Yes No A00.060 Geometry limit values Yes No A00.061 of tool user data 1 A00.062 of tool user data 2 A00.063 of tool user data 3 A00.064 of tool user data 4 A00.065 of tool user data 5 A00.066 of tool user data 6 A00.067 of tool user data 7 A00.068 of tool user data 8 A00.069 of tool user data 9 A00.091 Tool technology Turning / milling Grinding A00.070 of the tool edge user data 1 A00.071 of the tool edge user data 2 A00.072 of the tool edge user data 3 A00.073 of the tool edge user data 4 A00.074 of the tool edge user data 5 A00.092 of the tool edge user data 6 A00.093 of the tool edge user data 7 A00.094 of the tool edge user data 8 A00.095 of the tool edge user data 9 A00.096 of the tool edge user data 10

28 System Parameters Parameter Description No. of parameter record: Created: Date: Name: Param. record designation: Name of section: System parameter: Tool management Sheet 5 of 6 Parameter A00.075 Symbol for user tool status bit 1 A00.076 Symbol for user tool status bit 2 A00.077 Symbol for user tool status bit 3 A00.078 Symbol for user tool status bit 4 A00.079 Symbol for user tool status bit 5 A00.080 Symbol for user tool status bit 6 A00.081 Symbol for user tool status bit 7 A00.082 Symbol for user tool status bit 8 A00.083 Symbol for user tool edge status bit 1 A00.084 Symbol for user tool edge status bit 2 A00.085 Symbol for user tool edge status bit 3 A00.086 Symbol for user tool edge status bit 4

Parameter Description System Parameters 29 No. of parameter record: Created: Date: Name: Param. record designation: Name of section: System parameter: Global help function behavior Sheet 6 of 6 Parameter Output Acknowledgement At start At end None At start At end None A00.087 Global M Function Behavior A00.088 Global Q Function Behavior A00.089 S function behavior A00.090 T/E function behavior

210 System Parameters Parameter Description No. of parameter record: Created: Date: Name: Param. record designation: Name of section: System parameter: Axis types for PPCR Sheet 1 of 1 Axis configuration Axis identification Number Axis type Г Г Parameter Axis number (Sercos drive address) No. Of axis processor module digital linear axis digital rotary axis digital main spindle digital main spindle with rotary capability digital combined spindle/turret axis Axis designation 1 Axis designation 2 Axis designation (axis functionality) A00.032 Axis / device 1 1 A00.033 Axis / device 2 2 A00.034 Axis / device 3 3 A00.035 Axis / device 4 4 A00.036 Axis / device 5 5 A00.037 Axis / device 6 6 A00.038 Axis / device 7 7

Parameter Description System Parameters 211 2.2 of the Master Process A00.000 18V00 of the master process Up to 20 displayable characters Master If the system whose parameter values are to be assigned consists of several processors (stations), process "0" should be defined as a pure management process without axes. Coordinating the existing processes and the external mechanisms will then be the sole task of this process. The master process may have axes allocated if, from a systemrelated perspective, it is more advantageous that the master process performs other jobs (such as controlling a loader for parts delivery) in addition to the coordination tasks. The axes must be directly allocated to the master process (process 0) if the system consists of only one station. Note: A master process (process 0) must always be present.

212 System Parameters Parameter Description 2.3 s of Processes 1 6 A00.001... A00.006 18V00 s of processes 1 6 Up to 20 displayable characters No The designations of the other processes and/or machining stations that are to be controlled and managed by the must be listed here. Notes: A missing entry means that a process has not been defined. A process can also be used as a pure computation process or to control PLC sequences (step sequences with reverse technique). Up to nine feed axes (linear or rotary axes) and up to three main spindles can be allocated to a process. 2.4 of the External Mechanism A00.007... A00.031 18V00 of the external mechanism. Up to 20 displayable characters No An external mechanism permits a process of a subordinate (slave) or an PLC process (such as a thirdparty control) to be linked to a higherorder (master). However, an external mechanism can be used as an additional diagnosis element (to display additional message texts in the diagnosis menu, for example). Based on the mechanism type, the generates the necessary diagnosis messages automatically, using the existing user message files and the related basic message files that may have been modified by the user.

Parameter Description System Parameters 213 Type of external mechanism Basic message files User message files MTC process CNCANW.xxx USMSGyy.xxx PLC process UNDEFANW.xxx xxx... GER (German) USA (English) ESP (Spanish) FRA (French) ITA (Italian) yy... Process/mechanism number A00_007_A00_031_V22_20030224.xls Notes: A missing entry means that an external mechanism has not been defined. In addition to the designation, the mechanism type must be selected for each necessary "external mechanism". An is able to control the seven internal processes and up to 25 external mechanisms. NCcontrolled axes cannot be allocated to an external mechanism.

Indramat 214 System Parameters Parameter Description M9 M1 M10 M2 M11 M3 M12 M4 M13 M5 M14 M6 M15 M7 M16 M8 TEMP HD POWER OPERATOR PROGRAMMER F2 OP2 F3 F4 F5 F6 F7 F8 F9 OP3 OP4 OP5 OP6 OP7 OP8 OP9 7 8 9 N F1 F10 < > + 4 5 6. PROG SHIFT 1 2 3 NEXT INFO TAB 0 SP, INS CTRL DEL ALT ESC OK Master MTC 0 Process External mechanism 1 2 3 4 5 6 7 8 9 101112131415... 31 Slave MTC 0 Process External mechanism 1 2 3 4 5 6 7 8 9 101112... 31 meas. station 4b milling station 1b drilling station 2b milling station 3b (3rd party control) milling station 5b milling station 6b 3 5 6 8 10 12 Transfer loading station 0 1 Messen 13 unloading station (SPS process) 2 4 7 9 11 milling station 1a drilling station 2a meas. station 4a (3 rd party controller) milling station 5a milling station 6a Fig. 22: Example for utilization of external mechanisms 21.FH7

Parameter Description System Parameters 215 1. Process of coupling a slave to the master Procedure Synchronization Enter the designation of the external mechanism Select the " process" type The external mechanism (process of a slave ) is synchronized from the NC program in the same way as for the other processes. At the PLC end, the mechanism signals that are used for transferring the NC control commands are: define mechanism, reverse mechanism, advance mechanism, lock mechanism and program number and the acknowledgment signals part machined, and acknowledge mechanism execution Diagnoses The diagnoses that are generated for the external mechanism in the slave are, across the I/O level, displayed on the master for the entered external mechanism of the "MTC process" type. This requires the application files of the process in the slave for the external mechanism to be stored in the master. The same applies to the basic message files (message texts of the NC) if these have been modified. Note: To ensure correct operation of the diagnosis system, the diagnosis messages in the user message files and in the base message files of the slave must match those of the external mechanisms of the higherorder. 2. Integrating a PLC process Procedure Synchronization Enter the designation of the external mechanism Select the "PLC" type The external mechanism (PLC process) is synchronized from the NC program in the same way as for the other processes. Using the mechanism signals (see above), the PLC recognizes the NC commands issued in a process. An AP (Advanced Process) command, for example, causes the PLC to start a stepping sequence and to signal its completion using the related acknowledgment signal.

216 System Parameters Parameter Description Diagnoses The diagnoses that are produced in the PLC for the PLC process are shown for the registered external mechanism (of the "PLC process" type). Here, all diagnoses (1 through 600) are available to the user. Note: If there are still unassigned processes available in the participating controllers, it is preferable that PLC sequences are controlled from a process using auxiliary functions. The functions at the NC end (such as reverse technique, single block operation, NC block search, NC program restart, multiblock retrace or return to contour) makes commissioning and operation of a PLC process significantly easier. 3. Increasing the number of messages for a process Procedure Enter the external mechanism Select the "PLC" type Note: Use the external mechanisms (of the "PLC process" type) to increase the number of messages for the internal processes and/or to display messages simultaneously. Diagnosing individual modules in parallel to the existing processes (such as the tool changer or the hydraulic system), for example, represents a similar utilization of the external mechanisms. Defining Types A00.032... A00.038 18V00 21V00 A00.039... A00.051 18V00 A00.098... A00.109 18V00 1 32 (for P and R) 1 7 (for ) : Linear axes, rotary axes, main spindle, rotary axis spindles and combined spindle/turret axes, SERCOS I/O : Linear axes, rotary axes, main spindle No Inside the control, the consecutive axis numbers are used to manage the units. The unit number is the unit type, taking into account the number of slots or axis modules available and the allocation of the associated interpolation axes.

Parameter Description System Parameters 217 Each required NC unit must be specified according to its type. Axis types for the : linear axis rotary axis main spindle main spindles with rotary axis capability combined spindle/turret axis and SERCOS I/O devices For the, only axes of type linear axis rotary axis main spindle are available. Notes: Up to nine linear or rotary axes and three main spindles can be allocated to each process. One of these axes can be used as a tool axis that can be moved asynchronously with respect to the other axes. Linear axes, rotary axes and combined spindle/turret axes are available for numerically controlled tool magazines. In addition to the axis designation (see axis parameter "Axis designation" Cxx.001), each axis must have its functionality (see axis parameter "Axis meaning" Cxx.053) allocated. Each axis meaning (axis functionality) may only exist once within a process. Controls in the product family are available in both an ISA plugin board format (MTCP01.2) and in an IP20 protection class version (MTCR02.1 and MTCR01.1). RECO IP20 version MTCR01 MTCR02 The MTCR01.1 consists of a basic unit with the CNC processor system and an integrated axis processor, to which a maximum of 8 drives may be connected. An additional module, containing a further axis processor, allows the control of 8 more drives. The MTCR02.1 consists of (like the MTCR01.1) a basic unit with the CNC processor system and an integrated axis processor to which a maximum of 8 drives may be connected. It can be expanded, however, with three additional modules, so that up to 32 more drives can be controlled in its maximum configuration. PC controls MTCP01.2 The MTCP01.2 consists of a basic unit with the CNC processor system and an integrated axis processor to which a maximum of 8 drives may be connected. It can be expanded with three additional modules, so that up to 32 more drives can be controlled in its maximum configuration. The axes can be allocated to the axis processor modules in ascending numerical order.

218 System Parameters Parameter Description Note: The number associated with each axis processor module must be selected on a DIP switch (see "Technical Documents, MTCP and MTCR"). axis processors The drive numbers are consecutively numbered across all axis processors. The drive number is particularly important because this number must be set at each fiber optics cable module of a digital drive. Note: All axes that are involved in the transformation for face machining (usually axes of axis meaning X, C and Z, if the axis of axis meaning Z is to be included in the interpolation during face machining) main spindle synchronization or a synchronous axis compound (slave or gantry axes) must be on the same axis processor module. 2.5 Tool Management A00.052 18V00 Permit global tool management Yes; no No Tool management should be used if least one process employs tools whose position within the machine is to be managed, whose correction values are to be updated independently of the NC program, and whose service life or wear state must be monitored. The MTC tool management performs these tasks. As soon as tool management is entered as "Yes", further system parameters will subsequently be displayed that can be used for configuring the tool data records within the system. Using these system parameters, the machine manufacturer is able to achieve an optimum adjustment of tool data records and the associated user interface input menus with respect to applicationrelated requirements. Note: If the tool data records are to be used across systems (i.e. in different MTCs), it must be ensured that the configuration of the tool data records is identical in all controllers. The following two tables show the structure of a tool data record as a function of the optional data.

Parameter Description System Parameters 219 Base tool data (per tool) V22_20030213 DESIGNATION RANGE DATA TYPE Tool identification in the PLC UNIT DE OPT. EL TL Index address hexadecimal long word with 32 bits (read only) 01 X X ID (tool designation) up to 28 characters (ASCII Code 32...126, at least 1 character >32) STRING28 02 X Memory 0 2 (0: magazine/turret, 1: spindle, 2: gripper) 03 X Location 0 999 04 X Tool number 1 9999999 DINT 05 X X Duplo number 1 9999 INT 06 X Correction type 1 5 USINT 07 X X Number of tool edges 1 9 USINT 08 X X Tool status 0/1 (32 status bits) USINT 09 X Location Data Free half locations 0 4 USINT 10 X Old pocket 1 999 INT 11 X Stor. of next setup tool 0 2 (0: magazine/turret, 1: spindle, 2: gripper) INT 12 X Loc. of next setup tool 1 999 INT 13 X Stor. of prev. setup tool 0 2 (0: magazine/turret, 1: spindle, 2: gripper) INT 14 X Loc. of prev. setup tool 1 999 INT 15 X s Time unit 0/1 (0: min, 1: cycl.) USINT 16 X of length 0/1 (0: mm, 1: inches) USINT 17 X X Technology data Tool code 0 9 USINT 18 X X Representation type 0 65535 INT 19 X X User data User data 1 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 20 A00.061 X User data 2 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 21 A00.062 X User data 3 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 22 A00.063 X User data 4 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 23 A00.064 X User data 5 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 24 A00.065 X User data 6 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 25 A00.066 X User data 7 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 26 A00.067 X User data 8 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 27 A00.068 X User data 9 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 28 A00.069 X Comment up to 5 x 76 alphanumeric characters 99 A00.057 X The data element 99 Comment is not loaded into the control. DE... Data element TL... Tool list specific date EL... Setup list specific date OPT... Optional date Fig. 23: Base tool data WGD_all_V22_20030213.xls

220 System Parameters Parameter Description Tool edge data (per tool edge) V22_20021107 DESIGNATION RANGE DATA TYPE in PLC UNIT DE OPT. EL TL Tool edge identification Tool edge position 0 8 USINT 01 X X Tool edge status 0/1 (16 status bits) WORD 02 X Tool life data Remaining tool life 99.9 +100.00 REAL % 03 A00.059 X Warning limit +0.1 +100.00 REAL % 04 A00.059 X max. utilization time 0 9999999 (0: Service life measurement inactive) REAL min or cycle 05 A00.059 X Time used 0 9999.999 REAL min or cycle 06 A00.059 X Geometry Data Length L1 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 07 X Length L2 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 08 X Length L2 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 09 X Radius R 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 10 X Wear L1 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 11 A00.055 X Wear L2 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 12 A00.055 X Wear L3 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 13 A00.055 X Wear R 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 14 A00.055 X Offset L1 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 15 A00.056 X Offset L2 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 16 A00.056 X Offset L3 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 17 A00.056 X Offset R 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 18 A00.056 X Geometry limit values L1_min 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 19 A00.060 X L1_max 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 20 A00.060 X L2_min 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 21 A00.060 X L2_max 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 22 A00.060 X L3_min 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 23 A00.060 X L3_max 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 24 A00.060 X R_min 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 25 A00.060 X R_max 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inches 26 A00.060 X Wear factors Wear factor L1 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inch / min or cycle 27 A00.058 X Wear factor L2 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inch / min or cycle 28 A00.058 X Wear factor L3 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inch / min or cycle 29 A00.058 X Wear factor R 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT mm or inch / min or cycle 30 A00.058 X User data User data 1 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 31 A00.070 X User data 2 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 32 A00.071 X User data 3 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 33 A00.072 X User data 4 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 34 A00.073 X User data 5 +/ 1.2 * 1038 +/ 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 35 A00.074 X User data 6 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT any 36 A00.092 X User data 7 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT any 37 A00.093 X User data 8 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT any 38 A00.094 X User data 9 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT any 39 A00.095 X User data 10 99999.9999 +99999.9999 or 9999.99999 +9999.99999 DINT any 40 A00.096 X DE... Data element EL... Setup list specific date SD_all_V22_20021107.xls OPT... Optional date TL... Tool list specific date Fig. 24: Tool edge date

Parameter Description System Parameters 221 2.6 Organization of Setup Lists A00.053 18V00 Setup lists Stationspecific organization Organization of the setup list Station ; programspecific Stationspecific Appears only when the "Tool management" system parameter (A00.052) has been set to "Yes". A setup list contains the expected data of the tools that must exist when a new machining process is started (see "Tool management" description). They are not mandatory. Their utilization is recommended in transfer or production machine operation with large batch quantities. A setup list can be organized in a stationspecific or programspecific fashion. In a stationspecific organization form, a setup list for each process can be created within an NC program package. Up to 99 programs can share such a setup list. This organization form is recommended for the production of parts families where the NC programs within an NC program package differ only slightly, and where all necessary tools can be accommodated in the related tool magazine. NC program package n Process 0 Process 1 Process 6 NC program 1 Setup list NC program 1 Setup list NC program 1 Setup list NC program 2 NC program 2... NC program 2 NC program 3 NC program 3 NC program 3......... NC program 99 NC program 99 NC program 99 26.FH7 Fig. 25: Stationspecific organization of setup lists Programspecific organization Programspecific organization of the setup lists enables the user to create a setup list for each NC program. This organization form should be used if an NC program package is not used exclusively for parts batch production and if the tools that are required for the individual programs of an NC program package cannot be accommodated simultaneously in the existing tool magazine.

222 System Parameters Parameter Description NC program package n Process 0 Process 1 Process 6 NC program 1 Setup list 1 NC program 1 Setup list 1 NC program 1 Setup list 1 NC program 2 NC program 3. Setup list 2 Setup list 3 NC program 2 NC program 3. Setup list 2 Setup list 3... NC program 2 NC program 3. Setup list 2 Setup list 3 NC program 99 Setup list 99 NC program 99 Setup list 99 NC program 99 Setup list 99 27.FH7 Fig. 26: Programspecific organization of setup lists Note: The "Organization of the setup list" parameter has no effect if a setup list is not created and if the processspecific control signal "No equipment check" (PxxC.MGNSL = 1) has been set during machine operation. 2.7 Maximum Number of Tool Edges A00.054 18V00 Maximum number of tool edges 1... 9 1 Appears only when the "Tool management" system parameter (A00.052) has been set to "Yes". The maximum number of tool edges specifies the maximum number of tool edges that must be managed per tool. Up to nine tool edges (tool edge data records including corrections and service life data) can be assigned to each tool, irrespective of the number of tool edges the tool actually has. Note: The maximum number of tool edges should not exceed the number of tool edges that can actually be expected. Each tool edge occupies additional memory space, thus reducing the memory space remaining for the user. This is particularly important if a large number of tools must be managed.

Parameter Description System Parameters 223 Drill with one tool edge Drill with two tool edge Cutting tool with one tool edge Cutting tool with two tool edge 28.FH7 Fig. 27: Examples for tools with different tool edge number 2.8 Wear / Offset Register A00.055 A00.056 18V00 Calculation of correction values A00.055 Wear register, A00.056 Offset register Yes; no No Appears only when the "Tool management" system parameter (A00.052) has been set to "Yes". The "Wear register" system parameter defines whether or not a tool wear memory is provided for each tool. Correspondingly, the "Offset register" parameter defines whether or not a memory for an additional offset value (e.g. for adapters) is provided for each tool. These registers permit the individual length and radius values of the individual tool edges to be updated independently of each other. In length and tool radius path compensation, the takes the geometry, wear and offset registers of the active tool edge and the active D correction into account as follows: Length correction L1 = length L1 + wear L1 + offset L1 + D correction L1 Length correction L2 = length L2 + wear L2 + offset L2 + D correction L2 Length correction L3 = length L3 + wear L3 + offset L3 + D correction L3 Radius correction R = radius R + wear R + offset R + D correction R Fig. 28: Calculation of corrections

224 System Parameters Parameter Description Effect Registers that have been set to "Yes" appear on the user interface of the PC, together with the related input mechanisms of lengths "L1", "L2" and "L3" as well as radius "R". If "Wear factors" are used (see system parameter A00.058), tool management uses the wear registers to compensate the timerelated wear of the tools with the help of the wear factors. The wear factor registers will be available exclusively to the user if the wear factors have not been selected. The wear registers are also influenced by the "Replace" user interface function. The Replace function resets the remaining service life (in percent) to 100% and clears all the wear registers that are related to the tool. Tool management, in contrast, does not influence the offset registers. Notes: The tool presetter should save the tool's actual length and radius values in the geometry register (always present), and the dimensions of the related adapter in the offset register. The wear register, in contrast, should be made available to the user for fine tuning. Set the wear registers to Yes if the "wear factors" (system parameter A00.058) are to be available to the end user and be displayed on the user interface of the PC. The dimensions of the tool adapters used for several tools while they remain on the machine can be compensated using the D corrections. 2.9 Comment A00.057 18V00 Comment (assembly instructions) Yes; no Appears only when the "Tool management" system parameter (A00.052) has been set to "Yes". If desired, each entry in the setup list can be accompanied by a comment of up to 5 x 75 characters. The comment can be used for related information for each group of alternate tools (assembly instructions, for example). Note: The comment is only available on the PC.

Parameter Description System Parameters 225 2.10 Wear Factors A00.058 18V00 Wear compensation Wear factors Yes; no No Appears only when the "Tool management" system parameter (A00.052) has been set to "Yes". The wear factors can be used to compensate wearrelated variations in tool length and tool radius. Length wear compensation is activated automatically when tool length compensation is active and a length wear factor other than zero has been entered for the tool edge concerned. Correspondingly, radius wear compensation is activated automatically when tool radius compensation is active and a radius wear factor other than zero has been entered for the tool edge concerned. To calculate the values that are required for compensating tool wear, tool management multiplies the cutting time of the tool with the associated wear factors, and adds the result to the existing values in the wear registers: Wear L1 = wear L1 + machining time length wear factor L1 Wear L2 = wear L2 + machining time length wear factor L2 Wear L3 = wear L3 + machining time length wear factor L3 Wear R = wear R + machining time radius wear factor R Fig. 29: Wear compensation Updating time Tool management updates the wear: during a transition to a different tool edge, when an edge is requested again when the tool is brought back to the magazine (tool storage unit = magazine), when the unit is swiveled off the machining position (tool storage unit = turret) or when the unit is deselected with 'T0' (tool storage unit = turret or no tool storage unit available). Note: The "Wear register" (system parameter A00.055) must also be set to "Yes" if the wear factors are to be available to the end user and be displayed on the user interface of the PC, and if entering values should also be possible.