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Reference Manual ETCHC-ETCPC_1st generation NC

1. max permissible override 0 1 tolerance for positions e g circle mm tolerance for angles Grad degrees maximum permissible path error mm transition angle at which automatic braking until standstill is to start acceleration evaluation for circles or spline arcs for speed reduction filter time const for soft handwheel function in ms 1 polar machine coordinate system no of cos axis in the Cartesian coordinate syst no of sin axis in the Cartesian coordinate syst no of the tangential correction axis or 1 no of the radius axis in the pol coordinate sys no of the angle axis in the pol coordinate sys rough interpolation cycle in ms number of fine interpolation cycles per rough interpolation cycle Lenze 229 Machine constants 4 16 List of machine constants The following 5 MCs are only active after the control NR is restarted after the transfer of the MCs K_KANALANZAHL 1 number of NC channels K_PFELDGROESSE 2048 parameter field size K_LAH VORLAUFTIEFE 256 size of prebuffer in blocks for channel 0 OF and for channel 1 K_LAH RUECKLAUFGRENZE 4 no of blocks that can be attributed to 0 the profile for channel 0 and channel 1 K_SPV_SPEICHERGROESSE 1000 size of intern program memory in kByte K_SPV_SYMBOLANZAHL 0 max nu
2. Pi BE Mosi beet pihe Celine Winders Help Pole E i D HODE ALTO FE IFE IE MODE MANUEL FPFE E an Pani Fi EZ H Furion i HLrUHEnOHS iPr gt Sy Ff 17 LERIFUN fap PLE EES PFG my rn pur 1 GTANT_stor pen HE REPLACE uns EI Z Ferien Saga H arda Ly RISHT Fun iB RELEASE Ss Ha ff Pod foe i mcmni 1J RIC Fay E TOF FRI iy Terie Lenze The sample program requires the libraries standard lib and sysetcxc lib lib CoDeSys V2 3 Targets Lenze ETCxC 2 If the libraries do not yet exist add them via Resources gt Library ETCNO25 EDSTCXN EN 2 0 System variables and data blocks EDSTCXN EN 2 0 Starting and configuring the PLC sample program Getting started 2 Creating a PLC sample program 2 12 2 12 2 The communication between the CNC control system and the PLC program takes place via variables of the data block 1 the communication between the ETC MMI and the PLC program via variables of the data block 2 The required system variables are summarised in the following table the system variables are listed in German and English System variable db1_sps2nc_notaus_bit Flag word MX1 0 0 DB1_X0_0_plc2nc_emergency_bit db1_sps2nc_vorschubfreigabe_w MW1 1 DB1_W1_plc2nc_feed_release_axes_w db1_sps2nc_verfahrtastenfreigabe_plus_w MW1 3 DB1_W3_plc2nc_release_jog_keys_plus_w db1_sps2nc_verfahrtastenfreigabe_minus_w MW1 4 DB1_WA_plc2nc_release_jog_keys_minus_w db1_sps2nc_reglerf
3. 4 Follow the instructions of the setup program 5 Change the installation path to c program files lenze etc CoDeSys2 Stop The file codesys ini in the installation directory may be write protected after installation from CD The write protection must be cancelled otherwise the CoDeSys settings will not be saved 2 11 2 Configuring the control system in the ETC CoDeSys This chapter describes the general procedure for control configuration as a precondition for creating a program with the ETC CoDeSys An ETCHC is used as an example This chapter can be skipped if the sample program LQ is called because it already contains the described settings Lenze 51 EDSTCXN EN 2 0 Getting started 2 11 ETC PLC programming with CoDeSys 2 11 2 Configuring the control system in the ETC CoDeSys Start ETC CoDeSys and create 1 Start the ETC CoDeSys via lt Start gt gt Programs gt Lenze gt CoDeSys new project 2 If required you can change the language in the CoDeSys Projekt gt Optionen gt Arbeitsbereich gt Sprache englisch Project Options gt Desktop gt Language german 3 Create a new project via File gt New 4 Inthe Target system settings dialogue select the respective control system 5 Accept the default setting A dialogue for the first block is displayed The name can be freely selected e g PLC_PRG As a first block a program in the language ST structured text is
4. Program components 87 Program creation variants 87 Program transfer 87 Data block 1 245 Data block 15 273 Data block 2 268 O functions 177 Data block 8 14 270 S functions 178 179 Data blocks 356 Time synchronization 90 data fields ETC MMI P field 180 adapt machine constants 42 Ofield 189 check drives 43 44 check machine constants 43 44 DEFDATATYPES 393 Ba configuration file 327 configure 30 DefineCanMsg 410 cycle programming 310 325 DelCobldCanMsg 411 DELPHMMLINI 327 description 286 dialogue box for file selection 306 editor 47 305 Define inputs outputs 65 Device driver 390 DPR interface 339 drive controller establish connection 34 drive controller 12 file manager 308 marking 12 help function 291 Drives parameterise 36 install 31 286 language file 321 messages 292 operate 289 290 operating mode Automatic 298 DrvReadObject 401 DrvWriteObject 403 E operating mode diagnostics 312 Editor 47 operating mode Programming 302 editor 305 operating mode setup 293 EDS file 55 password 292 PLC keys 75 Error messages 360 split screen 289 ETC interface PLC NC start 32 288 Data block 0 242 switch language 33 Data block 1 245 Data block 15 273 Data block 2 268 Data block 8 14 270 ETC MMI gateway communication values in the DPR area
5. 4 In the HyperTerminal window enter quit The firmware starts On the ETC front plate the green watchdog LED lights up Lenze ae Getting started 2 16 Updating the firmware of the ETCHx in the Standalone operating mode 2 16 3 Updating the firmware Important commands of the boot monitor Command ver sz file name rz quit reset help 86 Meaning Shows the versions of the boot loader and the currently loaded firmware Sends the currently loaded firmware under the specified name to the PC via Z modem When Dateien senden Transmit files is selected this command is sent implicitly by the connected terminal program to the control system It is used for the transmission of firmware or boot loader to the control system For the transmission the ZMODEM protocol must be selected Quits the boot monitor and starts the loaded firmware Resets the control system Shows the commands of the boot monitor Lenze EDSTCXN EN 2 0 CNC programming 3 Basics 3 1 3 CNC programming 3 1 Basics Program creation variants Program transfer Program components EDSTCXN EN 2 0 This chapter describes the functions of the ETCxC control with which the programs for processing workpieces are created The way ETCxC is programmed is based on DIN 66025 Compared to the DIN the instruction set is provided with a number of additional better performing functions In the following first the some b
6. This file contains machine constants that are transferred to the NC computer The transfer only takes place if the HMI software is started and no operating system is running on the NC computer If required the NC computer must be reset to transfer the machine constants This file contains help texts that are displayed when machine constants are changed by means of the MMI Diagnostics operating mode Machine const function gt edit MC Operating system for the NC computer The operating system is only transferred after a reset of the NC computer PLC program The PLC program is only transferred after a reset of the NC computer Note After each installation a manual entry is required here You must specify the PLC file that you use here DIN program If you want to load multiple DIN programs multiple terms entry1 entry2 etc must be specified The program is only transferred after a reset of the NC computer 329 m ETC MMI 7 8 Appendix 7 8 3 Configuration file DELPHMMI INI Section startup e a anzeige language 330 Term dinLoad 1 dinFile c prog beispiel din StartPrg AxeKorr logo c bilder logo bmp wait 1 time 5 Top 10 left 10 Textbasisnr 30000000 Separate_karten_texte 1 Text0 Sprache txt Text1 SPS txt Lenze Description In the startup section additional procedures during the startup of the HMI software are determined This Boo
7. Access type Syntax Comment In bits MX x y z x number ofthe data block y word in the data block 0 255 z bit in the word 0 15 In bytes MB x y z x number of the data block y word in the data block 0 255 z left higher value or right lower value byte of the word left 1 right 0 In words MW x y x number of the data block y word in the data block 0 255 In double words MD x y x number of the data block y double word in the data block 0 127 Stop Double word access Because of the internal data organisation there is normally no point in a double word access because high and low words would be transposed see example 8 4 6 Remanent variables With the key word RETAIN remanent data can be defined for the variable declaration in CoDeSys see CoDeSys documentation A total of 12 kB are available for remanent data 8 4 7 Object directory parameter manager It is possible in CoDeSys to create a so called CANopen object directory which can be read and written to by a CANopen device e g CANopen control terminal To enable the transfer of an object directory via the CAN Bus the object directory must be announced to the control via the function InitServerSdo see library ServerSdo lib Note When inserting the library ServerSdo lib into the library management of CoDeSys additional libraries SysExtensions lib SysLibCallback lib Netvarcan_Lib
8. Basically the operation of the CNC program is also possible gt without connected mechanics and drives This is achieved by setting the machine constant MK_TEST_OHNEMECHANIK 1 gt without a PLC program This is achieved by setting the machine constant MK_SPS_DUMMY 1 For the following tests with mechanics the above mentioned machine constants must be set as follows MC keyword No of Values values MK_TEST_OHNEMECHANIK 1 0 MK_SPS_DUMMY 1 1 2 8 6 Checking the parameters of the drives After the machine constants have been adapted the connected drives can be checked via their tolerance margin in the diagnostics 1 Inthe ETC MMI window press lt F12 gt diagnostics The MMI window opens in the Diagnostics operating mode ETCNO12 Correctly parameterised drives show an alternating tolerance margin around the zero point EDSTCXN EN 2 0 Lenze 43 Getting started 2 8 Parameterising drives via machine constants 2 8 7 Testing the drives in inching mode 2 8 7 Testing the drives in inching mode After the machine constants have been adapted the drives must be tested in inching mode Check whether the configured drives behave according to the specifications 1 Inthe ETC MMI window press lt F9 gt setup The MMI window opens in the Setup operating mode 2 Press lt F2 gt Manual travel 3 In the submenu press lt F1 gt Modal travel An individual drive is selected The selected dri
9. Digitals IO Eidul ee CAN Heetest FEET 1 Bann an weston CAH nein biridi TE bo it BEDE mac ES aes Sara Var Caise aties EOKA _ 16d ma EARTH D Er Piet E DPE EDS i DO ea PLC WEDS ECS ts i Edatea PO CHTO ECE ETCHAL22 CDG ehr and least Misreges a ass ETHEL EGS Eta cice Ere Ho Hain goat HAD HIIS 208 HAT HaT OS Lance CAMOpe ira EPF I ETCNO19 4 Repeat the last step for all modules that you want to add in the order of their position on the DIN rail After the modules have been installed the configuration looks as follows EHE igura lich Af B ETSPCE EIT re fhgitele 16 Hcdula FIE knslcege T Soduls FIZ f CAH Beeter FIR ip ETEEIONG SDE TAR B ETCEMO8 EDS TAR fg ETCNO20 Lenze EDSTCXN EN 2 0 Description of the module in the EDS file EDSTCXN EN 2 0 Getting started 2 ETC PLC programming with CoDeSys 2 11 Configuring the control system in the ETC CoDeSys 2 11 2 Note New modules are added at the end of the list To insert a new module before an existing one select the existing module and add it via the right mouse button with Element einf gen Insert Element A module can be removed from the list via the right mouse button and Delete Each module that is configured in the control system requires an EDS file The EDS file belonging to the module must be located in the target
10. Machine constants List of machine constants 4 16 limit switch limit switch input number of the neg input number of the pos monitor ia of the position encoder protection signal monitoring active 0 inactive cable breakage i encoder zero pulse xy monitoring 0 position monitoring active inactive cable breakage monitoring position encoder signal Ual Ua2 fan Il monitoring active 0 inactive 2 ignore nonrecurring fault marking of axes that are to be x transferred via the teach in box during teaching multiplication factor for the position programmed in a DIN block assignment of axes to handwheels 0 handwheel 0 1 handwheel 1 individual evaluation factor for the handwheel funct e g for special treatment of rotation axes Lenze 231 A Machine constants 4 16 List of machine constants MK_GRUNDOFFSET 0 distance of the machine zero point 0 from home position mm or Grad degrees 0 0 0 0 MK_SYNCHRONOFFSET 0 distance of the machine zero point between 0 synchronous axes after home position approach 0 0 0 0 MK_SPINDELUMKEHRSPIEL 0 spindle reverse backlash compensation 0 in mm or Grad degrees 0 0 0 0 MK SCHLEPPABSTAND 32000 maximum following error in 32000 actual value encoder increments 32000 32000 32000 32000 MK_SCHLEPP
11. This machine constant is used in the correction module Schneiden Cut for compensating the technology specific pitch of the tool The MC specifies the offset in degrees by which the C axis is to be shifted in relation to the calculated path orientation The default value of 0 does not cause a shift Lenze 223 A Machine constants 4 15 Technology specific settings 4 15 8 MK_WLK_VERWEILZEIT 4 15 8 MK_WLK_VERWEILZEIT This machine constant is used to automatically insert dwell times in the correction module SCHNEIDEN CUT at all places where the cutting tool is to punch and cut The MC has two parameters The first entry defines the dwell time after punching M15 M16 and the second one the dwell time after cutting Both are entered in seconds with decimal positions 4 15 9 MK_X_WINKEL This machine constant defines an oblique coordinate system in the Z X plane This is necessary for example for cylindrical grinding machines with an oblique grinding wheel This MC specifies to which extent the angle of the X axis deviates from the perpendicular The display and in the parameter field always shows the tool tip in relation to the tool in rectangular coordinates With regard to X axis travel a difference must be made between path G31 and route operation G30 While only X moves on the display in path operation X and Z move on the machine The tool tip stops in relation to the tool in Z direction In route o
12. gt A task with an interval of t 0s must have a priority of no more than 10 otherwise the control will set the priority of all tasks to 0 and reports an error module 13 error number 202 In addition a task with an interval of t 0s must have the lowest priority of all tasks otherwise the control will set the priority of all tasks to 0 and reports an error module 13 error number 201 The tasks with a lower priority than the tasks mentioned above would then not be executed gt If there are several tasks with an interval t 0s these tasks must all have the same priority gt The interval time must be selected between t 0ms constantly running and t 1000ms gt When making the entry for Event in the task properties of CoDeSys each task must be linked to an event variable The operating system of the ETCxM then allocates the 4 tasks to the corresponding call of the CoDeSys program component linked to the task Each task has an event variable allocated to it Task number Event variable 1 PLC_PRG1 2 PLC_PRG2 3 PLC_PRG3 4 PLC_PRG4 Lenze 341 8 PLC programming 8 4 Project planning 8 4 3 Configuring PLC tasks of the ETCxC Process image Stop When accessing data or calling components which are used in several tasks it must be noted that no synchronisation exists between the tasks The PLC programmer must ensure that this does not cause any problems When allocating the C
13. DW 245 DW 246 DW 247 DW 248 DW 249 DW 250 DW 251 DW 252 DW 253 DW 254 DW 255 O o O 9 9 OGO 59 25 9 2 5 Oo oo oOo Gc cg 9 959 amp amp EDSTCXN EN 2 0 Lenze 239 5 5 1 240 Interface PLC lt gt NC operating system Definitions Interface PLC lt gt NC operating system Definitions The integrated PLC is a component of the hardware and software of the ETC control It is programmed like a conventional PLC and generally has the same features For the communication with the actual CNC control NC a formal interface is provided within the CNC whose function follows the regulations according to IEC 550 ISO 4336 and VDI 3422 In this chapter the function of the interface is described The individual signals are defined and their function mode described It is not necessary to describe the signal types and the timing of the signals because the interface is created solely by internal memories and is thus sub ject to the same regulations as the data exchange within the CNC Signal pro pagation delays must not be taken into account The data exchange between NC computer and integrated PLC takes place via an internal RAM area which is defined as Data words for the PLC The transfer takes place in data blocks DBO DB1 DB2 and DB8 DB15 DBO Contains the i
14. EDSTCXN EN 2 0 Getting started R Installing ETC MMI 2 6 Building in and installing the ETCPx 2 6 1 Installing ETC MMI Stop Only install the PCI control variant ETCPx after installing the ETC MMI and before starting the ETC MMIs Note The ETC MMI Gateway is installed during the installation of the Lenze ETC MMis 1 In Windows File Explorer open the program setup exe on the ETC MMI installation CD Follow the instructions of the installation program The following will be requested Demo or standard installation Control type ETCHC or ETCPC IP address of the ETCHC EI or index ofthe ETCPC indexes ofthe PCI cards are in the range 0 9 and are automatically assigned by the driver The first ETCPx has the index 0 In the start bar the entry Lenze ETC MMI is created It can be used to start the application 3 For an ETCHC Check that the TCP IP protocols are installed in the network properties Start gt Settings gt Control Panel gt Network For an ETCPC Install the ETCPC plug in card in the PC Observe the notes in the ETC Hardware Manual Building in and installing the ETCPx 1 If you use an ETCPx plug in card as control system install it in the PC now Please observe the notes in the ETC Hardware Manual 2 Start the PC and open the BIOS settings For Phoenix BIOS set Advanced Plug amp Play O S to NO For other BIOS check the corresponding entry e g PNP OS on
15. ETCM015 gt The 24 V voltage is connected to the modules ETCHN003 power supply unit and ETCHU008 output module gt A switch Tool down l_ToolDown is connected at the input IN3 of the ETCHIOO8 gt A switch Tool up I_ToolUp is connected at the input IN4 of the ETCHIO03 gt A switch Emergency stop I_NoEStop is connected at the input IN8 of the ETCHIO08 gt Arelay Tool down O_ToolDown is connected at the output OUT1 of the ETCHU008 Lenze EDSTCXN EN 2 0 Getting started 2 Creating a PLC sample program 2 12 Starting and configuring the PLC sample program 2 12 2 2 12 2 Starting and configuring the PLC sample program The sample program Training1 contains all settings of the control system the parameterisation the calls for adding the required PLC functions for the M functions to the described CNC program Start sample program 1 In Windows File Explorer double click on the file Training1 pro CoDeSys starts and the sample program is loaded It consists of a sequence control AS with the steps Init and Main Fe Ei feet Immer foe Orie ini hem Benin PLC rit TH a Pa ME Lone HN ME STAETLPAGE START_PWGE_FE a Ej Weuncan egga 3 0 FATOR Ei D Fame Gagea Harai ETCN028 EDSTCXN EN 2 0 Lenze 61 2 12 2 12 2 Add libraries 62 Getting started Creating a PLC sample program Starting and configuring the PLC sample program Manager
16. Load and start program 1 Select Online gt Log in The program is loaded into the control system 2 Select Online gt Start The program starts After a successful start the RUNNING field in the status line changes its colour from grey to black HORE CRAP Wes oe Aa ETCM042 The status line shows the current connection in this case local_ In the right part of the window the program displays the current values of the variables ELITE ei Tap lementetien ef the FLO keva al tbe IL HMi Li inc WENES UFF in welesee signal Bandlar HH Tool apacia a icon 2 down SET et Poca tool dawn HHT_PLC ker_tcol_deen GB HL bii IR SE_Tsal_dewen L H_HI4_bit GA Lodo 011 THEH H_H14d_bit TRIG MLA J Sf Tool dora MEET DIE Q Taal Deen OHIJLIH TRE PT earia _Teolioen OR zus down gi THEN Teo been HE it Hid_kat DA H_Hid_bin Eh Tool dara RESET TRIE ER Tool dows REGET EEE ELSIF TI HER_ Hid ti TEEN TIHER Hii H HIA Edi F H_Hii_bii ch Tool dore RESET THUE ER Tool dors RESET BE EPSEREOR FoTo UF EI aS 4 FOTOL P Ki don t tool up 2 Tool up Sett HHI_PIE ber_tool_up HHI_FLC_ kay ipol_ep MTEI WIS CLK E HI bit OR SE Tool um OL H HiE kis SMER ETCNC097 Operate program After you have logged in to the control system via Online gt Log in the following functions can be used gt Stop program Online Stop Reset data memory to starting values
17. PLC programming 8 Library 8 8 FILE IO functions 8 8 3 FUNCTION SYSCLOSEFILE DINT VAR_INPUT handle_di DINT END_VAR The function is used to close a file previously opened with SysOpenFile The content of the FLASHPROMs is only updated in the FLASHPROM after the last file opened for write access has been closed The return value of the function is less than 0 for an error all error codes are defined in the global constants of the library handle_di File handle returned by SysOpenFile FUNCTION SYSREADFILE DINT VAR_INPUT handle_di DINT File handle returned by SysOpenFile buffer_p DINT Address of a buffer where the data are stored maxlen_di DINT Buffer length in byte END_VAR The function is used for reading blocks in sequence from a file previously opened with SysOpenFile A maximum of maxlen_di characters are read from the file into the buffer defined with buffer_p Less than maxlen_di characters will only be read if the file end is reached before or a read error occurs Return value Actual number of read characters 0 for file end or less than O for error CQ 397 handle_di DINT num_di DINT ret_di DINT buffer_from ARRAY 0 100 OF BYTE handle_di SYSOPENFILE test dat O_ RDONLY num_di SYSREADFILE handle_di ADR buffer_from 20 ret_di SYSCLOSEFILE handle_di Lenze 385 8 PLC programming 8 8 Library 8 8 3 FILE IO functions 8 8 3 7 SYSREADLINE D
18. This is to ensure a corresponding reaction can be triggered The contents are updated in each PLC cycle and do not have to be reset 0 cyclic call 1 key message gt evaluate DW130 2 input termination gt evaluate DW131 3 new machine constants were loaded 4 key message during active input gt evaluate DW130 5 block search limit reached 6 block search target position reached Data word Name Direction Type of signal 132 State after termination of function NC PLC static Each called function Ba_Einrichten Ba_Automatik etc reports back a state here 0 operating mode still active 1 operating mode no longer active System must be set to the initial state main menu This state must be checked by the PLC program after the function has been terminated If DW132 has the value 1 it means that the initial state was set in the function that was terminated previously EDSTCXN EN 2 0 Lenze 243 5 Interface PLC lt gt NC operating system 5 1 Definitions 5 1 1 Data block 0 Data word Name Direction Type of signal 133 Error counter NC gt PLC static DW133 is used by the NC computer in order to report errors to the PLC For this purpose DW133 is incremented and is thus unequal to DW001 error acknowledgement After the error message has been evaluated DW001 must also be incremented by the PLC This way the NC computer recognizes the error acknowledgement and can transmit another error message i
19. Vactual additional displays can be configured EDSTCXN EN 2 0 Lenze 289 m ETC MMI 7 3 Operating ETC MMI 7 3 2 Operational controls of the program interface 7 3 2 Operational controls of the program interface Operating mode independent operational controls Operating mode dependent operational controls Direct triggering of a function pushbutton Activation of a certain status switch 290 The standard user interface does not require an external machine control panel for the operation of the machine All important functions start stop traverse buttons are assigned to softkeys function keys i e all operational controls of the program interface can be activated via the keyboard Note Following the properties of a touch screen an operation via pointer devices e g mouse is possible However the action must be triggered with the lt Enter gt key In general it is not possible to trigger actions via a double click If the internal PLC is programmed accordingly the machine functions can be assigned to different keys to evaluate them in parallel or alternatively to the softkeys Stop Triggering machine movements via softkeys is not permissible for all machines The operator must ensure that the valid safety guidelines are observed At the upper window edge you can change the operating mode of the ETC MMIs via the softkeys Setup Automatic Program or Diagnostics or via the keys lt F9 gt lt
20. cation in mm min as 64 bit floating point number Effect in the NC The selected value is accepted at a fixed position in the para meter field Every time the traverse key is actuated the respective axis is mo ved modally at the speed entered Data word Name Direction Type of signal 044 047 Increment preselection HMI NC static Definition of increment during manual traversing in inching mode Specifi cation in mm or inch as 64 Bit floating point number Effect in the NC The selected value is accepted at a fixed position in the para meter field Every time the traverse key is actuated the respective axis is mo ved about the delta specified Lenze 275 6 6 1 276 ETC MMI Gateway Installing the ETC MMI gateway ET MMI gateway The MMI gateway is the communications program between Windows applications and ETC control systems Different applications such as MMls configuration tools or OPC servers can establish connections to one or more control systems at the same time The gateway implements all required mechanisms for access control error handling and diagnostics and supports control specific hardware drivers and communication protocols By means of the configuration tools new connections can be added and existing connections can be edited Installing the ETC MMI gateway The ETC MMI Gateway is installed during the installation of the Lenze ETC MMIs It can also be installed as a separate application I
21. ee N 0 WE EFS DULAY hk HINDE ME VOREMSTELLUNS RK AFPLALH HE ME AFPLSPINDELICH WE_CARDAMES WE _ACHEEMAAT Wk SPRDELART WEUS Bik iia D KEE ATI Mk PASAT Acherechres wind eiert Damhin aber nach den pric besii x ETCN093 Available machine constants Date and version of the NC Setting of the current machine constant Change value E Description of the machine constant from the MK hlp Individual parameters can be changed in the machine constant catalogue o 0 w gt When edit MC is selected the current machine constants are first loaded from the NC computer and then displayed They can now be changed Use the lt TAb gt key to select the individual elements in the dialogue box If you are in the field in which the machine constants are listed you can make the setting s for the selected constant by pressing the lt Space bar gt Entries must be confirmed with lt Enter gt Use the lt ESC gt key to close the dialogue for changing the machine constants without adopting the changes With lt Enter gt you can quit editing Afterwards the changes are sent to the NC and updated in the configured MC file Thus the changed machine constants will be loaded again during the next start Show available machine constant files To transfer a file to the ETCxG select it with the
22. or ZX R G19 YZ JK or YZ R The target values can be specified both in absolute dimensions and in incremental dimensions Lenze 99 3 2 109 100 CNC programming G functions G functions individual descriptions If target values are missing the corresponding circle start values are used The specification of a center is always interpreted as a relative specification to the circle start point Since there is always more than one circle center for the radius programming from a mathematical point of view it is not possible to program a full circle in this circle determination mode From the two possible centers a negative radius selects the one which results in the larger arc The combination of the DIN addresses of G2 G3 which are beyond the necessary specifications results in the following geometries a Helix with cylinder surface The linear axis which is positioned vertically to the selected plane must be programmed This specification results in a simultaneous linear interpolation of the axis between the circle start point and the circle target point If an additional optional DIN address is not specified then the helix covers a maximum of 360 G17 Z G18 Y G19 X By specifying the number n of additional full circles the helix can be extended to a maximum of n 1 360 G17 ZK G18 YI G19 XJ b Helix with cone surface All the specifications under a also apply here However a delta
23. 386 Lenze EDSTCXN EN 2 0 8 8 3 9 SYSREMOVEFILE Declaration Description Parameters PLC programming 8 Library 8 8 FILE IO functions 8 8 3 FUNCTION SYSREMOVEFILE DINT VAR_INPUT filename_s STRING 15 file name END_VAR The function is used to delete a file from the FLASHPROM the RAM disk or the FLOPPY filename_pc Name of the file to be deleted Optionally with preceding device ID and colon M BJ 8 8 3 10 SYSDISKFORMAT Declaration Description Parameters EDSTCXN EN 2 0 FUNCTION SYSDISKFORMAT DINT VAR_INPUT device_s STRING 15 END_VAR The function formats the FLASHPROM the RAM disk or the FLOPPY All data will be deleted device_pc Device name LO 390 Empty string for the default device FLASHPROM Return value Less than 0 for an error all errors are defined in the global constants of the library Lenze 387 2 8 8 8 8 3 PLC programming FILE IO functions 8 8 3 11 SYSFIRSTFILE SYSNEXTFILE Declaration Description Parameters Example 388 FUNCTION SYSFISRTFILE DINT VAR_INPUT info_p DINT Address of a variable of type FILEINFO_TR pattern_s STRING 15 search pattern END_VAR FUNCTION SYSNEXTFILE DINT VAR_INPUT info_p DINT Address of a variable of type FILEINFO_TR pattern_s STRING 15 search pattern END_VAR These functions are required to read the file list of the FLASHPROM the RAM disk or th
24. 52 4ms 52 3 2 ms 38 3 ms 50 5 ms 60 4 2 ms 49 3ms 66 6 ms 66 5 2ms 61 4ms 61 7ms 70 6 2ms 73 4ms 73 8 ms 73 7 3 ms 56 5ms 67 9ms 75 8 3 ms 64 5ms 77 10 ms 77 9 3ms 72 6ms 72 11 ms 78 10 3ms 79 6ms 79 12 ms 79 11 4ms 65 7ms 75 13 ms 80 12 4ms 71 7ms 81 14 ms 82 Once it has been established that no asynchronous telegrams are transferred by MMI or PLC during operation the use of the available transfer bandwidth can be optimized see the following table no guarantee Number of axes 1000 kBit 500 kBit 250 kBit 1 1ms 29 1ms 57 2ms 57 2 1ms 52 2ms 52 3 ms 69 3 1ms 75 2ms 75 4ms 75 4 2ms 49 3ms 66 5ms 79 5 2ms 61 3ms 81 6ms 81 6 2ms 73 4ms 73 7 ms 83 7 2 ms 84 4ms 84 8 ms 84 8 2 ms 96 4ms 96 8 ms 96 9 3 ms 72 5 ms 86 9ms 96 10 3 ms 79 5ms 95 10 ms 95 11 3 ms 87 6 ms 87 11ms 95 12 3ms 95 6ms 95 12 ms 95 Lenze 199 A Machine constants 4 4 Storage space reservation 4 4 1 MK_SPS_SPEICHERGROESSE 4 4 Storage space reservation The following MCs affect the static memory layout within the control The set values only become effective after they have been changed on the control or transferred from the PC and the control has been restarted 4 4 1 MK_SPS_SPEICHERGROESSE This machine constant reserves the program memory for the PLC in the internal main memory of the control and thus defines the maximum size of the PLC program to be
25. Bit 0 Axis type Linear axis Rotation axis Bit 1 Limit switch Observe HW limit switch Ignore HW limit switch Bit 3 2 Axis type Normal axis Spindle Measurement axis Spindle and measurement axis Bit 5 4 Only for xxxxxxx1 rotation axis Rotation axis with absolute positioning Modulo 360 axis sign indicates the direction Modulo 360 axis shortest distance is travelled ETCHC only Bit 6 Gantry axis Normal axis Gantry axis synchronous axis with mechanical coupling Bit 7 Handwheel Normal axis Handwheel Meaning 1st parameter for CAN1 2nd parameter for CAN1 0 no device connected gt 0 baud rate for CAN Open in kB Rough interpolation cycle in ms 37 Getting started 2 8 Parameterising drives via machine constants 2 8 1 Overview of the most important machine constants Setting of the axes Axis related limit values Path related limit values 38 MC keyword MK_IMPULSE MK_WEG MC keyword MK_MODVMAX MK_VMAX MK_BESCHL MK_BREMS MK_T_BESCHL MC keyword MK_VBAHNMAX MK_BAHNBESCHL MK_BAHNBREMS MK_T_BAHNBESCHL No of Values values 12 12 No of Values values 12 12 12 12 12 No of Values values 1 1 1 1 Lenze Meaning Number of impulses per MK_WEG after the quadruplication in the order of the axis number 0 11 Distance in mm or degree which corresponds to the value of MK_IMPULSE in the axis computer in the order of the axis nu
26. CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 The function still has a modal effect It is deactivated if the entry is reset see below when the result of the comparison is positive and the resulting block jump at the end of the subprogram in this case all comparisons are deactivated which were activated in this subprogram gt Occurrence of another modal event G130 G150 in a higher program plane with a resulting block jump Since in this case a return to the higher program plane must take place all modal comparisons of the subordinate program planes are deactivated Program end or program termination stop or error Seven modal comparisons can be activated at the same time Note A modal comparison and a non modal comparison must never be programmed simultaneously on the same Q Bit with the same result This may lead to non defined results The address J can be used to define whether the axes should be braked with or without ramp when the event occurs and when a traverse movement is interrupted as a result The standard setting J not programmed is Bremsen mit Rampe Brake with ramp If the address L is programmed when the condition which was defined with E and Z applies the actual positions of all configured axes are saved from the index in the parameter field specified for L This function can be used to determine the position of the event independently of the configur
27. Data type CoDeSys Data type definition format string DWORD u DINT D REAL f e LREAL If le STRING s The return value of the function is of no consequence Example 1 SPSERROR 304 4 Spindle does not start 0 Example 2 TYPE PARAMETER_TR STRUCT jobno_dw DWORD text_ps POINTER TO STRING pos_lr LREAL END_STRUCT END_TYPE param_tr string_s param_tr jobno_dw param_tr text_ps param_tr pos_lr SPSERROR 303 1 Auftragsnr u s 9 3If ADR param_tr EDSTCXN EN 2 0 Lenze 371 8 PLC programming 8 8 Library 8 8 1 General functions 8 8 1 20 SETLANGUAGE only ETCxM Declaration Description Example 8 8 1 21 STRTOF Declaration Description 8 8 1 22 STRTOL10 Declaration Description 372 FUNCTION SETLANGUAGE BOOL VAR_INPUT Language INT END_VAR This function switches between different output text languages Language 0 selectes the output text files ncrspch0 txt spsspch0 txt language 1 the files ncrspch1 txt spsspch1 txt etc The return value of the function is of no consequence SETLANGUAGE 4 Output text files ncrspch4 txt and spsspch4 txt are selected FUNCTION STRTOF REAL VAR_INPUT SString STRING 255 PIndex POINTER TO INT END_VAR The function converts the characters in sString after position Index into a REAL Index contains the read in end position after execution FUNCTION STRTOL10 DINT VAR_INPUT SString STRING 255 PIndex P
28. Interface PLC lt gt NC operating system B Extended interface for MMI functions 5 2 Data block 15 5 2 2 The data block 15 represents the virtual keyboard of the NC computer This block can only be written by the PLC if no ETC MMI is connected to the con trol Otherwise the contents of the PLC can only be read Data word Name Direction DR010 Optional hold HMI gt NC DLO10 Individual following block HMI NC DRO11 Hide block HMI gt NC DW028 033 Traverse keys axis 0 11 HMI gt NC DW036 039 Override selector switch 1 4 HMI gt NC DW040 043 Speed preselection for traverse keys HMI gt NC DW044 047 Increment preselection HMI gt NC Data word Name Direction Type of signal 010 00 07 Optional hold HMI gt NC static Activation of the execution of MOL This signal is not evaluated by the NC core the corresponding function must be implemented in the PLC if requi red by withdrawing the feed or read enable for MO1 Effect in the NC 0 optional hold inactive 1 optional hold active Data word Name Direction Type of signal 010 08 15 Individual following block HMI gt NC static Change over from following to individual block operation and vice versa Effect in the NC Processing of a program either continuously following block or block by block individual block 0 following block 1 individual block Data word Name Direction Type of signal 011 00 07 Hide block HMI gt NC static With this sign
29. MX1 159 0 MW1 160 ARRAY O0 1 OF WORD ARRAY 0 3 OF WORD ARRAY 0 1 OF WORD ARRAY O0 1 OF WORD ARRAY O 1 OF WORD ARRAY 0 1 OF BYTE ARRAY 0 1 OF BYTE ARRAY 0 11 OF BYTE 8 8 7 8 7 2 357 Data block 2 Data block 13 358 PLC programming Interface to the ETC System variables of the ETCxC DB1_nc2sps_sfkt_strobe_bit DB1_nc2sps_sfkt_w DB1_nc2sps_tfkt_strobe_bit DB1_nc2sps_tfkt_w DB1_nc2sps_refpunkt_angefahren_w DB1_nc2sps_endschalter_plus_w DB1_nc2sps_endschalter_minus_w DB1_nc2sps_referenznocken_w DB1_nc2sps_reserveeingang_w DB1_nc2sps_slave_endschalter_plus_w DB1_nc2sps_slave_endschalter_minus_w DB1_nc2sps_slave_referenznocken_w DB1_nc2sps_slave_reserveeingang w DB1_nc2sps_copmodul_vorhanden_aw DB1_nc2sps_spsoverride_allg_ w DB1_nc2sps_spsoverride_spindel_w DB1_nc2sps_spsoverride_ozillation_w DB1_nc2sps_spsoverride_sps_w DB1_nc2sps_verfahr_ab DB1_nc2sps_mmi_tasten_aw DB2_sps2mmi_zustand_aw DB2_sps2mmi_anzeige_aw DB2_sps2mmi_hinweis_aw DB2_sps2mmi_quit_cnt_w DB2_sps2mmi_msg_cnt1_w DB2_sps2mmi_msg_auftrag_w DB2_sps2mmi_msg_laenge_w DB2_sps2mmi_msg_daten_aw DB2_sps2mmi_msg_cnt2_w DB2_sps2mmi_ok_cnt_w DB2_mmi2sps_zustand_aw DB2_mmi2sps_tasten_aw DB2_mmi2sps_quit_cnt_w DB2_mmi2sps_msg_cnt1_w DB2_mmi2sps_msg_auftrag_w DB2_mmi2sps_msg_laenge_w DB2_mmi2sps_msg_daten_aw DB2_mmi2sps_msg_cnt2_w DB2_mmi2sps_ok_cnt_w DB2_nc2sps_technodaten_aw DB2_nc2sps_maschinenkonstante_aw DB13_nc2mmi_achske
30. Meaning of the addresses AXES Identification of the axes whose limit switch function should be changed 0 deactivate limit switch 1 activate normal limit switch function 2 the limit switches effect a limit on the traversing range for the corresponding axis but do not cause an error message or a program termination Explanation The identification which is programmed for the axes defines how the control should respond to the limit switches of the corresponding axis If the limit switches are deactivated the control does not respond at all to the limit switches of the axis In the case of the normal limit switch function the control responds by stopping the traversing movement without delay and terminating a possibly running NC program If the identification 2 is programmed the control responds to the limit switches by stopping the traversing movement of the affected axis in this direction without delay and freezing the position of the axis The position remains frozen until the axis should leave the frozen position again in the opposite direction During the process neither an error message is created nor the program is terminated This function effects a cutting of profile areas when traveling on the limit switches To reactivate the default setting from the machine constants G226 can be programmed without axes Example N10 G226 XO Limit switch of the X axis off N90 G226 Activate preset limit switch function for all axes
31. Permanent display Opens a separate window with a list of 32 parameters They are displayed in their current version until the dialogue window is closed again with lt ESC gt Entered P fields are permanently displayed in this window The parameters are selected by selecting a position by means of the cursor keys and opening an input window by means of the lt Space bar gt There the desired P field number is entered When the window is called the P fields specified in the configuration file are automatically displayed These numbers can be overwritten at any time Piil Piel ia jila Emih sme ETCNO89 EDSTCXN EN 2 0 Lenze 315 m ETC MMI 7 7 Diagnostics operating mode P field display back PLC signals MMI lt gt PLC 316 Opens a separate window with a list of 32 successive parameters The start parameter can be entered by pressing the lt Space bar gt or lt Enter gt key When the last P field is selected the P field index is displayed Press lt Enter gt to display this index in the first field This function can be used to browse 31 fields up If lt Enter gt is pressed on a field with value of the P field this value can be changed via an entry block The dialogue can be closed with lt ESC gt Pild ere ETCNO90 Back to the previous level This function offers different options of checking the communication between MMI and PLC and monitoring the statuses of the inputs and outpu
32. T000 bus termination module 1008 8 dig inputs 1016 16 dig inputs U008 8 dig outputs U016 16 dig outputs A022 2 analogue inputs and outputs each Hardware version Software version Lenze 10 10 z ETCPCOxx ETCHxxxx 11 Al Preface and general information 1 3 Legal regulations 1 3 Legal regulations Marking The components of the ETC Motion Control System are clearly marked by the Manufacturer CE conformity Application as intended Liability Warranty 12 contents of the nameplate Lenze Drive Systems GmbH Postfach 101352 D 31763 Hameln Compliant with EC Directive Electromagnetic compatibility Components of the ETC Motion Control System gt must only be operated under the operating conditions described in the ETC Hardware Manual gt are not approved for the use in explosive environments gt comply with the protection requirements of the EC Directive Low voltage gt are no machines in the sense of the EC Directive Machines are no household appliances as components they are intended for industrial use only The downstream user is responsible for ensuring that the EC Directives are complied with in machine use Any other use shall be deemed inappropriate The information data and notes in this manual were up to date at the time of printing No claims for the modification of systems and components that have already been supplied may
33. The distribution of the data is left to the user and must be specifically de fined The NC only provides for the data exchange The machine constants are copied into the data block when the system soft ware is loaded and if there is a permissible change of the machine constants The data is taken from the general machine constants for the configuration of the machine There is a reserved area for the configuration of the PLC see chapter Machine constants Lenze EDSTCXN EN 2 0 Assignment Explanation EDSTCXN EN 2 0 Interface PLC lt gt NC operating system Definitions Data block 2 BI 5 1 5 1 3 For the ETC MMI the assignment of the DB2 listed in the table below is used This assignment is a recommendation for the use of the DB2 Within the areas data word 0 127 and 128 191 a freely definable assignment is pos sible Data word 000 00 007 15 008 00 015 15 016 00 079 15 080 00 095 15 096 00 096 15 097 00 097 15 098 00 125 15 126 00 126 15 127 00 127 15 128 00 128 15 129 00 143 15 144 00 159 15 160 00 160 15 161 00 161 15 162 00 189 15 190 00 190 15 191 00 191 15 224 00 255 15 Name Direction States 28 bits PLC HMI Key control 128 bits PLC HMI Displays 64 data word PLC HMI Notes static errors 256 bits PLC HMI Message buffer acknowledgement counter PLC gt HMI Message buffer counter 1 PLC g
34. The function returns TRUE if the write request has been passed to the 8 8 Library 8 8 5 CANopen functions transfer queue Status 0 1 2 3 4 5 Example status_b wert_di CopWriteObject 5 ADR status_b otherwise the transfer queue is already full Meaning Inactive Request in transfer queue Transfer active Transfer completed successfully Transfer cancelled Timeout BYTE DINT 1000 16 607A 0 COP_INTEGER32_KW ADR value_di SIZEOF value_di Entering the target position for a DS402 drive 8 8 5 7 CopXWriteObject ETCxM at CAN2 Declaration FUNCTION CopXWriteObject BOOL Description of objects in the object directory of CANopen devices at CAN2 VAR_INPUT CanNum_b BYTE NodelD_b BYTE ObjectNum_w WORD SubIndex_b BYTE DataType_w WORD Buffer_p DINT BufSize_w WORD Status_pb POINTER TO BYTE END_VAR Parameters CanNum_b Number of the CAN Bus 1 or 2 NodelD_b Node number of the CANopen device ObjectNum_w Number of the object to be written SubIndex_b Index of the subobject to be written DataType_w Data type according to CiA DS301 Buffer_p Address of the buffer in which the data to be written are stored BufSize_w Number of bytes to be written Status_pb Address of a variable for filing the transfer status Description The functionality of this function is identical to the function CopWriteObject It contains an additional parameter CanNum_b which defines the number of the
35. The modal preparatory functions which were valid before the dwell time remain effective In a block with the preparatory function G04 an M function can still be programmed which is processed after the dwell time N30 G4 X5 1 Allow the dwell time of 5 1 s to pass then continue with the following block Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 5 G05 Spline interpolation Syntax Meaning of the parameters Explanation EDSTCXN EN 2 0 The spline interpolation is switched on with G05 and the specification of the involved axes and possibly additional parameters G05 AXES I J K L AXES Validity identification L 0 or starting position of the last block L 1 l Boundary values coupling to neighboring three dimensional curves 0 free boundaries default 1 start constant and end with free boundary 2 start free boundary end constant 3 constant boundaries K Selection of the polynomial degree 0 polynomial third degree second derivation not constant default 1 polynomial fifth degree second derivation constant J Tangential correction of the rotation axis 0 relative to the starting position of the axis default 1 positioning of the rotation axis in the starting point of the spline curve on the tangent angle L Identification 0 open curve default 1 closed curve The grid points are specified by the following specification of the coordinates
36. _odr 050301 1519 Ser m m E Aa Li 288 Lenze ETCNOO1 EDSTCXN EN 2 0 ETC MMI 7 Operating ETC MMI 7 3 Display elements of the program interface 7 3 1 7 3 Operating ETC MMI 7 3 1 Display elements of the program interface Operating mode Status display Actual value display Bar display Status line j Macenltrers Cube eerie Tent freer Fefee Lo Fura gare Aue ipit Input line Softkeys ETCN063 Operating modes Displays the currently selected operating mode Setup nn Automatic Programming or Diagnostics and if selected a sub mode Note It can be defined which operating mode is displayed when the user interface is started 327 Actual value display This area shows the actual and desired positions of the configured axes Status display The status fields display current program statuses such as the current program T S and M number Moreover information on the currently edited parts program and PLC error messages are displayed here Softkeys The horizontal and vertical softkeys are located at the lower and right window edge Their labelling and function depends on the selected operating mode or sub mode Input line The input line is used for special inputs If the line is active it is displayed in white Status line Notes and general statuses are displayed here Bar display In addition to the standard bar display for Override and
37. be lost The return value of the function is of no consequence TYPE PARAMETER_TR STRUCT paraml_r REAL param2_di DINT END_STRUCT END_TYPE param_tr PARAMETER_TR parameter_tr paraml_r 30 2 parameter_tr param2_di 20 TRACE 100 REAL f DINT d ADR param_tr Lenze 373 8 8 Library 8 PLC programming 8 8 1 General functions 8 8 1 25 WordWrap Declaration Description FUNCTION WordWrap INT VAR_INPUT string_s STRING 255 String which is to be reformatted linelen_di DINT maximum line length END_VAR The function automatically enters a line break into the string if the line length exceeds the value stated The return value is the resulting total length of the string Ensure that the string variable declared is large enough to accommodate the resulting string 8 8 1 26 WRITE_PARAM_INT only ETCxC Declaration Description FUNCTION WRITE_PARAM_INT BOOL VAR_INPUT IDX_DI DINT Parameter index VAL_ INT value END_VAR The function writes the value val_i at the location idx_di into the P field The return value FALSE indicates an error 8 8 1 27 WRITE_PARAM_DINT only ETCxC Declaration Description 374 FUNCTION WRITE_PARAM_DINT BOOL VAR_INPUT IDX_DI DINT Parameter index VAL_DI DINT value END_VAR The function writes the value val_i at the location idx_di into the P field The return value FALSE indicates an er
38. by this filter is transferred to the control system Lenze 307 m ETC MMI 7 6 Programming operating mode 7 6 2 File manager 7 6 2 File manager General functions 308 The file manager provides functions for managing files When the file manager is called via the corresponding softkey of the Programming operating mode a new softkey line is shown which provides all functions of the file manager CpregremmeyLORE TIC TOMMIN Ga G amma DME TORT Coprgrem mele Ca zn m EI uo lt i mr ij it lti fe Pi pa t l mi H ing mi inj hal pai rea Tii beiti cig Sehrakang hays Hec ieai fu Eang Thain ire m pre_Srinhmgjm rn t hieni KECO een Tory Songin iT ACH men COPECO Come Dosisss Cec nie BITAN LNA Pree Era fenton Cre Genta Au Tre ETCH at gerep ger iej AARNE de eee roman euere HABE L r jerme ET bear eg bapi Kis RER teres lag ker Laufe Sie mripat mmi arabe ETCN077 In the file manager different directories can be displayed independently from each other in the left and right file window The active file window has a white background In the Directory input field the directory of the active file window can be determined The file filter window makes it possible to filter the files in the specified directories for the display The file filter is applied to both file windows In the upper area of the file manager the available drives and directories are listed An entry with
39. coupling to a PC A fixed program runs in the control system Boot loader firmware The firmware is loaded and installed in the EEPROM by the boot loader After the voltage has been applied the control system automatically starts with its firmware After the firmware has been started successfully the green watchdog LED lights up Before the start the firmware is loaded from the EEPROM of the control system into the RAM and started The Standalone operating mode is factory set Note With MMI The control system operates a machine with coupling to a user interface which is used for loading programs and operating the control system Variable user programs can be loaded into the control system Boot loader loader The Loader is loaded and installed in the EEPROM by the boot loader After the voltage has been applied the control system waits until the firmware is loaded via the PC The successful start of the loader is indicated by circulating LEDs 1 6 The firmware is located on the PC and is loaded into the RAM of the control system and started when the MMI user interface is started After the firmware has been started successfully the green watchdog LED lights up If the ETCHx has already been operated in the with MMI operating mode and is to be reset to the Standalone operating mode the file NetBoot rsc loader must be deleted in the control system and the
40. e Tool length Tool radius Tool life Speed Magazine position e Sister tools The data is made available in the parts program in the P field P700 P729 when the tool is selected EDSTCXN EN 2 0 Tool data Import Import save back Change positions Position import Import EDSTCXN EN 2 0 ETC MMI Setup operating mode 7 4 This key requests the current tool correction data from the NC computer and saves them in the file vom_nc wtk in the configurations directory The received data is interpreted according to the specification in the tool management and displayed in the tool correction table Each defined tool can be assigned a magazine position It is not permissible to assign a magazine position more than once A tool is regarded as defined if a tool number is entered in the Original tool field A sister tool is created by entering the number of the original tool in the Original tool field of the sister tool Data which has already been entered for the original tool can be adopted for the sister tool When a field is quit the entered values are checked The field can only be quit if correct values have been entered When the Original tool and Sister tool fields are changed some of the fields are filled in automatically ETCNO69 The data from the table is adopted in the NC computer however only temporarily i e the information is lost when the control system is s
41. enable of the program start by setting the Pro grammstart Program start signal DW 009 Output of a corresponding error message if the start is denied 262 Lenze EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 1 5 1 2 Data word Name Direction Type of signal 137 08 15 Individual following block active NC gt PLC static Changing over from following to individual operation and vice versa copy from the virtual keyboard Effect in the NC Processing of a program either continuously following block or block by block individual block 0 following block 1 individual block Data word Name Direction Type of signal 138 00 15 State CAN modules SLIO NC gt PLC static 139 00 15 Data word 138 00 15 signal state 1 indicates that the corresponding CAN module is available Data word 139 A value unequal to 0 means that an error has occurred in con nection with the CAN modules Effect in the PLC Option of monitoring the CAN modules Data word Name Direction Type of signal 142 00 Program stop NC PLC static Image of the Stop key The signal has value 1 for as long as the informa tion in the virtual keyboard of the NC has value 1 Value 1 is used to request the termination of a running program or a traversing movement The meaning depends on the set operating mode Manual operation termination of the currently running movement A
42. fehler_di DINT error number klasse_dw DWORD error class formatstring STRING 80 Format string PARAMETER_P DINT Address of a structure containing the parameters END_VAR The function places an error message which is displayed on a connected control terminal The error number fehler_di also serves as a reference for an error text The error texts can be displayed on a connected PC for both ETC variants oron the ETC MMI only ETCxC The error classes klasse_dw are divided as follows 1 local minor error 2 local major error 3 global minor error 4 global major error Error classes 3 and 4 cause the program to be cancelled or result in an axis movement Via the error texts references by the error numbers additional information can also be output Via the format string additional text or numerical values can be transferred Lenze EDSTCXN EN 2 0 PLC programming 8 Library 8 8 General functions 8 8 1 Format string The sign in a format string opens a format definition with the general form Flag output field lengths Accuracy Data type definition Flag lt nothing gt flush right leading spaces nulls flush left following spaces nulls Always output operational sign Output field length On min n digits fill with nulls n min n digits fill with spaces Accuracy lt nothing gt 6 digits 0 do not output a decimal point n output max n digits after the decimal point
43. in steps of 1 Reduce the axis or path speed of the selected axis in percent of MK_VMAX Over 10 the value is changed in steps of 10 below 10 in steps of 1 EDSTCXN EN 2 0 ETC MMI Setup operating mode 7 4 Vertical function keys in the When you switch to tool management a new vertical softkey line is shown Tool management menu Fetch tool The tool Tx displayed in the status fields is fetched from the tool magazine and placed in the tool holder Change tool The tool currently located in the tool holder is replaced by the tool Tx displayed in the status fields The functions of the tool change require a corresponding PLC program DIN program Deposit tool The tool Tx displayed in the status fields is stored in the tool magazine EDSTCXN EN 2 0 Lenze 297 m ETC MMI 7 5 Automatic operating mode 7 5 Automatic operating mode AUTOMATIC ETCNO71 The Automatic operating mode is always active when the NC computer regularly processes a program It shows the most important information of the program flow 298 Lenze EDSTCXN EN 2 0 Horizontal function keys EDSTCXN EN 2 0 Start program number Program to NC Online program Online cancel Optionally stop on off Block suppression on off Single follow up block Graphics Graphics on off Lenze ETC MMI Automatic operating mode 7 5 Enter the program number of the program to be edited Before
44. in the case of rotary motors the distance per revolution on the motor shaft and in the case of linear motors 1 mm Millimeters are used as a unit for linear axes degrees for rotation axes MCS06 servo motor with ECS compact servo 65536 pulses The motor goes via a gearbox 4 1 to a spindle which moves a slide backwards by 3 4 mm per revolution l e if a positive distance is specified the mechanics move in negative direction MK_IMPULSE 655386 MK WEG 0 85 3 4 4 This machine constant defines a multiplication factor for axis specific position specifications and position indicators This is useful if diameters are to be programmed in the case of round workpieces but the feed speed is to be based on the radius at the same time A scale factor for X of 0 5 means that a position specification of 10 mm results in a traversing movement of X by 5 mm However the display only shows the 10 mm Lenze 209 4 8 4 8 1 4 8 4 8 1 4 8 2 4 8 3 4 8 4 4 8 5 210 Machine constants Configuration of axes Operating range MK_GRUNDOFFSET Configuration of axes Operating range MK_GRUNDOFFSET This machine constant is the offset of the mechanical zero point of the machine in relation to the zero point of the position measurement system The unit is millimeters for linear axes and degrees for rotation axes MK_SW_ENDS_MINUS MK_SW_ENDS_PLUS This machine constants define the positive and negative traversing
45. no of the first protected workpiece coordinate system or 0 if inactive K_EDIT_SOFTKEYS GXYZMNCFP IJRKE P ABDHLOQSTUVW 3 K_TEACHSTELLEN 33 number of decimal positions which must be taken into account during teaching 228 Lenze EDSTCXN EN 2 0 K_TEACHHEADER K_NCPROG OHNE KOMMENTARE K NCPROG NICHT INS EEPROM K_NULLPUNKTE SPEICHERN K_METRISCH K_CONST_REL_MM K_CONST_REL_INCH K_SW_ENDS MIT RAMPE K_OVERRIDEMAX K_EPSILONMM K_EPSILONGRAD K_KONTURFEHLER K_LAH GRENZWINKEL K_RADIUS_B BEWERTUNG K_HANDRADFILTER K_MASCH POLAR KART K_KARTESISCH ACHSNR K_POLAR ACHSNR K_DELTAT K_FIT PRO GIT EDSTCXN EN 2 0 wis F 1500 90 Machine constants A List of machine constants 4 16 additional parameter for taught line 1 store DIN programs without comment in Flash PROM do not store DIN programs in Flash PROM 1 store zero points automatically only if CMOS RAM is available a distance and speed input in metric system mm mm min 0 distance and speed input in inch system inch or inch min input resolution in metric system relating to 1 mm input resolution in inch system relating to 1 mm 0 in the case of SW limit switch decelerate without ramp 1 decelerate with ramp
46. speed to the cam m min or rpm 5 5 5 5 5 234 Lenze EDSTCXN EN 2 0 MK REF BMAX1 1 1 1 1 1 1 MK_REF_VMAX2 ds 1 1 1 1 1 MK_REF_BMAX2 1 1 1 1 1 1 Sooo Seco eee eee axis related limit values ee ee ee ER GER BER GER MK_MODVMAX 10 10 10 10 10 10 MK VMAX 20 20 20 20 20 20 MK _BESCHL 2 2 2 2 2 2 MK BREMS Ds 2 EDSTCXN EN 2 0 Machine constants A List of machine constants 4 16 ramp for moving to the cam m sec or rps speed from the zero pulse m min or rpm ramp for moving from cam m sec or rps 2 modal axis speed manual traversing m min or rpm max axis speed m min rpm acceleration ramp m sec2 rps2 deceleration ramp m sec 2 or rps 2 Lenze 235 Machine constants damping time constant for acceleration ramps rpm at 10 v m sec2 m sec2 deceleration acceleration ramps ms 4 16 List of machine constants 2 25 2 27 MK _T BESCHL 0 Oy and deceleration ramps ms 0 0 0 0 MK_SPINDELMAX 6000 spindle speed in 6000 6000 zeuadsaecsaseseseocdsen path related limit values Sees EIEEE E E AE ee K_VBAHNMAX 20 20 max material speed m min K_BAHNBESCHL 23 acceleration ramp K_BAHNBREMS 2 deceleration ramp K_T_ BAHNBESCHL 0 damping time const eseisssssmegaala lin
47. termination the transformation is automatically switched off Lenze 133 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions Example The following example should illustrate the use of G116 using the example of a cutting technology For this MK_KUNDE SCHNEIDEN CUT must be set G41 switches on the tangential correction of the tool in this case After the transformation has been switched on the B axis is used to set the miter box angle of the cutting tool Br Prologue G60 XO Look Ahead on G17 Switch X Y plane on G116 C90 Transformation on with shift angle 90 G41 Correction module for tangential correction of the C axis on GO X100 Y50 B15 M14 G3 X50 Y100 R50 F7000 First profile block G1 X 50 Other profile blocks G3 X 50 YO R50 G1 X50 G3 X100 Y50 R50 M15 Empty run to the start of the profile swivel the tool by 15 Last profile block M15 empty running on Even more profiles G40 Correction module off G116 Transformation off Epilogue 3 2 2 47 G120 Absolute coordinate shift via modal offset Syntax Meaning of the addresses Explanation Example 134 Setting the NC actual position to the programmed value by shifting the modal offset G120 AXES AXES Axes whose positions should be set With G120 the modal offset is calculated so that the resulting actual position is equal to the programmed value for the axis address The effect is like a coordinate shi
48. 013 08 15 Hide block PLC NC static With this signal the Hide block function can be switched on or off This signal is ORed with the Hide block signal from the DB15 Effect in the NC Blocks with a preceding are hidden i e they are not ex ecuted 0 Hide block inactive 1 Hide block active Data word Name Direction Type of signal 014 00 07 Return PLC gt NC static The signal a bit per NC channel makes it possible to return Return to the programmed path During this process the return movement is not limited by blocks without geometry i e individual S T M Q functions coordinate shifts and G21 blocks are permitted and do not result in the limitation of the return memory All other G functions which are not pure interpreter functions C4 91 result in the limitation of the return memory as usual During the return M func tions are output as they have been programmed if no other customer speci fic solution has been planned G21 and Q functions are ignored during the return Effect in the NC When the signal is set the NC processes the blocks in the prebuffer in reverse order During this process traversing blocks are output with negative speed 252 Lenze EDSTCXN EN 2 0 EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 1 5 1 2 Data word Name Direction Type of signal 018 00 Q bit signal 0 PLC gt NC static 021 15 Q bit signal 63 PLC gt
49. 1 and data word 80 83 or the MMI overrides set via the virtual keybo ard are considered Lenze EDSTCXN EN 2 0 EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 1 5 1 2 Data word Name Direction Type of signal 012 00 Program stop PLC gt NC static The Stop signal is set to value 1 if the stop signal from HMI to the PLC DW142 has value 1 or if a corresponding input of the PLC is set Press the stop key or if the conditions for further processing of a program are not met due to other reasons The value is set to 0 if the NC program is running or NC program is run ning 1 signal adopts the value 0 in Interrupt state Effect in the NC The value 1 has an effect in the NC that depends on the set operating mode Manual operation The current movement is interrupted any other pending tasks are canceled The NC program is running signal is set to 0 Automatic Termination of the currently running NC program The NC adopts the initial state The NC program is running signal is set to 0 Data word Name Direction Type of signal 012 08 Interrupt PLC NC static With the pos edge of the interrupt signal a currently running program or a program which has been stopped by a 3 class error can be interrupted Note A program is stopped in the case of a class 3 error if the machine constant MK_FEHLERRESTART is
50. 11 3 MK_BESCHL MK_BREMS 4 11 4 MK_T_BESCHL EDSTCXN EN 2 0 These machine constants define the maximum acceleration and deceleration ramps of the individual axes in m s or 1 52 During path operation the path ramps are limited in proportion in accordance with the involvement of the individual axes This machine constant is the time in milliseconds in which the maximum ramps configured in MK_BESCHL and MK_BREMS are to be reached in manual operation and route operation This MC is used to set acceleration ramps and deceleration ramps of the individual axes that are similar to sin ramps Lenze 213 A Machine constants 4 11 Configuration of axes speed and acceleration 4 11 5 MK_VBAHNMAX 4 11 5 MK_VBAHNMAX This machine constant defines the maximum speed m min in path operation It may be higher than the maximum speed of the individual axes if the resulting speed of the participating axes is less or equal to MK_VMAX 4 11 6 MK_BAHNBESCHL MK_BAHNBREMS These machine constants define the maximum permissible acceleration and deceleration ramps m s in path operation Depending on the axes included the path ramps are additionally limited such that the resulting ramps of the individual axes do not exceed the values of MK_BESCHL and MK_BREMS 4 11 7 MK_T_BAHNBESCHL This machine constant is the time in milliseconds in which the ramps specified under MK_BAHNBESCHL and MK_BAHNBREMS are to be reached This MC is used for se
51. 128 127 increments per position value During the axis output the correction value is added to the calculated position A linear interpolation takes place between two grid points Positions that lie outside the defined range are not subject to correction The correction table can contain a maximum 4096 entries per axis The file is a binary file It must be stored under the name ACHSEN KOR in Flash PROM load with utility program download The file consists of a header with a length of 128 byte 2 definition blocks and up to 512 data blocks of 8 byte each per axis The data is stored in binary format 128 8n 8n 8n 8n Header Def 1 Def 2 MOD Data 1 Data 512 MIN MAX Header The header contains the null terminated list of the axis letters of the participating axes They can be in any order The data of the following blocks are interpreted in this order The rest must be filled with binary zeros 0 1 2 3 n 127 128 Lenze 215 A 4 12 4 12 1 216 Machine constants Configuration of axes Correction of axes MK_SPINDELUMKEHRSPIEL Def 1 The first definition block contains per axis in the header one 32 bit integer for minimum and maximum value of the actual position range in which the correction table is valid The specification is made in increments in relation to the home position 0 4 8 12 16 20 8n MIN MAX MIN MAX MIN u n number of axes in the header min value 3rd axis max value 2nd axis min value 2nd a
52. 372 STRTOL10 372 SYSCLOSEFILE 385 SYSDISKFORMAT 387 EDSTCXN EN 2 0 Contents i SYSDISKINFO 389 SYSERROR 373 SYSFIRSTFILE 388 SYSNEXTFILE 388 SYSOPENFILE 384 SYSREADFILE 385 SYSREADLINE 386 SYSREMOVEFILE 387 System variables 63 356 359 SYSWRITEFILE 386 T T functions 179 Target system settings 353 Target system setup 340 Terminal program 21 Test CNC program 72 PLC program 72 TRACE 373 U Update firmware 83 V V 24 interface 338 Variable list global 354 W warranty 12 WordWrap 374 WRITE_PARAM_DINT 374 WRITE_PARAM_INT 374 WRITE_PARAM_LREAL 375 WRITE_PARAM_REAL 375 WRITE_SYSPARAM 375 WRITEBLOCKV24 379 WriteCanMsg 413 WRITEV24 380 Lenze 427 Lenze Drive Systems GmbH Hans Lenze Stra e 1 D 31855 Aerzen Germany a T Service Service E Mail Internet 49 0 51 54 82 0 00 80 00 24 4 68 77 24h helpline 49 0 51 54 82 1112 Lenze Lenze de www Lenze com EDSTCXN EN 2 0 08 2006 TD29 10 9 8 7 6 5 ce
53. 6 WRITEBLOCKV24 Declaration Description EDSTCXN EN 2 0 FUNCTION WriteBlockV24 DINT VAR_INPUT pRequest DINT Address of the V24 request structure pBuffer DINT Address of a data buffer BufSize INT number of the characters to be written END_VAR The function tries to insert BufSize characters of the stated address pBuffer into the V24 send buffer If there is sufficient space in the send buffer all BufSize characters will be entered The function returns the number of the characters written into the send buffer Lenze 379 8 PLC programming ud 8 8 Library 8 8 2 V24 functions 8 8 2 7 WRITEV24 Declaration FUNCTION WriteV24 DINT VAR_INPUT req_pr DINT Address of the V24 request structure chr _di DINT character to be written END_VAR Description Writing a character into the send buffer The send buffer is implemented as FIFO and is read and written a character at a time This function always provides an immediate return even if the FIFO is full In this case the character will not be written and 1 EOF will be returned Generally a return value of less than 0 indicates an error C4 391 Example requestV24_p DINT zeichen_di DINT ret_di DINT zeichen_di 65 ret_di WRITEV24 requestV24_p zeichen _di 8 8 2 8 CLRRXBUFFER Declaration FUNCTION ClrRxBuffer BOOL VAR_INPUT req_pr DINT Address of the V24 request structure END_VAR Description This function can be
54. 78 Lenze EDSTCXN EN 2 0 CoDeSys object directory EDSTCXN EN 2 0 Getting started 2 Operation via a Lenze HMI 2 15 Settings for the connection of a Lenze HMI H505 2 15 1 The object directory is the interface between the codes in the HMI H505 and the HEX indexes in the ETC According to the Lenze standard the following relationship exists INDEX DEZ_TO_HEX 24575 code To facilitate this conversion an Excel table is available Umrechnung Objektverzeichnis Schulung xls It is located on the ETC CODeSys CD in the directory Systemhandbuch In this file the declaration and the distribution of the HMI variables to the codes can be made Couns loge mdan MEK Andes line Zumt Cotta Aarni Varahle ETCNO45 The part highlighted in yellow can be copied completely to the object directory of CoDeSys by means of lt Ctrl gt lt C gt Object directory Variable tab Index Subi 1EF4095 1681 igh Loehia5 16 bish PIC PAGE ibn I high HELZELCSEIMIE Lies lit high HEE2P2 lt STATE IERM JEMI bigh HELIPLC_ Peon 1 fdJaC 168I igh HEDJELC SPEED Leedsde Veet high HEL JPDC Det VE 14a 1 krgh PLCOHHT ACTB 1 740 1681 kigh FLCJHHI_ACT_P 1684390 16809 Migh PLCZHNT_ amp cT PB ierse Jif high PLCIHHT ScHTH LEE 1 brgh LOH BOTA Iifar 1684 kigh HEELS PLC_ EROR 152453E 168 bkgh HELZELC_ANTOH isHdadE IE tigh HELIPDC MANTA LendddF iiti kigh PIC OEWIH 1kcdiar 1620 igh T HES DRIVE ETCN046 Pl
55. 8 Bit W BOOL WORD INT 16 Bit D DWORD DINT REAL 32 Bit The return value is TRUE if the function has been executed successfully Otherwise the function could not be executed e g due to lack of memory Note The database should only be as large as required by the data actually used The PLC should always only update the data in the global database which are actually being displayed to prevent an unnecessary increase of the bus load on the CAN Bus Cyclical changes during each PLC cycle should generally be avoided TYPE DATABASE TR STRUCT dummy _dw DWORD padi_dw DWORD pad2_b BYTE pad3_b BYTE pad4_w WORD END_STRUCT END_TYPE data_st DATABASE_TR COPDEFINEDS403 127 ADR data_st SIZEOF data_st 2d2b1w 16 6700 16 8100 The function defines a global database with the elements defined by the descriptor string for a CANopen control element with the node number 127 which has been inserted accordingly into the control configuration of CoDeSys Lenze 399 2 8 8 8 8 5 8 8 5 2 Declaration Parameters Description 8 8 5 3 Declaration Parameters Description 400 PLC programming CANopen functions CopXDefineDS403 only ETCxM FUNCTION CopXDefineDS403 BOOL Defines the global database for a CANopen control element in accordance with DS403 for 1 2 CAN Bus VAR_INPUT CanNum_b BYTE NodelD_b BYTE DataBase_p DINT Len_w WORD Datatypes_s STRING 255
56. CAN node address 8 7 3 CAN baud rate 500 kB Axis description c x X Axis type Rotation axis Linear axis with Gantry axis for handwheel drive 2 with the same properties Resolution pulses 65536 65536 like drive 2 The machine constant file must look as follows MC keyword No of Values values MK_TEST_OHNEMECHANIK 1 MK_SPS_DUMMY 1 MC keyword No of Values values MK_CANDRIVES 12 1 1 1 1 1 1 1 0 1 1 1 1 MK_APPLACHSIDX 18 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 MK_ACHSENART 12 1 192 0 0 0 0 0 0 0 0 0 0 MC keyword No of Values values MK_CANOPEN_BAUDRATE 2 500 1000 MC keyword No of Values values MK_IMPULSE 12 65536 65536 65536 65536 65536 65536 65536 65536 65536 65536 65536 65536 To define a synchronous axes the same axis number is entered at 2 CAN note addresses in MK_CANDRIVES This creates a forced coupling of the axes of the two CAN node addresses The CAN axis with the lower node address automatically is the master axis the axis with the higher node address and the same axis number is the slave axis synchronous axis The gantry axis X in MK_ACHSENART is a special case of the synchronous axes It is a mechanical forced coupling of 2 axes Thus the gantry axis is not entered as an axis of its own in MK_CANDRIVES but as a reference to the X axis Lenze 41 Getting started 2 8 Parameterising drives via machine constants 2 8 5 Adapting machine const
57. DEFDATATYPES 393 DefineCanMsg 410 DelCobldCanMsg 411 Device driver 390 DrvReadObject 401 DrvWriteObject 403 FMOD 361 Format 362 FREEV24 378 general 361 GET_BYTE 395 GET_DINT 395 GET_INT 395 GET_LREAL 395 GET_REAL 395 GET_WORD 395 GetApplicationMessage 414 GetFirmwareVersion 363 GetMacAddr 364 GetUserParam 364 I O functions 391 INITV24 378 10_SET 365 LOAD 376 383 LOAD_PARAM 376 Load_Param 365 MEMCOMP 395 MEMCOPY 395 MEMSET 396 OVESWAPPED 396 PUT_BYTE 397 PUT_DINT 397 PUT_DWORD 397 PUT_INT 397 PUT_REAL 397 PUT_WORD 397 PutApplicationMessage 415 READ_PARAM_DINT 366 READ_PARAM_INT 365 READ PARAM _LREAL 366 READ _PARAM_REAL 366 READ_SYSPARAM 366 Lenze EDSTCXN EN 2 0 READ_TOOLDATA 367 READBLOCKV24 379 ReadCanMsg 412 READV24 379 RTC_GetTime_DT 417 RTC_SetTime_DT 417 SAVE 376 383 SAVE_PARAM 368 376 SetCurrentPath 384 SETINPUT_ BIT 368 SETINPUT_WORD 369 SETLANGUAGE 372 SINGLEBLOCK 369 SPSERROR 370 STRTOF 372 STRTOL10 372 SYSCLOSEFILE 385 SYSDISKFORMAT 387 SYSDISKINFO 389 SYSERROR 373 SYSFIRSTFILE 388 SYSNEXTFILE 388 SYSOPENFILE 384 SYSREADFILE 385 SYSREADLINE 386 SYSREMOVEFILE 387 SYSWRITEFILE 386 TRACE 373 V24 function constants 382
58. Data block 1 Data word Name Direction Type of signal 009 00 07 Program start PLC NC static The starting signal is a byte information which can adopt a value between 0 and 255 The program start requirement is output if the start signal of the HMI to the PLC DW137 has a value unequal to 0 or a corresponding input of the PLC has been set Press the start key and the necessary starting conditions have been met The value is set to 0 when the NC program is running signal is detected The information is divided in two half bytes nibble The nibble with the hig her value holds information on the type of program to be started the one with the lower value the mode in which the start is to be executed for list of meanings see DW137 Note The information is in general taken from the start signal of the HMI In special cases of application direct start via PLC the PLC itself generates the information Effect in the NC Value 1 of the signal triggers the defined program in the corresponding mode If entries are to be made in a P field they must be entered beforehand see DW137 The NC program is running signal of the corresponding channel is set to 1 Data word Name Direction Type of signal 009 08 11 Enable override PLC gt NC static Controls the effect of the override keys PLC or HMI Effect in the NC In the case of value 1 the overrides set by the PLC in data block
59. DelphMML ini current machine constants current tool data contents of the P fields This way relevant data can be collected if problems occur Display the structure of the complete DPRs with the current values ETCNO84 Version information on the ETC MMI firmware etc Yeron informatia MMI Version Lanze ETC tthe Wi 0 0 0 HL ferslon WI bbe 14 02 05 SP S Wersign ETCNO85 Back to the previous level 313 314 ETC MMI Diagnostics operating mode Error logbook If errors occur in the communication of PC PLC NC and or during programming they are logged together with date and time in a file errorlog txt By means of the Error logbook function the error messages can be displayed Use the cursor keys to browse through the individual fields With lt ESC gt or lt EXIT gt the display can be quit Errors older than 30 days are removed from the logbook The individual columns have the following meanings e No sequential number e Source Indicates the module that reported the error Sev Indicates the severity of the error e g 1 information 4 fatal error causing an abort e Error no Clear identification of the error Text Error text from the error text files _Fehl DB e Additional text Additional information of the module which gives an indication of the cause of the message The texts of the currently selected error are displayed again in the lower part If
60. ETC MMI is used for the following tasks Configuring the control system Operating and monitoring the control system gt Maintenance of the control system and error diagnosis 7 1 Installing ETC MMI Stop Only install the PCI control variant ETCPx after installing the ETC MMI and before starting the ETC MMls Note The ETC MMI Gateway is installed during the installation of the Lenze ETC MMis 1 In Windows File Explorer open the program setup exe on the ETC MMI installation CD 2 Follow the instructions of the installation program The following will be requested Demo or standard installation Control type ETCHC or ETCPC IP address of the ETCHC 2 or index of the ETCPC indexes of the PCI cards are in the range 0 9 and are automatically assigned by the driver The first ETCPx has the index 0 In the start bar the entry Lenze ETC MMI is created It can be used to start the application 3 For an ETCHC Check that the TCP IP protocols are installed in the network properties Start gt Settings gt Control Panel gt Network For an ETCPC Install the ETCPC plug in card in the PC Observe the notes in the ETC Hardware Manual Jie Lenze EDSTCXN EN 2 0 Installed files EDSTCXN EN 2 0 ETC MMI 7 Installing ETC MMI 7 1 After a standard installation the following files and file paths can be found on the hard disk of the PC after a successful installation e g c Programs
61. ETCHC COP 2 X Start terminal program on the PC if required configurein MBJ advance and activate monitor interface of the ETCHC 3 X If the ETCHC is to be operated in the with MMI azy operating mode replace the firmware file on the ETC by the file NetBoot rsc 4 X Assign the IP address of the ETCHC upa 5 X X If required install ETC MMI and ETC MMI Gateway mp 6 X Install ETCPC in the PC and install the driver apg 7 X X Start ETC MMI and ETC MMI Gateway apg 8 X X Establish connection between ETC MMI and ETCxC apg 9 X X Parameterise drives via machine constants mpg 10 X X Check parameters of the drives up 11 X X Test drives in inching mode up 12 X X Create CNC program in the ETC MMI aai Ey 13 X X Load CNC program into ETCXC start and test CNC azg program 14 X X If required install CoDeSys mpg 15 X X Start and configure CoDeSys agp 16 X X Create PLC program ag 17 X X Load PLC program into ETCxC start and test PLC program 6 18 X X Test CNC and PLC program ama 20 Lenze EDSTCXN EN 2 0 2 4 2 4 1 2 4 2 Getting started 2 Establishing the communication between PC and ETCHx 2 4 Starting ETCHx 2 4 1 Establishing the communication between PC and ETCHx Starting ETCHx Note The steps described in this chapter only apply to the ETCHx variant DIN rail variant they are not required for the ETCPx variant PCI card 1 Connect the serial interfaces of PC and ETCHx For this purpose u
62. F12 gt Via the softkey PLC keys or via lt Shift gt lt F8 gt you can switch the softkey bar to PLC keys These must be programmed in the PLC C 75 A description of the operating mode dependent softkeys can be found in the descriptions of the operating modes later in this chapter In the following the different behaviour of softkeys when they are pressed will be explained The assigned function is executed when the key is pressed or released or as long as the key is being pressed Program to 7 HC pae ETCN065 After the key has been pressed the assigned function is executed until the same key is pressed again As long as the function is active the key is shown as pressed In the following the active status is called sub mode and is shown in the operating mode line Single follow up block ETCN067 Lenze EDSTCXN EN 2 0 ETC MMI 7 Operating ETC MMI 7 3 Help function 7 33 Showing a new softkey line These function keys open a submenu i e they change the labelling and thus submenu the meaning of other keys The labelling of this function key type always ends with three dots Datum F3 points Use the lt Back gt function key to change back to the calling key level ETCNO66 7 3 3 Help function Use the shortcut lt CTRL gt lt SHIFT gt lt any F key gt to start the online help 7 3 4 Configuration file The configuration file delpnmmi ini contains settings which are required f
63. G40 Deactivate tool correction 115 G41 G42 Tool path correction 116 G53 Deactivate temp coordinate shift 117 G54 Temporary zero shift 117 G60 Exact positioning 118 G61 Stop block preprocessing 119 G74 Home position approach 119 G75 Scaling factor for input units 120 G76 Scaling factors for pulse evaluation 120 G88 Basic rotation 121 G89 Profile rotation 122 G90 Absolute dimensions reference dimension 123 G91 Increm dimensions incremental dimension progr 123 G92 Relative zero shift 124 G93 Absolute zero shift 125 G99 Return 125 Generate program 355 424 Lenze GET_BYTE 395 GET_DINT 395 GET_DWORD 395 GET_INT 395 GET_LREAL 395 GET_REAL 395 GET_WORD 395 GetApplicationMessage 414 GetFirmwareVersion 363 GetMacAddr 364 Getting started 13 GetUserParam 364 Guard time 59 H H functions 175 HMI 77 HyperTerminal 21 INITV24 378 Interface DPR 339 Ethernet 338 monitor 21 24 V 24 338 Interface to the ETC 356 IO_SET 365 IP address ETCHx 28 IPC Applications 14 Description 14 L Language switch ETC MMI 33 Legal regulations 12 LENZE HMI 77 liability 12 library 361 Library ServerSDO lib 418 Life time factor 59 LOAD 376 383 LOAD_PARAM 376 EDSTCXN EN 2 0 Load_Param 365 M M functions 175 M function basics 46 MAC address 29 Machine constants 95 160 359 adapt file 41 42 check 43 44 Conf
64. G93 can be used to shift the zero points of all desired axes in a block If a Tis programmed in the same block the shift takes place in the current tool coordinate system TO T31 otherwise the current workpiece coordinate system SO 31 is shifted The special position of SO must be noted When S0 is shifted all the other S coordinate systems are also shifted If machine constant MK_SOTO_VERSATZ_ERLAUBT is not set an error message is generated during the attempt to shift SO and the program is terminated N20 G93 Z50 T1 The zero point offset of the Z axis tool length is set in T1 to 50 mm here Subprogram end with return to the calling program G99 The preparatory function G99 must be contained in every subprogram as the last command The control continues the program in the main program with the block which was programmed after the calling block No other address must be programmed in a block with the preparatory function G99 Functions with a modal effect are only valid in the subprogram in which they were set They are not valid anymore after the subprogram has been ended N5 G99 Exit subprogram and continue processing in the calling program Lenze 125 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 37 G100 Polar coordinates linear interpolation high rate Syntax Meaning of the addresses Explanation Example 126 The preparatory function G100 corresponds in
65. G99 The profile is described in a virtual X Y plane with the X position 0 and the Y position 90 corresponding to the C axis For this both cartesian coordinates G1 G2 G3 and polar coordinates G101 G102 G103 can be used When using the spline interpolation G5 must not be programmed in the finished profile Instead it must already be switched on before the first G143 and switched off after the last G143 The total number of workpiece revolutions of a grinding phase results from the programmed overmeasure and the positioning amount per revolution X D plus the programmed number of revolutions without positioning See G140 G141 G142 Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 57 G144 G145 Programming a correction table during noncircular grinding Syntax Meaning of the addresses Explanation Example EDSTCXN EN 2 0 The correction table is used for the compensation of any systematic errors during the creation of a profile during noncircular grinding G144 D G145 C X D Distance of the grid points in the table in degrees C Value of the reference axis in degrees x Correction value in um With G144 the correction table is configured and all correction values are initialized to 0 The grid points are defined by the following G145 commands It is not necessary for all 720 possible grid points to be programmed here The correction values of the not
66. If the module does not respond and the number of attempts Life Time Factor has been reached the module is regarded as not NOK defect or not existing The status of the module is saved in the system variable of the control system DB1_NC2SPS_COPMODUL_VORHANDEN_AW C 270 For all modules the standard setting is Guard Time 500 and Life Time Factor 3 This setting means that a failure is detected after 500 ms x 3 1 5 s If no Guard Time and no Life Time Factor are specified 0 the module is not monitored Further settings are not required A task configuration is only required if system variables of data block_0 are used C1 342 Ha Et Pega ihi Ei Ones Wikio Hei Hiau Dee Ale ee S Gi tashisa ssh oonligquestion BY kn rier F211 0 t G Ej kas seein b L amI e E criga eine Leg ZU PLC Corgans u Ep Tine ur age Deeg d re re te aka ETCNO24 Lenze er 2 12 2 12 1 2 12 2 12 1 60 Getting started Creating a PLC sample program Required hardware Creating a PLC sample program This chapter describes the creation of a PLC program using an ETCHx system as example Please note the differences in the case of an ETCPx system Required hardware I ToolDown c 2 je Q 8 F O eon erpe a G CE se we zu Lamm rl e rue tete i 1 Le Pi Jag mM tT co oo oO oO oO oO oO oO 5 2 5S of 6 5 p 5 58 24V0V wu Ethernet er m w m m 24V0V
67. J If K is not specified the axis oscillates to and fro 1 time During the output of the jump function on the axis theoretical speed actual speed following error and correcting variable are recorded as a 16 bit integer data type and transmitted asynchronously to the PC This can display the recorded information as a graph or evaluate it elsewhere If the identification L2 is specified for a synchronous axis the control records the actual speed of the master axis the slave axis the synchronous distance between the two axes and the theoretical speed Example G251 X1000 10 2 Output of a setpoint step change with a speed stroke of 1 m min a jump Jo 1 duration of 200 ms and an accelerating duration of 100 ms EDSTCXN EN 2 0 Lenze 167 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 80 G252 Value input via display device see MMI Syntax Meaning of the addresses Explanation 168 The P field parameter specified in the G function is redetermined by means of an interactive user query G252A BCE X Y Z F Allowed minimum value of the input parameter Allowed maximum value of the input parameter Index of the parameter to be entered in the parameter field of the control Block number which should be activated during termination of entry Text number or a format statement in connection with Column of the display Line of the display N lt xnmn TF Character size for the displ
68. Lenze 383 8 PLC programming 8 8 Library 8 8 3 FILE IO functions 8 8 3 3 SetCurrentPath Declaration Description Example 8 8 3 4 SYSOPENFILE Declaration Description Parameters Example 384 FUNCTION SetCurrentPath DINT VAR_INPUT path_s STRING 40 device name and path END_VAR Defines the actual default drive and the directory path for the file IO functions of the device drivers L1 390 With the directory path the IP address ofthe CNC data server network disk can be defined Return value The function returns an error code C 391 SetCurrentPath ND 172 16 5 66 FUNCTION SYSOPENFILE DINT VAR_INPUT filename_s STRING 15 accessmode_di DINT END_VAR The function is used to open a file on the defined device LQ 390 It returns a file handle which is required for the functions SysReadFile and SysWriteFile A total of 4 files can be opened simultaneously filename_s Name of the file to be opened Optionally with preceding device ID and colon accessmode_di Access mode O_RDONLY or O_WRONLY defined in gobal constants Return value file handle greater or equal to 0 if successful less than 0 in case of an error L1 397 handle_di DINT handle_di SYSOPENFILE RD data dat O_RDONLY Lenze EDSTCXN EN 2 0 8 8 3 5 Declaration Description Parameters 8 8 3 6 Declaration Description Example SYSCLOSEFILE SYSREADFILE EDSTCXN EN 2 0
69. Lenze ETC MMI Lenze exe ncform hlp install hlp cfg muster mk mk hlp mmi_fehl db ncr_fehl db Lenze txt sps_fehl db delphmmi ini bin etc rsc spsdummy prg prg nikolaus din log e g c Windows Systems32 mmigrp32 dll mmigtway exe mmictr dll ipcom dll gtwconf exe mmigtwayini Lenze ETC MMI application Help file Installation instructions Configuration directory Machine constant file with basic settings ASCII file containing help information on setting the machine constants edit MC ASCII file containing error messages of the MMI ASCII file containing error messages of the NC ASCII file with general texts notes error messages information on inputs outputs and function keys The file is required by the user interface ASCII file containing error messages of the PLC Initialisation or configuration file for ETC MMI ETCHC or ETCPC firmware Example of a PLC program DIN file index Example of a DIN file profile Folder for all temporary files which are loaded back from the control system MMI DLL Gateway program Interface for the application DLL with internal gateway functions Configuration interface Configuration file EI 287 m ETC MMI 7 2 Starting ETC MMI 7 2 Starting ETC MMI 1 Start the ETC MMI via lt Start gt gt Programs gt Lenze gt ETC ETCN011 The ETC MMI Gateway is automatically started The application can be seen on the task bar
70. M27 M30 Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 62 G158 G159 Intermittent operation on off Syntax Meaning of the addresses Explanation EDSTCXN EN 2 0 The preparatory function G158 switches the intermittent operation on during which the interpolation of the programmed profile is executed in strokes G158 I J K G159 K Speed profile of every individual interpolation stroke 0 without intermit 1 discontinuous default 2 linear 3 sinusoidal 4 sinusoidal acceleration sine squared braking 5 sine squared l Feed duration in percent of the step length default 50 J Phase displacement in percent 0 feed on step end default 100 feed on step start During intermittent operation all interpolation types on the profile are executed in strokes The distance covered with every stroke on the path corresponds to the step length L for G1 G2 G3 With the combination of G158 and G33 it is possible with a sewing machine see sewing technology to carry out the material transport in a limited angle range of a sewing motor revolution only Every stroke causes an acceleration and deceleration process of the material to be transported The type of this acceleration curve is defined with the address K independent of the current path acceleration The least load is placed on the mechanics in the case of sine square form acceleration However double t
71. MW0 130 DBO_nc2sps_tastennummer_b MBO0 130 0 DBO_nc2sps_tastenzustand_b MB0 130 1 DBO_nc2sps_eingabeabschluss_w MWO 131 DBO_nc2sps_funktionsstatus_w MWO 132 DBO_nc2sps_nc_fehlerzaehler_w MWO 133 DBO_nc2sps_nc_fehlerklasse_w MW0 134 DBO_nc2sps_nc_fehlermodul_w MWO 135 DBO_nc2sps_nc_fehlernummer_w MW0 136 DBO_nc2sps_aktuelles_untermenu_w MW0 137 DBO_nc2sps_g253_textausgabe_s MW0 148 Data block 1 DB1_sps2nc_notaus_bit MX1 0 0 DB1_sps2nc_vorschubfreigabe_bit MX1 0 1 DB1_sps2nc_soforthalt_bit MX1 0 2 DB1_sps2nc_vorschubfreigabe_w MW1 1 DB1_sps2nc_position_halt_w MW1 2 DB1_sps2nc_verfahrtastenfreigabe_plus_w MW1 3 DB1_sps2nc_verfahrtastenfreigabe_minus_w MW1 4 DB1_sps2nc_reglerfreigabe_w MW1 5 DB1_sps2nc_einlesefreigabe_bit MX1 7 0 DB1_sps2nc_programmstart_b MB1 9 0 DB1_sps2nc_use_spsoverride_b MB1 9 1 DB1_sps2nc_spindel_ein_aus_b MB1 10 0 DB1_sps2nc_spindel_richtung_b MB1 11 0 356 Lenze EDSTCXN EN 2 0 EDSTCXN EN 2 0 DB1_sps2nc_programmstop_b DB1_sps2nc_unterbrechen_bit DB1_sps2nc_einzel_folgesatz_bit DB1_sps2nc_satzausblenden_bit DB1_sps2nc_rueckzug_bit DB1_sps2nc_tastensignale_aw DB1_sps2nc_qbit_signale_aw DB1_sps2nc_freigaben_mmi_w DB1_sps2nc_mfkt_quitt_bit DB1_sps2nc_sfkt_quitt_bit DB1_sps2nc_hfkt_quitt_bit DB1_sps2nc_tfkt_quitt_bit DB1_sps2nc_extsync_enable_bit DB1_sps2nc_programmhalt_aktiv_bit DB1_sps2nc_qin_mask_aw DB1_sps2nc_qout_mask_aw DB1_sps2nc_qout_akt_aw DB1_sps2nc_qin_offset_ab DB1_sps2nc
72. NC By means of corresponding DIN programming G150 G151 it is possible to have time critical digital inputs evaluated directly by the rough interpolator as Q bits while avoiding the PLC Example With the following lines the inputs IX64 1 IX64 4 1X64 13 and IX65 7 are configured as fast inputs DB1_SPS2NC_QIN_ OFFSET _AB 0 64 DB1_SPS2NC_QIN OFFSET _AB 1 65 DB1_SPS2NC_QIN_MASK_AW 0 2 0010000000010010 DB1_SPS2NC_QIN_MASK_AW 1 2 0000000010000000 Data word Name Direction Type of signal 038 00 039 15 Enable the fast outputs PLC gt NC static Value 1 withdraws the control of the PLC over the corresponding output and assigns it to the rough interpolator i e an output enabled as fast out put can only be operated by the rough interpolator As soon as the PLC with draws the enable command it can use the outputs again for itself the out put signal states are immediately reflected on the outputs Use the data words Offset of fast outputs to position the enable mask in any area of the output image as fast output This way any digital output can be specified as fast output After the control has been taken over the last states remain intact Effect in the NC By means of corresponding DIN programming parameter Q it is possible have time critical digital outputs operated directly by the rough interpolator in rough interpolation cycle EDSTCXN EN 2 0 Lenze 255 gt 5 1 5
73. NC static Application and program specific signals for controlling the program flow in the NC control The meaning of the values must be defined individually The values depend on the inputs of the PLC and internal links Effect in the NC The signals are stored unchanged in the internal Q Feld Q field as OO 063 Individual entries of the Q field can be accessed in the program to ensure that it is possible to control the program flow Fast inputs If fast inputs are configured see DW36 0 37 15 the corres ponding Q bits are not read from the Q field but directly from the correspon ding inputs E0 0 E3 7 This makes it possible to react more quickly to an ex ternal event as it is not diverted via the integrated PLC Data word Name Direction Type of signal 031 00 15 Enable MMI PLC NC static Up until now this data word is only used in connection with the standard HMI It is used to signal MMI which PLC functions are supported by the loa ded PLC coded in bits Bit number Meaning PLC support 0 Teaching 1 Block search 2 Interrupt w Version output gt Key control By setting bits 0 2 a corresponding soft key is shown on the HMI If bit 3 is set HMI requests a version string via the message interface in the DB2 If bit 4 is set PLC is in control of the keys via the PLC keys provided in the ETC MMI 282 Effect in the NC none Lenze 253 5 Interface PLC lt gt NC operating
74. Online gt Reset gt Create boot project Online gt Create boot project The program is saved as default prg in the flash of the control system When the control system is started it looks for a program default prg This program is automatically started as boot project Delete boot project Online Reset gt Stop communication with the control system Online gt Log out The program in the control system remains in the status that was selected last EDSTCXN EN 2 0 Lenze 71 2 Getting started 2 13 Testing CNC and PLC program 2 13 Testing CNC and PLC program Test setting Connecting the hardware Start PLC program 72 Note Basically the operation of the CNC program is possible gt without connected mechanics and drives This is achieved by setting the machine constant MK_TEST_OHNEMECHANIK 1 gt without a PLC program This is achieved by setting the machine constant MK_SPS_DUMMY 1 For the following tests with program and mechanics the machine constants must be set as follows MC keyword Numbe Values rof values MK_TEST_OHNEMECHANIK 1 0 MK_SPS_DUMMY 1 0 1 Connect the hardware according to the requirements M 60 The inputs Tool down and Tool up must be set according to the progress of the program M14 M15 Thus 24 V must be continuously applied to the inputs or the inputs must be switched in time 1 Start the PLC sample program in the CoDeSys For this purp
75. P field The following parameters are used for this purpose P176 191 target position specification by PLC for axes 0 15 mm or P208 223 speed specification by PLC for axes 0 15 mm min or rpm P240 255 speed specification by PLC for axes 0 15 m sec2 or rps2 The following parameters are available for display P144 159 accepted target position after positive edge of the traverse key mm or P160 175 current modal actual position mm or A target point approach of an axis starts when the value 110 is specified in its traverse key Make sure in the process that the NC computer detects the change of the traverse key if required observe handshake see diagram Lenze 257 gt 5 1 5 1 2 258 Interface PLC lt gt NC operating system Definitions Data block 1 This is precisely when the target point is accepted Note Also a change from 110 to 110 or vice versa has the effect that the target position is accepted again The axis moves for as long as the value 110 is specified in the tra verse key and the target has not yet been reached A change to the speed spe cification P208 223 is also accepted when the axis is in motion When the target point is reached the NC sends the PLC axis reached target signal in the DB1 Travelling generally takes place via the modal offset i e parallel to any programmed NC target position When the target posi
76. While the thread coupling is active the involved rotation axes cannot be positioned independently The coupling has a modal effect and must be switched off with G34 At the end of the program the coupling of the first variant is switched off automatically Both variants cannot be active at the same time With the first variant several rotation axes can be corrected analog to the path if these are programmed together for G33 G33 L5 AO For each revolution of the A axis 5 mm should be covered on the path G33 K1 5 The thread pitch should be 1 5 mm per revolution Therefore the C axis should make one revolution per 1 5 mm feed of the Z axis Lenze 113 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 18 G34 Coupling between path and rotation axes off Syntax Explanation Example With G34 the path coupling which was switched on with G33 is switched off again G34 G34 cancels the coupling between the path or axis involved in the path and the rotation axes again With the second variant of the G33 thread grinding this is necessary to position the involved rotation axes alone for example G34 Coupling off Rotation axes is not carried anymore 3 2 2 19 G36 Modal oscillation on Syntax Meaning of the addresses Explanation Example 114 Modal oscillation for an axis on G36 AXES I J K F AXES Axis to be oscillated and stroke in mm l Dwell time on
77. With G180 axes can be traversed modally in the specified direction until the traversing function is deactivated again with G181 The further execution of the program is not blocked during this process so that other axes can also be traversed in the program in parallel If several axes are programmed in a G180 the acceleration ramp of the individual axes is reduced such that all axes reach their programmed speed at the same time If a traversing direction is specified and the axis is already modally traversed the axis is accelerated to the new speed and direction without stopping If a feed speed F is programmed this applies to all the axes programmed in the same block However if linear and rotation axes are involved it only applies to the linear axes Preselecting a speed for one or several axes without starting them is carried out by selecting the Verfahrrichtung 0 traversing direction 0 Modal travel axes cannot be positioned with geometry functions They are stopped by G181 the stop button and by errors of class 3 and 4 Example N10 G180 XO F1000 Preselect 1000 mm min as the modal speed for X N20 G180 AO BO F20 Preselect 20 U min as the modal speed for A and B N30 G180 X1 A1 B 1 Traverse X A and B modally X in positive direction with 1000 mm min A positive with 20 U min and B negative with 20 U min N40 G180 Y 1 F2000 Traverse Y with 2000 mm min modally in negative direction N80 G181 X0 YO X and Y stop A and B contin
78. WordWrap 374 WRITE_PARAM_DINT 374 WRITE_PARAM_INT 374 WRITE_PARAM_LREAL 375 WRITE_PARAM_REAL 375 WRITE_SYSPARAM 375 WRITEBLOCKV24 379 WriteCanMsg 413 WRITEV24 380 G G function Individual descriptions 94 overview 91 G preparatory function 89 G function basics 45 G00 Point to point positioning high rate 94 G01 Linear interpolation 97 G02 Circular interpolation 99 G04 Dwell time 102 EDSTCXN EN 2 0 Contents i G05 Spline interpolation 103 G06 Polynomial interpolation 105 G100 Polar coordinates linear interpolation high rate 126 G101 Polar coordinates linear interpolation 127 G102 G103 Polar coordinates circular interpolation 128 G110 Polar coordinates accept center 129 G111 Polar coordinates center programming 129 G112 Tangential correction on 130 G113 Tangential correction off 131 G114 6 axes transformation 131 G115 Convex surface transformation 132 G116 Rotation axes transformation 133 G120 Abs coordinate shift via modal offset 134 G121 Programming the modal offset 135 G122 Configuring the effect of the traverse keys 136 G125 Parameter field comparison 137 G130 Parameter field comparison 138 G131 Delete modal comparative operation 140 G132 Inhibit modal program branching 140 G133 Enable modal program branching 140 G134 Parameter field comparison 141 G140 G141 G142 Noncircular grinding 142 G143 Parameters of grinding phases during n
79. a step a window opens where the corresponding action of the step is entered ETCN029 64 Lenze EDSTCXN EN 2 0 Getting started 2 Creating a PLC sample program 2 12 Starting and configuring the PLC sample program 2 12 2 Define inputs outputs 1 In the CoDeSys select Resources gt Global Variables gt Ein_Ausgaenge 2 Define the inputs and outputs as bit in the corresponding words of the process image De GE poa pemi ihm Gire jindra jin Parmas B B Giba iima OOTY ae Lat 5 i PI _WoES top aha lhe E re etek Veet Han oe I Teal poke oi MW eiai CO TT ono I Toolin pai a 2 i uith HU Hoc l AT Lia bie a HHI risia Heer ad baisi pahi Wen anian i i enp imdb 2212 Glo a me sin i ae 0 Tanl Dean ATICKL ETCNO30 Function START_STOP This function evaluates the following system variables which control start and stop of the PLC program in the ETC MMI gt db1_sps2nc_programmstart_b gt db1_sps2nc_programmstop_b gt db1_nc2sps_programmstart_b db1_nc2sps_programmstop_b DB1_B9_ 0 plc2nc_program_start_b DB1_B137_0_nc2plc_program_start_b DB1_B12_0_plc2nc_stop_program_b DB1_B142_0_nc2plc_stop_program_b Function This function evaluates the following system variables which set the release RELEASE ONDE HANDLER and monitoring signals in the control system gt db1_sps2nc_vorschubfreigabe_w gt db1_sps2nc_reglerfreigabe_w gt db1_nc2sps_betriebsbereit_2_bit gt DB1_W1_plc2n
80. and program execution Generally a DIN block is not executed at the same time as its interpretation Rather for many functions it is important that the blocks are interpreted in advance For example the Look Ahead function G60 X0 determines an optimum speed profile via the interpreted interpolation blocks which is only possible if a sufficient quantity of blocks are interpreted in advance Program execution and interpretation take place in principle in parallel and are only coupled via a prebuffer FIFO memory into which interpolation and other orders for execution are entered This decoupling is first required before the program can be processed quickly Therefore the maximum number of blocks in this FIFO plays an important role on the speed at which a NC program can be processed This number can be set using the machine constant MK_LAH_VORLAUFTIEFE to up to 1024 blocks However for most applications 16 blocks is more than adequate For more demanding applications 256 or more blocks may also be useful It may be necessary at critical program points to stop this block preprocessing in order to synchronize the interpretation with the execution of the preceding blocks Such a time synchronization is carried out automatically if an access is made to a time synchronized parameter in the parameter field or a time synchronized G function is programmed Even when Look Ahead is activated a time synchronization always means that the a
81. and waits for a response If the control does not receive a response after the Life time factor requests an error message is generated If no Guard Time and no Life Time Factor have been defined the CAN module is not monitored this means that a failure will go unnoticed Heartbeat settings Will not be evaluated by the control Emergency telegram If this entry is selected the control ignores emergency telegrams from the control Lenze EDSTCXN EN 2 0 PDO mapping Service Data Objects PLC programming 8 Project planning 8 4 Configuring I O modules 8 4 4 Via PDO Process Data Object the process data are transferred at CANopen this means the states of the digital and analogue inputs outputs Each PDO has a unique COB ID 385 1407 allocated to it with the COB IDs for the CANopen IO modules being issued as follows assuming a maximum of 127 modules Tx PDO 384 NodelD Rx PDO 512 NodelD Tx PDO 640 NodelD Rx PDO 768 NodelD Tx PDO 896 NodelD Rx PDO 1024 NodelD Tx PDO 1152 NodelD Rx PDO 1280 NodelD Tx Transmit Rx Receive as seen from the perspective of the CANopen module BRWWNNP PB This means that without limitation of the maximum number of modules 4 receive and transmit PDOs can be issued per module If in deviation from the standard more PDOs are to be defined per module it must be ensured that the COB ID s will not be issued twice The fi
82. angle can be programmed in absolute dimensions or in incremental dimensions Example N200 G17 N210 GO X10 Y10 N220 G102 X20 WO F1000 N230 G110 U20 N240 G102 W180 3 2 2 41 G111 Polar coordinates center programming with angle and radius Syntax G111 U W Meaning of the addresses U Polar radius Polar angle Explanation The polar radius U and the polar angle W define the new center of the polar coordinate system No axis movement takes place The radius and the angle can be programmed in absolute dimensions or in incremental dimensions Example N10 G18 N20 GO X0 Z50 N30 G101 X0 Z50 U50 W90 F2000 N40 G111 U50 W180 N50 G103 W90 EDSTCXN EN 2 0 Lenze 129 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 42 G112 Tangential correction on The tangential correction of the C axis is switched on Syntax G112 AXES Meaning of the addresses AXES Validity identification and mode for rotation axis to be corrected Only one axis can be specified Explanation For path profiles with tangential or approximate tangential transitions an automatic tangential correction of a rotation axis is possible For this there are two modes which must be programmed as a numerical value under the respective axis code letters Mode 1 Tangential correction from current position of the rotation axis standard Mode 2 Tangential correction with abrupt positioning of the rotation axis at the start of the in
83. axis G115 X0 A50 Switch on the sheath transformation with X as the lateral axis A as the rotation axis and any longitudinal axis The radius of the cylinder on whose surface the profile is represented is 50 mm Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 46 G116 Rotation axes transformation Syntax Meaning of the addresses Explanation EDSTCXN EN 2 0 Transforms a virtual axis system with the rotation axes B and C into a physical axis system with the rotation axes A and B G116 C c Shift angle between path orientation and tool orientation The function creates the virtual axes B and C and transforms their angles y and 6 with consideration of the shift angle into the angles a and B of the physical axes A and B The following kinematic connection applies 42 3 u kn ETCNO51 Al Cutter direction Bl Tool Tool tip To switch on the transformation the axes A and B must be configured As long as the transformation is switched on the physical axes A and B are replaced by the virtual axes B and C and the programming of the corresponding physical axes is inhibited The domain of the angles a B and yis between 90 and 90 The transformation is switched off through the programming of G116 without parameters At the end of the program or in the event of a program
84. axis involved in the path and a rotation axes G33A B C L Eor G33l J K ABC Rotation axes which should be corrected analog to the path Any value L Path length which should be covered during a complete revolution of the rotation axes E Speed pre selection of the rotation axes in 1 min The resulting path speed is F E L l Thread pitch in X direction Coupling between X and A axis is active J Thread pitch in Y direction Coupling between Y and B axis is active K Thread pitch in Z direction Coupling between Z and C axis is active G33 distinguishes between two variants using the programming The first variant is used to correct rotation axes to the feed on the distance e g sewing technology In this case one revolution of the rotation axes is executed for each covered path The cutting length is corrected for each block such so that a whole number of revolutions of the rotation axes is traveled The ramps and speeds on the path are corrected downwards if required such that the rotation axes are not overtaxed With the second variant the rotation axes is not corrected analog to the feed on the path but to the feed of an individual axis This variant is used in particular for thread grinding The programmed gradient is stored in P685 and the gradient correction is reset in P686 The total of P685 and P686 yields the effective thread pitch in mm revolution The gradient correction can be effected online by changing P686
85. basic offset in the machine constants The basic offset is shifted without consideration of the current coordinate system Syntax G194 AXES Meaning of the addresses AXES Axes whose basic offset should be set Explanation The basic offset programmed for G194 is added to the value from MK_GRUNDOFFSET and transmitted to the axes In contrast to a coordinate shift in a coordinate system G194 can also be used in an interrupt program The offset shift occurs directly in the axis computer by passing the interpreter and handler The basic offset programmed with G194 is not saved and is lost when the control is switched off The programmed values are stored from P928 in the parameter field Example G194 X150 The basic offset of the X axis is set to MK_GRUNDOFFSET 150 G194 XO The basic offset of the X axis is reset to the value of MK_GRUNDOFFSET EDSTCXN EN 2 0 Lenze 157 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 71 G195 Absolute coordinate shift of all S coordinate systems Syntax Meaning of the addresses Explanation Example 158 With G195 all the S coordinate systems can be shifted by the programmed amount in reference to the zero points defined by G193 G92 at the same time The shift has an additive effect to the current zero points of all S coordinate systems except for SO G195 AXES AXES Axes whose zero point should be shifted G195 is used to program the offset of SO Since
86. be issued so that only one SDO channel will be created In the object directory editor of CoDeSys entries must only be made in the tab Variable EDSTCXN EN 2 0 Lenze 351 8 PLC programming 8 4 Project planning 8 4 7 Object directory parameter manager Create a new object directory In it define the variables to be exchanged with other controls ETC110 The tab Variable must have been selected The indexes can then be entered with their variable names Index In hexadecimal notation Subindex The range of the subindexes is defined in the target settings Access Access frequency Attribute Attribute of the variables write read Variable Name of the variables Caution the text must be preceded by a dot 352 Lenze EDSTCXN EN 2 0 PLC programming 8 Network variables 8 5 Settings in the target system 8 5 1 8 5 Network variables Condition Network variables are a way of transferring data between two or several controls Currently network variables are implemented on the basis of UDP The variable values are transferred automatically on the basis of broadcast messages These services are not confirmed by the protocol i e there is no control whether the message actually reaches the recipient The network variable transfer corresponds more to a 1 sender to n recipient connection The libraries NetVarUdp_LIB lib SysLibCallback lib and SysLibSocket lib have been inserted into
87. bit in the PLC keyboard and the reaction of the machine is only established by the programmed procedures in the PLC EDSTCXN EN 2 0 Lenze 333 7 7 8 7 8 3 SPS_EXEC 334 ETC MMI Appendix Configuration file DELPHMMI INI Note The file can be edited by means of the MMI software Diagnostics operating mode MMI config function It must be noted here that some changes are only updated after a restart of the software and some changes are only updated when the control system is reset A restart of the software can be achieved by quitting the MMI software and then restarting it To reset the control system it must be switched off and on or the Reset pushbutton must be pressed In the Delphmmi ini in the SPS_EXEC section the programs are entered that are to be executed if required The entry number specifies the index of the program that the PLC must report The name of the application is entered Another program parameter can be specified separated by a semicolon It can also be specified whether the application is executed in a normal window NORMAL or in a maximised or minimised window The default setting is normal SPS_EXEC entryO C WinNT Notepad entry1 C WinNT Notepad Readme txt entry2 C WinNT Notepad Readme txt Max entry3 C WinNT Notepad Min The PLC now sends a message SBO_PLC_EXECUTE 8015 to the MMI The first word of the message contains the entry number If the second data word is non zer
88. by all 6000 spindle handlers MK_SPINDELDREHZAHLMIN 0 min permissible spindle speed in rpm 0 not taken into account by all spindle handlers 0 MK_TECHNOLOGIEDATEN1 0 application spec technology param which 0 lie in the parameter field from P760 0 0 0 0 EDSTCXN EN 2 0 Lenze 337 Machine constants like TECHNOLOGIEDATEN1 like TECHNOLOGIEDATEN1 like TECHNOLOGIEDATEN1 4 16 List of machine constants 0 0 0 0 MK_TECHNOLOGIEDATEN2 0 0 0 0 0 0 0 0 0 0 MK_TECHNOLOGIEDATEN3 0 0 0 0 0 0 0 0 0 0 MK_TECHNOLOGIEDATEN4 0 0 0 0 0 0 0 0 0 0 dc ls la al a a a cea cl EE a al a aa a ai a a a ee a ta ah a a Sa a oem abhor E 6 PLC specific settings uf Ss ek a a St a lca al elec pe mea a ls a a age meagan onic cea ake The following values are written in the data MK_DW224 255 238 0 O O O O O OG DW DW DW DW DW DW DW DW DW DW 224 225 226 227 228 229 230 231 232 233 block 2 of the PLC ay 2y af a Zf 7 aA Lenze EDSTCXN EN 2 0 Machine constants A List of machine constants 4 16 DW 234 DW 235 DW 236 DW 237 DW 238 DW 239 DW 240 DW 241 DW 242 DW 243 DW 244
89. created in the default setting ETCM019 6 Press lt OK gt 7 Save the new file via File gt Save Be pi pumi peni bir gie bike ip ETCM020 52 Lenze EDSTCXN EN 2 0 Select control configuration in the CoDeSys Configure control system CAN master EDSTCXN EN 2 0 Pia Ed ee Mil Getting started R ETC PLC programming with CoDeSys 2 11 Configuring the control system in the ETC CoDeSys 2 11 2 In the left lower window area click the Resources tab Select PLC Configuration Inthe right window area open the control configuration The entry ETCPC Slot is displayed Right click ETCPC Slot Inthe context menu select the menu item Replace element gt ETHC BIS ER et PLC PR GT ZU My arctan 22 11 021 i EM El Be 1 TT ne anit Bw cain a Bi Stagerungekoniagersiicn A Br i B EM Sto Ina De Teer see Tage Satire a Tah ciran G wake and Foaie Peay zh ops srs ETCNO18 Open the entry ETCHC Slot by clicking Right click on CAN Master Fix Inthe context menu select the entry Append Subelements In the submenu select the module you want to add Lenze 2 11 2 11 2 54 Dy ese enti ET 5 A El ay seta TB 12 qa PLC Costiguratior Getting started ETC PLC programming with CoDeSys Configuring the control system in the ETC CoDeSys Cth eS O 3 Steuereegekootigureation amp j S ETCPL SIOT
90. cutter correction 3D axis correction Direction dependent height correction Recording of axis positions or speeds Accept step response of an axis Value input via the display device Text display function optional with error handling Lenze Group h2 h2 e3 e3 h2 h4 h3 h3 a sjo oa 7 77 7 55 75 3 2 3 2 1 Attribute 93 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 G functions individual descriptions Every G function is described in detail in the following The functions are sorted numerically in ascending order Note For the preparatory functions the code letters for the individual axes are explicitly specified These refer to a configuration with a maximum of four axes Other axis letters can also be used in another configuration These must then be used accordingly in the preparatory functions The used axes with the corresponding code letters are defined in the machine constants 3 2 2 1 _GOOPoint to point positioning high rate Syntax Meaning of the addresses Explanation 94 The preparatory function GOO is used to program a high rate point to point positioning In contrast to DIN66025 route operation or path operation can be used This is preselected by G30 G31 GOAXESRDEL AXES Target point coordinates of the axes R Radius with which the following linear interpolation GO G1 should be connected D Max path deviat
91. describes the index of a bit within the virtual keyboard DB1 DW212 DW219 of the PLC the value yyyy nnnn or 0000 references the entries in the language file for labelling the corresponding softkeys If 2 comma separated language file references are entered nnnn oo00 the softkey behaves like a switch Depending on the switch state the labelling is changed nnnn stands for the switch state off 0000 for on The sequence of the entries corresponds to the execution ofthe PLC key functions on the horizontal softkey line If more than 8 functions are defined an entry of the type KEYxxx 1 defines an empty key a function for incrementing is offered on the 8th softkey e g The Ini file contains KeyO 2800 2927 Key12 2818 2911 Key13 1 Key3 2812 Key19 2814 Key29 2809 Key123 2801 Key14 2817 Key22 2803 Key23 2805 The language file contains 00002800 0 C12632256 FArial 8 1 0 3 6 00002801 1 C12632256 FArial 8 1 0 3 6 00002926 126 C12632256 FArial 8 1 0 3 6 00002927 127 C12632256 FArial 8 1 0 3 6 This results in 2 softkey lines with the following structure 00 18 22 14 09 01 more 17 03 05 more After 00 has been actuated the labelling for softkey 1 changes to 127 127 18 12 24 09 01 more Please note that the relationship between the softkey labelling the set
92. directory of the selected control system in this case Lenze An EDS file contains entries of keywords that describe the property of the module with the respective values In the case of modules from third party manufacturers the corresponding EDS files must be copied into the target directory of the control system Lenze 55 Getting started 2 11 ETC PLC programming with CoDeSys 2 11 2 Configuring the control system in the ETC CoDeSys Parameterise modules After you have clicked the individual modules the display looks as follows D Stenar oagakon Iguria t ice B ETCC SLOT J Ham pmsresie CAH pama Aarma Tigitsls IO HosaleiFTE Analoge CO Hocele Foc as biit 4 B CiH H t t FIE i S ETCHIDDE EPS VAR Hodge B INd4 Sau Input aaa dase igo ae and her rss AT SsIBila TSI B ETCHUDGS EDS YAR iT arent Er Dispis airar a ETCNO21 The program must know at which addresses of the memory area the input and output data of the modules are located The default setting in the program contains byte addresses B QB which must be changed into word addresses W QW because the process image of the ETC is organised according to words The address range starts at word 64 Proceed as follows to change the addresses into word addresses Starting with the first module in the list in this case ETCHIO08 in the order of the modules in this case ETCHU008 change the type of the variables IB OB
93. firmware file ETCHC_A rsc ETCHC or ETCPC rsc ETCPC is to be transferred instead For this purpose proceed as described in the following section the files that are to be exchanged are the only difference Lenze 25 Getting started 2 4 Establishing the communication between PC and ETCHx 2 4 3 Setting the operating mode of the ETCHx Set the With MMI operating mode 26 For the With MMI operating mode the firmware file must be replaced by the file NetBoot rsc Loader on the ETCHx 1 To delete the firmware enter the following in the HyperTerminal del sd etc rsc Afterwards press the lt Enter gt key 2 To transfer the Loader to the ETC activate the menu item Transfer gt Send File in the HyperTerminal ETCMO21 3 Specify the path to the file NetBoot rsc and select the protocol Zmodem with Crach Recovery Fokje EV Pros Fass lese Ti Fer aera ren Feen ET ner net Bream J Pre Imain et Crath Parmes En tom ore ETCM022 4 Click on Send While the file is being loaded into the control system the following figure is displayed On the ETC front plate the LEDs 1 6 flash circulatingly Tamedia with Coach fetownry ie send fey aie C Froga Firre E CF rean Roald E Fer loll Raisk D Theme Comal ETCM023 Lenze EDSTCXN EN 2 0 Getting started 2 Establishing the communication between PC and ETCHx 2 4 Setting the operating mode of the ETCHx 2 4 3
94. function by which the last subprogram call was triggered For use in cycles which are called by M functions MK_MFKT_UPR_TABELLE Last output H function number x Current number of preprocessed blocks in the block search buffer Geometry counter for block progress display x Progress display for current traversing block x 0 Block start 1 Block end Efficiency of geometry filter G200 in x Size of the free memory for managing NC programs Size of the free memory for managing symbolic program numbers Number of pending and not yet confirmed error messages Value of MK_S_VERSATZSPERRE from the machine constants Current value of override 0 3 Maximum value of the acceleration ramp on the path see G201 Maximum value of the deceleration ramp on the path see G201 Speed preselection for modal travel x Increment specification for step travel Lenze 3 5 35 Unit Byte Byte m s2 m s2 Unit min Unit 185 CNC programming 3 5 Data fields 3 5 1 P field Technology specific parameter 186 Index 674 675 676 677 678 Index 288 368 374 303 373 376 685 686 687 688 690 691 692 696 697 698 699 700 730 760 770 780 790 725 755 769 779 789 799 Meaning Conversion factor of input units in mm Conversion factor of m min by input units GIT Conversion factor of input units min in input units GIT Conversion factor
95. function the library ServerSDO lib must be integrated In the process other libraries are also integrated These libraries provide the interface functions from the ETC to the HMI fee Oaia Wida Hih PSEA lone di F standard lib fe 11 08 iL 08 H ereeto lib 14 9 0565 1251024 Center Lib ib 1 04 Aa 00 50 135 _Card penHetlar lib 1 3 0E i 33_CAHspenHanseer lib 6 1 pi r P ETCN042 Lenze 77 Getting started 2 15 Operation via a Lenze HMi 215 4 Settings for the connection of a Lenze HMI H505 Settings in the PLC program To inform the control system that communication to an HMI is desired target system change the system setting as follows ES Ge ee aaa Vin rg han parira i ane dobre ieh we Ire eee be eae ETF Emmya of a ken DAH UD PDE DEWET kimra I k a ma fha EA pa Fan ol er leon Feier ETCN043 In the system settings activate the object directory and the network variables on the Network functions tab The object directory provides the declared variables with the corresponding indexes to the HMI Lenze code index with CANopen The desired number of indexes can be set in the index area The CAN network acts as network interface to the HMI After these settings have been made the CoDeSys provides the object directory RE emp TE 12 EHZ krep Bader h H Mir m Ana Hirig EB BALL Conan BE te ee ar fee Tk Songun re eee ee ETCN044
96. function to the preparatory function GOO during the programming of the target positions in the rectangular coordinate system G100 AXES U W AXES Center coordinates U Polar radius Ww Polar angle The center of the polar coordinate system is defined by two addresses X Y for G17 X Z for G18 Y Z for G19 The assignment of the principal axes can be changed with G16 When the axes U and W are used as main axes these cannot be used for the center programming The center coordinates can be programmed in absolute dimensions or in incremental dimensions The target position is defined by the polar radius U and the polar angle W in reference to the current center The radius and the angle can be programmed in absolute dimensions or in incremental dimensions The programmed center coordinates have a modal effect The preparatory function G100 has a modal effect N100 G17 The zero point offset of the Z axis tool length is set in T1 to N110 GO X50 YO 50 mm here N120 G100 X10 Y10 U20 W45 Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 38 G101 Polar coordinates linear interpolation The preparatory function G101 corresponds in function to the preparatory function GO1 during the programming of the target positions in the rectangular coordinate system Syntax G101 AXES U W FEL Meaning of the addresses AXES Center coordinates U Polar radius Ww Polar angle F Path speed E L
97. functions 8 8 3 FUNCTION LOAD DINT VAR_INPUT Name STRING 15 device file name daten_paten_p DINT Address after which the data should be stored len INT Length of the data in bytes END_VAR This function is used to read data from a device 390 From the file name len bytes will be read from the defined device and stored after the the memory address daten_p Without device definition it will be attempted to read the file from the FLASHPROM A return value smaller than 0 signals an error 391 werte_adi ARRAY 0 5 OF DINT anzahl_di DINT anzahl_di LOAD RD daten dat ADR werte_adi 24 Six DINT values from the file daten dat are read from the RAM disc and stored in the Array werte_di FUNCTION SAVE DINT VAR_INPUT Name STRING 15 device file name daten_p DINT Address after which the data should be stored len INT Length of the data in bytes END_VAR This function can be used to save data on a device QM 390 Under name len bytes are stored after memory address daten_p on the stated device Without device definition the file will be written to the FLASHPROM A return value of less than 0 indicates an error while saving C2 391 werte_adi ARRAY 0 5 OF DINT anzahl_di DINT anzahl_di SAVE RD daten dat ADR werte_adi 24 Six DINT values from the array werte_di are saved in the file daten dat on the RAM disk
98. handwheel is configured in the machine constants Traversing the axes via a handwheel You can select the axis which you want to traverse by means of the handwheel via the lt Axis gt key or lt Cursor gt keys Selection of a factor which acts on the traversing speed 5 handwheel factors are provided 1 3 10 30 100 Every time the lt Handwheel factor gt key is pressed the following factor is selected The function key is only labelled and enabled if the lt Handwheel gt key has been pressed Back to the previous level The actual position of the selected axis is set to zero zero shift The actual position of the selected axis is set to the entered value The actual position of the selected axis is shifted by the entered value Enter the number of the workpiece coordinate system S complete with lt Enter gt cancel with lt ESC gt The entered coordinate system is activated Back to the previous level Management of tools and the corresponding change positions Up to 99 tools can be entered and saved Tool 0 serves as reference tool and should not be used otherwise The tools can be assigned 99 tool magazine positions Please note that each magazine position reduces the number of workpiece coordinate systems max 99 The number of tools and magazine positions managed in the MMI is determined in the DelphMML ini a 30 parameters are available for each tool six of which have a fixed meaning
99. in such a way that you specify a clockwise workpiece coordinate system and that the rotation axis A rotates around the X rotation axis Baround the Yand C around the Z axis The axes U V W should be used for linear auxiliary axes with U moving parallel to X V parallel to Y and W parallel to Z In MK_APPLACHSIDX the application related order of axis letters is defined by means of numerical assignment This order of axes is valid for all axis related machine constants Lenze 205 A 4 5 4 5 2 Example 206 Machine constants Configuration of axes Basics MK_APPLACHSIDX Your task is to configure a machine that has an X Z and C axis The X axis must be a synchronous axis The MK_CANDRIVES assignment must be as follows MK_CANDRIVES X axis X axis Zaxis Caxis not assigned MK_APPLACHSIDX 8 Ev z Ic U N w A B u ae w rary b er x ly 2 In this case value 1 serves to specify that this axis is not configured The X axis is defined as the first the Z axis as the second and the C axis as the third application axis l e for all following MCs of this category the first parameter is assigned to the X axis the second parameter to the Z and the third parameter to the C axis ia Ead Kad Ead Ead Cad Ead Cad Ead Ead Cad Ead Eal Ead Eo Eal Ea Ead Eol Ea E Ea Cad Ea Ead E The number of configurable axes depends on the st
100. interpolation Plane selection YZ for circular interpolation AXES DI J KRFEL wt ETCNO10 Lenze Example with parameter and values G1 X0 Z10 CO F2 G3 X40 Y40 R100 D 60 K2 G17 G18 G19 on A a Gite ETCN009 45 2 8 2 9 2 Getting started CNC programming according to DIN 66025 M functions Parameter for GOO GO1 Parameter for G02 G03 2 9 2 46 M functions Parameter AXES E L Parameter AXES E L Meaning Target point coordinates of the linear axes X Y Z A B C U V W x y Z a b c u V W Note In a G function only the axes X Y Z A B C U V W or axes x y z a b c u v w may be used Max path deviation in the target point for grinding corners with the following linear interpolation Radius with which the following linear interpolation GO G1 should be connected High rate speed G00 or feed speed G01 on the path G31 or each axis G30 also for all following linear interpolations Selection of feed speed via speed E and increment L F E L Meaning Target point coordinates of the three linear principal axes default X Y Z as well as start or target point coordinates of the three rotative secondary axes default A B C Radius change on reaching the target point Center coordinates of the first principal axis X or number of additional full circles Center coordinates of the second principal axis Y or number of
101. is ignored 103 setting zero point sign is ignored 104 step travel 105 handwheel active evaluation factor 1 106 handwheel active evaluation factor 3 107 handwheel active evaluation factor 10 108 handwheel active evaluation factor 30 109 handwheel active evaluation factor 100 110 traverse command for PLC axis 111 traversing with the speed from P208 223 The sign defines the direction C4 136 274 Lenze EDSTCXN EN 2 0 EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Extended interface for MMI functions 5 2 Data block 15 5 2 2 Data word Name Direction Type of signal 036 General override for axes HMI gt NC static 037 Override for spindle speeds HMI gt NC static 038 Override for oscillation speed HMI gt NC static 039 Override for PLC axes Target HMI gt NC static position approach Definition of a signed evaluation factor for the currently valid traversing speed The specification is made in steps of 0 1 Effect in the NC The selected value is used as factor for evaluating the cur rently programmed maximum speed by the rough interpolator The override is effective in both manual as well as automatic operation It can be inhibited within a program via M functions Data word Name Direction Type of signal 040 043 Speed preselection for traverse keys HMI NC static Definition of speed during modal traveling using the traverse keys Specifi
102. is inserted between the two blocks The interpolation takes place in the space The feed speed programmed for F has a modal effect The value 0 is preset The values programmed for E and L have a modal effect However the resulting feed speed is only considered if a value not equal to zero was programmed for L The value programmed for E is also stored time synchronously in P561 and can be used e g as the spindle speed The speed is limited in such a way that neither the max path speed MK_VBAHNMAX nor the max axis speeds MK_VMAX are exceeded The acceleration and deceleration ramps on the path are limited in such a way that the max ramps MK_BESCHL MK_BREMS of the participating axes are not exceeded Lenze 97 3 2 109 Example 98 CNC programming G functions G functions individual descriptions Route operation All axes travel with the programmed speed and reach their target point independently of each other according to the traverse route and the speed The following block is only executed when all axes have reached their target point The feed speed programmed for Fhas a modal effect for all programmed axes The value 0 is preset for all axes The speeds of the participating axes are limited to the respective max axis speeds MK_VMAX in the machine constants The maximum values configured in the machine constants MK_BESCHL MK _BREMS are used as the acceleration and deceleration ramps if smaller values were not
103. lib will be inserted automatically An object directory can be created via the object directory editor of CoDeSys To be able to use the object directory editor the support for object directories and network variables must be enabled in CoDeSys under TargetSystemSettings gt Network functionality see figure below Define the index or subindex range for SDO parameters and variables and enter CAN as the name of supported network interfaces 350 Lenze EDSTCXN EN 2 0 ei 8 8 4 8 4 7 PLC programming Project planning Object directory parameter manager lusos ETTA Tage Pistions blenny Lapana maaa Haba une iaaio e Gippo mbai venabis hrie iragai bon parea inatiecs ngm bor vrae a ca a Gere meer Rang cd apes no TEAMO 1620 0 eG a ETC109 The CANopen address of the control must be defined under Control configuration gt CAN Master gt CAN Parameter gt Node ID ee sore CAN aaea ead ude Cs Orci Pema farce Seet een Legal Laie Spe COB Werte le Hegre at Mites er T w E pa na x mra fl Saar SPA a ane DE ETC116 When defining the Node ID the following must be noted If the node ID is in the range 1 63 two server SDO channels with the addresses Node ID and Node ID 64 will be created i e the control receives 2 CANopen addresses Because the use of 2 SDO channels is not normally required a node ID in the range 64 127 should
104. mode_tx_buffersize_2k flags_no_protocol FUNCTION FreeV2 BOOL VAR_INPUT req_pr DINT Address of the V24 request structure END_VAR This function releases the access rights to the allocated V24 interface and returns the interface to its original state The return value of the function is of no consequence requestV24_p DINT requestV24_p ALLOCV24 1 127 REEV24 requestV24_p Lenze EDSTCXN EN 2 0 8 8 2 4 READBLOCKV24 Declaration Description 8 8 2 5 READV24 Declaration Description Example PLC programming 8 Library 8 8 V24 functions 8 8 2 FUNCTION ReadBlockV24 DINT VAR_INPUT pRequest DINT Address of the V24 request structure pBuffer DINT Address of a data buffer BufSize INT Buffer size in byte END_VAR The function reads max BufSize characters in the stated data buffer pBuffer from the V24 reception buffer The function returns the number of characters read from the reception buffer FUNCTION ReadV24 DINT VAR_INPUT req_pr DINT Address of the V24 request structure END_VAR Reading a character from the reception buffer The reception buffers is implemented as FIFO and is read and written to simultaneously This function always provides an immediate return Return values smaller than 0 indicate an error CQ 391 If the FIFO is empty 1 EOF will be returned requestV24_p DINT zeichen_di DINT zeichen_di READV24 requestV24_p 8 8 2
105. number of the control element DataBase Address of the global database with the input output data of the control element DataSize Size of the global database in Byte max 1020 Byte Datatypes Descriptor string for defining the data types in the global database ReadDataObject Object number for reading the Local database WriteDataObject Object number for describing the Local database This function supplies the runtime system with a data range of the PLC for the data exchange with a CANopen control element This data range is best created inthe PLC as a data structure or an array and initialised with the data to be displayed After calling this function this global database is copied once completely into the local database of the corresponding node Afterwards only the modifications of the display data will be transferred by the control system ReadDataObject and WriteDataObject are the object numbers of the object directory ofthe CANopen display which must be used by the runtime system to read from and write to the local database The descriptor string has the following format lt number gt lt type gt lt number gt lt type gt Number is a decimal number and defines the data quantity for the following type Lenze EDSTCXN EN 2 0 Example EDSTCXN EN 2 0 PLC programming 8 Library 8 8 CANopen functions 8 8 5 Type is a lower case letter describing the size ofthe data type as follows Type Codesys data type Size B BYTE
106. of one or several axes temporarily this function can be helpful With G161 it is possible after the controller enable has been restarted to accept the possibly changed axis positions as a new starting position for the next traverse function into the interpreter If no axes are programmed the actual positions of all axes of the current channel are accepted Example M80 PLC temporarily removes controller enable and read enable G161 Accept all axis actual positions 152 Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 64 G162 Define axis group Syntax Meaning of the addresses Explanation EDSTCXN EN 2 0 Switches the forced coupling of two axes on or off G162 LAX FAX LAX Code letter of the master axis the programmed value must be 0 FAX Code letter of the slave axis and coupling factor 0 Define axis group with the specified coupling factor 0 Delete axis group G162 is used to define an axis group This function makes it possible to couple one or several slave axes by software via a user definable factor to a master axis The corrected set position of the slave axis Pr is calculated via the following formula PF PF mVPL b Pr set position of the slave axis P set position of the master axis m coupling factor for G162 b start offset when switching G162 on The start offset is calculated such that when the G162 is switched on it d
107. of the parameters selected connection if e g the IP address of the control system has changed ETCN004 Name and Control cannot be changed If you also want to change the control type delete a connection and create a new connection with the same name IP address Specify the communication parameters that depend on the control type ETCHC IP address Q 28 ETCPC Index of the PCI cards indexes of the PCI cards are in the range 0 9 and are automatically assigned by the driver The first ETCPC has the index 0 lt Ok gt Use this button to write entries in the file mmigtway ini 41 283 If a connection with the same parameters already exists the error Gateway cannot change the parameter is reported New parameters are adopted immediately by the gateway 280 Lenze EDSTCXN EN 2 0 ETC MMI Gateway 6 Configuring the ETC MMI gateway 6 3 Trace Error logbook 6 3 2 6 3 2 Trace Error logbook In the case of faults in the communication you can activate trace logs on this tab Gateway traces are internal events of the communication channel between the application and the gateway and contain information on the communication flow or the causes of occurred errors Trace logs are saved in the file mmigtway trc which is created anew every time the gateway runs up Note We recommend to deactivate all trace logs in normal operation Select the respective control fields to record trace informat
108. of the areas that are not listed explicitly are reserved Name db1_sps2nc_hfkt_quitt_bit db1_sps2nc_extsync_enable_bit db1_sps2nc_programmhalt_aktiv_bit db1_sps2nc_qin_mask_aw db1_sps2nc_qout_mask_aw db1_sps2nc_qin_offset_ab db1_sps2nc_qout_offset_ab db1_sps2nc_spsoverride_allg_w db1_sps2nc_spsoverride_spindel_w db1_sps2nc_spsoverride_ozillation_w db1_sps2nc_spsoverride_sps_w db1_sps2nc_verfahr_ab db1_nc2sps_betriebsbereit_1_bit db1_nc2sps_betriebsbereit_2_bit db1_nc2sps_referenzpunkt_w db1_nc2sps_referenzfahrt_laeuft_w db1_nc2sps_betriebsart_w db1_nc2sps_nc_programm_laeuft_bit db1_nc2sps_satzvorlauf_aktiv_bit db1_nc2sps_einzelsatz_laeuft_bit db1_nc2sps_unterbrechen_aktiv_bit db1_nc2sps_alle_achsen_stehen_bit db1_nc2sps_wahlweise_halt_b db1_nc2sps_programmstartzaehler_b db1_nc2sps_achse_faehrt_w db1_nc2sps_modal_am_ziel_w db1_nc2sps_programmstart_b db1_nc2sps_einzel_folgesatz_bit db1_nc2sps_canmodul_vorhanden_w db1_nc2sps_can_status_w db1_nc2sps_programmstop_b db1_nc2sps_vorschub_halt_b db1_nc2sps_mfkt_strobe_bit db1_nc2sps_mfkt_w db1_nc2sps_hfkt_strobe_bit db1_nc2sps_hfkt_w db1_nc2sps_refpunkt_angefahren_w db1_nc2sps_endschalter_plus_w db1_nc2sps_endschalter_minus_w db1_nc2sps_referenznocken_w db1_nc2sps_reserveeingang w db1_nc2sps_slave_endschalter_plus_w db1_nc2sps_slave_endschalter_minus_w db1_nc2sps_slave_referenznocken_w db1_nc2sps_slave_reserveeingang w db1_nc2sps_copmodul_vorhanden_aw db1_nc2sps_s
109. of the axes The number of grid points is random The end of a profile definition which should be traveled through with the spline interpolation is indicated by a G05 without parameters The following positions are then approached in the programmed interpolation type A spline which only extends over one block is executed as a normal linear block The axes involved in the spline interpolation are indicated by the specification of a validity identification for the respective axis letter All the other axes which are programmed in the following blocks are interpolated linearly They arrive at their target at the same time as the spline axes If a closed curve should be constant in the start and target point at the same time the control must already know the starting point of the last block at the beginning of the profile This must then be explicitly specified under the axis addresses for the G05 and the identification L set to 1 In a spline sequence the grid point derivatives are calculated with the aid of the neighboring grid points On the left and right boundary of a spline sequence the coupling to the neighboring profile segments can be affected via the address I A difference must be made between free boundaries and the constant coupling where a constant connection with circular sections can only take place in a principle plane In the case of a constant coupling at the end the GO5 must be followed by a linear or circular block Th
110. of the axes any value R Validity identification for polar radius D Validity identification for polar angle In the incremental dimension system the end point of the programmed axis is always programmed relative to its starting point The sign specifies the direction of the axis movement the starting point is the current axis position It is possible to change over individual axes or all the axes to incremental dimension programming If an axis is programmed only this is changed over to incremental dimension the current dimensioning type remains valid for the others If G91 is programmed without DIN addresses all axes are changed over into the incremental dimension system The preparatory function G91 has a modal effect and is only switched off by the preparatory function G90 reference dimension system N7 G91 All axes changed over into the incremental dimension system Lenze 123 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 34 G92 Relative zero shift Syntax Meaning of the addresses Explanation Example 124 The preparatory function G92 can be used to effct an incrementally shift of the zero point ofthe current coordinate system G92 AXES AXES Axes whose zero point should be shifted The incremental zero shift is programmed with the preparatory function G92 and the address letters of the axes for which the zero point should be shifted Under the address letters of t
111. offset adjustment with the traverse keys can be transferred with G121 into the actual position Mode 2 In manual operation the traverse keys have a normal effect The resulting modal offset is automatically reset at the start of a program or an individual block In automatic operation the axes can be traversed with the traverse keys along a programmed movement During this process the programmed speed is replaced by the speed set with the traverse key This also applies in the case of missing feed enable If the speed is negative the movement takes place backwards on the programmed profile In path operation the traverse key of the first axis axis 0 is used In this case both forward and backward movements are possible over the block limits The number of blocks via which it is possible to move backwards is limited MK_LAH_RUECKLAUFGRENZE In route operation the traverse keys of the axes programmed in the current block are effective In this case it is only possible to move forwards over the block limits and only if all axes have reached their target point Mode 3 This is a combination of mode 1 and 2 The traverse keys are effective both in manual operation and in automatic operation The modal offset is not automatically reset In the event that the feed enable is missing it is possible to move forwards and backwards on the programmed profile like in mode 3 Mode 4 The traverse keys are effective in manual operation and in autom
112. point of the current workpiece coordinate system can be shifted The shift takes place analog to G92 however it only has a temporary effect It is canceled at the end of the program or in the event of a program termination or by G53 The special position of SO must be noted When S0 is shifted all the other S coordinate systems are also shifted If machine constant MK_SOTO_VERSATZ_ERLAUBT is not set the shift in SO is suppressed however it has an effect in all the other coordinates Example G54 X10 Y10 The zero points of the axes X and Y in the current coordinate system S are each shifted by 10 mm EDSTCXN EN 2 0 Lenze 117 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 25 G60 Exact positioning on off Syntax Meaning of the addresses Explanation Example 118 Change over of the behavior of the path control at the end of the block G60 XY X Selector switch not programmed exact positioning on 0 exact positioning off Look Ahead on gt 0 waiting time at the end of the block in seconds Y Activation of exact positioning with tolerance margin monitoring The programmed value does not have any meaning The G60 function is used to effect the behavior of the path control at the end of a block of a traversing block The basic setting is Genauhalt ohne Schleppabstands berwachung Exact positioning without tolerance margin monitoring Exact
113. positioning without tolerance margin monitoring The target position of the block is approached via a deceleration ramp The size of the ramp is defined in machine constants The path speed at the end of the block is 0 Exact positioning with waiting time The target position is approached analog to exact positioning At this position the time programmed under X has to elapse before the block is ended Exact positioning with tolerance margin monitoring After the target position has been reached the control waits until the tolerance margin of the involved axes is within the configured exact positioning window MK_SCHLEPPGENAUHALT The maximum waiting time can be programmed for X 10 seconds are preset Exact positioning off The target position of the block is approached with the programmed speed if another traversing block follows If the speed of the following block is lower the speed is decelerated to this speed at the end of this block The speed at the end of the block is effected by the profile course i e the transition angle of the two blocks Look Ahead The deceleration takes place via a ramp If no other traversing block follows the target position is approached analog to Genauhalt ohne Schleppabstands berwachung Exact positioning without tolerance margin monitoring G60 XO Exact positioning with Look Ahead should now be switched off with immediate effect Lenze EDSTCXN EN 2 0 CN
114. radius D must also be programmed The cone radius then opens D gt 0 or closes D lt 0 evenly from the circle start point through to the circle target point G17 ZKD G18 YID G19 XJD c Spiral in the plane All the specifications under b are also needed here however without the linear positioning G17 KD G18 ID G19 JD When the preparatory function G112 has been executed previously the tangential correction of the rotation axis is possible which is assigned to the selected plane default G17 C G18 B G19 A If G112 was programmed with Schlagzustellung der Rotationsachse Abrupt positioning of the rotation axis the start angle of the rotation axis can be specified under the corresponding DIN addresses A B C for G2 G3 If the tangential correction is not switched on the target angle of the rotation axis can be programmed The rotation axis is then positioned linearly between the start and target angle on the circular path Lenze EDSTCXN EN 2 0 Example EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 The principal and secondary axes which are assigned to the current NC channel can be selected with G16 The path speed can be programmed under the address F If the speed is not programmed the speed that was last programmed is valid The path speed is limited in dependence on the radius and the allowed path acceleration according to the following formul
115. range limit of the mechanics The millimeter unit is used for linear axes and degrees for rotation axes Use G26 to switch on the monitoring function See also MK_VOREINSTELLUNG The values refer to the machine zero point home position basic offset and not to the zero point of the position measurement system MK_SW_ENDS_MIT_RAMPE This machine constant indicates whether a controlled deceleration or an abrupt stop should take place when the traversing range limits are exceeded Value Meaning 0 When the SW limit switches are reached there is an abrupt stop 1 Decelerate on the programmed path with the current deceleration ramp In the process set the traversing range limit in such a way that the axis can stop before reaching the mechanical limit stop by means of the set acceleration values 2 Look ahead software limit switches The process involves the calculation of whether the corresponding software limit switch will be reached by means of the current axis speed and the configured max axis deceleration ramp If this is the case the axis in question is decelerated to such an extent that it comes to a halt at the set software limit All of the other axes which participate in the path are stopped as in the case of 1 Caution The correct functioning of this function can only be guaranteed if a value less than 180 is entered in MK_LAH_GRENZWINKEL MK_SCHLEPPGENAUHALT This machine constant defines the limit value of the system devi
116. respective CAN Bus 404 Lenze EDSTCXN EN 2 0 8 8 5 8 Declaration Parameters Description Example EDSTCXN EN 2 0 PLC programming 8 CopXSetOperational only ETCxM Library 8 8 CANopen functions 8 8 5 FUNCTION CopXSetOperational BOOL Setting the status operational for the CANopen node VAR_INPUT CanNum_b BYTE NodelD_b BYTE Status_pb POINTER TO BYTE END_VAR CanNum_b Number of the CAN Bus 1 or 2 NodelD_b Node number of the CANopen device Status_pb Address of a variable for filing the transfer status The function enables the PLC to set the status of individual CANopen nodes to operational A condition for this is that the node has been entered into the CoDeSys control configuration The telegrams will be sent in the background whilst the PLC continues working By requesting the transfer status the PLC can check whether the message has been sent or an error has occurred If several transfer requests are to be carried out in parallel a separate status variable needs to be defined for each request The function returns TRUE if the write request has been passed to the transfer queue Otherwise the transfer queue is already full Status Meaning 0 Inactive 1 Request in transfer queue 2 Transfer active 3 Transfer completed successfully 4 Transfer cancelled status_b BYTE wert_di DINT 1000 CopXSetOperational 1 5 ADR status_b The node with address 5 at the 1st CAN Bus has its status
117. set to operational Lenze aoe Q 8 8 8 8 5 8 8 5 9 Declaration Parameters Description Example 406 PLC programming CANopen functions CopXSetPreoperational only ETCxM FUNCTION CopXSetPreoparational BOOL Setting the status pre operational for the CANopen node VAR_INPUT CanNum_b BYTE NodelD_b BYTE Status_pb POINTER TO BYTE END_VAR CanNum_b Number of the CAN Bus 1 or 2 NodelD_b Node number of the CANopen device Status_pb Address of a variable for filing the transfer status This function enables the PLC to set the status of individual CANopen nodes to pre operational A condition for this is that the node has been entered into the CoDeSys control configuration The telegrams will be sent in the background whilst the PLC continues working By requesting the transfer status the PLC can check whether the message has been sent or an error has occurred If several transfer requests are to be carried out in parallel a separate status variable needs to be defined for each request The function returns TRUE if the write request has been passed to the transfer queue Otherwise the transfer queue is already full Status Meaning 0 Inactive 1 Request in transfer queue 2 Transfer active 3 Transfer completed successfully 4 Transfer cancelled status_b BYTE wert_di DINT 1000 CopXSetPreoperational 1 5 ADR status_b The node with address 5 at the 1st CAN Bus has its statu
118. still stop abruptly you can set the Quick stop signal beforehand Lenze 547 gt 5 1 5 1 2 248 Interface PLC lt gt NC operating system Definitions Data block 1 Data word Name Direction Type of signal 000 03 MMI individual function inhibit PLC gt NC static With this signal all individual functions e g G functions M functions of HMI can be inhibited Effect in the NC The 1 signal has the effect that no individual block of the MMI is executed via the NC Application The signal could be used for inhibiting traversing functions which are triggered via an individual block on the HMI as long as the home positions of the axes are not known Data word Name Direction Type of signal 002 00 15 Position stop axis 0 15 PLC NC static A signal can be output for each axis in order to stop it In the case of signal state 1 the axis stops at its position in the case of signal state 0 positio ning is allowed The signal is set to 0 by default Effect in the NC Signal state 1 has the effect that the respective axis is not positioned irrespective of the feed enable Within the control the axis is treated as though it is traveling Only the actual positioning is suppressed The actual values are generated internally In the case of signal state 0 the axis is moved without restrictions depen ding on other conditions The signal is axis specific the other axis
119. text string with a format specification in accordance with the following rules flags width accuracy type Flags lt nothing gt right justified leading blanks zeros left justified subsequent zeros always output sign including only issue neg sign for le IE If always output decimal point for lg IG Always output decimal point but without following zeros Width On min n positions preceding with zeros n min n positions preceding with Accuracy lt nothing gt 6 positions at le lE If 0 le lE If do not output a decimal point n max n decimal positions Type If Floating point dddd ddd le Floating point d ddd e ddd lg like le or If depending on accuracy automatic change over of the display IE like le with E before the exponent IG like lg with E before the exponent the character should be displayed N10 G252 F please enter value 10 3If mm AO C1024 P1024 500 The block N10 gets a new value for the parameter field 1024 C via the display The value must not be entered smaller than 0 A In the display the text appears at an internally defined position not X and not Y Please enter value 500 mm The current value of P1204 is proposed as the input The cursor _ is positioned on the position furthest right to the input field which has a width of 10 characters The input is completed when the ESC button or the ENTER button was pressed and the current input value is within
120. the end of the line after the comment The second possibility of displaying the text is to specify a text number under F In this case the control computer displays the text stored under the specified number The third variant also enables the inclusion of up to three numerical values into the text which are specified under A B and C For this the specification of the output text must be programmed under F in quotation marks In contrast to the comment the format statement can appear at any position in the block An additional comment is only interpreted as a comment if there is a format statement Note G253 is only allowed in the first NC channel G253 is ignored in the block search 170 Lenze EDSTCXN EN 2 0 EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 The position and the format of the parameters to be inserted must be indicated at the desired position in the text string in accordance with the following rules flags width accuracy type Flags lt nothing gt right justified leading blanks zeros left justified subsequent zeros always issue sign including das only issue neg sign for le IE If always output decimal point for lg IG Always output decimal point but without following zeros Width On min n positions preceding with zeros n min n positions preceding with Accuracy lt nothing gt 6 positions at le lE
121. the left stationary point default 0 J Dwell time on the right stationary point default 0 K Evaluation of and J not programmed no dwell time I and J does not matter 0 I J specify the dwell time in seconds 1 I J specify the number of workpiece revolutions on the stationary point Not implemented F Oscillation speed mm min The modal oscillating movement with programmable stroke and speed is switched on The stroke refers to the position of the axis at the start of the block A dwell time can be programmed at the stationary points The times can be specified for both stationary points independently from each other The movement is executed until it is stopped by G37 If more than one axis is programmed the oscillation movement is executed for every axis independently The specification of the dwell time and the oscillation speed then applies to every programmed axis N10 G36 Z40 J1 F100 The Z axis executes an oscillating movement with a stroke of 40 mm and a speed of 100 mm min A dwell time of 1 sec takes place on the right stationary point Lenze EDSTCXN EN 2 0 CNC programming BI 3 2 2 20 G37 Modal oscillation off Syntax Meaning of the addresses Explanation Example G functions 3 2 G functions individual descriptions 3 2 2 G37 AXES AXES Validity identification for the axes for which the modal oscillation should be switched off Value 1 With the preparatory function G37 the modal oscillati
122. the lower number of blocks to be executed The geometry filter is deactivated by programming G200 without axes G200 X0 1 Y0 05 Suppress output of the profile until the total of profile pieces is exceeded in X by 0 1 mm or in Y by 0 05 mm 0 1 X X ETCN053 Lenze 159 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 73 G201 Change the acceleration and deceleration ramps Syntax Meaning of the addresses Explanation Example 160 G201 can be used to program the acceleration and deceleration ramps in path operation and in route operation G201 AXES J AXES Axes whose ramps should be changed to route operation J For changing the ramps to path operation l Which ramps should be changed 0 acceleration and deceleration ramp default 1 only acceleration ramp 2 only deceleration ramp To change the path ramps the height of the acceleration and brake ramp is programmed in m s2 for J The entered value is limited to the value of MK_BAHNBEACHL or MK_BAHNBREMS in the machine constants The acceleration and deceleration ramps of the individual axes in route operation are programmed in m s2 in the case of linear axes and in 1 s2 in the case of rotation axes depending on the corresponding axis letters The entered values are limited to the values of MK_BESCHL or MK_BREMS in the machine constants The letter can be used to select whether only the acceleration ramps only the dec
123. the previous level Open a dialogue for selecting a file with tool data WTK file This file will be transferred to the control system In the upper edge of the Status displays dialogue there is a field for entering a tool number Tx After the key has been pressed the field has a coloured background and the cursor flashes in this field A tool number can be entered here Changes are adopted with lt Enter gt and discarded with lt ESC gt Back to the previous level In the upper edge of the Status displays dialogue there is a field for entering an M function After the key has been pressed the field has a coloured background and the cursor flashes in this field A function number can be entered here Changes are adopted with lt Enter gt and discarded with lt ESC gt The M function is transferred to the PLC for execution Enter single block e g G S T and M functions The execution is completed and triggered with lt Enter gt Trigger action e g automatic home position approach Quit all axis movements and a running program Manual traverse key for positive axis direction of the selected axis Manual traverse key for negative axis direction of the selected axis Select the axis to be traversed Alternatively the axis can be selected by means of the lt Cursor gt keys Increase the axis or path speed of the selected axis in percent of MK_VMAX Over 10 the value is changed in steps of 10 below 10
124. the program must be transferred via the Program to NC function if required with all necessary subprograms The program is started via the lt Start gt key Transfer program from the PC to the ETCxC After a function has been called a dialogue is displayed Via the lt Cursor gt keys select a program and start the transfer with lt Enter gt lt ESC gt cancels the action Note In the DelphMMi ini you can determine which programs are loaded automatically when the control system is initialised 4327 Use this function for programs which are too big to be transferred to the NC as a whole A dialogue opens B04 Here you can selected the desired program After lt Enter gt has been pressed the program is transferred to the ETCxC block by block With lt Start gt the program is started without having to be transferred completely The output line shows the selected program and the part in percent that has already been transferred If the text WAIT is displayed behind the percentage the memory in the ETCxC can no longer accept any data at the moment After the transferred block has been processed the next block is automatically transferred until the program has been completely processed When editing a program online please note that the program must not contain any jumps and branches For subprograms or cycle calls the program must be loaded in the ETCxC first Quit online mode After a restart proces
125. to X50 Y200 with a circle center of X50 Y150 a radius of 50 mm and a path speed of 200 mm min N30 G3 X 50 Y100 R100 Travels a quarter circle in counterclockwise direction from X50 Y200 to X 50 Y100 with a radius of 100 mm GO X0 YO Starting position XO YO G3 X40 Y40 R100 D 60 K2 Travels a spiral in counterclockwise direction with a start radius of 100 mm an end radius of 40 mm R D and a covered angle of 810 GO X0 YO ZO Starting position XO YO ZO G3 X10 YO Z115 K12 R10 Travels a helix on a cylinder surface in counterclockwise direction with a radius of 10 mm a length of 115 mm Y anda covered angle of 4500 GO X0 Y 30 Z 115 Starting position XO Y 300 Z 115 G3 X30 YO ZO K10 R10 D20 Travels a helix on a cone surface in counterclockwise direction with a start radius of 10 mm an end radius of 30 mm R D a length of 115 mm Y and a covered angle of 3690 Lenze 101 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 4 G04 Dwell time Syntax Meaning of the addresses Explanation Example 102 The preparatory function G04 is used to program the dwell time In other words that the machine is motionless during the programmed time G04 X X Dwell time in seconds The dwell time is programmed under the address letter X in steps of 0 01 s The unit is 1 second The minimum time is dependent on the coarse interpolation cycle the maximum time is 100 minutes 6000 s
126. which cannot be remedied and which cancels the program flow or is in emergency stop state The signal changes from 0 to 1 after the cause of the error has been remedied error acknowledged by operator and or the control is not in the emergency stop state Effect in the PLC not defined Example Change to emergency stop state controller enable is withdrawn Lenze EDSTCXN EN 2 0 EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 1 5 1 2 Data word Name Direction Type of signal 129 00 15 Home position axis 0 15 NC PLC static The signal has the value 0 after the control has been switched on and if the home position is unknown The signal has the value 1 if the home position of the respective axis has been approached or if value 1 has been entered for machine constant MK_REF_RICHTUNG_UND_FOLGE for the respective axis Effect in the PLC Checking the home position approach and disabling ma chine functions or traversing movements feed enable if the home position is not approached Data word Name Direction Type of signal 130 00 15 Homing is running NC PLC static The signal has the value 1 if the homing of the respective axis is currently running Effect in the PLC Checking whether the home position approach of an axis is currently active Data word Name Direction Type of signal 131 Operating mode NC PLC static The operating mode word sh
127. who program and commission the ETC Contents Further information 10 Motion Control System under the NC operating system The software manual NC Operating System contains information on the following topics Getting started a chronological description of the commissioning steps CNC programming working with G functions formula processor block extensions and data fields Machine constants parameterisation of drives PLC ETC interface data blocks and their functions gt ETC MMI gateway communication between Windows applications and the ETC gt ETC MMI integrated development environment for the creation of CNC programs gt CoDeSys integrated development environment for the creation of PLC programs The ETC Hardware Manual contains information on the following topics Technical data Structure and function of the system components including interface description gt Mounting connecting and maintaining system components Lenze EDSTCXN EN 2 0 1 2 Standard device Modules EDSTCXN EN 2 0 Preface and general information For which products is the manual valid For which products is the manual valid ETC xx 0 xx IA Product Version HC DIN rail CNC core PC PCI plug in card CNC core Number of axes 02 2 axes 04 4 axes 08 8 axes 12 12 axes Hardware version Software version ETCH XXXX 1A Product N003 power supply unit
128. 0 MODE_NO_RTS_CTS CONTROL_KDW DWORD 16 00000000 MODE_STOP_BIT_LEN 1 KDW DWORD 16 00000000 MODE_STOP BIT LEN 2 KDW DWORD 16 00000800 MODE_BAUDRATE_2400_KDW DWORD 16 00080000 MODE_BAUDRATE_4800_KDW DWORD 16 00090000 MODE_BAUDRATE_9600_KDW DWORD 16 000B0000 MODE_BAUDRATE_19200_KDW DWORD 16 000C0000 MODE_BAUDRATE_38400_KDW DWORD 16 000E0000 MODE_BAUDRATE_57600_KDW DWORD 16 000D0000 MODE_BAUDRATE_115200_KDW DWORD 16 000F0000 MODE_RX_BUFFERSIZE_1K_KDW DWORD 16 0A000000 MODE_RX_BUFFERSIZE_2K_KDW DWORD 16 0B000000 MODE_RX_BUFFERSIZE_3K_KDW DWORD 16 0C000000 MODE_RX_BUFFERSIZE_4K_KDW DWORD 16 0D000000 MODE_TX_BUFFERSIZE_1K_ KDW DWORD 16 A0000000 MODE_TX_BUFFERSIZE_2K_KDW DWORD 16 B0000000 MODE_TX_BUFFERSIZE_3K_KDW DWORD 16 C0000000 MODE_TX_BUFFERSIZE_4K_KDW DWORD 16 D0000000 Flag bits FLAGS_NO_PROTOCOL_KDW DWORD 16 00000000 FLAGS_PLC_PROTOCOL_KDW DWORD 16 00000001 FLAGS_XON_XOFF_PROTOCOL_KDW DWORD 16 00000002 FLAGS_NAK_ON_RX_ERROR_KDW DWORD 16 00000100 FLAGS_MELD_RX_ERROR_KDW DWORD 16 00000200 FLAGS_USER_POLLING_KDW DWORD 16 00001000 FLAGS_CHANNEL_STOLEN_KDW DWORD 16 80000000 382 Lenze EDSTCXN EN 2 0 PLC programming 8 8 8 3 FILE IO functions 8 8 3 1 LOAD Declaration Description Example 8 8 3 2 SAVE Declaration Description Example EDSTCXN EN 2 0 Library 8 8 FILE IO
129. 0 ConnTrc 0 OnAddConn 0 UdpConnO Name CNCO Param 172 16 5 113 PcDir UdpConnl1 Name CNC1 Param 172 16 5 114 PcDir PciConnl1 Name MyPnc Param 0 PcDir UdpConn2 Name CNC2 Param 172 16 5 115 PcDir Lenze EDSTCXN EN 2 0 6 5 Communication values in the DPR area EDSTCXN EN 2 0 Name Communication values in the DPR area 6 ETC MMI Gateway ui LOY Meaning Communication area MMI gt NC mmi2t_order_us t2mmi_quitt_us t2mmi_status_us mmi2t_quitt_us msq2nc_r qc_Uuc msq2nc_r mcl_us msq2nc_r sbO_us msq2nc_r sb1_us msq2nc_r mc2_us Command to the communication processor Acknowledgement from the communication processor Status from the communication processor Acknowledgement to the communication processor Message acknowledgement counter Messages Start Message counter Messages Main group Messages subgroup Messages End Message counter Communication area NC gt MMI nc2t_order_us t2nc_quitt_us t2nc_status_us nc2t_quitt_us msq2mmi_r qc_uc msq2mmi_r mcl_us msq2mmi_r sbO_us msq2mmi_r sb1_us msq2mmi_r mc2_us Command to the communication processor Acknowledgement from the communication processor Status from the communication processor Acknowledgement to the communication processor Message acknowledgement counter Messages Start Message counter Messages Main group Messages subgroup Messages End Message counter Lenze 285 7 ETC MMI 7 1 Installing ETC MMI 7 ETC MMI The program
130. 0 The loaded PLC is executed automatically default If this MC is at 0 when the control is started up and no PLC is loaded in Flash PROM an error message is output 1 All PLC enables required for the operation of the control are set M functions do not take effect and all inputs and outputs remain unused The loaded PLC is not executed However no error message is output if no PLC is loaded 1 The PLC is not executed and all enables are reset Therefore it is not possible to start a program or to traverse axes No error message is output if no PLC is loaded Note When transferring the MCs from an ETC MMI via the Dual Port RAM interface the value 1 is always entered for this MC in Flash PROM This is to prevent the PLC from starting to soon when the control is restarted again Nonetheless the value in RAM which has been transferred from MMI is kept After a PLC has been transferred via the programming interface CodeSys this MC is automatically set to 0 in RAM and the PLC is started The value in Flash PROM remains unchanged Lenze EDSTCXN EN 2 0 Machine constants A Software configuration 4 3 MK_KUNDE 4 3 1 4 3 Software configuration 4 3 1 MK_KUNDE This machine constant is a string constant by means of which the different customer specific extensions are activated within the control This includes technology specific correction modules and M function handler Value Meaning Standard TRC no special treatment of M fun
131. 0 can retrieve the transferred axes with G153 as soon as channel 1 has been ended with M30 The program in channel 0 can only be ended when the program in channel 1 has also been ended The synchronization takes place automatically with M30 N120 G22 L1100 Fourfold call of the subprogram 1100 14 N270 G22 J4000 Start of a subprogram in the same program file which begins with block number N4000 G22 L8000 J500 Call of the subprogram 8000 from block 500 G22 L395 13 Conditional call of the subprogram 395 up to 3 times in succession The E P3012 loop is ended prematurely if the parameter field has the value 0 at the position 3012 G22 L9001 K1 UO Start of program 9001 in the second channel with transfer of the U and V vo axis to the new NC channel 3 2 2 12 G24 Define positive traversing range limit Syntax Meaning of the addresses Explanation Example 110 Definition of a traversing range limit in positive traversing direction G24 AXES AXES Positive traversing range limit of the specified axes If axis addresses are specified with the preparatory function the programmed values are entered into the parameter field from P304 related to the machine zero point defined by the basic offset If on the other hand no other DIN address is specified except for the preparatory function the parameter field is occupied again with values preset in the machine constants To activate the traversing range limits shifted wit
132. 032 E 3 7 01010033 A 0 0 01010034 A 0 1 01010063 A 3 6 01010064 A 3 7 The texts no 01010100 01010164 are used for the PLC signals gt Remote On Off text function in the DIAGNOSTICS operating mode This way the external CAN bus I O modules can be assigned clear names and designations E 0 0 E 3 7 are the inputs 01010100 Remote IOs CAN bus 01010101 E 0 0 01010102 E 0 1 01010131 E 3 6 01010132 E 3 7 01010133 A 0 0 01010134 A 0 1 01010163 A 3 6 01010164 A 3 7 From number 01020000 to s 01020255 the PLC messages follow They are displayed in the MMI software in the operating modes SETUP AUTOMATIC and DIAGNOSTICS in the SPS Meldungen PLC messages window The messages must be specified consecutively i e there must not be any gaps in the numbering The PLC can output the messages by setting or deleting the bits DB 80 0 to DB 95 15 on the data block DB2 of the dual port Ram interface In the MMI software a message is output if the corresponding bit is set If the text is preceded by a t the PLC message window changes its background colour when this message is output Lenze EDSTCXN EN 2 0 Card specific I O display EDSTCXN EN 2 0 ETC MMI 7 Appendix 7 8 Language file SPRACHE TXT 7 8 1 It is useful to save these texts in a separate language file see chapter configuration file l
133. 08 15 Program start counter NC PLC static This counter is incremented by 1 for every rising edge by NC program is run ning Data word Name Direction Type of signal 134 00 15 Axis moves axis 0 15 NC gt PLC static The signal always has value 1 when an axis is in motion or a command for traversing the axis is active Therefore the signal also has value 1 if the mo vement of the axis has been temporarily interrupted by Feed enable or override 0 The signal is set to 0 after the target has been reached Effect in the PLC Specific disables e g in manual operation while the axes are moving Data word Name Direction Type of signal 135 00 15 PLC axis reached target axis 0 15 NC PLC static The signal has value 1 if an axis has been started from the PLC has reached the target and the traversing command 110 is still pending in the traverse key Effect in the PLC The traverse key can be reset to zero Data word Name Direction Type of signal 137 00 07 Program start NC PLC static The start signal is a byte information which can assume a value between 0 and 255 A value greater than 0 is output if the information in the virtual keypad of the NC has a value unequal to 0 The signal is pending for as long as the information is pending in the virtual keypad The information is divi ded in two half bytes nibbles The nibble with the higher value holds infor mation
134. 1 Distance between current zero point and home position axis 0 Distance between current zero point and home position axis 1 Distance between current zero point and home position axis 2 Distance between current zero point and home position axis 3 Distance between current zero point and home position axis 4 Distance between current zero point and home position axis 5 Distance between current zero point and home position axis 6 Distance between current zero point and home position axis 7 Distance between current zero point and home position axis 8 Distance between current zero point and home position axis 9 Distance between current zero point and home position axis 10 Lenze Direction Direction Direction Direction PLC lt NC PLC lt NC Direction PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC EDSTCXN EN 2 0 EDSTCXN EN 2 0 Interface PLC lt gt NC operating system Extended interface for MMI functions Data blocks 8 14 DB12 data word DW086 089 DW090 093 DW094 097 DW098 101 DW102 105 DW106 109 DW110 113 DW114 117 DW118 121 DW122 125 DW126 129 DW130 133 DW134 137 DW137 DW139 DW140 DW141 DW142 DW1
135. 1 112 113 114 115 116 117 118 119 121 Return code T Description EEPROM faulty Checksum error in EEPROM EEPROM full File is already open access denied Too many files opened simultaneously EEPROM file list is full File does not exist Checksum error in RAM disk Not enough memory for creating the file buffer RAM disk file table is full RAM disk is full Unknown device name V24 interface to the floppy disk drive is busy Floppy disk drive is not available Timeout during access to floppy disk drive Error during access to floppy disk drive Floppy disk drive reports transmission error Floppy disk drive reports V24 overrun Floppy disk is write protected No floppy disk inserted Read write error on the floppy disk File name contains illegal characters Description P field index outside the permitted range Lenze EDSTCXN EN 2 0 8 8 2 V24 functions 8 8 2 1 ALLOCV24 Declaration Description Example EDSTCXN EN 2 0 PLC programming 8 Library 8 8 V24 functions 8 8 2 FUNCTION AllocV24 DINT VAR_INPUT unit_di DINT Interface COM1 X3 COM2 X4 pri_di DINT Priority 128 127 END_VAR A V24 interface must be allocated with AllocV24 before it can be used It can then be initialised as required with InitV24 The request is only met if the interface is available or the request priority is higher than the actual priority An allocated V24 interface can be released aga
136. 1 2 256 Interface PLC lt gt NC operating system Data word Name Direction Type of signal 042 00 043 15 Offset of the fast inputs PLC gt NC static Use the two data words to position the 2 masks Enable fast inputs to any place in the process image Effect in the NC The corresponding inputs are made available to the NC as Q bits Example see Enable of fast inputs Data word Name Direction Type of signal 044 00 045 15 Offset of the fast outputs PLC gt NC static Use the two data words to position the 2 masks Enable fast outputs anyw here in the process image By default the enable of the fast outputs affects the 1st digital I O card EC IO Effect in the NC The Q bits are transferred to the corresponding outputs Data word Name Direction Type of signal 080 General override for axes PLC gt NC static 081 Override for spindle speed PLC gt NC static 082 Override for oscillation speed PLC gt NC static 083 Override for PLC axes Target PLC gt NC static position approach Definition of a signed evaluation factor for the currently valid traversing speed The specification is made in steps of 0 1 Effect in the NC The selected value is used as factor for evaluating the cur rently programmed maximum speed by the rough interpolator The override is effective in manual as well as automatic operation It can be inhibited by M functions within a program M48 M49 override on off L
137. 109 by default N30 G187 X0 2 The pulses of the handwheel are evaluated with the factor 0 2 added to the position of the X axis N40 G187 XO Deactivate the assignment of the handwheel to the X axis Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 69 G193 Set absolute zero point The current position of the programmed axes is set to the specified position value in the current coordinate system Syntax G193 AXES Meaning of the addresses AXES Axes whose coordinate zero point should be set Explanation With G193 the current position of the axes in the activated coordinate system can be set to the values programmed for the axes This is mainly used to calibrate the coordinate zero point to the current position of the axes During this process the current position of the programmed axes becomes the coordinate zero point A zero shift can be effected at the same time by the specification of a number not equal to zero i e the axis is then positioned on the programmed point Any zero points which might be saved for the specified axes are overwritten by G193 Example G193 X0 ZO The current position of X and Z is becomes the new point of origin G193 X10 The zero point is set in such a way that the X axis is set to the value 10 after the shift 3 2 2 70 G194 Program an additional basic offset G194 is used to program a basic offset which has an additional effect to the
138. 10Base T must be set for the Media Type property Lenze EDSTCXN EN 2 0 MAC address Assigning an IP address EDSTCXN EN 2 0 Getting started 2 Establishing the communication between PC and ETCHx 2 4 Assigning the IP address of the ETCHx 2 4 4 Like any other device with Ethernet controller the ETCHx receives an unchangeable and worldwide unique physical Ethernet address also called MAC ID Media Access Control Identity from the manufacturer It can be used for addressing on the hardware level The address has a fixed length of 6 bytes 48 bits and contains an address type an identification of the manufacturer and a serial number MAC ID of the ETC 00 05 7e xx xx xx with xx xx xx serial number The IP address of the ETCHx is specified via the monitor interface 1 In the HyperTerminal enter the command ipconf and confirm the command with lt Enter gt The MAC ID and the current address setting of the ETCHx are displayed Ce oe ca Monitor Schnittstelle aktiviert Wait MP server successfully started Try to open boot project gt ipoonf HAC aklress Mb 05 fe 00 03 d Current TPIP configuration diress 172 016 005 067 Subnet mask 5 295 255 000 Geateommy 17 095 009 001 fo You want to change in Win Canad DO 2 func dieci LESE BHI HL ETCMO11 2 Pressthe lt Y gt key and change the settings Follow the instructions of the monitor interface Select an IP address ac
139. 11000 E 0 0 here e is 0 30000000 T 0 The I O signal texts start at this number 1 KKK 1 Card number 1 Local card 1 X 1 Digital input 000 NNN 000 Number of the digital input The following text numbers are assigned to the softkeys 00000037 Cards On Off C12632256 FArial 8 1 0 3 6 00001384 Local dig 1 0 C12632256 FArial 8 1 0 3 6 00001385 Local anal I O C12632256 FArial 8 1 0 3 6 00001386 Remote O C12632256 FArial 8 1 0 3 6 The following text numbers are used for headings and labels 00011200 10 display 00011201 digital In 00011202 digital Out 00011203 analog In 00011204 analog Out 00011205 EC 10 00011206 EC ADA 00011207 CAN 00011208 Value Lenze EDSTCXN EN 2 0 Settings in the configuration file delphmmi ini Example ETC MMI 7 Appendix 7 8 Cycle programming 7 8 2 In the configuration file delphmmi ini the following parameters can be set in the e a anzeige I O display section textbasisnr Basic number where the I O signal texts start separate_karten_texte Can be used to determine whether separate texts are to be entered for each I O module 1 Separate texts for each module 0 The texts of module 1 are used for all modules e a anzeige textbasisnr 30000000 seperate _karten_texte 1 7 8 2 Cycle programming EDSTCXN EN 2 0 For each cycle an entry with the specification of the cycl
140. 174 Inform PLC that axis coupling has taken place 3 2 2 65 G175 Axis replacement Syntax Meaning of the addresses Explanation Example 154 Replacement of two axes in terms of the input G175 AXES AXES Validity identification of the two axis letters which should be replaced numerical value without meaning G175 can be used to program a replacement of the axis assignment Two similar axes can be replaced by one another i e only linear axes can be replaced by linear axes and rotation axes with rotation axes All position specifications of an axis are referenced to the replaced axis after the replacement It is only possible to replace axes again after the original state has been restored again by programming G175 without further specifications G175 U0 ZO All path specifications for U for the Z axis are interpreted from here On the machine the Z axis traverses the paths programmed for U and vice versa Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 66 G180 Modal travel on Traverse one or several axes modally with the programmed speed in the specified direction Syntax G180 AXES F Meaning of the addresses AXES Axes to be traveled The programmed value specifies the traversing direction gt 0 positive traversing direction lt 0 negative traversing direction 0 only preselect speed F Modal traversing speed Explanation
141. 2 G functions 3 2 2 G functions individual descriptions 3 2 2 52 G131 Delete modal comparative operation Syntax Meaning of the addresses Explanation Example G131 Y Y Number of the modal comparison 0 6 With the preparatory function G131 modal comparative operations which were activated with G130 can be deleted again from the comparison operation table For this the number of the comparative operation must be programmed under the address Y If a number greater than 6 is programmed under the Y address or no number is specified a program termination occurs with an error message G131 Y1 The comparative operation set in the previous example with the index 1 is deleted again G131 Y1 The comparative operation set in the previous example with the index 1 is deleted again 3 2 2 53 G132 G133 Inhibit enable modal program branching Syntax Explanation Example 140 G132 G133 With G132 modal comparative operations which were activated with G130 or G150 can be inhibited temporarily to protect critical program positions against an interruption As long as the modal comparative operations are inhibited neither modal nor non modal comparisons are executed with G130 G150 or G151 Modal comparisons are included in the table but they are only executed after a G133 Non modal comparisons are ignored Conditional program branches with G20 G22 or G125 are not affected The inhibit on the comparative ope
142. 2 H functions 3 4 3 M functions EDSTCXN EN 2 0 CNC programming Bi Block extensions 3 4 H functions 3 4 2 H functions are provided for changing technology parameters The number programmed for H is transferred to the PLC and must be evaluated there The H function is always evaluated as the first function in the block Generally H functions are generally time synchronized i e the following function is only interpreted if the transfer by the PLC was acknowledged The H functions are transmitted to the PLC by means of handshake with strobe and acknowledgement The NC signalizes a new H function to the PLC with the negative edge of the strobe ETCNO55 Al Strobe Bl Acknowledgment c Next block If the transmission of the technology parameters lasts longer than 10 seconds the PLC must also remove the read enable otherwise the control will report the error message Time Out bei der H Funktions bergabe an die SPS Time Out during the H function transfer to the PLC M functions are transmitted to the PLC These must be evaluated there and the desired function triggered A distinction is made between synchronized and non synchronized M functions The M functions with the numbers 0 499 are synchronized If these are transmitted to the PLC the processing of the NC program is interrupted until the PLC acknowledgement has arrived and the r
143. 2 L9600 The programmed M 900 function is not output Therefore no processing time is required in the PLC for the M function The M function which lead to the subprogram call is stored in the parameter field in P562 for NC channel 0 and in P594 for channel N It can be evaluated in the subprogram For further information refer to chapter M functions EA T75 4 15 2 MK_TECHNOLOGIEDATEN1 MK_TECHNOLOGIEDATEN4 These machine constants contain 10 entries each which are stored one to one in the parameter field of P760 P799 where they can be used as required For the assignment of the parameter field refer to chapter P field mE EDSTCXN EN 2 0 Lenze 221 A 4 15 4 15 3 4 15 3 4 15 4 222 Machine constants Technology specific settings MK_MASCH_POLAR_KART MK_MASCH_POLAR_KART This machine constant switches from a Cartesian to a polar machine coordinate system In the polar coordinate system the positions in the machine plane are defined by an angle axis and a radius axis while the control transfers the transformation of the interpolated Cartesian coordinates into the polar coordinate system During this process programming and interpolation remain in Cartesian coordinates both during manual traversing and in program operation The Cartesian and polar axes are assigned to the coordinate systems via MK_KARTESISCH_ACHSNR and MK_POLAR_ACHSNR Value Meaning 0 Cartesian machine coordinate system defaul
144. 24 379 WriteCanMsg 413 WRITEV24 380 installation 337 Interface to the ETC 356 library 361 Library ServerSDO lib 418 Machine constants 359 Network variables 353 Object directory 350 Operating data 360 Parameter field 359 Parameter Manager 350 programming with 51 336 Remanent variables 350 Searching CANopen modules 348 start 52 System variables 356 359 Target system settings 353 Target system setup 340 Variable list global 354 355 Commissioning commissioning steps overview 20 Configure control system 51 Configure I O modules 65 Configuring I O modules 343 Configuring PLC tasks 340 342 conformity 12 Connecting ETC and PC 338 Connecting PC and ETC 338 Constants CANopen functions 409 I O functions 391 V24 functions 382 CopDefineDS403 398 CopGetNodeState 400 CopReadObjekt 401 CopWriteObject 403 CopXDefineDS403 400 CopXDisableSync 407 CopXEnableSync 407 CopXReadObject 402 CopXSetOperational 405 CopXSetPreoperational 406 CopXWriteObject 404 CopyChannelDisplayData 408 Lenze EDSTCXN EN 2 0 Contents i CopyCyclicDisplayData 408 data fields 180 189 CopyDiagDisplayData 408 Formula processor 172 Gfunctions 91 G preparatory function 89 H functions 175 D Mfunctions 175 Data block 63 Modal functions 89 Data block 0 242 Parameter assignment P 174 cycle programming 310 325
145. 285 configuration interface 278 configure 30 278 ETC island 15 configured connections 278 ETC programming description 276 Arithmetic operations 172 error logbook 281 283 Block extensions 174 establish connection 34 Block preprocessing 90 install 276 EDSTCXN EN 2 0 Lenze 421 i Contents Mmigtway ini 283 operating mode 277 start 277 Version information 282 ETCHx connect with PC 16 Connections 15 Description 13 IP address 28 operating mode 25 start 21 ETCPx Description 13 install 31 ETCxC mk 39 Ethernet interface 338 Example Automation system 13 PLC program 60 example CNC program 47 F Fault elimination monitor interface 24 File EDS 55 ETCxC mk 39 file DelphMML ini 327 file manager 308 Firmware update 83 FMOD 361 Format 362 Formula processor 172 FREEV24 378 Functions AddCobldCanMsg 410 ALLOCV24 377 CANopen functions 409 CenterString 361 ClearCanMsg 412 CloseCanMsg 411 CLRRXBUFFER 380 CLRTXBUFFER 381 CopDefineDS403 398 CopGetNodeState 400 CopReadObjekt 401 CopWriteObject 403 CopXDefineDS403 400 422 CopXDisableSync 407 CopXEnableSync 407 CopXReadObject 402 CopXSetOperational 405 CopXSetPreoperational 406 CopXWriteObject 404 CopyChannelDisplayData 408 CopyCyclicDisplayData 408 CopyDiagDisplayData 408
146. 43 DW144 DW145 DW146 DW147 DW148 DW149 DW150 151 DW152 153 DW154 155 DW156 157 DW158 159 DW160 161 DW174 175 DW176 177 DR178 DL178 DR179 DL179 DR180 DL180 DR181 DL181 182 00 182 15 183 00 183 15 184 00 184 15 185 00 185 15 186 00 186 00 DW194 197 Name Distance between current zero point and home position axis 11 Actual position block axis 0 Actual position block axis 1 Actual position block axis 2 Actual position block axis 3 Actual position block axis 4 Actual position block axis 5 Actual position block axis 6 Actual position block axis 7 Actual position block axis 8 Actual position block axis 9 Actual position block axis 10 Actual position block axis 11 Following error axis 0 in increments Following error axis 1 in increments Following error axis 2 in increments Following error axis 3 in increments Following error axis 4 in increments Following error axis 5 in increments Following error axis 6 in increments Following error axis 7 in increments Following error axis 8 in increments Following error axis 9 in increments Following error axis 10 in increments Following error axis 11 in increments Speed of spindle 0 Speed of spindle 1 Speed of spindle 2 Speed of spindle 3 Speed of spindle 4 Speed of spindle 5 Event counter Event interval Operating mode Program processing active Block search Measuring system mm inch Hide block Individual block Op
147. 5 A 4 3 4 3 9 4 3 9 4 3 10 196 Machine constants Software configuration MK_LAH_GRENZWINKEL MK_LAH_GRENZWINKEL This machine constant limits the Look Ahead function G60 to a defined angle range During this process the system switches automatically to exact positioning on non tangential block transitions on which the transition angle is larger than the value of this MC This is to ensure that these corners in the profile can be precisely approached even when Look Ahead is switched on by forcing the speed on the corner down to 0 The speed on the block transitions on which the transition angle is less the value of this MC is not reduced to O but only as defined in MK_KONTURFEHLER Value Meaning 0 If there is even a slight change of direction this will lead to a standstill at the block transition 15 Only a change of direction in excess of 15 will lead to a standstill 45 Only a change of direction in excess of 45 lead to a standstill default 180 Special case no speed reduction at block transitions Permitted values for this MC range between 0 and 180 Please bear in mind that the special case 180 may lead to acceleration jumps at the block transitions and thus to incorrect SW limit switch messages in the look ahead SW limit switch function MK_SW_ENDS_MIT_RAMPE 2 MK_RADIUS_B_BEWERTUNG This machine constant is a factor which can be used to affect the maximum traversing speed when machining c
148. 5 1 204 Machine constants Configuration of axes Basics MK_CANDRIVES Configuration of axes Basics These are the most important settings that have to be implemented as they are used to adapt the control to the mechanics As the control can be used for the many different axis combinations the following must be specified by means of the machine constants which type of axes exist on this specific machine gt with which identification letter the axes are to be addressed to which hardware axis computer channel the corresponding software axis is connected In the control the axes are consecutively numbered from 0 N 1 while N is the maximum number of configurable application software axes This number is control specific and does not have to correspond to the maximum number of the physical hardware axes At the end of this chapter you can find a table in which the maximum number of axes is listed for the individual control types After it has been established which physical axes exist on the machine the application axes must be assigned to the physical axes MK_CANDRIVES MK_CANDRIVES defines the axes that are connected to the second CAN bus Enter a valid 0 N 1 application axis number or the value 1 in each parameter of this MC with N as the maximum number of application axes If two physical axes are assigned to one application axis which means that one application axis number appears twice in
149. 55 String which is to be reformatted linelen_di DINT line length for centering END_VAR The function adds spaces to the string for centering The return value corresponds to the resulting total length of the string Ensure that the string variable declared is large enough to accommodate the resulting string test_s STRING 20 Hello CenterString test_s 20 Invoking CenterString will insert 7 spaces before Hello FUNCTION FMOD LREAL VAR_INPUT x LREAL y LREAL END_VAR The function returns the floating point Rest of Division x y with the prefix of x Result_Ir LREAL Result_Ir FMOD 10 5 3 2 Result_Ir 0 9 Lenze 361 8 PLC programming 8 8 Library 8 8 1 General functions 8 8 1 3 Format Declaration FUNCTION FORMAT INT VAR_INPUT string_s STRING 255 target string FORMAT_S STRING 80 Format string PARAMETER_P DINT Address of a structure or variable END_VAR Description All characters in the format string which are not part ofthe format definition will be copied into STRING_S Format string The sign in a format string opens a format definition with the general form Flag output field lengths Accuracy Data type declaration Flag lt nothing gt flush right leading spaces nulls flush left following spaces nulls Always output operational sign Output field length On min n digits fill with nulls n min n digits fill with
150. 6 0 0000 P1200 90 0000 G22 L3501 G99 Edit cycles Ba haired E Atichaitiahne pnm A Ausser Anden mm B Inneres Pida Jin T Aaditi jnm U Padina mm Fahne Aowtcilende fnm I Hebaebaehveraals X rmm Sthathicharnsi Y ma e202 gende I G0 gend ja Anzahl Flanschl cher jx 2 Meideihollakien X Medeilhakine Y ETCNO82 After a function or a cycle has been selected the respective entries are made in the DIN file Change cycle If the cursor is positioned on a line starting with G22 Jxxxxx the cycle can be edited and the data changed as long as all information is available Delete cycle If the cursor is positioned on a line G22 Jxxxxx in the editor the cycle call and parameter part can be removed from the DIN file EDSTCXN EN 2 0 Lenze 311 m ETC MMI 7 7 Diagnostics operating mode 7 7 Diagnostics operating mode The Diagnostics operating mode is primarily intended for service and commissioning technicians It offers functions for the support of axis setting for the control of inputs outputs and parameters for editing machine constants and for the control of internal statuses In addition the error logbook which logs all errors can be accessed Horizontal function keys Axis setting Modal travel Drag Mod Nom p Input back 312 ETCNO83 Activate displays for support during axis setting The handling corresponds to the SETUP operating
151. 8 2 System requirements for CoDeSys V2 xx 8 2 1 8 2 CoDeSys installation 8 2 1 System requirements for CoDeSys V2 xx Pentium processor Pentium II 350 MHz or higher recommended gt 32 MB RAM 64 MB recommended gt Windows 2000 or XP gt MS Internet Explorer version 4 0 or higher 8 2 2 Installing software 1 Place the CoDeSys setup CD into your CD ROM drive If the autostart feature for the CD ROM drive has been enabled in Windows setup will start automatically 2 If setup does not start automatically Select the menu item Run from the start menu Enter the drive letter of your CD ROM drive followed by setup exe e g d setup exe into the command line and confirm with OK 3 When selecting the target directory please create a new directory CoDeSys under c program files Lenze ETC 4 Follow the instructions of the setup program 5 Change the installation path to c program files lenze etc CoDeSys2 Stop The file codesys ini in the installation directory may be write protected after installation from CD The write protection must be cancelled otherwise the CoDeSys settings will not be saved EDSTCXN EN 2 0 Lenze 337 8 PLC programming 8 3 Connecting ETC and PC 8 3 1 V 24 Interface 8 3 Connecting ETC and PC The connection to the ETC can be established via one of the following interfaces Serial interface gt Ethernet interface only ETCHx
152. AXES in the following gt D F H I J K L R as G function specific flow point parameters gt E O as G function specific integral parameters As address values any flow point numbers alternatively with exponent e g 23 475e 3 are valid for axis addresses and flow point parameters For all the others integers in the range of 32767 to 32767 are allowed As an alternative to direct input all the above mentioned addresses can also be programmed indirectly This is displayed by the specification of P The programming takes place via the P field Instead of the numerical value the index on the P field is then assigned to the address letter GO X P1000 For X the value contained in the P field in the index 1000 is then valid GO X PP1100 For X the value whose index is contained P field in the index 1100 is valid indicated twice A DIN block does not necessarily have to contain a G function Some of the functions have a modal effect and do not need to be repeated The above specifications are then valid for the rest of the block 3 2 1 Overview of G functions EDSTCXN EN 2 0 i Function is a pure interpreter function 1 90 s Function is time synchronized C4 90 1 Function is deactivated at the end of the program or in the event of a program termination and with modal branches 2 Function is deactivated at the end of the program or in the event of a program termination 3 Function is deactivated in the event of a p
153. After loading is complete the following figure is displayed Ba bi das Col hiie He Ce eS 0n r gt gt quit Hanitor Schnittstelle aktiviert Wait MP server successfully started Try to ee boot project Loading boot project Bool project laad gt reboot rabooting pone ter activated type helo to show monitor commands Firmware CHCSS HetBoot 1 05 38 04 03 13 24 23 received suc Please wait while burning firmenre to Flash memory ok type quit to start the new firmare gt Connected A LT bhac es Bb i kur ETCN007 The control system waits until the firmware is loaded from the PC on the ETC front plate the LEDs 1 6 flash circulatingly 5 In the HyperTerminal window enter quit and confirm the command with lt Enter gt The firmware starts On the ETC front plate the green watchdog LED lights up Lenze 39 EDSTCXN EN 2 0 Getting started 2 4 Establishing the communication between PC and ETCHx 2 4 4 Assigning the IP address of the ETCHx 2 4 4 Assigning the IP address of the ETCHx Separate local network segment Existing network segment 28 For communication via a network or a local Ethernet cable the ETCHx requires a unambiguous IP address with subnet mask that matches the other nodes When the control system is delivered it has a specific but random IP address The IP address of the ETCHx is assigned via the monitor interface as described in the following Thi
154. C DW127 DW191 HMI DW191 DW127 1 If the data words do not differ over a certain period the PLC can detect that the MMI is no longer alive The values of the machine constants MK_DW224 255 are stored one to one in these data words Lenze 269 gt 5 2 5 2 1 5 2 5 2 1 Assignment 270 Data blocks 8 14 DB8 data word DW000 255 DB9 data word DW000 255 DB10 data word DW000 255 DB11 data word DW000 247 DW250 253 DW254 255 DB12 data word DWO000 255 DWO000 001 SW002 005 DW006 009 DWO010 013 DW014 017 DW018 021 DWO22 025 DWO26 029 DWO030 033 DW034 037 DW038 041 DW042 045 DW046 049 DW050 053 DW054 057 DW058 061 DW062 065 DW066 069 DW070 072 DW074 077 DW078 081 DW082 085 Interface PLC lt gt NC operating system Extended interface for MMI functions Data blocks 8 14 Extended interface for MMI functions Name reserved Name reserved Name reserved Name reserved Target position block axis 0 Target position block axis 1 LOW WORD Name reserved Target position block axis 1 HIGH WORD Target position block axis 2 Target position block axis 3 Target position block axis 4 Target position block axis 5 Target position block axis 6 Target position block axis 7 Target position block axis 8 Target position block axis 9 Target position block axis 10 Target position block axis 1
155. C activate the menu item Transfer gt Send File in the HyperTerminal Carus Tai Tend Tami Fin 2 tivaert Capture bo Pinter ETCMO21 2 Specify the path to the firmware file and select the protocol Zmodem mit Wiederherstellung Zmodem with Crash Recovery j Lenze EDSTCXN EN 2 0 EDSTCXN EN 2 0 Getting started 2 Updating the firmware of the ETCHx in the Standalone operating mode 2 16 hu Updating the firmware 2 16 3 Firmware file names ETCHC_A rsc ETCHC with 4 MB or ETCPC rsc ETCPC Folje T Priapa Frl em TI Fe daran Pages ee Drei Ol Ar Bove Proin Imain ih Crath Permes Smd ee Eresi ETCN098 Click on Send While the file is being loaded into the control system the following figure is displayed On the ETC front plate the LEDs 1 6 flash circulatingly Toute with Coach fimtowery ie sand fe oie Emig frage Lena Fre 11H Canc Lar esmi Leirg Ter loll iia erg Reiner D fia ii ETCN099 After loading is complete the following figure is displayed Pa Bi aes Col hee Het D s3 2S a Honitor activated type help to show monitor commands 3 Firmsare ENDS V1 8ibetad 29 03 86 received successfully Please wait while burning firmware to flash menory CE E E k type quit te start the new firmnare gt ETCN100 The control system waits until the firmware is loaded on the ETC front plate the LEDs 1 6 light up circulatingly
156. C operating system Definitions Data block 0 Data block 0 Description of the signals 242 When using DBO bear in mind that the data may only be evaluated in the 2nd PLC task PLC_PRG2 OB20 This is necessary because the data is upda ted in DBO before the 2nd task is called and the NC evaluates the data after execution The error interface is an exception as it is synchronized by a strobe error counter and an acknowledgement signal error acknowledgement Data word CoDeSys system variable Direction 001 00 001 15 dbO_sps2nc_nc_fehlerquittung_w PLC gt NC 016 00 095 15 dbO_nc2sps_fehlertext_s PLC lt lt NC 096 00 127 15 dbO_nc2sps_fehlerinfo_s PLC lt NC 128 00 128 15 dbO_nc2sps_aktuelles_menu_w PLC lt NC 129 00 129 15 dbO_nc2sps_ob20_ereignis_w PLC lt NC 132 00 132 15 dbO_nc2sps_funktionsstatus_w PLC lt NC 133 00 133 15 dbO_nc2sps_nc_fehlerzaehler_w PLC lt NC 134 00 134 15 dbO_nc2sps_nc_fehlerklasse_w PLC lt NC 135 00 135 15 dbO_nc2sps_nc_fehlermodul_w PLC lt NC 136 00 136 15 dbO_nc2sps_nc_fehlernummer_w PLC lt NC 137 00 137 15 dbO_nc2sps_aktuelles_untermenu_w PLC lt NC 148 00 255 15 dbO_nc2sps_g253_textausgabe_s PLC lt NC All of the areas that are not listed explicitly are reserved Data word Name Direction Type of signal 001 Error acknowledgement PLC gt NC static This data word can be used by the PLC to recognize error messages and to acknowledge error messages if the PLC has to e
157. C programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 26 G61 Stop block preprocessing Syntax Explanation Example Carry out time synchronization with coarse interpolator G61 With the G61 function the block preprocessing of the interpreter can be temporarily stopped i e the interpretation of the next block is stopped until the last block has been processed in the order buffer of the coarse interpolator If G61 is used within a profile this forces the axes on the path to come to a temporary stillstand since no connection speed can be determined without a connection block N10 G1 X10 Z20 Block within the loop Be Other blocks in the loop N50 G61 Stop block preprocessing until the block before N50 has been executed N60 Increase parameter for displaying the loops passed P1999 P1999 1 N70 G27 X10 Z33 Pass through loop 33 times 3 2 2 27 G74 Home position approach Syntax Meaning of the addresses Explanation Example EDSTCXN EN 2 0 The preparatory function G74 is used to execute the home position approach G74 AXES AXES Validity identification any value There are two home position approach possibilities If the function G74 is programmed without other addresses in a DIN block the automatic home position approach is executed in the sequence which is defined in the machine constants If individual axes are specified the home position approach is only carried out in the
158. CHNOLOGY_DATA_1 to MK_TECHNOLOGY_DATA_4 are available for technology dependent data The contents of these machine constants are stored in the parameter field Index Machine constant 760 769 MK_TECHNOLOGY_DATA_1 770 779 MK_TECHNOLOGY_DATA_2 780 789 MK_TECHNOLOGY_DATA_3 790 799 MK_TECHNOLOGY_DATA_4 These parameter field entries can be read via the functions READ_PARAM_INT READ_PARAM_DINT etc 8 7 5 Using machine constants in the ETCxM The machine constants MK_TECHNOLOGY_DATA_1 to MK_TECHNOLOGY_DATA_4 are available for technology dependent data These machine constants contain 10 entries each The value range of each entry corresponds to a 64 bit floating point value IEC61131 data type LREAL The individual entries can be read via the function GetUserParam from the PLC 8 7 6 Parameter field of the ETCxC The ETCxC provides a so called parameter field P field which contains different system parameters which might be of interest to the PLC In SysEtc LIB functions are available for the read and write access to parameter entries see READ_PARAM_INT or WRITE_PARAM_INT etc The individual entries in the parameter field are described in the chapter ETC programming NC operating system EDSTCXN EN 2 0 Lenze 359 8 PLC programming 8 7 Interface to the ETC 8 7 7 Operating data ofthe ETCxC 8 7 7 Operating data of the ETCxC The control features an operating data field where so far only 2 entri
159. CIE H_Hld_E t IE BN Teol amm 011 IE th Hii bit OF SR Tool dom Qi THEY IF i TRIG Hid 3 THEW TIHER_ H14 LIH FalnE SR_ Ten Amt gar apala Go Loe int BISE TIHER HiANCIN THE FE i Teal iaraa on Tool ties gr THEH ni RESET T THIE ELSIF TIMER EL pag al THEN E Hli bik 6 fosi doma RESET atiii SFSERROR F TOOR IP KI J 0 ETCNO32 Lenze EDSTCXN EN 2 0 Getting started 2 Creating a PLC sample program 2 12 Starting and configuring the PLC sample program 2 12 2 M15 The output O_ToolDown is reset and a timer of 5 s is started If the input I ToolUp is set within the next 5 lt s the function is switched otherwise an error message is displayed Te GCL H ELG bir OR Sk Took um dal IF rien bat DR SH Tal up gi Tali IF TRIO EiS 0 THES TIHER_ELS IN FALSE En Toal up RESET PALST 6 Taolifcan false ELSE TIHER_ELSG IH TETE ofi IF I Teele IR Tool a ath gi HEN HEUG Eit i FALE SE Tood_u RESET aa ELSIF iTIER Hit Op THEN H_EIS_Eii i FALSE ER Topl up RESET TEIIF SPR FT ave bt i Ay END_IT ETCN033 If no I O modules are connected to the control system the visualisation can be used Erz han DRIVES ON OFF switches the drives on and off Tool_up and Tool_down are the switches that are to be activated ETCNO34 Lenze gj EDSTCXN EN 2 0 Getting started 2 12 Creating a PLC sample program 2 12 3 Loading the PLC sample program into the control system 2 12 3
160. CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 32 G90 Absolute dimensions reference dimension Change over to the reference dimension system G90 AXIS R D AXES Validity identification of the axes any value R Validity identification for polar radius D Validity identification for polar angle Explanation Example In reference dimension programming the programmed end point of the tool path always refers to the zero point of the selected coordinate system It is possible to change over individual axes or all the axes to reference dimension programming If an axis is programmed only this is changed over to incremental dimensions the current dimensioning type remains valid for the others If G90 is programmed without DIN addresses all axes are changed over into the reference dimension system The preparatory function G90 has a modal effect and is only switched off by the preparatory function G91 incremental dimension system N3 G90 Change over all axes into the reference dimension system 3 2 2 33 G91 Incremental dimensions incremental dimension programming Syntax Meaning of the addresses Explanation Example EDSTCXN EN 2 0 With the preparatory function G91 the reference dimension system changes over to the incremental dimension system Generally this can be done for all axes without address parameters and also for individual axes G91 AXES R D AXES Validity identification
161. CXN EN 2 0 Machine constants A Storage space reservation 4 4 MK_SPV_SYMBOLANZAHL 4 4 4 4 4 4 MK_SPV_SYMBOLANZAHL This machine constant defines the size of the symbol table which is required for managing symbolic program numbers If a larger value than 0 is entered for this MC symbolic program names can be used when programming the DIN programs During this process dynamic program numbers between 32768 65534 were assigned program names For further information on this refer to chapter CNC programming 4 4 5 MK_HEADERANZAHL This machine constant determines the number of head entries for the management of the DIN programs in the main memory An entry of this kind is required in each DIN program in the main memory Each head entry takes up 32 byte in the internal main memory see MK_SPV_SPEICHERGROESSE To store a max of 100 DIN programs in the main memory at the same time use a default value of 100 4 4 6 MK_KANALANZAHL EDSTCXN EN 2 0 This machine constant determines the number of NC channels in which DIN programs can be executed at the same time Value Meaning 1 Only one channel is provided for the execution of DIN programs default 2 Two channels are provided for the simultaneous execution of DIN programs Note For each channel additional resources of calculating time and main memory are required Therefore only increase this MC if you really need several NC channels Please bear in mind that a prog
162. D DSK_NET_FILE_NOT_CREATED DSK_NET_FILE_NOT_DELETED DSK_NET_BUSY DSK_CMS_INIT_KI DSK_CMS_BATT_EMPTY_KI DSK_CMS_OLD_BOOTLOADER_KI O_RDONLY O_WRONLY Lenze Value 303 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 401 402 403 Meaning PC disk Insufficient memory during IO operation Network disk Network disk drive not initialised Communication error wrong command code Network disk acknowledge Network disk drive Network disk FileOpen Network disk FileClose Network disk Network disk FileRead Network disk FileWrite Netword disk Network disk CreateDir Network disk DeleteDir Network disk CreateFile Network disk DeleteFile Network disk Communication error wrong ment Timeout during access to the Server reports error during Server reports error during Server reports handle error Server reports error during Server reports error during File does not exist Server reports error during Server reports error during Server reports error during Server reports error during Drive busy access denied CMOS RAM invalid Remaining data were deleted CMOS RAM Battery empty please replace CMOS RAM old bootloader version please update EDSTCXN EN 2 0 PLC programming 8 Library 8 8 Memory access functions 8 8 4 8 8 4 Memory access functions 8 8 4 1 DEFDATA
163. DIN rail design gt DPR interface only ETCPx PCI insert card 8 3 1 V 24 Interface For communication via the serial interface the RS232 or CAN2 connection of the ETC must be connected via a null modem cable to a free COM port of the PC The driver 3S Serial RS232 driver must be selected in the communication parameters of CoDeSys In the settings for this driver the following values must be selected for the corresponding interface of the control ETCconnection RS232 CAN2 Baud rate 115200 38400 Parity No No Stop bits 1 1 Motorola byte order Yes Yes 8 3 2 Ethernet interface only ETCHx DIN rail design For Ethernet communication the Ethernet connection at the ETCHx must be connected to the PC via an Ethernet cable The driver 3S Tcp Ip level2 driver must be selected in the communication parameters of CoDeSys The following values must be entered in the settings for the driver Hiren hil et Pete a Charai Loree OPT a Scots Level 3 Loree DFT Lares OFT Hye Woke Limie Lerga OPT Acker 2 Fakbar u hine Ar Loree OPT Peal 7 Levee OFT finricce am kunt maich aih runian Largs OPT Moa birri am Loree OPT Lese OPT Large OFT Lerza OPC Lira DFT Langs DFT Lota TAE a 1 ETC100 338 Lenze EDSTCXN EN 2 0 PLC programming 8 Connecting ETC and PC 8 3 DPR interface only ETCPx PCI insert card 8 3 3 8 3 3 DPR interface only ETCPx PCI insert card EDSTCXN EN 2 0 For the communication vi
164. Data 408 CopyCyclicDisplayData 408 CopyDiagDisplayData 408 DEFDATATYPES 393 DefineCanMsg 410 DelCobldCanMsg 411 Device driver 390 DrvReadObject 401 DrvWriteObject 403 FMOD 361 Format 362 FREEV24 378 Lenze 419 Contents general 361 GET_ BYTE 395 GET_DINT 395 GET_INT 395 GET_LREAL 395 GET_REAL 395 GET_WORD 395 GetApplicationMessage 414 GetFirmwareVersion 363 GetMacAddr 364 GetUserParam 364 INITV24 378 IO_SET 365 LOAD 376 383 LOAD_PARAM 376 Load_Param 365 MEMCOMP 395 MEMCOPY 395 MEMSET 396 OVESWAPPED 396 PUT_BYTE 397 PUT_DINT 397 PUT_DWORD 397 PUT_INT 397 PUT_LREAL 397 PUT_WORD 397 PutApplicationMessage 415 READ_PARAM_DINT 366 READ_PARAM_INT 365 READ_PARAM _LREAL 366 READ_PARAM_REAL 366 READ_SYSPARAM 366 READ_TOOLDATA 367 READBLOCKV24 379 ReadCanMsg 412 READV24 379 RTC_GetTime_DT 417 RTC_SetTime_DT 417 SAVE 376 383 SAVE_PARAM 368 376 SetCurrentPath 384 SETINPUT_BIT 368 SETINPUT_WORD 369 SETLANGUAGE 372 SINGLEBLOCK 369 SPSERROR 370 STRTOF 372 STRTOL10 372 SYSCLOSEFILE 385 SYSDISKFORMAT 387 SYSDISKINFO 389 SYSERROR 373 SYSFIRSTFILE 388 SYSNEXTFILE 388 SYSOPENFILE 384 SYSREADFILE 385 SYSREADLINE 386 SYSREMOVEFILE 387 SYSWRITEFILE 386 TRACE 373 V24 function constants 382 391 WordWrap 374 WRITE_PARAM_DINT 374 WRITE_PARAM_INT 374 WRITE_PARAM_LREAL 375 WRITE_PARAM_REAL 375 420 WRITE_SYSPARAM 375 WRITEBLOCKV
165. E of the function indicates that the time could be read Example ret_bit BOOL time_dt DT ret_bit RTC_GetTime_DT ADR time_dt 8 8 8 2 RTC_SetTime_DT only ETCxM Declaration FUNCTION RTC_SetTime_DT BOOL VAR_INPUT SetTime_dt DT END_VAR Description With this function the realtime clock of the control is set to the transferred value The return value TRUE of the function indicates that the time has been written to the clock component Example ret_bit BOOL time_dt DT dt 2003 11 15 00 00 00 ret_bit RTC_SetTime_DT time_dt EDSTCXN EN 2 0 Lenze 417 Q G 8 9 8 9 1 8 9 8 9 1 Declaration Parameters Description Example 418 PLC programming Library ServerSDO lib InitServerSdo Library ServerSDO lib InitServerSdo FUNCTION InitServerSdo BOOL VAR_INPUT Max_NetVarODIdx UINT pNetVarOD POINTER TO NetVarOD_CAN END_VAR Max_NetVarODIdx maximum index pNetVarOD Pointer to the object directory This function announces an object directory for the data transfer with a CANopen client to the runtime system To enable the CoDeSys object directory the following function must be called once in the PLC program InitServerSdo MAX_NetVarOD_CAN ADR pNetVarOD_CAN 0 Lenze EDSTCXN EN 2 0 9 Index A AddCobldCanMsg 410 address CAN 58 Addressing Data block 350 I O module 349 Addressing 349 ALLOCV24 377 Appendix 321 application as intended 12 applic
166. EAL actual tool drehzahl_Ir LREAL tool speed END_STRUCT END_TYPE wzdaten_tr TOOL_TR ret_i INT ret_i READ_TOOLDATA 2 10 ADR wzdaten_tr The tool data for tool 2 T2 are stored in the structural variable wzdaten_tr EDSTCXN EN 2 0 Lenze 367 8 PLC programming 8 8 Library 8 8 1 General functions 8 8 1 15 SAVE_PARAM only ETCxC Declaration Description Example 8 8 1 16 SETINPUT_BIT Declaration Description 368 FUNCTION SAVE_PARAM DINT VAR_INPUT dateiname_s STRING 15 device filename pindex_di DINT P field index anzahl_di DINT number of the P field values END_VAR SAVE_PARAM saves anzahl_diP field values after index pindex_di under the file name dateiname_s on the RAM disk device rd in the FLASHPROM device sd or ona floppy disk device fd A return value other than 0 signals an error 391 ret_di DINT ret_di SAVE_PARAM rd daten dat 1200 30 30 P field values are saved after index 1200 in the file daten dat on the RAM disk FUNCTION SETINPUT_BIT BOOL VAR_INPUT WORD_W WORD No of the data word bit_w WORD input of the IO card END_VAR The function sets a bit in the input process image In the inputprocess image of the data word word_w value range 0 63 a bit bit_w value range 0 31 is set This allows for a test environment to be created without hardware The retur
167. EDSTCXN 13145612 Software manual ETC Motion Control ETCxCxxx Operating System NC Lenze sh Tip Current documentation and software updates concerning Lenze products can be found on the Internet in the Services amp Downloads area under http www Lenze com 2006 Lenze Drive Systems GmbH Hans Lenze Stra e 1 D 31855 Aerzen No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drive Systems GmbH All information given in this documentation has been selected carefully and complies with the hardware and software described Nevertheless deviations cannot be ruled out We do not take any responsibility or liability for damages which might possibly occur Necessary corrections will be included in subsequent editions Contents Preface and general INTOFMATION cece cece reer ere r nennen nn EDSTCXN EN 2 0 Lenze 3 I Contents 2 16 Updating e T rmware O e Hx in the andalone 4 Lenze EDSTCXN EN 2 0 Contents i EDSTCXN EN 2 0 Lenze vi Contents Lenze EDSTCXN EN 2 0 Contents i EDSTCXN EN 2 0 Lenze 7 i Contents 8 4 Object d parameter manager 330 8 Lenze EDSTCXN EN 2 0 Contents i EDSTCXN EN 2 0 Lenze 9 1 Preface and general information 1 1 About this Manual 1 Preface and general information 1 1 About this Manual Target group This manual is intended for persons
168. EDSTCXN EN 2 0 Lenze 163 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 77 G233 2D 3D axis correction Syntax Meaning of the addresses Explanation Example 164 With 2D 3D axis correction an axis is corrected in dependency on one or two axes via one of a maximum of 3 grid point tables G233 AXE AXE Identification of the axis which should be corrected 0 correction tables for the specified axis off 1 correction table 1 on 2 correction table 2 on 3 correction table 3 on With this function the position of an axis is corrected in dependency on one to two basis axes via a previously loaded table with equidistant grid points In this case the axis to be corrected may be one of the two basis axes The correction takes place with the offset specified in the table The interpolation between the grid points is linear The tool offset of the current tool Tn is calculated with G233 when the function is switched on and therefore must not already be considered in the loaded grid point table The coordinates of the grid point table must be related to the reference coordinate system including the basic offset i e to SO without shift Up to 3 such correction tables can be loaded and be superimposed at the same time The same target axis can be involved several times If several correction tables are activated the execution sequence of the corrections is important Ta
169. EEPROM MK_METRISCH This machine constant prevents the transfer of programs to the internal Flash PROM during the transmission of DIN programs via the monitor interface This option must always be selected if the field of application of the control requires that new DIN programs are read in continuously via the monitor interface which are no longer required after the machine is switched off This is normally the standard procedure on machines for individual order processing Value Meaning 0 Automatically transfer DIN programs to Flash PROM default 1 Do not store DIN programs in Flash PROM As the rams can only take a limited number of write cycles approx 100000 it is recommended in the above mentioned case to set these MCs to 1 This machine constant selects one of the two measuring systems for all position and speed specifications This applies to all input and output values for positions and speeds except the machine constants themselves Irrespective of their contents these must always be entered in the metrical system Value Meaning 0 Dimensions according to MK_CONST_REL_INCH inch or inch min 1 Dimensions according to MK_CONST_REL_MM mm or mm min default Lenze EDSTCXN EN 2 0 Machine constants A Software configuration 4 3 MK_CONST_REL_MM 4 3 6 4 3 6 __MK_CONST_REL MM This machine constant defines the input resolution in the metrical system 1 i e 1 mm unit is used as the default If all inputs and outpu
170. G142 and G140 The rotational direction of the profile description must match the rotational direction defined by G141 or G142 Lenze EDSTCXN EN 2 0 Example EDSTCXN EN 2 0 N10 G31 N20 G01 X50 CO F5000 N30 G60 XO N40 G142 D500 X20 LO EO N41 G5 X24 142 Y 14 142 13 L1 N42 G143 X15 D7 5 F5000 L3 IO N43 G143 X5 D5 F5000 L3 I1 N44 G143 X 20 D20 F5000 L3 N45 G5 N46 G140 N50 G60 N60 M30 3 N10 X24 142 Y14 142 N20 X10 Y20 N30 X 4 142 Y14 142 N40 X 10 YO N50 X 4 142 Y 14 142 N60 X10 Y 20 N70 X24 142 Y 14 142 N80 X30 YO N90 G99 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 Path operation Approach starting position Switch Look Ahead on Noncircular grinding for smooth profile on Switch spline interpolation for closed curve on Rough grinding two revolutions Finish grinding with a spark out revolution Withdraw Switch spline interpolation off Noncircular grinding off Switch Look Ahead off Program end Subprogram for describing the finished profile Position of X axis in the Cartesian coordinate system c90 G143 X15 D7 5 L3 F5000 G143 X5 D5 L3 F5000 I1 gt o ETCN052 Start overmeasure Starting point Direction of rotation of the workpiece The workpiece is only approached during the first revolution because the actual overmeasure is smaller than the defined over
171. H o Il KP of the P controller also for synchronous control rate time s for D component of PID controller also for synchronous control integral action time s for integral action component of PID controller also for synchronous control Lenze 233 A Machine constants 4 16 List of machine constants 0 0 0 0 MK_KF 0 feed forward factor 0 calculation Umax setpoint for Vmax 0 Umax 0 1V 327 68 0 MK KF 0 Vmax m min MK DELTAT MK_IMPULSE 0 Ti in a emi m F ai 60 MK FIT PRO GIT MK WEG mm MK_KB 0 factor for acceleration pilot control 0 0 0 0 0 MK_T2 0 filter time constant for fine polation s 0 0 0 0 0 OERE EEEE EEEE EE EEEE settings for home position approach JP ee ee ee MK REF TYP 0 type of home position approach 0 0 with cam and zero pulse 0 1 with cam but without zero pulse 0 2 only reset counter with G74 0 3 only zero pulse cam determines direction 0 4 2 cams spare input on ARI is additional reference cam and is approached first MK REF RICHTUNG UND FOLGE Iy direction of axis at start of home pos approach 1 and sequence for auto home pos approach 1 0 gt axis is not included 1 X gt pos direction 1 X gt neg direction 1 MK_REF_VMAX1 5
172. However the modal offset can also be used specifically to effect a coordinate shift asynchronously to the current program e g in an interrupt program see G130 and G150 Please note that an asynchronous shift via the tool and workpiece coordinate systems is not possible Example G121 X0 YO The modal offset of the X and Y axis P160 P161 is transferred into the NC actual position PO P1 and the modal offset is reset G121 X50 Y10 The modal offset of the X axis is set to 50 and the Y axis to 10 the NC actual position is reduced accordingly EDSTCXN EN 2 0 Lenze 135 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 49 G122 Configuring the effect of the traverse keys Syntax Meaning of the addresses Explanation Example 136 G122 X x Traverse key mode G122 is used to configure the effect of the traverse keys to the axis movement The value entered for X has the following meaning Mode 0 Default the traverse keys only have an effect in manual operation and not in the automatic program When a program or an individual block is started the modal offset is automatically reset as described for G121 Mode 1 In this mode the traverse keys act as a modal offset to the programmed actual position They act like a coordinate shift The traverse movement takes place possibly as superimposed to a programmed movement and can take place both in manual operation and in automatic operation The
173. I Programming operating mode Cycle programming Cycle programming A cycle is a subprogram to which parameters are transferred when it is called During cycle programming the parameters are requested by the user and made available to the DIN program in the P fields Existing cycles are defined in the configuration file More detailed information on creating cycles can be found later in this chapter CQ 325 When the Insert cycle function in the Programming operating mode is selected a window with a list of available cycles opens From this list the cycle to be added to the displayed DIN program can be selected After lt Enter gt has been pressed the parameters belonging to this cycle are displayed lt Enter gt takes you from input field to input field lt Enter gt in the last field enters the cycle as subprogram call in the editor field The actual program call and the transfer of the parameters are written to the end ofthe program starting with block number 10000 etl reihen ri Lisa Fircks ETCNO80 1 G22 J10000 L3501 M30 The cycles will follow from ae here N10000 P1200 100 0000 P1201 100 0000 P1202 20 0000 Lenze EDSTCXN EN 2 0 ETC MMI 7 Programming operating mode 7 6 Cycle programming 7 6 3 Representation of the cycle in the DIN program G22 10000 L2001 Frecktack Migi Pioi 100 Pe G22 LBD Goo ETCNO81 P1203 20 0000 P1204 20 0000 P1205 1 0000 P120
174. If 0 e E f do not output any decimal point n max n decimal positions Type If Floating point dddd ddd le Floating point d ddd e ddd lg like le or If depending on accuracy automatic change over of the display IE like le with E before the exponent IG like Ig with E before the exponent the character should be displayed As parameters parameter field indexes can be assigned under A Band C with indirect programming A P where the alphabetic sequence is also the sequence during conversion If the address E is programmed an error handling graded according to the value programmed under E is started Here the text in the comment or anchored under F text is output as the error text The allowed values for E are 101 499 The hundreds digit of the value programmed under E is interpreted as an error loading 2000 is added to the value specified under E and displayed as an error message with the module identification 3 interpreter on the operator device If E is programmed the specifications under X Y and Z are ignored If E is not programmed no error handling takes place Lenze 171 3 3 3 3 1 3 3 33 1 172 CNC programming Formula processor Arithmetic operations Formula processor In the NC program in addition to programming via G functions it is also possible to input mathematical formula directly Amathematical expression is indicated by a at the beginning of the lin
175. In contrast to G130 a true result does not lead to the deletion of modal comparative operations If E is programmed the comparison result 0 or 1 is also stored in the specified parameter Both constants and indexes of parameter fields are allowed as operands G125 X P701 Z100 K1 120 If the value in P701 is greater than 100 the program processing is continued at block 20 otherwise with the block following G125 Lenze 137 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 51 G130 Modal comparative operation parameter field comparison Modal or non modal comparative operation with an effect on other modal comparative operations Syntax G130X Z KIEYV J Meaning of the addresses First operand Second operand Comparative operation Target block number Target program number lt m 7 AN x Number of modal comparison 0 6 or if not programmed non modal comparison lt Index of an optional customer specific comparative operation J Brakes 0 without ramp 1 with ramp default Explanation G130 carries out a comparison K between the two operands X and Z Both constants and indexes of parameter fields are allowed as operands The comparative operations possible under K are 0 X Z X equals Z 1 X gt Z X greater than Z 2 X lt Z X smaller than Z 3 X2Z X greater than or equal to Z 4 X lt Z X smaller than or equal to Z 5 X Z X not equal to Z 6 XA24 0 BitZ deleted
176. Loading the PLC sample program into the control system Serial connection 68 Note The steps described in this chapter only apply to the ETCHx variant DIN rail variant they are not required for the ETCPx variant PCI card Via the ETC CoDeSys the connection from the PC to the control system can be set optionally via a serial connection RS232 interface or via the network 1 Connect the PC and ETC via the serial interface 2 Select Online gt Communication Parameters 3 Click on New ETCM036 4 Enter a connection name e g local_ and select the serial driver Serial RS232 lari Mates heine hime ees Mesma Hure Ae Lide een Dr EEr TE IA ETFO Large DPS rhi Dih tai Larra Serfaus Teel 3E Tele dran 5 Gea GET thy Same AES bal E Sees Co d T egia Lei Tepes inw 2 dnl 4 B ETCM037 5 Click OK 6 Specify the parameters of the interface e g COM1 with baud rate parity and stop bit For this purpose double click the corresponding field Lenze EDSTCXN EN 2 0 Getting started 2 Creating a PLC sample program 2 12 Loading the PLC sample program into the control system 2 12 3 ieskai sa Topp TEPAP fats TOR SP ein ional ETCM038 7 As the control system contains a Motorola processor the field Motorola byteorder must be set to Yes If required correct this setting 8 Close the window with OK Connection via network 1 Select Online gt Communicatio
177. MMI POINTER TO ARRAY 0 511 OF BYTE STRING 255 BYTE BYTE BYTE BYTE WORD BOOL Pointer to user data to be sent Optional data descriptor see DefDataTypes Control block 1 of the message to HMI Control block 2 optional Block counter optional Receiver ID reserved Length of received user data in bytes TRUE if a message has been sent Lenze 415 2 G 8 8 8 8 7 Description 416 PLC programming Library MMI communication functions With this function the PLC can send a message of type SBO_SPSAUFTRAG_KUC SBO 14 with up to 512 Byte user data to HMI Here the message buffer between NCR and MMI in the dual port RAM will be used The function can be used together with GetApplicationMessage to establish a fast message communication between the PLC and MMI In data_pab a pointer to a buffer containing the user data to be sent can be transferred When starting or resetting the PLC this pointer is automatically initialised to the beginning of DB6 MW6 0 The data descriptor datatypes_s can be used to automatically carry out the possibly required byte swapping of the user data Otherwise this must first be carried out using MOVESWAPPED or the functions PUT_WORD PUT_DWORD etc must be used to write data to the message If datatypes_s contains an empty string the number of the user data bytes to be sent must be stated in en_w Otherwise the lengths will be provided by the data des
178. NO After the start of the operating system the hardware wizard detects the new hardware and queries the driver 3 Install the ETCPx driver from the ETC MMI CD wdm2000 ETCPC inf 4 Restart the PC Lenze 31 Getting started 2 Starting ETC MMI 2 7 Starting ETC MMI 1 Start the ETC MMI via lt Start gt Programs gt Lenze gt ETC ETCNO11 The ETC MMI Gateway is automatically started The application can be seen on the task bar _odr 050301 1519 Ser 2 2 Biol Sa ie ETCNOO1 g Note It can be defined which operating mode is displayed when the user interface is started 327 For a detailed description of the MMis refer to chapter ETC MM CO 286 For a detailed description of the MMI gateways refer to chapter ETC MMI Gateway C 276 32 Lenze EDSTCXN EN 2 0 Getting started 2 Starting ETC MMI 2 7 Switching the language in the ETC MMI 2 7 1 2 7 1 Switching the language in the ETC MMI 1 In the ETC MMI window press lt F12 gt diagnostics The MMI window opens in the Diagnostics operating mode 2 In the ETC MMI diagnostics window press lt F8 gt MMI config The window delphmmi ini opens 283 dha ori ini Lenz Tools Flnrlup BPS_EXEC BARAHZ warkraugenrenHtung SPS Tasten glielddispley gpfielddispiayt p alddisplay3 gliekdiepiyd gebeg AxCopVeoll AxCop_Zeit AxCop_AZeit ganli machine canatnete ain anaiga Inequege downl
179. OINTER TO INT END_VAR The function converts the characters in sString after position Index into a DINT Index contains the read in end position after execution Lenze EDSTCXN EN 2 0 8 8 1 23 SYSERROR Declaration Description 8 8 1 24 TRACE Declaration Description Example EDSTCXN EN 2 0 PLC programming 8 Library 8 8 General functions 8 8 1 FUNCTION SYSERROR BOOL VAR_INPUT fehler_di DINT error number klasse_dw DWORD error class formatstring STRING 80 Format string PARAMETER_P DINT Address of a structure containing the parameters END_VAR The function SYSERROR is used like the function SPSERROR This function can be used to display control internal errors FUNCTION TRACE BOOL VAR_INPUT Idx DINT Trace index formatstring STRING 80 Format string PARAMETER_P DINT Address of a structure END_VAR The trace function can be very useful when debugging dynamic processes Each trace can be purposefully enabled or disabled in the diagnostics monitor For this a number to identify the trace is issued when the trace function is called The trace numbers idx100 200 are reserved for the PLC all others are reserved for the NC computer The trace buffer in the NC computer holds 512 trace messages If the trace messages arrive quicker in the buffer than they can be sent via the diagnostics interface RS232 the buffer can overrun and the messages may
180. Override 3 upper left standard invisible 4 lower left standard invisible 5 The value to be displayed there are three types of specifying a value PXX Index on the field permanent display the corresponding field must be entered in the Delphmmi ini in for the corresponding displays DXX PLC DB2 display off 0 63 XXXX Direct address in the DPR 6 If the information on the displayed value is specified via DB2 or viaa direct address the value format must also be specified The following values are permitted BYTE DOUBLE INTEGER LONG SINGLE WORD For P fields the data type is always double EDSTCXN EN 2 0 Lenze 335 8 PLC programming 8 1 ETC PLC programming with CoDeSys 8 PLC programming 8 1 ETC PLC programming with CoDeSys CoDeSys is a complete development environment for creating and testing PLC programs for the ETC CoDeSys offers options for debugging programs similar to modern high level language development systems setting breakpoints monitoring variables recording a trace oscilloscope function etc An introduction to PLC programming in accordance with IEC 61131 3 using CoDeSys can be found in the CoDeSys manual see Docu directory in the CoDeSys installation path This user manual is intended as a supplement to the CoDeSys manual It contains descriptions of functions or adaptations related to CoDeSys and the ETC ade Lenze EDSTCXN EN 2 0 PLC programming 8 CoDesSys installation
181. R 4 Xs R Ys R 5 Xs R Ys 6 Xs Ys R 7 Xs R Ys 8 Xs Ys R The tool path correction works according to the intersection point procedure If the profile transition angle is wide the intersection point can be located very far from the path In this case linear intermediate blocks LO profile transition angle gt 270 degrees or a circular transition L1 profile transfer angle gt 180 degrees are generated The compensation is switched off by G40 Changing from G41 lt gt G42 without intermediate G40 is allowed N100 G41 R1 Tool radius correction with 1 mm tool radius on N110 G1 X10 Approach block N120 G1 X20 Y10 First profile block Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 23 G53 Deactivate temporary coordinate shift Cancels the temporary coordinate shift in the current coordinate system again Syntax G53 Explanation The G53 function is sued to cancel a temporary coordinate shift carried out by G54 The originally defined zero points are valid again This only applies to the current workpiece coordinate system Example G53 S1 The previously made temporary zero shift in S1 is undone 3 2 2 24 G54 Temporary zero shift With the preparatory function G54 the zero point of the current workpiece coordinate system are temporarily shifted Syntax G54 AXES Meaning of the addresses AXES Axes whose zero point should be shifted Explanation With G54 the zero
182. RD DINT REAL 32 Bit l LREAL 64 Bit The function returns as value the number of bytes copied Lenze EDSTCXN EN 2 0 Example 8 8 4 7 Declaration Description EDSTCXN EN 2 0 PLC programming 8 Library 8 8 Memory access functions 8 8 4 TYPE DATA_TR STRUCT varl DINT var2 DINT END_STRUCT END_TYPE byte _di DINT descstring_s STRING 10 2d data_st DATA_TR varl 16 FF var2 16 123456 buf_ab ARRAY 0 20 OF BYTE byte_di MOVESWAPPED ADR buf_from ADR data_st descstring_s Result byte_di 8 buf_from 0 16 FF buf_from 4 16 56 buf_from 5 34 buf_from 6 16 12 All other elements of the array are equal to 0 PUT_BYTE PUT_WORD PUT_DWORD PUT_INT PUT_DINT PUT_REAL PUT_LREAL FUNCTION PUT_TYPE BYTE VAR_INPUT pAddress DINT memory address Value TYPE value to be written END_VAR The functions PUT_TYPE write the corresponding data type TYPE swapped to the address stated see also DEFDATATYPES Lenze 397 Q 8 8 8 8 5 8 8 5 8 8 5 1 Declaration Parameters Description 398 PLC programming CANopen functions CANopen functions CopDefineDS403 FUNCTION CopDefineDS403 BOOL VAR_INPUT Defines the global database for a CanOpen control element in accordance with DS403 NodelD BYTE DataBase DINT DataSize WORD Datatypes STRING 255 ReadDataObject WORD WriteDataObject WORD END_VAR NodelD Node
183. ReadDataObject WORD WriteDataObject WORD END_VAR CanNum_b Number of the CAN Bus 1 or 2 NodelD_b Node number of the control element DataBase_p Address of the global database with the input output data of the control element Len_w Size of the global database in Byte max 1020 Byte Datatypes s Descriptor string for defining the data types in the global database ReadDataObject Object number for reading the Local database WriteDataObject Object number for describing the Local database The functionality of this function is identical to the function CopDefineDS403 It contains an additional parameter CanNum_b which defines the number of the respective CAN Bus CopGetNodeState only ETCxM FUNCTION CopGetNodeState BOOL VAR_INPUT NodelD_b BYTE CANopen ID of the module END_VAR NodelD_b Node number of the CANopen node The return value TRUE signals that the corresponding CANopen module is present at the 1st CAN Bus and in an operational state Otherwise FALSE will be returned This detection only works if node guarding has been enabled for the corresponding CANopen device Lenze EDSTCXN EN 2 0 8 8 5 4 Declaration Parameters Description EDSTCXN EN 2 0 PLC programming 8 Library 8 8 CANopen functions 8 8 5 CopReadObjekt ETCxC and ETCxM at CAN1 DrvReadObject ETCxC at CAN2 FUNCTION CopReadObject BOOL ETCxC and ETCxM at CAN1 Read out of objects in the object directory
184. SATZ_ERLAUBT MK_SOTO_VERSATZ_ERLAUBT This machine constant is used to shift coordinate systems SO and TO which are intended as reference coordinate systems The shift ofthese coordinate systems is normally not allowed in order to ensure that there is always one coordinate system that has not been shifted However sometimes it may be useful to shift SO or TO In this case this MC must be set Value Meaning 0 Coordinate shift of SO or TO not allowed default 1 Coordinate shift of SO or TO allowed Please also read the descriptions on the S functions LA I73 and T functions C1 179 This is where you can find important information on the coordinate systems MK_S_VERSATZSPERRE This machine constant protects all of the workpiece coordinate systems from the specified value against accidental shifting in DIN programs The configured value is shown in P613 in the parameter field of the control Value Meaning 0 Shift of the workpiece coordinate systems S1 S99 is allowed 1 99 Shift of workpiece coordinate systems Sn S99 is inhibited while n is the specified value in MK_S_VERSATZSPERRE MK_CANOPEN_BAUDRATE This machine constant defines the bit rates for the two CAN busses of the control This MC has two parameters The first one can be used to configure the bit rate for the IO CAN bus CAN1 A value of 0 at this point means that no CAN Open modules are connected The second parameter defines the bit rate for t
185. Selection of feed speed via speed E and increment L F E L Explanation The center of the polar coordinate system is defined by two addresses X Y for G17 X Z for G18 Y Z for G19 The assignment of the principal axes can be changed with G16 When the axes U and W are used as main axes these cannot be used for the center programming The center coordinates can be programmed in absolute dimensions or in incremental dimensions The target position is defined by the polar radius U and the polar angle W in reference to the current center The radius and the angle can be programmed in absolute dimensions or in incremental dimensions The programmed center coordinates have a modal effect The preparatory function G101 has a modal effect Example N200 G18 N210 GO XO Z20 N220 G101 X10 Z10 U30 W45 F1000 EDSTCXN EN 2 0 Lenze 127 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 39 G102 G103 Polar coordinates circular interpolation Syntax Meaning of the addresses Explanation Example 128 The preparatory function G102 G103 corresponds in function to the preparatory function G02 G03 during the programming of the circle with center coordinates in the rectangular coordinate system G102 AXES W F EL G103 AXES W F E L AXES Center coordinates W Polar angle F Path speed E L Selection of feed speed via speed E and increment L F E L The center of the polar coordinate system i
186. Snew and displayed The offsets of the workpiece coordinate systems can be loaded via the ETC MMI into the control or transferred from the control into the PC GO XO YO SO In the coordinate system SO travel to the position XO YO G92 X0 1 S1 Change over to the coordinate system S1 and shift the zero point of the X axis about 0 1 mm G1 X100 F2500 Profile is S1 withdraw M6 S P711 Change over to the coordinate system whose number is entered in parameter P711 and then output the M function M6 Lenze EDSTCXN EN 2 0 3 4 6 T functions Example EDSTCXN EN 2 0 CNC programming Bi Block extensions 3 4 T functions 3 4 6 The letter T in the DIN block always stands for the specification of the current tool coordinate system to which following position specifications relate Under a coordinate system the control understands the definition of a zero point offset for each axis In ETCXC 100 such tool coordinate systems are available which are selected with TO T99 In addition to the offsets of the axes a table containing 30 tool data entries which are shown in parameter field from P700 for the current T is assigned to every T coordinate system These tool data entries can be used within a tool management in order to save tool specific parameters These are used during the tool radius compensation Ifa 1 is entered in the machine constant MK_NULLPUNKTE_SPEICHERN the currently activated T coordinate system the zero point
187. T The functions may be programmed for individual blocks or for several blocks They may also occur alone in a block If several functions are specified at the same time they are processed in the fixed sequence H P T S M Q Parameter assignment P In every block simple parameter assignments can be programmed directly without G function or formula processor However for complex assignments containing arithmetic operations the formula processor must be used The parameter field assignment can also be programmed several times within a block This can be used among other things during subprogram calls in order to transfer several parameters The parameter field assignment is always executed as the first operation in a block independent of the position in the block at which it is programmed Possible assignment variants are P2000 17 The number 17 is stored in parameter 2000 P2000 P0 The contents of PO are assigned to parameter 2000 PP1500 3 5 The value 3 5 is assigned to parameter whose index is specified in P1500 P2000 PP10 The contents of the parameter are assigned to P2000 whose index is entered in P10 PP10 PPP11 The value of the parameter field whose index is contained in the parameter field whose index is stored in P11 is assigned to the parameter whose index is displayed in P10 N10 GO X3 14 P4000 0 P2000 P0 P3000 PP200 P3100 123 2 P3333 P100 G22 L7999 P2000 1 P2001 P1 Lenze EDSTCXN EN 2 0 3 4
188. TIEFE 202 MK_MASCH_POLAR_KART 222 MK_MASSSTAB 209 MK_METRISCH 194 MK_MFKT_UPR_TABELLE 221 MK_MODVMAX 213 MK_NCPROG_NICHT_INS_EEPROM 194 MK_NCPROG_OHNE_KOMMENTARE 194 MK_OVERRIDEMAX 197 MK_PFELD_GROESSE 203 MK_POLAR_ACHSNR 223 MK_RADIUS_B_BEWERTUNG 196 MK_REF_RICHTUNG_UND FOLGE 212 MK_S_VERSATZSPERRE 198 MK_SOTO_VERSATZ_ERLAUBT 198 MK_SCHLEPPGENAUHALT 210 MK_SPINDELUMKEHRSPIEL 215 MK_SPS_DATENGROESSE 200 MK_SPS_DUMMY 192 MK_SPS_SPEICHERGROESSE 200 MK_SPV_SPEICHERGROESSE 200 MK_SPV_SYMBOLANZAHL 201 MK_SW_ENDS_MINUS 210 MK_SW_ENDS_MIT_RAMPE 210 Lenze 425 i Contents MK_SW_ENDS_PLUS 210 MK_SYNCHRONABWEICHUNG 220 MK_SYNCHRONOFFSET 220 MK_T_BAHNBESCHL 214 MK_T_BESCHL 213 MK_T2 211 MK_TECHNOLOGIEDATEN 221 MK_TEST_OHNEMECHANIK 192 MK_VBAHNMAX 214 MK_VMAX 213 MK_VOREINSTELLUNG 193 MK_WEG 209 218 MK_WLK_C_GRENZWINKEL 223 MK_WLK_C_OFFSET 223 MK_WLK_VERWEILZEIT 224 MK_X_WINKEL 224 Mmigtway ini 283 Modal functions 89 90 Monitor interface activate 21 commands 24 fault elimination 24 MUSTER MK 226 N nameplate control system ETCHx 11 control system ETCPx 11 module ETCHx 11 Network variables 353 Nodeguarding 59 346 348 O Object directory 350 Operating data 360 operating mode MMI Automatic 298 diagnostics 312 Programming 302 Setup 293 Operating modes ETCxH 25 426 Overview Arithmetic op
189. TION VAR_INPUT IDX_DI DINT Parameter index END_VAR The function returns the value of the parameter idx_di as data type REAL from the P field READ_PARAM_LREAL nur ETCxC FUNCTION READ_PARAM_LREAL LREAL VAR_INPUT IDX_DI DINT Parameter index END_VAR The function returns the value ofthe parameter idx_di as data type LREAL from the P field READ_SYSPARAM only ETCxC FUNCTION READ_SYSPARAM WORD VAR_INPUT IDX DINT END_VAR READ_SYSPARAM reads a value from the operating data wert_w WORD wert_w READ_SYSPARAM 101 Returns the value of the operating data word 101 Lenze EDSTCXN EN 2 0 8 8 1 14 READ _TOOLDATA only ETCxC PLC programming 8 Library 8 8 General functions 8 8 1 Declaration FUNCTION READ_TOOLDATA INT VAR_INPUT tnr_dw DWORD T tool number anzahl_dw DWORD number of tool data puffer_p DINT Address after which the data should be stored END_VAR Description The function reads the tool data for the defined T tools Example TYPE TOOL_TR STRUCT radius Ir LREAL tool radius in mm typ_Ir LREAL tool type schwester_Ir LREAL no of the sister tool original_Ir LREAL no of the original tool magazin_Ir LREAL magazine location s_zugeordnet_Ir LREAL S allocated to the magazine location s_zeit_vorgabe_Ir LREAL default tool life s_zeit_aktuell_Ir LREAL actual tool life wz_aktuell_Ir LR
190. TYPES Declaration FUNCTION DEFDATATYPES BYTE VAR_INPUT iRange INT sDescriptor STRING 255 END_VAR Description The function defines the data types in DB2 and thereby the required byte swapping during the data transfer between NCR and MMI Currently two ranges are being differentiated Range 1 of word 0 127 contains data from the PLC to MMI range 2 of word 128 191 contains data from MMI to the PLC A descriptor string is used to define the data types The descriptor string has the following format lt number gt lt type gt lt number gt lt type gt Number is a decimal number and defines then data quantity for the following type Type is a lower case letter describing the size of the data type as follows Type Codesys data type Size B BYTE 8 Bit W BOOL WORD INT 16 Bit D DWORD DINT REAL 32 Bit l LREAL 64 Bit The function returns a value of 1 if the function has been completed successfully otherwise a value of 0 EDSTCXN EN 2 0 Lenze 393 8 8 4 Example 394 PLC programming Library Memory access functions At the beginning of DB2 in range 1 of MW2 0 to MW2 16 there are 10 BYTE 2 WORD 3 DINT and 1 LREAL In range 2 of MW2 128 to MW2 158 there are 5 WORD 8 DWORD and 5 WORD in the order stated The definition is given as follows DEFDATATYPES 1 10b2w3d1 DEFDATATYPES 2 5w8d10w If a message interface in DB2 is used between PLC and HMI and the messages use different data typ
191. UNCTION LOAD_PARAM DINT VAR_INPUT dateiname_s STRING 15 device filename pindex_di DINT P field index anzahl_di DINT number of the P field values END_VAR LOAD_PARAM reads anzahl_diP field values from the RAM disk device rd the FLASHPROM device sd or a floppy disk device fd which was previously saved with SAVE_PARAM in the file and enters the value after the index pindex_di into the P field A return value other than 0 signals an error C 391 ret_di DINT ret_di LOAD_PARAM rd daten dat 1200 30 30 P field values from the file daten dat are read from the RAM disk and stored after index 1200 in the P field 8 8 1 9 READ_PARAM_INT only ETCxC Declaration Description EDSTCXN EN 2 0 FUNCTION READ_PARAM_INT INT VAR_INPUT IDX_DI DINT Parameter index END_VAR The function returns the value of the parameter idx_di as data type INT from the P field Lenze 365 2 G 8 8 8 8 1 PLC programming General functions 8 8 1 10 READ_PARAM_DINT only ETCxC Declaration Description 8 8 1 11 Declaration Description 8 8 1 12 Declaration Description 8 8 1 13 Declaration Description Example 366 FUNCTION READ_PARAM_DINT DINT VAR_INPUT IDX_DI DINT Parameter index END_VAR The function returns the value of the parameter idx_di as data type DINT from the P field READ_PARAM_REAL only ETCxC FUNC
192. ZAEHLER A number of fine interpolation cycles in which the 1 max following error may be exceeded 1 until a following error is reported 1 1 1 MK SCHLEPPGENAUHALT 0 001 max following error for exact positioning 0 001 with following error monitoring 0 001 in mm or Grad degrees 0 001 0 001 0 001 MK GENAUHALTZEIT 0 time s at which the following error must be smaller 0 than MK_SCHLEPPGENAUHALT 0 0 0 0 MK_SYNCHRONABWEICHUNG 10 max permissible synchronous deviation from 10 synchronous axes in mm or Grad degrees 10 232 Lenze EDSTCXN EN 2 0 MK _SW_ENDS MINUS MK SW _ENDS PLUS eh N ees controller setting Bove Se Sooo eee we MK_DRIFTABGLEICH MK_REGLER MODE MK_KP MK_TV MK_TN EDSTCXN EN 2 0 10 10 10 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 Machine constants A List of machine constants 4 16 software limit stop direction mm relating to basic offset software limit stop direction mm relating to basic offset offset adjustment mV for analog axis interfaces control loop open reserved P controller P controller with feed forward E spindle PID controller with feed forward Ow WN
193. _FILE_NOT_OPEN_KI DSK_EEPROM_OUT_OF_MEMORY DSK_SRAM_TIMEOUT_KI DSK_SRAM_COM_ERROR_KI DSK_SRAM_CHECKSUM KI DSK_SRAM_OUTOFMEMORY_KI DSK_SRAM_DIR_FULL_KI DSK_SRAM_DISK_FULL_KI DSK_SRAM_VALIDATE_ERR_KI DSK_SRAM_BATT_EMPTY_KI DSK_SRAM_RAM_ERROR_KI DSK_UNKNOWN_DEVICE_KI DSK_FLOPPY_V24_INUSE_KI DSK_FLOPPY_INUSE_KI DSK_FLOPPY_TIMEOUT_KI DSK_FLOPPY_PROG_ERROR_KI DSK_FLOPPY_TRANSMIT_ERROR_KI DSK_FLOPPY_OVERRUN_ERROR_KI DSK_FLOPPY_WRITE_PROTECT_KI DSK_FLOPPY_NO_DISK_KI DSK_FLOPPY_NOT FORMATTED _KI DSK_FUNCTION_NOT_SUPPORTED_KI DSK_INVALID_FILENAME_KI DSK_PRINTER_v24_INUSE_KI DSK_PRINTER_INUSE_KI DSK_PRINTER_TIMEOUT_KI DSK_BLOCK_OUT_OF_RANGE DSK_DUPLICATE_BLOCK_KI DSK_PCDISK_IOERR DSK_DLL_TIMEOUT Lenze 91 92 93 94 95 96 97 98 99 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 200 201 301 302 PLC programming 8 Library 8 8 FILE IO functions 8 8 3 Meaning Flash PROM faulty Checksum error in flash disk Flash disk is full file cannot be accepted File is already open access denied Too many files opened simultaneously access denied Flash disk file directory is full too many files File does not exist Illegal access mode for SysOpenFile Unknown flash type encountered File not open for read or write access Flash disk Not enough memory for setting up the flash disk RAM disk XT3 expansion card does not respond RAM disk Commun
194. _INPUT handle_pr DINT Handle on the management structure dest_pr DINT Address to the data structure END_VAR This function allows for a CAN message to be written into the send buffer The send buffer is implemented as FIFO The data structure is as follows TYPE CAN_MSG_TR STRUCT cobid_w WORD size_b BYTE rtr_bit BOOL data_from ARRAY 0 7 OF BYTE END_STRUCT END_TYPE The variables source_pr must always be given the address of a variable of type CAN_MSG_TR see example This function will provide an immediate return in any case even if the FIFO is full The meaning of the return values can be found in the following table Return value Meaning 3 Undefined Cobld in data structure 2 Invalid handle or no memory location available for message 1 FIFO full 0 Message entered into FIFO handle_pr DINT ret_bit BOOL src_st CAN_MSG_TR handle_pr DefineCanMsg 1 1014 1114 32 src_st cobid_w 1014 src_st size_b 1 src_st rtr_bit FALSE src_st data_from 0 27 ret_bit WriteCanMsg handle_pr ADR src_st Lenze ae Q G 8 8 8 8 7 8 8 7 8 8 7 1 Declaration Parameters Description 414 PLC programming MMI communication functions MMI communication functions GetApplicationMessage FUNCTION_BLOCK GetApplicationMessage fetches a message with up to 512 Byte user data from the MMI VAR_INPUT data_pab POINTER TO ARRAY 0 511 OF BYTE Data
195. _qout_offset_ab DB1_sps2nc_spsoverride_allg_w DB1_sps2nc_spsoverride_spindel_w DB1_sps2nc_spsoverride_ozillation_w DB1_sps2nc_spsoverride_sps_w DB1_sps2nc_verfahr_ab DB1_nc2sps_betriebsbereit_1_bit DB1_nc2sps_betriebsbereit_2_bit DB1_nc2sps_referenzpunkt_w DB1_nc2sps_referenzfahrt_laeuft_w DB1_nc2sps_betriebsart_w DB1_nc2sps_nc_programm_laeuft_bit DB1_nc2sps_nc_programm_laeuft_1_bit DB1_nc2sps_satzvorlauf_aktiv_bit DB1_nc2sps_einzelsatz_laeuft_bit DB1_nc2sps_unterbrechen_aktiv_bit DB1_nc2sps_alle_achsen_stehen_bit DB1_nc2sps_wahlweise_halt_b DB1_nc2sps_programmstartzaehler_b DB1_nc2sps_achse_faehrt_w DB1_nc2sps_modal_am_ziel_w DB1_nc2sps_spindel_aktiv_w DB1_nc2sps_programmstart_b DB1_nc2sps_canmodul_vorhanden_w DB1_nc2sps_can_status_w DB1_nc2sps_programmstop_b DB1_nc2sps_vorschub_halt_b DB1_nc2sps_mfkt_strobe_bit DB1_nc2sps_mfkt_w DB1_nc2sps_hfkt_strobe_bit DB1_nc2sps_hfkt_w Lenze PLC programming Interface to the ETC System variables of the ETCxC MB1 12 0 MX1 12 8 MX1 13 0 MX1 13 8 MX1 14 0 MW1 16 MW1 18 MW1 31 MX1 32 0 MX1 33 0 MX1 33 0 MX1 34 0 MX1 35 0 MX1 35 8 MW1 36 MW1 38 MW1 40 MW1 42 MW1 43 MW1 80 MW1 81 MW1 82 MW1 83 MB1 84 0 MX1 128 0 MX1 128 1 MW1 129 MW1 130 MW1 131 MX1 132 0 MX1 132 1 MX1 132 2 MX1 132 3 MX1 132 4 MX1 132 8 MB1 133 0 MB1 133 1 MW1 134 MW1 135 MW1 136 MB1 137 0 MW1 138 MW1 139 MB1 142 0 MB1 144 0 MX1 150 0 MW1 151
196. a Fmax V3 6 R B 1000 mm min with R radius mm and B acceleration m s2 The values programmed for E and L have a modal effect However the resulting feed speed is only considered if a value not equal to zero was programmed for L The value programmed for E is also stored time synchronously in P561 and can be used e g as the spindle speed Special features in the circle calculation When a variable radius D is used the control interprets the programmed speed as a specification for the larger radius The angular velocity is constant over the complete G2 G3 profile while the programmed path speed is only adjusted to the arc when the larger radius is reached If a tangential correction is programmed the path speed is adjusted to the accelerating performance of the corrected axis The speed and acceleration values of the optional linear axis are not considered Any inaccuracies which may occur during the calculation of the circle geometries which are in the window defined through the machine constants are compensated by the control via the delta radius In other words all coordinate specifications for G2 G3 target and center are interpreted as a specification which does not need to be corrected All the following examples for G2 G3 programming require that the XY plane G17 has been switched on previously N10 GO X50 Y100 Approach arc starting point N20 G2 Y200 10 J50 F200 Travels a semi circle clockwise from X50 Y100
197. a oonon 0 Test settings lt lt SS ee x MK_ TEST _OHNEMECHANIK 0 Axis computer is in operation but does not observe the Actual position counter MK_SPS_DUMMY 0 0 with integrated PLC 1 without 226 Lenze EDSTCXN EN 2 0 Machine constants A List of machine constants 4 16 apse eam ep ale eps cape amp ea apap e paper aap ar ae epee aa eS 1 Hardware configuration SESE Soa aS SaaS ome Sa aS MK_HARDKONF i Assignment axis computer outputs 1 0 7 to axes 1 axis not connected 1 i L 1 MK_CANDRIVES 0 Assignment of axes nodes 1 12 1 D 1 1 MK_ESABKONF 1 Assignment of the axes to the axis addresses 1 8 on ESA bus 1 1 1 1 1 Ly 1 MK _APPLACHSIDX 0 Internal number of the X axis Y axis 2 Z axis 3 C axis 4 U axis 5 V axis 6 W axis 7 A axis 8 B axis 9 u axis 10 v axis Liy w axis 12 x axis 13 y axis 14 z axis 15 a axis 16 b axis 1 7 c axis MK APPLSPINDELIDX 1 Assign spindles axis channels 1 1 spindle not used 1 EDSTCXN EN 2 0 Lenze 227 4 16 Machine constants List of machine constants MK_ACHSENART MK_SPINDELART 0 0 L 0 E Definition of the axis bit coded Bit 0 0 linear axis 1 r
198. a the DPR interface the Windows WDM driver for the ETCPx and the Lenze MMI Gateway must be installed In the communication parameters of CoDeSys the driver E DPR must be selected The following values must be entered into the driver settings a Etorb ARE ae civ naan fe TL ETC101 When selecting the driver DPR the controls stated in the MMI Gateway can be selected from the table entry Value This is done by double clicking on the corresponding field here ETC1 followed by switching via the arrow keys Lenze 538 8 PLC programming 8 4 Project planning 8 4 1 Target system setup 8 4 Project planning 8 4 1 Target system setup When creating a new project in CoDeSys a dialog will automatically open which asks for the hardware used target system After the creation the configuration dialog can be called via the menu item target system setup in the tab Resources Note The selected target system will be checked during login at the control so that a PLC program cannot be transferred to the wrong target system by CoDeSys For a boot project 355 it must be ensured that the selected target system matches the firmware of the control because this will not be checked when loading a boot project e g by an ETC MMI gt Control variant CNC target system preselect ETCxC gt Control variant motion target system preselect ETCxM The parameters under Target system setup are preset o
199. about the program type to be started the one with the lower value the mode to used for start up The information is defined by the MMI Lenze 261 5 Interface PLC lt gt NC operating system 5 1 Definitions 5 1 2 Data block 1 Values of the nibble with the higher value Oo AON DU BPWNYN FP OO Pl Re Pl Pl eB eR uU BRB wn eH OO Values of the nibble with the lower value vo DU A WN FP OO PPR NF 13 14 15 Start of the NC program entered in the P field 512 Start of the NC program entered in the P field 514 Start of the NC program entered in the P field 516 Start of the NC program entered in the P field 518 Start of the NC program entered in the P field 520 Start of the NC program entered in the P field 522 Start of the NC program entered in the P field 524 Start of the NC program entered in the P field 526 Start of the automatic home position approach No response Start normal procedure Start block search P528 P532 configuration of the entry point Resumption of a program which was interrupted by an error at a defined point G10 Resumption of an interrupted program after normal operation has been resumed implicitly Resumption of a program which has been interrupted by an error without any previous correction measures Start after MO M1 Start of the next block in individual operation Effect in the PLC Checking the start prerequisites for the respective start mode and if required
200. additional full circles Center coordinates of the third principal axis Z or number of additional full circles Interpolation radius Path speed Selection of feed speed via speed E and increment L F E L M functions define machine commands They are edited in the CNC and also sent to the PLC In the PLC they are evaluated and trigger the programmed function in cooperation with the CNC M functions do not have any parameters The coordination between the PLC and the CNC takes place via the interface signals PLC NC C2 240 The following shows some examples of fixed M functions All other M functions are available to the programmer Parameter 14 15 30 Meaning Start of the profile switches the summation of the path length in the parameter field P551 on When M14 is used in an online program program with reloading of program parts the design of the program is blocked until the end of the profile M15 M16 M21 is in the memory End of profile switches the summation of the path length in P551 off begin of idle travel Program end Lenze EDSTCXN EN 2 0 Getting started 2 Creating a CNC sample program 2 10 Calling the text editor in the ETC MMI 2 10 1 2 10 Creating a CNC sample program 2 10 1 Calling the text editor in the ETC MMI 1 If required start the ETC MMI via lt Start gt gt Programs gt Lenze gt ETC The ETC MMI window opens ETCN011 2 In the ETC MMI window press lt F11 gt p
201. age of the control Lenze EDSTCXN EN 2 0 Machine constants 4 Configuration of axes Assignment and evaluation 4 6 MK_CANDRIVES 4 6 1 4 6 Configuration of axes Assignment and evaluation 4 6 1 MK_CANDRIVES This machine constant assigns application axis numbers to the node numbers 1 12 on the second CAN bus and thus defines which application axes are configured For each unassigned node number enter value 1 The axis letters are assigned to the specified application axis numbers via MK_APPLACHSIDX The MC has a maximum of 12 parameters for the 12 possible node numbers on the bus The node number assignment to the parameters is consecutively numbered in a fixed order from 1 12 If an index is entered twice within MK_CANDRIVES a forced coupling is generated between two axes synchronous axes For further information on this refer to chapter Synchronous axes 220 4 6 2 MK_APPLACHSIDX EDSTCXN EN 2 0 This machine constant assigns letters to the application axis numbers configured with MK_HARDKONF MK_ESABKONF and MK_CANDRIVES and thus defines which application axis letters are accepted by the control This MC has 18 parameters one for each of the 18 possible axis letters The order of the letters assigned to the parameters is fixed Only the assignment of the application axis numbers can be freely selected The order of the letters is as follows XYZCUVWABuvwabcxyz Please make sure that the sequence of th
202. al the Satz ausblenden Hide block function can be swit ched on or off Effect in the NC Blocks with a preceding are hidden i e they are not ex ecuted 0 Hide block inactive 1 Hide block active Lenze 273 5 Interface PLC lt gt NC operating system 5 2 Extended interface for MMI functions 5 2 2 Data block 15 Data word Name Direction 028 00 07 Traverse key axis 0 HMI gt NC 028 08 15 Traverse key axis 1 HMI gt NC 029 00 07 Traverse key axis 2 HMI gt NC 029 08 15 Traverse key axis 3 HMI gt NC 030 00 07 Traverse key axis 4 HMI gt NC 030 08 15 Traverse key axis 5 HMI gt NC 031 00 07 Traverse key axis 6 HMI gt NC 031 08 15 Traverse key axis 7 HMI gt NC 032 00 07 Traverse key axis 8 HMI gt NC 032 08 15 Traverse key axis 9 HMI gt NC 033 00 07 Traverse key axis 10 HMI gt NC 033 08 15 Traverse key axis 11 HMI gt NC Type of signal static static static static static static static static static static static static These signals are used for traversing the axes One byte is available for each axis By writing the bytes the respective action is carried out Effect in the NC 100 to 100 traversing with ofthe maximum speed The sign defines the direction 101 inching by increment corresponds to DW44 47 on the path if there is no feed enable Only available in the case of a programmed traver sing movement 102 home position approach sign
203. al offset Configuration of the effect of the traverse keys Non modal comparative operation Modal comparative operation Export modal comparative operation Inhibit modal program branching Enable modal program branching Non modal waiting function parameter field comparison Noncircular grinding off Noncircular grinding with neg direction of rotation on Noncircular grinding with pos direction of rotation on Parameter setting of noncircular grinding phases Configuration of a correction table for noncircular grinding Definition of the correction values in the correction table Modal program branching to an external event Program branching to an external event Non modal waiting function O Bit comparison Wait for the scheduling of a NC channel Intermittent operation on Intermittent operation off Actual position acceptance Define axis group Axis replacement Modal travel on Modal travel off Handwheel coupling on off Absolute zero point determination in the current coordinate system Basic offset shift Shift all tool coordinate systems except for SO Geometry filter on off Change the acceleration and deceleration ramps Set the geometry counter Transformation for two axis articulated robot kinematics Activate customer specific output signal handler Reconfigure effect of the hardware limit switch Separation control system in the axis computer Reserved for online
204. ality 1 0 functionality Device Profile Number 31 24 23 16 15 0 Bit 16 Digital inputs Bit 17 Digital outputs Bit 18 Analogue inputs Bit 19 Analogue outputs To disable the check of the number of IOs the DefaultValue 0x191 has to be set If a module also transfers analogue data with the 1st Tx Rx PDO the DefaultValue 0xC0191 must be set i e the support for digital Os must be disabled 8 4 4 4 Searching for configured CANopen modules Disable search 348 The control searches for all modules configured in the control configuration before starting the actual communication via PDO with the module Searching for the modules is done via NodeGuarding if configured otherwise via SDO Transfer reading of Object index 1000h For CANopen modules which do not support NodeGuarding or SDO Transfer searching for modules can be disabled For this a 0 must be entered in the EDS file for the CANopen module for the object entry 1000nex Device Profil Number Lenze EDSTCXN EN 2 0 PLC programming 8 Project planning 8 4 Addressing 8 4 5 8 4 5 Addressing The ETC is based on the big endian data model i e all data types are in the memory with those of the highest value byte i e the bigger end on top This is especially important when communicating with a PC HMI e g ETC MMI via DB2 ETCxC because PCs are based on the little endian data model The control provides a number of functions to simplify this B93 T
205. all the other coordinate systems are relative to SO this has the effect that all the other coordinate systems are shifted The machine constant MK_SOTO_VERSATZ_ERLAUBT can be used to select whether this shift should also be effective in SO When the default setting is 0 a shift of SO is not effective in SO but rather only in all other coordinate systems In this case the total offset P192ff of the axes is represented as follows In SO offset Tm In Sn offset SO Sn Tm with n gt 0 Ifs MK_SOTO_VERSATZ_ERLAUBT is set to 1 a distinction is made in the creation of the total offset In SO offset SO Tm The shift with G195 is an absolute shift i e the value programmed for the axes replaces the old offset The shift is stored remanently in CMOS RAM if the machine constant MK_NULLPUNKTE_SPEICHERN is set to 1 It is then also still effective after the control has been switched off or on G195 X10 All coordinate systems except for SO are shifted in X by 10 mm MK_SOTO_VERSATZ_ERLAUBT 0 G195 XO Shift of the X axis is canceled again Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 72 G200 Geometry filter on off Syntax Meaning of the addresses Explanation Example EDSTCXN EN 2 0 With G200 a filter can be activated with which the noise of the programmed profile can be suppressed Noise infested profiles are usually created when the point den
206. anguage The PLC texts can be maintained independently from the MMI texts 01020000 01020001 Bit01 01020002 Bit02 01020003 Bit03 01020027 Bit27 01020028 Bit28 01020029 Bit29 From no 1020300 general texts error messages etc follow 01020300 02000000 Problem during machine constant transfer 02000001 Too many files open at the same time 20000005 Step travel increment axis 20000006 Modal travel axis In the path diagnostics PLC signals the F6 softkey can be used to select the card specific display of the digital and analogue inputs and outputs The input output modules are divided into 3 categories Use the following softkeys to display the connected modules of the selected type in a list box Softkey F1 The local digital input output modules are displayed Softkey F2 The local analogue input output modules are displayed Softkey F3 The remote input output modules which can be addressed via the CAN bus interface are displayed A card is selected by ENTER or with a double click The I O display is built up according to the card configuration The display contains lines and columns Digital inputs The ON state is marked by a change in colour Digital output A digital output can be selected via the cursor keys By means of the ENTER key the output is either switched on or off Analogue inputs out
207. ants in the ETC MMI 2 8 5 Adapting machine constants in the ETC MMI 1 6 To accept the value press the key Dl In the ETC MMI window press lt F12 gt diagnostics The MMI window opens in the Diagnostics operating mode Press lt F6 gt machine const Press F6 Change current MCs again The current machine constants are loaded A B Cc i 11 Wik EPS DULBAY hk HUNDE HE VOREMSTELLUNS BK APPLACH HDH WE AFRLSEFRDELLG Wk CANDANES WE ACHSENART bk_SPRDELART WE US Acham he ami Pete prenchi shee r t den al Fee besimi E EETCNO95 Available machine constants Date and version of the NC firmware Value of the selected machine constant Accept changed value Short description of the selected machine constant m o O B gt Inthe field of the available machine constants Al select the machine constant that you want to adapt To change the value of the selected machine constant press the lt Space bar gt and enter the new value in the field Cl 7 After you have made all changes press lt Enter gt 42 The changes are transferred to the ETC and updated in the MK file Lenze EDSTCXN EN 2 0 Getting started 2 Parameterising drives via machine constants 2 8 Checking the parameters of the drives 2 8 6 Test setting Note
208. aratory function GOO has modal effect The end position of the axes can be programmed either in the reference dimension system G90 or in the incremental dimension system G91 under the addresses of the positioning axes The unit F is dependent on the axes which are programmed If only linear axes are involved input units min default mm min is programmed in F If only rotation axes are involved 1 min is programmed in F If both are involved the unit F is dependent on whether the guide axes are linear or rotation axes see G16 EDSTCXN EN 2 0 Lenze 95 CNC programming 32 G functions 3 2 2 G functions individual descriptions Example Y N10 G90 Change over to the reference A dimension system and traverse the X axis to the position N20 GO X20 Z200 20 mm and the Z axis to the position 200 mm N50 GO X10 Y10 Select modal G function and approach the starting position N60 Y30 R10 The blocks N60 and N70 are s connected with a tangential arc gt X N70 X30 with a radius of 10 mm instead of with a 90 angle 96 Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 2 G01 Linear interpolation Syntax Meaning of the addresses Explanation EDSTCXN EN 2 0 In the case of linear interpolation the tool moves between the starting point i e the current actual position and the programmed end point desired position on a line The programmed end point
209. ards the terminal program is called as usual and any letters can be entered via the keyboard gt If the entered characters of the keyboard are correctly displayed in the mask of the terminal program the characters are sent back by the bridge as echo the cable must be checked for exchanged pins pin2 3 for short circuit and the connection must be checked for correct parameter setting Lenze EDSTCXN EN 2 0 2 4 3 Comparison of the operating modes Set the Standalone operating mode EDSTCXN EN 2 0 Setting the operating mode of the ETCHx Getting started Establishing the communication between PC and ETCHx Setting the operating mode of the ETCHx 2 4 2 4 3 The ETCHx can be operated in two operating modes gt Variant Standalone delivery variant Directly after the voltage has been applied the control system loads the firmware The control system executes a fixed program gt Variant with MMI After the voltage has been applied the control system waits until the firmware is loaded by a PC via any MMI program e g ETC MM Variable user programs can be executed Use User program Installed firmware on the control system Installation of the firmware Behaviour of the control system after the voltage has been applied LED display after the voltage has been applied Starting the firmware Standalone delivery The control system operates a machine without further
210. are not af fected This also applies to path operation The signal should only change when the axis is stationary If the axes are mo ving the movement is stopped immediately without a ramp Application Testing mode during which specific axes must not move Lenze EDSTCXN EN 2 0 EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 1 5 1 2 Data word Name Direction Type of signal 003 Enable traverse keys PLC gt NC static Axis 0 15 004 Enable traverse keys PLC gt NC static Axis 0 15 For each axis an enable signal for the manual traverse keys is output Signal state 1 activates the enable signal The signal is only output in Manual operation or Interrupt if all conditions for the manual traversing of the axes are met The signal is does not depend on feed or controller enable Effect in the NC The command of the manual traverse key see description DB15 is only executed if the enable signal of the PLC is output A positive edge of the signal while a command is executed does not have any impact A negative edge cancels the execution Application The signal is important if the traverse keys are not realized via the PLC but via the virtual keyboard computer The enable values control the effect of the traverse keys In the case of value O the traverse keys from data block 1 and data word 84 91 are considered by the PLC In the case of value 1 the tr
211. asic conditions for the creation of a program are described Then all the functions are described in detail The programs can be created either on the control itself a or externally using any ASCII Editor in accordance with the following rules If the control is connected to an ETC MMI via Ethernet interface the programs are directly transferred from the hard disk of the PC to the control when the control is started If no ETC MMI is used as a console the programs can be transferred via the monitor interface serial interface of the control by means of modem Programs which are saved in the control can then also be read out via the monitor interface To transfer programs via the monitor interface or a disk to the control these must have a number consisting of up to 4 digits and the extension DIN as the name The number is automatically used as the program number and inserted with a preceding sign at the start of the program The programs are automatically saved in the EEPROM of the control if the machine constant is MK_NCPROG_NICHT_INS_ EEPROM 0 If an ETC MMI is used it is also possible to process online programs Programs of this kind can have any length and are processed during the transfer Online programs must be created sequentially and must not contain any jumps or other branches Subprogram calls with G22 Lxxx are allowed A program consists of a program number program start a number of blocks and the program en
212. ate speed programmed for F has a modal effect for GO It does not have any affect on the speed for G1 G2 or G3 The value from MK_VBAHNMAX is preset The values programmed for E and L have a modal effect and do not have any affect on the high rate speed but rather only on G1 G2 and G3 However the resulting feed speed is only considered if a value not equal to zero was programmed for L The value programmed for E is also stored time synchronously in P561 and can be used e g as the spindle speed The speed is limited in such a way that neither the max path speed MK_VBAHNMAX nor the max axis speeds MK_VMAX are exceeded The acceleration and deceleration ramps on the path are limited in such a way that the max ramps MK_BESCHL MK_BREMS of the participating axes are not exceeded Route operation All axes reach their target point independently from each other The following block is only executed when all axes have reached their target point The high rate speed programmed for F has a modal effect for GO and all programmed axes It does not have any affect on the speed for G1 G2 or G3 The values from MK_VMAX are preset The speeds of the participating axes are limited to the respective max axis speeds MK_VMAX in the machine constants The maximum values MK_BESCHL MK_BREMS configured in the machine constants are used as the acceleration and deceleration ramps if smaller values were not selected with G201 General The prep
213. ated list of the axis letters of all involved axes as well as the binary number of the correction table in the last byte In this case the first letter defines the axis which should be corrected in dependency on the other axes 0 1 2 3 4 127 128 Z x Y 0 ss 1 3 These are referred to as the correction axis and the other axes as basis axes in the following Definition block The definition block describes the range of validity and the size of the following grid point table For each basis axis it contains a FLOAT for the minimum and maximum value in input units and a ULONG for the number of grid points between the minimum and the maximum value The total number of the grid points corresponds to the product of the number of the grid points of all basis axes 0 4 8 12 16 20 24 Xmin Xmax Xanz Ymin Ymax Yanz Length number of basis axes x 12 Grid points The correction values are defined in input units in table form each with a FLOAT for each grid point In this case the first grid point corresponds to the coordinate which the belongs to the minimum values of the basis axes and the last grid point of the coordinate which belongs to the maximum values of the basis axes 0 4 8 12 4k Z 1 Z 2 Z13 u Zik where k Yanz 0 4 8 12 4k 221 222 233 Z2k 0 4 8 12 4k 231 232 233 Z3k 0 4 8 12 4k Zia Zi2 Zi3 Zik where i Xanz Lenze 165 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions Definition
214. ath length about which it should be positioned into x the target block within the block search function Line number as a trigger condition for the block search x function Tool number as a trigger condition for the block search x function Geometry number as a trigger condition for the block x search function Position in the target block as a measurement between x O and 1 for the block search function 0 block start 1 block end Bit coded display which signalizes whether the x oscillation function G36 is switched on for an axis Shows whether the buffered positions in P352 367 x are valid They are valid ifthe trigger signal was recognized This parameter must first be reset to 0 to enable the positions to be latched again Number of the NC channel for which the subsequent x data is valid Current program number x Current block number x Current logical block number x Total of all executed profile pieces without empty runs x since the start ofthe program Covered path length in the current block x Current tool coordinate system Tn x Current tool coordinate system Sn x Current path speed x Lenze 3 5 35 mm GIT 183 3 5 3 5 1 184 CNC programming Data fields P field Index 556 557 558 559 560 561 562 563 564 565 566 567 576 577 578 579 583 584 585 586 587 Meaning Sync Current processing state of channel 0 for diagnosis x purposes Idle Run Brake termination Te
215. atic operation However the modal offset is automatically reset at the next opportunity The forward and backward movement on the programmed profile is not possible After being switched on the control has the state G122 X0 provided another mode was not selected in MK_VOREINSTELLUNG N33 G122 X1 Traverse keys act like a coordinate shift Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 50 G125 Non modal comparative operation parameter field comparison Syntax Meaning of the addresses Explanation Example EDSTCXN EN 2 0 Non modal comparative operation without an effect on other modal comparative operations G125 X Z K m AN Xx I E Operand 1 Operand 2 Operator Block number of the jump target The P field index for storing the comparison result must be specified if I is not programmed G125 carries out a comparison K between the two operands X and Z The comparative operations which are possible under K are 7 au AW NBeO O X Z X gt Z X lt Z X2Z XSZ XZ XA 22 0 X A 22 0 X equals Z X greater than Z X smaller than Z X greater than or equal to Z X smaller than or equal to Z X not equal to Z Bit Z deleted in X Bit Z set in X If the programmed condition applies the comparison result is true the program is continued at the indicated position I Otherwise the block following G125 is used
216. ation as directed 12 Arithmetic operations 172 Automation system Example 13 Block extensions 174 Block preprocessing 90 boot monitor call 83 Bootloader 363 Bus termination CAN bus 15 ME bus 15 C CAN address 58 Bus termination 15 Configuring Master 344 Searching modules 348 Slave configuration 345 CE conformity 12 CenterString 361 Check drives with ETC MMI 43 44 Checking IO number 347 ClearCanMsg 412 CloseCanMsg 411 CLRRXBUFFER 380 CLRTXBUFFER 381 EDSTCXN EN 2 0 Contents i CNC program enter 48 error message 74 extend 50 load 49 save 48 start 49 test 72 CNC programming 45 CoDeSys 337 340 362 Addressing I O modules 349 Addressing 349 Data blocks 350 CAN slave configuration 345 Checking IO number 347 configure control system 51 Configuring CAN Master 344 Configuring I O modules 343 Configuring PLC tasks 340 342 create project 52 Data blocks 356 Error messages 360 Functions AddCobldCanMsg 410 ALLOCV24 377 CANopen functions 409 CenterString 361 ClearCanMsg 412 CloseCanMsg 411 CLRRXBUFFER 380 CLRTXBUFFER 381 CopDefineDS403 398 CopGetNodeState 400 CopReadObjekt 401 CopWriteObject 403 CopXDefineDS403 400 CopXDisableSync 407 CopXEnableSync 407 CopXReadObject 402 CopXSetOperational 405 CopXSetPreoperational 406 CopXWriteObject 404 CopyChannelDisplay
217. ation of the individual axes for exact positioning with following error monitoring in mm or degrees This function must be activated with G60 CL 118 MK_GENAUHALTZEIT This machine constant defines the time in seconds by which the extent of the following error of an axis must have constantly fallen short of the configured value under MK_SCHLEPPGENAUHALT before the next function can be executed This MC is only effective if the Genauhalt mit Schleppabstands berwachung Exact positioning with following error monitoring function is switched on The default value is 0 Lenze EDSTCXN EN 2 0 Machine constants A Configuration of axes Controller settings 4 9 MK_T2 4 9 1 4 9 Configuration of axes Controller settings 4 9 1 MK_T2 EDSTCXN EN 2 0 This machine constant is the filter time constant for the fine interpolation filter in seconds This MC does not affect the position control directly but the fine interpolation by means of which new position setpoints are calculated in the fine interpolation grid MK_FIT_PRO_GIT The fine interpolation filter is a filter of the 2nd order which can be used to smooth the calculated position setpoints to ensure that specific axes move more smoothly This MC also affects axes with a digital interface The fine interpolation filter causes a time delay with regard to the output of the position setpoints This delay is approx twice as long as the filter time constant Therefore t
218. averse keys which are realized via the virtual keyboard MMI are considered Data word Name Direction Type of signal 005 00 15 Controller enable axis 0 15 PLC gt NC static For each axis a Reglerfreigabe Controller enable signal is output Signal state 1 activates the controller enable The controller enable is output be fore the feed enable is activated Effect in the NC In 0 state the position control loop of the respective axis is opened Any current movements and program processing is interrupted the axes are stopped immediately without ramp In 1 state the control loops are closed When the control loops close the current actual positions of the axes are transferred to the NC computer Data word Name Direction Type of signal 007 00 Read enable PLC gt NC static The 1 signal enables the execution of the next block Effect in the NC If the signal has state 1 the next NC block can be executed State 0 inhibits the processing of the next traversing block in the control other blocks such as arithmetic blocks are processed as well as the output of synchronized M functions to the PLC If the state switches to 0 the current block is not canceled In manual operation the processing of a new data record as well as the trans fer of M functions is inhibited Lenze 548 gt 5 1 5 1 2 250 Interface PLC lt gt NC operating system Definitions
219. ay G252 is a function for interactively inputting a value via the control computer The current value of the activated P field parameter is displayed as the default proposal for the input A lower limit can be preset under A and an upper limit under B for the value of the input If one or both input limits are missing the corresponding minimum or maximum values are used The address C holds the index of the parameter to be entered in which the input value should be stored Under the address E a block number can be programmed at which the program should continue if the input was canceled with the ESC button When the input is completed with ENTER the program is continued with the block following G252 X can be used to select another column position and Y can be used to select another line position for the text output In addition an alternative character size can be defined under Z If no X or Y is specified the text appears at the position defined in the control computer in the defined size application dependent standard status line above softkeys in normal size Lenze EDSTCXN EN 2 0 Example EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 During the input the text specified under F is output and the desired parameter accepted in the defined format The input format and the display position of the parameter is to be indicated at the desired position in the
220. ay you can configure the connections to the control systems and call debug information The configuration interface is a separate application gtwconf exe which is installed with the ETC MMI gateway It can be started via the gateway menu CQ 277 or as Windows application e g via Windows File Explorer Connection Setting up connections The Connections tab shows the list of the configured connections AL hiram Connections Trace 5boa Hama Paina ETC_TFAMHGI 172 16 5 70 Asa Rama oses Seine ETCN003 A green LED next to the connection name indicates an active connection via which the messages and or cyclic data are transferred Lenze EDSTCXN EN 2 0 Add create new connection Remove Delete connection EDSTCXN EN 2 0 ETC MMI Gateway 6 Configuring the ETC MMI gateway 6 3 Connection Setting up connections 6 3 1 Use the Add button to create a new connection In the Settings dialogue you determine the communication parameters ETCN004 Name To enable an application to communicate with a control system via the ETC MMI gateway each connection must be assigned an unambiguous name You can choose any name Assign e g consistent names ETCO ETC1 etc or application specific names ramp laser control etc A name can contain up to 31 ASCII characters A Z a 2 0 9 Type Determine the connection type gt UDP connection for ETCHx cont
221. b ETCxM Input Output address The basic addresses must always be stated as word addresses The address defines where the process data of the module are located within the process image I O memory This also determines to which PLC task the data will be allocated The following table shows the allocation of the process image to the individual PLC tasks Task no I O range from to 1 WO W1023 2 W1024 W1535 3 W1536 W1791 4 W1792 W2047 Further information can be found in the chapter Addressing E1 349 ETCxC Input Output address The basic addresses must be issued as word addresses within the range of QW64 IW64 to QW127 IW127 Further information can be found in the chapter Addressing 1 349 Diagnostic address This field will not be evaluated by the control EDSTCXN EN 2 0 Lenze 345 Q 8 4 8 4 4 CAN parameters 346 PLC programming Project planning Configuring I O modules Bare ismeta CAM better Acer PO Mapping Seed PDO Macey Save ta rati ras ikidai aD wae DF Eee BT r Wri ped FE hoege iag Gem 17i Sri pme Lie weii fo fastas erga Harter arima ire l Fe raryrep iaga D pangas DD iti ETC108 General In node ID the CAN ID node number set for the module must be entered Nodeguarding Nodeguarding is used to detect whether a CANopen module is connected to the Bus To do so the control sends a message to the module in guard time intervals
222. be inhibi ted for example by M functions within a program Data word Name Direction Type of signal 204 00 07 Traverse key axis 0 HMI PLC static 204 08 15 Traverse key axis 1 HMI PLC static 212 00 07 Traverse key axis 14 HMI PLC static 212 08 15 Traverse key axis 15 HMI PLC static Like description for DW 84 91 Only significant if traverse key enable of the PLC is activated and if traverse keys are available for the MMI Lenze 267 EDSTCXN EN 2 0 5 5 1 5 1 3 5 1 3 268 Interface PLC lt gt NC operating system Definitions Data block 2 Data block 2 Data word Name Direction Type of signal 212 00 15 Area of the Virtual keyboard HMI gt PLC static 213 00 15 214 00 15 215 00 15 216 00 15 217 00 15 218 00 15 219 00 15 Area of the virtual keyboard whose meaning function can be freely defined If the ETC MMI PC user interface is used this is where the states of the freely configurable PLC keys soft keys are stored bit by bit see chapter ETC MMI The communication between MMI and PLC takes place via this data block An image of the data block is provided in the Dual Port RAM Data word 0 127 contains signals from the PLC to the MMI Data word 128 191 contains signals from HMI to the PLC From data word 224 also all data of the machine constant MK_DW224 255 which may be used application specifically is stored This is the data for con figuring the machine
223. be made on the basis of the specifications illustrations and descriptions in this manual No liability is accepted by Lenze as to the suitability of any of the procedures or circuit recommendations included here The information in this manual describe the properties of the products without guaranteeing them No liability will be accepted for damage or disturbance caused by gt ignoring this manual unauthorised alterations to the components of the ETC Motion Control System operating errors and incorrect working on or with the ETC Motion Control System See terms of sales and delivery of Lenze Drive Systems GmbH Report any claims under warranty to Lenze immediately on discovery of the defect or fault The warranty is void in all cases where liability cannot be established Lenze EDSTCXN EN 2 0 Getting started 2 System overview 2 1 Examples for an automation system 2 1 1 2 Getting started This chapter explains the basics of the ETC system and describes the procedure for realising an automation task 2 1 System overview 2 1 1 Examples for an automation system Ethernet ETCHx ETCPx EDSTCXN EN 2 0 ETC System Components ETCHN003 ETCHTO00 Si FE 1m Pi ZU ECS MCS System Drives HMI O System IP20 ETCMO01 The core of the automation system is the ETC control in the top hat rail design ETCHx or as PCI insert card ETCPx The top hat rail design ETCHx is normally used in a so called ETC islan
224. ber x XxX XxX x Total of all executed profile pieces without empty runs since the start ofthe program Covered path length in the current block Current tool coordinate system Tn Current tool coordinate system Sn x XxX XxX x Current path speed Lenze Unit EDSTCXN EN 2 0 EDSTCXN EN 2 0 Index 588 589 590 591 592 593 594 595 596 597 598 599 610 611 612 613 666 669 670 671 672 673 CNC programming Data fields P field Meaning Sync Current processing state of channel N for diagnosis x purposes Idle Run Brake termination Termination wait quit Termination Brake interrupt Interrupt Brake block jump Block jump Brake interrupt 10 Interrupt 11 Brake error 12 Error 13 Balancing run Current increment e g stitch length during sewing x Current interpreter state x 0 No program active 1 Single function active 2 Program active 3 Interrupt program active Bit coded state of modal functions x BitO O route operation G30 1 path operation G31 Bit1 O empty run M15 M16 M21 1 profile M14 Bit2 O event handler disabled G132 1 event handler enabled G133 Bit3 O override enabled M48 1 override disabled M49 Current line number not block number in the NC x program Current setpoint speed e g for a spindle Corresponds x to the value programmed for address E in the DIN block GO G3 Number of the M
225. ble 1 correction of Y depending on X Table 2 correction of Z depending on X Y First 1 then 2 The correction of Y is included in the correction of Z and the corrections are superimposed First 2 then 1 The corrections are independent and are not superimposed The sequence of the corrections to be executed corresponds to the programming sequence of the G233 functions The correction tables are deactivated for all axes by programming G233 without axis letters and at the end of the program or in the event of a program termination G233 Z2 Correction table 2 on target axis in the table must be Z G233 Y1 Correction table 1 on target axis must be Y G233 Y3 Correction table 3 on target axis must be Y This defines the sequence 2 1 3 G233 ZO Correction of Z off The remaining sequence is 1 3 G233 YO All correction tables of Y off Lenze EDSTCXN EN 2 0 Structure of correction file EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 The correction tables are created as binary files and must be transferred to the control either via a connected ETC MMI or with the hyper terminal under the name ACHS3D KOR The must be replaced by any numbers or letters The file consists of a 128 byte long header a definition block and a block with the grid point values for the axis to be corrected Header The header is 128 bytes long and contains the null termin
226. c Unit 0 15 NC actual position of the axes in reference to the x mm current coordinate system 16 31 Total of modal actual position and NC actual position of x mm the axes P160ff POff 32 47 NC target position of the axes in reference to the x mm current coordinate system 64 79 Zero point offset of coordinate system SO x mm 80 95 Zero point offset of coordinate system Sn gt P586 from x mm channel N 96 111 Zero point offset of coordinate system Sn gt P554 from x mm channel 0 Lenze 181 3 5 35H 182 CNC programming Data fields P field Index 112 127 128 143 144 159 160 175 176 191 192 207 208 223 224 239 240 255 256 271 272 287 304 319 320 335 336 351 352 367 394 409 410 425 426 441 442 457 458 473 480 495 496 511 640 655 928 943 944 959 960 975 992 1007 Meaning Zero point offset of coordinate system Tn gt P585 from channel N Zero point offset of coordinate system Tn gt P553 from channel 0 Modal target position of the axes in reference to the current coordinate system Modal actual position of the axes in reference to the current coordinate system Modal target position specification in reference to the current coordinate system NC total offset of the axes of SO Sn Tn channel independent Modal speed specification of the axes Real actual position of
227. c_feed_release_axes_w gt DB1_W5_plc2nc_regulator_release_w gt DB1_X128_1_nc2plc_NC_ready_2_bit EDSTCXN EN 2 0 Lenze 65 Getting started 2 12 Creating a PLC sample program 2 12 2 Starting and configuring the PLC sample program Function M_FUNCTIONS M14 66 The function block M_FUNCTIONS evaluates the M functions coming from the NC By means of the two following system variables the block detects whether a new M function has been requested gt DB1_NC2SPS_MFKT_STROBE_BIT DB1_SPS2NC_MFKT_QUITT_BIT DB1_X150 0 nc2plc_M_function_strobe_bit DB1_X32_0_plc2nc_acknowledgement_for_M_function_bit Via the following system variable the block detects which M function has been requested gt DB1_NC2SPS_MFKT_W DB1_W151_nc2plc_M_function_w As long as an M function is active a window opens in the ETC MMI via the bit DB2_HINT_OPTIONALLYSTOP_ACTIVE_BIT in the system variable DB2_SPS2HMI_HINWEIS_AW EEE N ETCN031 After it has been detected that the new M function is M14 or M15 the M function is processed in the program PLC_KEYS The output O_ToolDown is set and a timer of 5 s is started If the input _ ToolDown is set within the next 5 s the function is switched otherwise an error message is displayed The error message is realised via the function SPSERROR which opens an error window in the ETC MMI via an error number F_TOOL_UP_KI ai ck i Teal down SETI HT_FOC_bev_tool_down a0 a MLA C
228. case of spindle type 5 and two sewing heads Speed specification from PLC to spindle handler for speed reduction during sewing Path target specification for customer specific comparative operation of type 2 Corner speed of the sewing motor in percent of the setpoint speed for reducing the speed for non tangential block transitions Lenze Sync m s mm min Unit EDSTCXN EN 2 0 Rectraction handler for measurement machine Index 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1086 3 5 2 Ofield CNC programming Data fields Q field Meaning This is set when a probing has happened It can be used in the probe cycle as a condition for a modal branch G130 Number of error triggered for diagnosis purposes Probe path reserved for probe cycle Probe path tolerance reserved for probe cycle Probe speed reserved for probe cycle Deceleration ramp to stop the traverse movement after a probe Rectraction speed after probing Rectraction acceleration after probing Rectraction path relative to the probing position Waiting time after probing triggering for filtering out triggered errors Probe status 0 no probing taken place yet 1 valid probing taking place 2 probing could be valid decision in the next GIT Saved probing positions For the pos edge these are accepted at the trigger signal Sync 3 5 3 5 2 The Q field is a bit oriented field with a size of 64 b
229. check and start of a new NC channel Call of a subprogram as a separate program or within the current program optionally dependent on a condition and programmable with repetition The subprogram can also be started in a new NC channel Syntax G22 AXES K L J IE Meaning of the addresses AXES Axes which should be transferred to the new NC channel K K Number of the new NC channel gt 1 L Number of the subprogram 1 9999 J Block number I Loop counter E Index of the Q Bit direct programming or of the parameter field indirect programming for the condition check Explanation Function G22 allows a subprogram call which can also be executed conditionally via the DIN address E on request and which can be executed in a separate NC channel via the DIN address K If E is directly programmed the function is time synchronized and the value of E is interpreted as an index of a Q Bit The jump is only executed if the Q Bit is 1 In the case of indirect programming the jump is only executed when the contents of the specified parameter is not equal to 0 A time synchronization only takes place if it is a time synchronized parameter The program processing branches to the called subprogram L the main program is continued after the return from the subprogram with the block following the subprogram call Up to seven subprogram calls can be nested Functions which have a modal effect are still valid after the return from a subprog
230. cipal axis is a linear axis then the second and third principal axis must also be a linear axis and all secondary axes must be rotation axes All axes which should be involved in the three main planes must be programmed The programming of the feed speed takes place with all interpolation tasks in which one of the principal axes or another linear axis is involved in mm min If the first principal axis is a rotation axis no other axes must be programmed for G16 The programmed axis becomes the master axis The programming of the feed speed for all interpolations in which this axis is involved is made in 1 min G16 can be programmed without parameters in order to restore the default configuration with X Y Z and A B C G16 U1 V2 W4 Selection of the U and V axis as linear principal axes and W as a rotative secondary axis valid in the X Y plane G17 G17 Select U V plane GO UO VO Approach starting point for circular interpolation G2 U100 R50 Interpolate semi circle in the U V plane G16 Restore default configuration Lenze 107 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 9 G17 G18 G19 Plane selection Syntax Explanation Example The preparatory functions G17 G19 are used to select the corresponding plane for various functions e g circular interpolation in two axes G17 G18 G19 Selected plane G17 X Y plane G18 X Z plane G19 Y Z plane The selected plane is val
231. cknowledgement signal is set to 21 Ifthe data acceptance takes longer gt 10 sec the Read enable signal must be withdrawn This must take place before the acknowledgement signal is set Lenze EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 1 5 1 2 Data word Name Direction Type of signal 160 H function NC gt PLC Message The data word contains the number of the H function in binary representa tion For the description on the acceptance of an H function refer to the Pro gramming instructions Effect in the PLC Execution of the function specified via the H function Read enable is activated after the function has been completed or at another sui table point in time Data word Name Direction Type of signal 177 00 15 Home position approached NC gt PLC static The signal has the value 1 if a home position approach has been carried out successfully and the value 0 after the control has been switched on and if the home position is unknown Effect in the PLC Checking the home position approach and disabling ma chine functions or traversing movements feed enable if the home position is not approached Data word Name Direction Type of signal 178 00 15 Limit switch active NC PLC static The signal has the value 1 if the positive limit switch of an axis is active otherwise value 0 Effect in the PLC Disabling machine functions or traversi
232. cording to the rules specified at the beginning of the section The HyperTerminal program can now be quit Note Note down the IP address because it must be specified when creating connections in the ETC MMI Gateway M 34 Lenze a9 N IN 2 5 30 Getting started Configuring ETC MMI and ETC MMI gateway Configuring ETC MMI and ETC MMI gateway The program ETC MMI is used for the following tasks gt Configuring the control system Operating and monitoring the control system Maintenance of the control system and error diagnosis The MMI gateway is the communications program between Windows applications and ETC control systems Different applications such as MMls configuration tools or OPC servers can establish connections to one or more control systems at the same time The gateway implements all required mechanisms for access control error handling and diagnostics and supports control specific hardware drivers and communication protocols By means of the configuration tools new connections can be added and existing connections can be edited The ETC MMI Gateway is installed during the installation of the Lenze ETC MMIs It can also be installed as a separate application In this case it is available as communication channel for other applications For further information please refer to the chapters ETC MMI Gateway 4 276 and ETC MMI 4 286 Lenze EDSTCXN EN 2 0 2 6 2 6 1
233. criptor sb1_b defines the type of message For every user data format used a separate control block should be used The definition must be agreed between the PLC and MMI developer The variables sb2_b and index_b are optional Their use must be resolved between the PLC and HMI developer handle_b is reserved for the simultaneous communication with several applications After entering the message into the send buffer to the HMI OK will be set to TRUE In case of a faulty descriptor string datatypes _s or a send buffer overrun OK will be set to FALSE The function will immediately provide a return even if a message could not be sent In the case of a send buffer overrun it can of course be called again later Note These messages are always transferred unsynchronised Up to 30 messages of this type from NCR to MMI can be buffered in the control in total the rest will be lost In this case the control reports a corresponding error message If necessary synchronisation mechanisms must be agreed between HMI and PLC Lenze EDSTCXN EN 2 0 PLC programming 8 Library 8 8 Realtime clock only ETCxM 8 8 8 8 8 8 Realtime clock only ETCxM 8 8 8 1 RTC_GetTime_DT only ETCxM Declaration FUNCTION RTC_GetTime_DT BOOL VAR_INPUT GetTime_pr DWORD END_VAR Description This function allows for the realtime clock of the control to be read The function must be given the address of a variable of type DT see example The return value TRU
234. ct ETCxC at CAN2 FUNCTION CopWriteObject BOOL ETCxC and ETCxM at CAN1 Description of objects in the object directory of CANopen devices at CAN1 VAR_INPUT NodelD BYTE ObjectNum WORD SubIndex BYTE DataType WORD Buffer DINT BufSize WORD Status POINTER TO BYTE END_VAR FUNCTION DrvWriteObject BOOL ETCxC at CAN2 Description of objects in the object directory of CANopen devices at CAN2 VAR_INPUT NodelD BYTE ObjectNum WORD SubIndex BYTE DataType WORD Buffer DINT BufSize WORD Status POINTER TO BYTE END_VAR NodelD Node number of the CANopen device ObjectNum Number of the object to be written SubIndex Index of the subobject to be written DataType Data type according to CiA DS301 Buffer Address of the buffer in which the data to be written are stored BufSize Number of bytes to be written Status Address of a variable for filing the transfer status This function allows the PLC to write to individual objects of CANopen devices The writing process takes place in the background whilst the PLC continues working The transfer queue can buffer up to 15 read write requests By requesting the transfer status the PLC can check whether the transfer is still ongoing has finished or whether an error has occurred during transfer If several transfer requests are to be carried out in parallel a separate status variable needs to be defined for each request Lenze 463 8 PLC programming
235. ctions default SCHNEIDEN TRC with tangential correction of the C axis for cutting technology special CUT treatment for M14 M15 M16 und M1014 M1015 M1016 SCHNEIDEN1 Like SCHNEIDEN CUT but with additional functions for the CUT1 management of the knife length at the beginning and the end of the profile additional special treatment for M46 M47 M50 M51 and M1046 M1047 M1050 M1051 SCHNEIDEN2 TRC compatibility mode with tangential correction of the C axis for cutting CUT2 technology without special treatment of M functions SCHNEIDEN3 Like SCHNEIDEN2 CUT2 but an additional rectangular approach or CUT3 withdrawal block is inserted for G41 42 or G40 Customer specific modules that cannot be listed here 4 3 2 MK_VOREINSTELLUNG This machine constant is a string constant via which several default settings of G functions can be implemented The following G functions may be specified within the string separated by a semicolon Value Meaning GO0 G3 Set modal G function optionally with speed specification F G100 G103 Example AG1 F1000 G17 G18 G19 Selection of main plane X Y Z X Y Z G26 Activation of software limit switch of the specified axes example AG26 XO Yo G30 G31 Activation of route operation path operation G60 Activation of Look Ahead or exact positioning example AG60 XO G90 G91 Activation of absolute dimension incremental dimension for all axes G112 Activati
236. d Error when loading the firmware from the FLASH PROM After 5 times flashing the boot monitor is activated Error when starting the firmware Lenze EDSTCXN EN 2 0 Operation EDSTCXN EN 2 0 Getting started 2 Status display 2 2 When the control enters the operating mode after start up the following pattern of flashing and indications applies LED Watchdog Reserved ERROR LED 1 LED 2 LED 3 LED 4 LED 5 LED 6 Meaning Watchdog must always illuminate when running Without function Flashes after an exception violation of the control program protection during runtime exceeding the permitted variable range division by zero etc Flashes at the clock pulse of the coarse interpolator Flashes at the clock pulse of the interpreter Flashes at the clock pulse of the central control Flashes at the clock pulse of the fine interpolator Flashes with each RS232 interrupt or CAN interrupt Flashes at the clock pulse of the PLC cycle time Note The flashing frequency can be so low with short programs that the LEDs appear dark Lenze 19 2 Getting started 2 3 Commissioning steps overview 2 3 Commissioning steps overview Stop Observe the notes in the chapter Initital switch on of the ETC Hardware Manual before commissioning the system Note Only build in and install the PCI control variant ETCPx in step 6 Step ETCHC ETCPC Description See 1 x Connect ETCHC via RS232 cable with PC and start
237. d MK_CANOPEN_BAUDRATE MK_DELTAT MC keyword MK_IMPULSE MK_WEG MC keyword MK_MODVMAX MK_VMAX MK_BESCHL MK_BREMS MK_T_BESCHL MC keyword MK_VBAHNMAX MK_BAHNBESCHL MK_BAHNBREMS MK_T_BAHNBESCHL No of values 1 1 No of values 12 18 12 No of values 2 1 No of values 12 12 No of values 12 12 12 12 12 Lenze Values Values 0 1 2 3 1 1 1 1 1 1 1 1 0 1 2 3 4 5 6 7 8 9 10 11 13 14 15 16 17 0 0 0 0 0 0 0 0 0 0 0 0 Values 500 1000 2 Values 65536 65536 65536 65536 65536 65536 65536 65536 65536 65536 65536 65536 10 10 10 10 10 10 10 10 10 10 10 10 Values 10 10 10 10 10 10 10 10 10 10 10 10 20 20 20 20 20 20 20 20 20 20 20 20 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 0 0 0 0 0 0 0 0 0 0 0 0 Values 20 39 2 8 2 8 3 2 8 3 40 Getting started Parameterising drives via machine constants Notes on loading the MK file into the control system Notes on loading the MK file into the control system Make sure that the number of parameters in the file of machine constants corresponds to the number of axes 12 in the operating system of the control system When the machine constant file is loaded into the control system 3 cases are possible gt The number of parameters in the file equals the maximum number in the operating system The parameters overwri
238. d CQ 15 it communicates via Ethernet with the applications on the IPC or standard PC The ETCPC is inserted into the IPC or standard PC and communicates with the applications via the PCI bus Both designs have two separate CAN busses At CAN1 bus or also ME bus the I O modules and any operating components are connected Third party devices must comply with teh DS401 profile of the CANopen specification The drives e g the ECS compact servo are connected to the connection for the Motion CAN bus CAN2 at the front plate External drives must comply with the profile DS402 of the CANopen specification and in particular support the Interpolated Position Mode Lenze 13 2 1 2 1 1 IPC 14 Getting started System overview Examples for an automation system To carry out its allocated control function the ETC control needs various programs which are transferred from the IPC or standard PC Operating system or firmware of the control e g ETCHC rsc PLC programs e g SPSDummy prg CNC programs i e cycle and DIN programs e g 9000 zyk or Nikolaus din The ETC control is operated and maintained via the IPC or standard PC The following applications might run on it gt Windows 2000 or XPoperating system gt Terminal program e g HyperTerminal for establishing the Ethernet connection between IPC and ETCHx control and for the configuration of the ETCHx control via the monitor interface
239. d It must consist of at least the program start and the program end A program can contain any number of blocks The only limit is placed by the available total memory The number of programs is limited to an adjustable value C2 200 No control characters must be used in a program Lenze 87 CNC programming 3 1 Basics Program start Block Program loop and branch Program end 88 Generally a program starts with a sign followed by the program number 1 9999 When a program is loaded via the monitor interface this program number is automatically created from the file name and inserted at the start of the program 123 DIN gt 123 Every program can be directly started or called as a subprogram by other programs Note that in individual cases the relevant parameters must be provided No distinction is made between main programs and subprograms by means of the program number Generally program numbers 8000 are considered separately Normally cycle programs are stored in this range A block consists of a statement optionally preceded by a block number see below A statement consists of the following elements gt G preparatory function gt M S T auxiliary functions gt Q fast outputs Parameter assignments gt Computer statement gt Comment All elements must only be programmed once in a block Exceptions are Fast outputs and Parameter assignme
240. d buffer ofthe CAN controller has been assigned a different COB ID Lenze 407 8 PLC programming 8 8 Library 8 8 5 CANopen functions 8 8 5 12 CopyChannelDisplayData only ETCxC Declaration Parameters Description FUNCTION CopyChannelDisplayData BOOL updates the channel dependent data of the NCR in the transferred structure VAR_INPUT kanal_b BYTE data_pst POINTER TO CHANNELDATA_TR END_VAR kanal_b Selection ofthe NC channel 0 1 data_pst Pointer to a variable of type CHANNELDATA_TR The function updates the values of the variables within the structure 8 8 5 13 CopyCyclicDisplayData only ETCxC Declaration Parameters Description FUNCTION CopyCyclicDisplayData BOOL updates the data in the transferred structure VAR_INPUT data_pst POINTER TO CYCLICDATA_TR END_VAR data_pst Pointer to a variable of type CYCLICDATA_TR The function updates the values of the variables within the structure 8 8 5 14 CopyDiagDisplayData only ETCxC Declaration Parameters Description 408 FUNCTION CopyDiagDisplayData BOOL updates the data of the structure VAR_INPUT data_pst POINTER TO DIAGDATA_TR END_VAR data_pst Pointer to a variable of type CYCLICDATA_TR The function updates the values of the variables within the structure Lenze EDSTCXN EN 2 0 8 8 5 15 Global constants for CANopen functions EDSTCXN EN 2 0 PLC programming Library CANopen functions 8 8 8 8 8 5 Th
241. d into the field event or OB20 if the program component to be linked to the task was called PLC_PRG2 2nd task entry As soon as the task management is used by CoDeSys a task entry for the main component PLC_PRG must also be entered otherwise this component will no longer be called m HT sk ooet iqu A AG PIC a m aa th p rics Km m Pre dail Hj Type weary ge by suber ceed Fagene Ei PEA z ETC105 If only the main task is required it is not necessary to edit the task configuration Link the tasks to the IEC program components Any IEC program component can be linked to the 1st task entry Because the component designation PLC_PRG has a special meaning it should be renamed e g PLC_PRG1 and then linked to the 2nd task entry Note When accessing data or when calling components which are used in both tasks PLC_TASK PLC_PRG1 e g Name BDT_TASK PLC_PRG2 it must be ensured that no synchronisation between the two tasks exists The PLC programmer must ensure that this does not cause any problems 8 4 4 Configuring I O modules EDSTCXN EN 2 0 CoDeSys includes a CAN Bus configurator The configurator is based on so called EDS files EDS Electronic Data Sheet which must be stored in the subdirectory ETC of the target directory A general description of the configuration of a CAN module can be found in the CoDeSys documentation Lenze 343 8 PLC prog
242. d via the PLC Either Feed stop or Optionally stop is active ETCN072 Increase the axis or path speed ofthe selected axis in percent of MK_VMAX Over 10 the value is changed in steps of 10 below 10 in steps of 1 Reduce the axis or path speed of the selected axis in percent of MK_VMAX Over 10 the value is changed in steps of 10 below 10 in steps of 1 A frame is drawn around the DIN program and dimensioned in the input units Zoom into the profile Zoom out of the profile The graphic is maximised All other displays are hidden EDSTCXN EN 2 0 Vertical function keys for graphics on EDSTCXN EN 2 0 Display idle travel Progress in colour X plus X minus Y plus Y minus Lenze ETC MMI Automatic operating mode 7 5 Idle travels are displayed in a different colour M15 M14 Note The graphic detects idle travels by means of an upstream M15 work paths by means of M14 The colour of paths that have been travelled completely changes Shift representation in X plus direction Shift representation in X minus direction Shift representation in Y plus direction Shift representation in Y minus direction 301 m ETC MMI 7 6 Programming operating mode 7 6 Programming operating mode ae fs a EE In the Program operating mode you edit CNC programs or any text files The operating mode offers a file management system for copying printing and deletin
243. dialogue opens CQ Save displayed program file under a new name A dialogue opens CQ 306 Here you can enter dialogue and Tile name e contents o e original Tile remal This key is only visible if a corresponding bit is set in the PLC Switch on teach mode In the teach mode the current position can be determined and transferred to the cursor position in the editor In this mode the axes can be traversed via the PLC By means of a PLC message the current position is entered in the editor as traverse block with the axis letters of the axes configured for teach in In the extended teach in mode it is possible to observe the program flow in single block operation in the editor The current line position of the ETCxC is highlighted For this purpose the program currently running on the ETCxC must be loaded in the editor The user can now control his program via the single block operation and teach in some blocks again for correction In this mode the blocks are overwritten if the cursor is not on an empty line Otherwise the blocks are added Caution When new blocks are added the line number in the editor does no longer correspond to the line number in the running program of the ETCxC This means that the wrong line position will be displayed during the following program flow Quit editing the program and delete editor contents The original file is not changed Transfer program from the PC to the ETCxC After a fu
244. drives via machine constants The properties of the drives must be parameterised both in the drive itself and in the control system In the control system the properties are assigned via machine constants MCs A machine constant consists of a keyword and the corresponding values for example MK_VMAX 20 The machine constants are saved on the PC in a text file with the extension mk e g ETCHC mk for the ETCHC and are loaded into the control system via the ETC MMI The machine constants can be changed after loading via a dialogue in the ETC MMI Overview of the most important machine constants The machine constants listed in the following are mandatory for the operation of the drive In relation to the drives they are only a subset of the required parameterisation For a detailed description of all machine constants refer to chapter Machine constants C4 190 Stop The control system only initialises the drives via its machine constants and determines path related parameters The control related parameters the safety functions of the drives and the parameters of the reference run must be parameterised in the drive itself by means of the GDC Global Drive Control MC keyword No of Values Meaning values MK_TEST_OHNEMECHANIK 1 0 1 0 Achsrechner Axis computer of the NC firmware works and considers the actual position counter ofthe drive 1 Achsrechner Axis computer of the NC firmware works but
245. e Data word Name Direction Type of signal 137 Current submenu NC PLC static reserved Data word Name Direction Type of signal 148 00 255 15 Text output G253 NC PLC static The texts that are output with the G function G253 without parameter E are shown from DW148 onwards for the PLC In data block 1 the standard signals are exchanged Standard signals are all signals and messages recorded in the respective specifications which reflect the state of the PLC and the NC and affect the operation of the NC or the PLC They are also signals messages that do not exist in the general specifica tions but are part of the standard scope of the ETC In the following you can find an overview of the assignment of the data block This is followed by individual descriptions of signals and messages Data word Name Direction 000 00 db1_sps2nc_notaus_bit PLC NC 000 01 db1_sps2nc_vorschubfreigabe_bit PLC gt NC 000 02 db1_sps2nc_soforthalt_bit PLC gt NC 000 03 db1_sps2nc_einzelfunktionsperre_bit PLC gt NC 001 00 001 15 db1_sps2nc_vorschubfreigabe_w PLC NC 002 00 002 15 db1_sps2nc_position_halt_w PLC NC 003 00 003 15 db1_sps2nc_verfahrtastenfreigabe_plus_w SP NC 004 00 004 15 db1_sps2nc_verfahrtastenfreigabe_minus_w PLC gt NC 005 00 005 15 db1_sps2nc_reglerfreigabe_w PLC gt NC 007 00 db1_sps2nc_einlesefreigabe_bit PLC gt NC 009 00 009 07 db1_sps2nc_programmstart_b PLC gt NC 009 08 009 11 db1_sps2nc_
246. e 63 Getting started 2 12 Creating a PLC sample program 2 12 2 Starting and configuring the PLC sample program Task for M14 and M15 In a PLC program the two functions M14 and M15 are to be programmed as follows M function Target function Programming in the PLC program M15 Lift tool Output tool down O_ToolDown 0 Wait for tool up I_ToolUp 1 M14 Lower tool Output tool down O_ToolDown 1 Wait for tool up 1_ToolDown 1 M30 Program end Sequence control A program in the language sequence control consists of the basic elements n step transition and branch In the sequential function chart elements can be added via the right mouse button The program Training1 consists of an initialisation block with two steps and one transition Element Name Contents Comment Step Init Initialisation of the system Initialisation program variables Transition True Switchover tot he next step Main Step Main Block START_STOP Evaluation of the system variables for Start and Stop Block M_FUNCTIONS Processing of the M functions Block Release of the system RELEASE_SIGNAL_HANDLER variables evaluation of the input emergency stop I_NoEStop Block PLC_KEYS Execution ofthe PLC keys of the ETC MMI and the M functions M14 and M15 Transition False No switchover to the next step due to FALSE The program remains in step Main After you have double clicked on
247. e This can be preceded by a block number Comments are allowed in a block with a mathematical expression when included in curly brackets The formula processor can also be used to calculate complex expressions for the control at runtime Both constants and elements from the parameter field can be used as operands and combined in any way The arithmetic operations are indicated by agreed operations The use of brackets is allowed Arithmetic operations Syntax Operation Description x y x y Addition x y x y Subtraction x y xy Multiplication x y x y Division x y xy Power SOR x x2 Square of a number SORT x Jr Square root of anumber HYPOT x y 3 5 Amount of a vector in the plane qx Y HYPOT3 x y z 7 gt gt Amount of a vector in the space erir FMOD x y rest x y Remaining amount from division x y SIN x sinx Sinus of an angle in degrees cos x cosx Cosinus of an angle in degrees TAN x tanx Tangent of an angle in degrees ASIN x arcsinx Arc sine delivers an angle between 90 and 90 ACOS x arccosx Arc cosine delivers an angle between 0 and 180 ATAN x arctanx Arc tangent delivers an angle between 90 and 90 ATAN2 y x arctan y x Arc tangent with two arguments delivers an angle between 0 and 360 MOD360 x rest x 360 Angle x modulo 360 ABS x x Absolute value of a number without sign SIGN x x x Sign of a number 1 for x gt 0 and 1 for x lt 0 ROUND x roundx Round u
248. e ETC MMI gateway The name of the control system is set in the MMIGTWAY EXE Deactivate touch screen display Name of the directory where all files for configuration are located In the directory specified here the error file with the name errorlog txt is created Name of the directory where DIN programs are located This ASCII file directory as specified under Term cfg contains error texts affecting the NC system This ASCII file directory as specified under Term cfg contains error texts produced by the PLC This ASCII file directory as specified under Term cfg contains error texts affecting the IPC The value specified here determines the operating mode of the IPC which is shown after a successful program start 1 Setup 2 Automatic 3 Programming 4 Diagnostics 327 7 ETC MMI 7 8 Appendix 7 8 3 Configuration file DELPHMMI INI Section Term LanguagePath language language left 0 doscal 0 watchdog 0 QuitMode 0 DisplayFontSize 6 HelpPath 328 Lenze Description Path in which the program looks for the language files Here you can specify the name of an ASCII file name extension txt is presupposed This file contains general display texts additional error messages the function key assignment etc required for the operation of the MMI software see also language file If no entry is made here a list of files can be entered in a language section The specified
249. e FLOPPY With SysFirstFile the stated file info structure is intialised and the information for the first file stored in structure All subsequent calls of SysNextFile with the same file info structure store the information of the next file in sequence in the structure The file info structure is structured as follows TYPE FILEINFO_TR STRUCT filename_s STRING 15 file name filesize_dw DWORD file size in byte filenum_di DINT No of the directory entry END_STRUCT END_TYPE info_p Pointer to the file info structure where the file name and the file length are to be stored pattern_s Search pattern with MS DOS wild cards Each time the next file whose file name matches the pattern will be returned Return value 0 if OK DSK_FILE NOT EXIST KDI if no further files available All other values indicate an error all errors are defined in the global constants of the library info_st FILEINFO_TR err_di DINT err_di SYSFIRSTFILE ADR info_st SD DIN fetch info on the first file err_di SYSNEXTFILE ADR info_st SD DIN fetch info on the next file Lenze EDSTCXN EN 2 0 8 8 3 12 SYSDISKINFO Declaration Description Parameters EDSTCXN EN 2 0 PLC programming 8 Library 8 8 FILE IO functions 8 8 3 FUNCTION SYSDISKINFO DINT VAR_INPUT info_p DINT Address of a variable of type DISKINFO_TR pattern_s STRING 15 search pattern END_VAR The
250. e effect on the rotation axis in the starting point of the spline curve with the address J applies only if the tangential correction of the axis was switched on before with G112 Lenze 103 3 2 109 104 CNC programming G functions G functions individual descriptions Notes for the use of spline interpolation The spline interpolation is also allowed in connection with a tool radius correction TRC It must be noted here that the TRC is executed before i e the spline interpolation takes place via the corrected grid points A spline interpolation via grid points which are programmed in the polar coordinate system is possible The used algorithm for the spline interpolation also allows the backward interpolation of the blocks In a block with grid points an M function and fast outputs can be programmed at the same time The use of modal comparative operations is possible However these must not be programmed within the spline sequence In the event of a termination the spline interpolation is switched off The use of an interrupt program is possible The programmed points are approached in the respective interpolation types The use of the spline interpolation in the interrupt program is not allowed During the indirect programming of the grid points it must be noted that time synchronized parameters cannot be accessed e g current actual position Changing between absolute dimensions and incremental dimensions is
251. e g an additional text is not completely visible in the table it can be read here By means of the source filter a module is selected whose errors are to be displayed Select to display the messages of all modules Representation of an error log without filter ETCNO86 Representation of an error log with filter ETCN087 When filters are used additional options for filtering the messages are offered for example for a period of time or the number of messages to be displayed With lt Import gt the filter settings are adopted With lt Exit gt the extended filter is closed EDSTCXN EN 2 0 ETC MMI Diagnostics operating mode 7 7 Parameter field P field The following applies for all entries The lt Enter gt key is used to confirm the entry the lt ESC gt cancels the entry P field read Display the value of a parameter field The P field number is entered in the status line The contents are output in the display line If this field is selected the number that was entered last is automatically offered A different number can be entered immediately without having to delete the old display o mE 1 HI Z4 Index of he required parameter field please E j Pamanini Prela PFa read Peti ot display dilay ETCN088 P field edit Change the value of the desired parameter field Both entries are made in the input line For entering the digits the same applies as to P field read
252. e g firmware update This is not required for the ETCPx gt ETC MMI gateway as communications program between Windows applications and the ETC control gt Lenze ETC MMI for the configuration operation and monitoring of the ETC control and for creating CNC programs gt CoDeSys development environment for the creation and testing of PLC programs Note An external keyboard is required at the IPC for commissioning It is not required for normal operation Lenze EDSTCXN EN 2 0 Getting started R 2 1 2 Layout example for an ETC island EDSTCXN EN 2 0 System overview 21 Layout example for an ETC island 2 1 2 S Al o Z Q S I T I I I O O O O O Lu Lu Lu Lu Lu bobab eere gece see 9 an men ome lowe De en sceo seee ot F f O ETCM002 Serial interface RS232 Watchdog e g for emergency stop chain Ethernet Motion CAN bus CAN2 24 V supply ME bus CAN1 m m o fo m gt ETCHNOO3 Power supply unit for the supply of the ETC island and ME bus connection ETCHx004 ETC Motion Control for 4 axes control ETCHIxxx Input module with 16 or 8 digital inputs ETCHTOOO ME bus terminator module Note To terminate the ME bus DIP switch 1 must be set to ON at both the power supply unit ETCHNOO3 and the bus terminator module ETCHTOOO Lenze ie 2 1 2 1 3 2 1 3 16 Getting started System overv
253. e machine This MC has the following 2 entries Index Default Meaning 0 0 Number of radius axis 1 1 Number of angle axis As these should be the same axis numbers as the first two axes in MK_KARTESISCH_ACHSNR the remaining configuration is the same The only difference is that in MK_WEG degrees must be used as the unit for the angle axis as it is a real rotation axis 4 15 6 _MK_WLK_C_GRENZWINKEL This machine constant is used by different correction modules e g SCHNEIDEN CUT for the tangential correction of the C axis and defines up to which relative angle an abrupt positioning of this axis may take place If the angles are greater than this MC the feed on the path is stopped the C axis is fed individually with GO and then the path is interpolated further Depending on the correction module an M15 is inserted before the GO and an M14 behind the GO in order to carry out the positioning with the tool raised In the case of smaller angles the positioning of the C axis to the new profile angle takes place at the block transition in one step without affecting the path interpolation Value Meaning 45 abrupt positioning up to 45 default 15 abrupt positioning up to 15 90 abrupt positioning up to 90 Any angle between 0 and 180 can be set Note Which correction module is switched on for G41 G42 depends on the technology used and the value in MK_KUNDE 4 193 4 15 7 MK_WLK_C_OFFSET EDSTCXN EN 2 0
254. e moment the transfer has been completed without errors the MCs are valid in the machine In general it is always possible to transfer the MCs However MCs that affect the storage distribution within the control only become effective after the control has been restarted again All of the other MCs become effective immediately after the transfer or at the latest when the control is ready to execute a program The MCs can be divided in specific interrelated fields However the order is optional Lenze 191 EDSTCXN EN 2 0 4 2 4 2 1 4 2 4 2 1 4 2 2 192 Machine constants Test settings MK_TEST_OHNEMECHANIK Test settings The test settings are used for operating or testing the ETC without the machine or to switch off specific parts of the functional range PLC MK_TEST_OHNEMECHANIK This machine constant is used for testing the control functions without having to connect the machine In the process the control switches the actual value encoder inputs to simulation operation Correcting variables are still output If there are drives that are already connected switch off the servo amplifier Otherwise this may result in unwanted traversing movements Value Meaning 0 The drives and position measurement systems must be connected properly default 1 To test MMI PLC and DIN programs while the drives are disconnected MK_SPS_DUMMY This machine constant switches the integrated PLC off or on Value Meaning
255. e number in the form of a section name Lxxxx where 8000 gt xxxx gt 9999 and a clear text name must be created This name is displayed in the Programming operating mode when the cycle is selected In the Lxxxx sections the input parameters to be offered are determined In addition a bmp file can be specified It will be displayed when the cycle is selected An input parameter is defined by a P field number in which the input value is transferred to the cycle Default value gt Minimum value optional gt Maximum value optional gt Identification for mandatory input optional Display text enty n pfeldnr x xx Min Max Flag Text In the following some examples of cycles and their parameters are shown Section Term Description Zyklen entry1 L8000 grinding entry1 is required for identification L8000 section name under which the cycle and the cycle number are described grinding text for display and selection entry2 L8001 sawing entry3 L8002 sewing entry4 L8003 free entry5 L8004 free Lenze 325 m ETC MMI 7 8 Appendix 7 8 2 Cycle programming Section L8000 L8001 L8002 Language independence Term entry1 P1200 1 23 top entry2 P1201 2 34 bottom entry3 P1202 3 45 middle entry4 c stdmmi cnc20 bmp entry1 P1200 1 23 Min Max Flag top entry2 P1201 2 34 0 3 14 bottom entry3 P1202 3 45 middle entry4 E
256. e parameters of all following axis specific MCs corresponds to the application axis numbers i e 1st parameter axis number 0 2nd parameter axis number 1 nth parameter axis number n 1 The unconfigured application axis numbers are included in the count This way this MC defines in which order the parameters of the axis specific MCs are to be specified in relation to the axis letters Please also observe the specifications in the previous chapter Lenze 207 A Machine constants 4 6 Configuration of axes Assignment and evaluation 4 6 3 MK_ACHSENART 4 6 3 MK_ACHSENART This machine constant specifies different axis properties The MC is bit coded Bit Value Meaning 0 0 linear axis 1 rotation axis 1 0 observe limit switch 2 ignore limit switch 2 3 0 normal axis 4 spindle 8 measurement axis 12 spindle measurement axis 4 5 0 normal axis 16 modulo 360 axis the sign determines the traversing direction 48 modulo 360 axis the angle position is approached via the shortest path 1 6 0 normal axis 64 gantry axis only effective in the case of synchronous axes 7 0 normal axis 128 handwheel To set the desired bit add the value in the table to the value ofthe MC Example For a rotation axis which is to ignore the limit switch signals and if modulo 360 is programmed with the sign defining the traversing direction you would have to enter value 19 bit 0 1 and 4 Please bear in mind that handwheels are consec
257. e system The maximum speed and the ramps of these axes are transferred from the MCs MK_BAHNVMAX MK_BAHNBESCHL and MK_BAHNBREMS During transformation the physical axes A and B can only still be moved indirectly via X Y During this process the speed and acceleration of the physical axes which are involved in the transformation are not limited This is especially important to note when the critical travel region of the machine is passed Traveling with X Y coordinates close to the pivotal point of the A axis will result in a very high traversing speed of the physical axes Two free application axis numbers are needed for the virtual axes It is recommended that you keep free the first two axis numbers in the MCs for the virtual axes In this case X is assigned the axis number 0 and Y the axis number 1 The transformation is deactivated by programming G211 without E or automatically at the end of the program or in the event of a program termination G211 E1 Transformation with consideration of the C axis on 5 Profile with X Y and C coordinates G211 Switch transformation off A B coordinates are allowed from here again Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 76 G226 Reconfigure hardware limit switch G226 can be used to change the response of the control when traveling on the direction dependent hardware limit switches of individual axes Syntax G226 AXES
258. eCanMsg 1 1014 1114 32 FctReturn_bit AddCobldCanMsg handle_pr 1024 1 410 Lenze EDSTCXN EN 2 0 PLC programming 8 8 8 6 3 DelCobldCanMsg only ETCxM Declaration Description Example Library 8 8 CAN functions only ETCxM 8 8 6 FUNCTION DelCobldCanMsg BOOL VAR_INPUT handle_pr DINT Handle on the management structure Cobld_w WORD Cobid END_VAR This function removes a Cobld from the management structure see function DefineCanMsg for CAN transfers The return value of the function is of no consequence handle_pr DINT handle_pr DefineCanMsg 1 1014 1114 32 DelCobldCanMsg handle_pr 1014 8 8 6 4 CloseCanMsg only ETCxM Declaration Description Example EDSTCXN EN 2 0 FUNCTION CloseCanMsg BOOL VAR_INPUT handle_pr DINT Handle on the management structure END_VAR This function deletes the administrative structure for CAN transfers see function Define CanMsg and the memory will be released again The return value of the function is of no consequence handle_pr handle_pr DefineCanMsg 1 1014 1114 32 CloseCanMsg handle_pr Lenze Pen 8 PLC programming 8 8 Library 8 8 6 CAN functions only ETCxM 8 8 6 5 ClearCanMsg only ETCxM Declaration FUNCTION ClearCanMsg BOOL VAR_INPUT handle_pr DINT Handle on the management structure END_VAR FUNCTION Description This function can be used to delete the reception FIFO see function Defi
259. ead enable has been set In the case of non synchronized M functions gt 500 the next block of the NC program is executed immediately after the output without waiting for an acknowledgement from the PLC It must be noted that the speed is also reduced between two successive traverse blocks when exact positioning is deactivated if several M functions are programmed in succession without a traverse movement The following M functions are also evaluated in the NC computer M30 Program end M14 Switches from the summation of the path length to P551 profile M15 M16 M21 Switches from the summation of the path length to P551 empty run M48 Speed overlap enabled override on Lenze 175 3 4 3 4 3 Example 176 CNC programming Block extensions M functions M49 Speed overlap disabled override off M1014 Like M14 however as an asynchronous M function M1015 Like M15 however as an asynchronous M function M1048 Like M48 however as an asynchronous M function M1049 Like M49 however as an asynchronous M function Using a M function it is also possible to initiate a subprogram call For this all the M functions to be expanded must be entered in the machine constants under the identifier MK_MFKT_UPR_TABELLE If the control encounters a corresponding M function in the course of program processing it will create a subprogram call with the program number 9000 M function number after all the other informati
260. ease pay special attention to the dot before the variable Lenze 79 2 15 2 15 1 80 Getting started Operation via a Lenze HMi Settings for the connection of a Lenze HMI H505 The declared variables must be created as global variables Pin oa PECIHHI BOAT WG O8 PREHH 1 HHTH RIH HHI2FLL_ESROR RESET HHIZFIL_AFTOHATIE MHIIPIC_HAHUIAE HHLIFLL_BOHTHG HHI 2F10_DR0VES_08_0FF FP ande map Var toe Conaienis CDRS LAT e HHIZFIC_FIELDIHIEN HATIPLO_ Pic HALE DC SEERE HA LIPLC_STATE BE key er E Ei key 5 Aenea f T TE a T A TE BD key Server 20 FOR E E dewey peared i FETT OE TY Ei fF Bi ste ip eiior b 203 ji inzio mammals PLZIHHT BCT POS E ELE3HNI_ ACT ESF PLCHHI ACT BOSCH a CAET Lee Hanaga HHLIPIC SPEED HANTAL Ling HHI2FLC_DEIVE_HANIAE Br enge ie r Ssma auszust c eae BHTIEU Pe START Eng Trane EEE perire yd ed Sy Diba Vabi SENEE page cl the HHS he ATRD Booed BORD WIRD BORD BORD BOR fntete inboreetion feos the BEI WIRD WIFE Woe BORD DIET DIET DIRT IHT WIRD BREI ETCN047 If the HMI accesses variables that have not been created in the CoDeSys a communication error occurs Lenze EDSTCXN EN 2 0 Getting started R Operation via a Lenze HMI 2 15 Functional description HMI505 operation 2 15 2 2 15 2 Functional description HMI505 operation In the following the functional description of
261. eclaration FUNCTION SYSREADLINE DINT VAR_INPUT handle_di DINT File handle returned by SysOpenFile buffer_p DINT Address of a buffer where the data are stored maxlen_di DINT Buffer length in byte END_VAR Description The function is used for the reading of lines in sequence from a file previously opened with SysOpenFile Reading takes place up to the line end but with a maximum of maxlen_di characters The is only terminated early if less than maxlen_d characters were read The line feed at the end of the line is also read Return value Actual number of read characters 0 for file end or less than O for error CQ 391 8 8 3 8 SYSWRITEFILE Declaration FUNCTION SYSWRITEFILE DINT VAR_INPUT handle_di DINT File handle returned by SysOpenFile buffer_p DINT Address of a uffer len_di DINT number of the characters to be written END_VAR Description The function is used to write blocks in sequence into a file previously opened with SysOpenFile en_di characters will be written to the file If an error occurs during write the file will be deleted and a value of less than 0 returend Return value Number of data written or less than 0 in case of error Q 391 Example handle_di DINT num_di DINT ret_di DINT buffer_s STRING 10 Hello handle_di SYSOPENFILE test dat O_WRONLY num_di SYSWRITEFILE handle_di ADR buffer_s 5 ret_di SYSCLOSEFILE handle_di
262. ed brake ramp An entry is exported from the table of active Q Bit comparisons by programming the G150 with the specification of the O Bit number E without additional parameters N100 G150 X200 Z1 E22 Branch to block number 200 if al appears instead of 22 in the Q field N200 G150 X500 E18 ZO L1780 Branch to block 500 if Q Bit 18 has the state 0 in addition the axes actual position are stored from P1780 N300 G150 E22 Deactivate the modal monitoring of O Bit 22 Lenze 147 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 59 G151 Non modal comparative operation O Bit comparison Syntax Meaning of the addresses Explanation Example 148 Execution of a non modal comparison to an external event Q Bit G151X E Z V Jump target block number State of the comparison Index of the external event Index of an optional customer specific comparative operation lt ON x Parameter field index for saving the axis actual positions G151 carries out once non modal a comparison of the Q Bit E 0 63 with the state Z 0 or 1 In the case of a true result the program is continued with block X The target block number X must be contained in the same program in which the comparison is also programmed If the target block number X is not equal to the current block number N a true result leads to the export of all modal comparative operations which were made on the same
263. eed enable is created as a logic AND operation with the axis dependent feed enables Signal state 1 activates feed enable Effect in the NC The 1 signal enables the respective axis to move if the Feed stop signal is not set A 0 signal stops the respective axis or all of the axes Moving axes are stopped with the set deceleration ramp In the case of interpolation all of the participating axes are prevented from approaching or they are decelerated if feed enable is rejected for one of the participating axes In manual operation the traversing commands are interrupted i e after the feed enable is restored the command must be given again in order to conti nue In automatic operation the movements are only interrupted the traversing command continues as soon as the feed enable is restored Data word Name Direction Type of signal 000 02 Quick stop PLC gt NC static A common signal for all axes 0 The movement of axes is enabled 1 Moving axes are stopped withoutdeceleration ramp quick stop Effect in the NC The 1 signal causes the moving axes to stop without dece leration ramp The movements are only interrupted and the traversing com mand continues as soon as the signal is reset to 0 Application Response to Emergency stop in applications which require the program to continue after an emergency stop In this case only the feed enable is canceled by the PLC Ifthe axes should
264. elated to the machine zero point home position basic offset In ETCXC 100 workpiece coordinate systems of this kind are available These are selected with SO S99 If a Lis entered in the machine constant MK_NULLPUNKTE_SPEICHERN the currently switched on S coordinate system and the zero point offsets of all coordinate systems are saved and restored after the control has been switched on Otherwise the control is in SO after it has been switched on and the offsets of all coordinate systems are zero For all workpiece coordinate systems the zero point can be shifted or set using the functions G92 G93 and G193 SO can only be shifted with these functions if machine constant MK_SOTO_VERSATZ_ERLAUBT is set to 1 If SO is shifted it must be noted in this case that all the other coordinate systems are also shifted Function G195 is used especially to shift all coordinate systems in which the offset of SO is shifted It is also allowed if the above mentioned machine constant is set to 0 However the offset of S0 is then not effective in SO but in all other coordinate systems Function G54 is used to temporarily shift the zero point of the current S coordinate system The shift remains active until it is deactivated with G53 or the program is ended The shift by G54 is not saved remanently During the change over to another coordinate system the current actual positions in Sojg are cleared with the zero point offsets of the new system
265. eleration ramps or both should be changed If no is programmed both ramps are changed to the programmed value If G201 is programmed without parameters the ramps on the path and of all configured axes are reset to the values set in the machine constants G201 J1 5 11 Change acceleration ramp on the path to 1 5 m s2 G201 J2 5 12 Change deceleration ramp on the path to 2 5 m s2 G201 Reset all ramps to the values configured in the machine constants Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 74 G209 Set the geometry counter Syntax Meaning of the addresses Explanation Example G209 is used to initialize the geometry counter to a user specific value G209 E E New value of the geometry counter default 0 The geometry counter is needed in the DIN display of the ETC MMI for the synchronization of the progress display with the program processing in the NC control It is set by the control to 0 at the start of the program and increased by 1 with every new geometry block In some cases it might be useful to manipulate this geometry counter from the NC program With G209 the geometry counter of the current NC channel can be set to a defined value The current value of the geometry counter is shown in the parameter field namely in P565 for channel 0 and in P597 for channel 1 P2000 P565 flag current value of the geometry counter ee Traverse blocks which sh
266. enze EDSTCXN EN 2 0 EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 1 5 1 2 Data word Name Direction Type of signal 084 00 07 Traverse key axis 0 PLC NC static 084 08 15 Traverse key axis 1 PLC NC static 091 00 07 Traverse key axis 14 PLC NC static 091 08 15 Traverse key axis 15 PLC NC static These signals are used for traversing the axes One byte is available for each axis By writing the bytes the respective action is executed These traverse keys are only active if traverse keys enable is not set Effect in the NC 100 100 traversing with of the maximum speed The sign defines the direction 101 inching by increments corresponding to DB15 DWA44 47 on the path if there is no feed enable Only available for a programmed traversing movement 102 home position approach sign is ignored 103 setting zero point sign is ignored 104 step travel P673 increment 105 handwheel active evaluation factor 1 106 handwheel active evaluation factor 3 107 handwheel active evaluation factor 10 108 handwheel active evaluation factor 30 109 handwheel active evaluation factor 100 110 traverse command for PLC axis 111 traversing with the speed from P208 223 The sign specifies the direction Description of the traverse command for PLC axes The PLC can move any axis to a specific position that has been entered in the
267. enze HMI is also possible The HIM which is connected via the CAN1 bus can be used as additional or main operating control If the HMI is used for the complete machine control the control system must be parameterised and programmed by means of a PC first In this example the HMI505 is used as additional operating control in addition to the ETC MMI In addition to the manual travel function the NC program 1 can be started from the HMI505 This function is explained on the basis of a simple HMI project The HMI505 project is located on the ETC CODeSys CD in the HMI designer file Trainingl_HMI505_V1 VTS 2 15 1 Settings for the connection of a Lenze HMI H505 Integrate libraries EDSTCXN EN 2 0 Activation of the communication function in the initialisation step nit of OF weTishles j ibs im _Ni_pi Soe le 4 Jog ere kiaus_r SRLILL1111 lt 4 DED Die _Hi_pleinz_telease I ln 284114811113 MADRI ANTE ploto _1sat_ inputs Telsa anpi I i soor auro mn paj a HODE Manus FE FE i ETART_PAGE_FEIFEI urn i BL FUNCTIONS PRG E FERAN IN E nk P 3 START STOP PRG EI Fisen Fia H anther UHA jE RELEASE_Sainet_Her One mot Aus piere feet inpute teleem_ael i D bes EEE 1 AN3E_ plenc mnt_outputa_releanm we j i paame auze p biznes fast curpata release Sell 1 be ao 6 1 7 tes g Lehzs HHI Lat er EAN Hettar CAH Kilipkettar oo_CANto ie ETCN041 To use this
268. er a complete download this file is transferred to the NCR for presetting Information on the released S coordinate systems in the magazine management a maximum of 100 S systems are available at the same time Information on the relationship between magazine position a c e and corresponding S coordinate system xx and yy The entry can be made in the form of an enumeration a c d e or by specifying a range c e In this section freely configurable PLC key commands can be entered They can then be called within the MMI software from any softkey menu via a hotkey which is also configurable The key information max 128 is reported to the PLC via DB1 DW212 219 Determines the key combination for showing and hiding the alternative softkey menu with the PLC key functions defined in the following A valid entry consists of the specification of a function key F1 F12 and optionally their linkage with any combination of the control keys Shift Alt and Ctrl EDSTCXN EN 2 0 ETC MMI 7 Appendix 7 8 Configuration file DELPHMMI INI 7 8 3 Section Term Description KEYxxx yyyy Determination of the properties of the PLC key to be activated e Behaviour as key or switch KEYmmm nnnn 0000 e the sequence of the execution of the functions on the softkeys e the labelling of the softkeys are achieved by entries of the type KEYxxx yyyy or KEYmmm nnnn 0000 The value xxx
269. eration reserved YE I 71 Watchdog GN Error RD eee en oo O B 1 3 er O 4 oo 6 9 9 C ER eas oe a a 9 00 D In ETCO42 Al LED on Bl LED off c LED any DI LED flashes EDSTCXN EN 2 0 Lenze 17 2 Getting started 2 2 Status display Start up phase During start up a RAM test is carried out After an error free RAM test the LEDs 1 6 produce a running indication Any errors during the boot sequence will be signalled by the following pattern of flashing and indications jowo O jooo Q O O 00 000l oeo owe oeo Cee je eo amp seo je oo 18 oO0O0 o e ool jooo i o0 ooo OF O 0 o e loeo o ol 000o OO oeo Geo Checksum error in the internal FLASH PROM 3 times fast consecutive flashing The boot loader is then burned afresh into the internal FLASH PROM Occurs always after a boot loader update Error in the last 32 kByte of RAM memory after an update and writing of the boot loader to the Flash Error in the first 32 kByte ofRAM memory Error when extracting the boot loader Error during the burning of the boot loader into the FLASH PROM Errors in the RAM memory Error in the last 32 kByte ofRAM memory No firmware loaded or checksum error in the firmware After 5 times flashing the boot monitor is activate
270. erations 172 G function 91 Machine constants 226 machine constants 36 OVESWAPPED 396 P P field 180 Parameter System 181 Technology specific 186 Time recording 187 Parameter assignment P 174 Parameter field 359 Parameter Manager 350 Parameters Axis specific 181 Program management 183 Technology specific user parameters 187 Paramterise drives 36 PC Applications 14 Description 14 PLC key 75 PLC program add libraries 62 configure 61 create 60 Example 60 load 68 71 operate 71 sequence control 64 start 61 71 test 72 product identification control system ETCHx 11 control system ETCPx 11 module ETCHx 11 Programming with CoDeSys 51 336 PUT_BYTE 397 PUT_DINT 397 PUT_DWORD 397 PUT_INT 397 PUT_LREAL 397 PUT_REAL 397 Lenze EDSTCXN EN 2 0 PUT_WORD 397 PutApplicationMessage 415 Q Q field 189 Q functions 177 R READ_PARAM_DINT 366 READ_PARAM_INT 365 READ_PARAM_LREAL 366 READ_PARAM_REAL 366 READ_SYSPARAM 366 READ_TOOLDATA 367 READBLOCKV24 379 ReadCanMsg 412 READV24 379 Remanent variables 350 RTC_GetTime_DT 417 RTC_SetTime_DT 417 S S functions 178 SAVE 376 383 SAVE_PARAM 368 376 Sequence control 64 ServerSDO lib 418 SetCurrentPath 384 SETINPUT_BIT 368 SETINPUT_WORD 369 SETLANGUAGE 372 SINGLEBLOCK 369 SPRACHE TXT 321 SPSERROR 370 Status message 17 STRTOF
271. es from the control are being used The entries are accessible via the functions READ_SYSPARAM and WRITE_SYSPARAM Index Description 101 Cycle time of a second task PLC_PRG2 10 ms 102 Cycle time of the PLC PLC_PRG ms Note The cycle time of the PLC must be equal to the rough interpolation cycle see also machine constant MK_DELTAT 8 7 8 Reading error messages for the ETCxM Active error messages can be read for the ETCxM via functional components of the library mc lib A difference is made between axis specific errors and operating system errors There is one function for reading and one for acknowledging resetting an existing error for each Error source PLC components Axes MC_ReadAxisError MC_Reset System MC_ReadSysError MC_ResetSysError sen Lenze EDSTCXN EN 2 0 8 8 Library PLC programming 8 Library 8 8 General functions 8 8 1 The functions and functional blocks of the two axis representations ETCxC and ETCxM are the same barring a few exceptions Nonetheless there is an ETC system library for each variant ETCxC SysEtc LIB ETCxM SysETCxM LIB All functions are described in detail below They are found in both libraries Special functions of the variant are highlighted 8 8 1 General functions 8 8 1 1 CenterString Declaration Description Example 8 8 1 2 FMOD Declaration Description Example EDSTCXN EN 2 0 FUNCTION CenterString INT VAR_INPUT string_s STRING 2
272. es longer gt 10 sec the Read ena ble signal must be canceled prior to setting the acknowledgement signal When the signal switches from 1 to 0 the NC starts to process the next block if Einlesefreigabe Read enable has been activated Data word Name Direction Type of signal 035 00 Enable ext synchronization signal PLC gt NC Enable Meaning reserved Effect in the NC reserved Data word Name Direction Type of signal 035 08 Program stop active PLC NC static The PLC uses 1 to signal to the HMI that the process of a NC program has been stopped Effect in the NC none 254 Lenze EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 1 5 1 2 Data word Name Direction Type of signal 036 00 037 15 Enable of the fast inputs PLC gt NC static The PLC uses a 1 to specify the corresponding digital input as the fast in put i e the input signal is evaluated directly by the rough interpolator in rough interpolation cycle If enable is reset again by the PLC it can immedia tely use the inputs again exclusively Note The state of the fast input depends on an OR operation of the Q bit signal of the PLC and the state of the digital input Use the data words Offset of fast inputs to position the enable mask in any area of the input image as fast input This way any digital input can be specified as fast input Effect in the
273. es than WORD additional adaptations are required For this purpose the ETC has two type related functions GET_BYTE PUT_BYTE GET_WORD PUT_WORD GET_INT PUT_INT GET_DWORD PUT_DWORD GET_DINT PUT_DINT GET_REAL PUT_REAL GET_LREAL PUT_LREAL The functions GET_ read the corresponding data type from the address stated and carry out the necessary byte swapping for the HMI The functions PUT_ write the corresponding data type swapped to the address stated Condition for the data to arrive correctly at the HMI when using the above functions is the definition of the user data of the messsage as byte via DEFDATATYPES For the standard HMI this looks as follows DEFDATATYPES 1 96w4w52b2w 96 WORD 4 WORD 52 BYTE 2 WORD DEFDATATYPES 2 32w4w52b2w 32 WORD 4 WORD 52 BYTE 2 WORD The definition results from the definition of the data in DB2 which are transferred between ETC MMI and the PLC Data word Name Direction 000 00 015 15 States 256 Bits PLC gt HMI 016 00 079 15 Displays 64 data word PLC HMI 080 00 095 15 Notices static errors 256 Bits PLC HMI 096 00 096 15 Message buffer acknowledgment counter PLC gt HMI 097 00 097 15 Message buffer counter 1 PLC gt HMI 098 00 125 15 Message buffer User data 28 data words PLC HMI 126 00 126 15 Message buffer counter 2 PLC gt HMI 127 00 127 15 PLC monitoring running PLC HMI 128 00 143 15 States 256 Bits PLC HMI 144 00 159 15 Ke
274. ese constants are intended as transfer parameters DataType for the functions CopReadObject and CopWriteObject The values of the constants comply with CIA DS301 Application Layer and Communication Profile Constant COP_BOOLEAN_KW COP_INTEGER8_KW COP_INTEGER16_KW COP_INTEGER32_KW COP_UNSIGNED8_KW COP_UNSIGNED16_KW COP_UNSIGNED32_KW COP_REAL32_KW COP_VISIBLE_STRING_KW COP_OCTET_STRING_KW COP_UNICODE_STRING_KW COP_BIT_STRING_KW COP_REAL64_ KW Value 16 1 16 2 16 3 16 4 16 5 16 6 16 7 16 8 16 9 16 A 16 B 16 E 16 11 Meaning Definitions for system variable dbO_can_errorstatus_adw CAN_TXOVERRUN_KDW CAN_OVERRUN_KDW CAN_BITERR_KDW CAN_ACKERR_KDW CAN_CRCERR_KDW CAN_FORMERR_KDW CAN_STUFERR_KDW CAN_RXWARN_KDW CAN_IDLE_KDW CAN_FCS_KDW CAN_BOFFINT_KDW CAN_ERRINT_KDW CAN_WAKEINT_KDW Lenze 16 20000 16 10000 16 C000 16 2000 16 1000 16 0800 16 0200 16 0100 16 0040 16 0030 16 0004 16 0002 16 0001 Send queue is full Overrun during reception Transmit bit error Acknowledge error CRC error Message format error Transmit error counter gt 96 Receive error counter gt 96 No error Fault confinement state Bus Off Error interrupt No error 409 8 PLC programming 8 8 Library 8 8 6 CAN functions only ETCxM 8 8 6 CAN functions only ETCxM 8 8 6 1 DefineCanMsg only ETCxM Declaration FUNCTION DefineCanMsg DINT VAR_INPUT CanNum_w WORD Number of the CAN inter
275. ess lt Enter gt 3 Press lt F7 gt Accept 4 Add the M functions according to the following table Input in the text editor Meaning 1 G1 F10000 G17 M15 Lift tool GO X10 Y10 M14 Lower tool G2 X20 Y20 R10 G1 X30 G2 X40 Y10 R10 G1 Y0 G2 X30 Y 10 R10 G1 X20 G2 X10 YO R10 G1 Y10 M15 Lift tool GO X0 YO M30 5 Press lt F3 gt Save program 1 Press lt F9 gt Setup 2 Press lt F8 gt Exit program Lenze EDSTCXN EN 2 0 Getting started 2 ETC PLC programming with CoDeSys 2 11 Installing CoDeSys Zk 2 11 ETC PLC programming with CoDeSys The tool ETC CoDeSys is a complete integrated development environment for creating and testing PLC programs for the ETC It is based on the commonly used program package CoDeSys with the special extensions for ETC control systems Note For further information refer to the chapter PLC programming B39 2 11 1 Installing CoDeSys 1 Place the CoDeSys setup CD into your CD ROM drive If the autostart feature for the CD ROM drive has been enabled in Windows setup will start automatically 2 If setup does not start automatically Select the menu item Run from the start menu Enter the drive letter of your CD ROM drive followed by setup exe e g d setup exe into the command line and confirm with OK 3 When selecting the target directory please create a new directory CoDeSys under c program files Lenze ETC
276. ess ziel_p The return value of the function is of no consequence ret_bit BOOL feld1_ab ARRAY 0 10 OF BYTE feld2_ab ARRAY 0 5 OF BYTE MEMCOPY ADR feld1_ab 4 ADR feld2_ab 2 4 MEMCOPY ADR feld2_ab 0 ADR feld1_ab 2 SIZEOF feld2_ab Lenze 395 8 PLC programming 8 8 Library 8 8 4 Memory access functions 8 8 4 5 MEMSET Declaration Description Example 8 8 4 6 OVESWAPPED Declaration Description 396 FUNCTION MEMSET BOOL VAR_INPUT pMem DINT memory address bValue DINT value dwSize DINT number of bytes END_VAR dwSize bytes after memory address pMem with a value bValue will be written feld_ab ARRAY 0 10 OF BYTE MEMSET ADR feld_ab 0 0 SIZEOF feld_ab FUNCTION MOVESWAPPED DINT VAR_INPUT pDestination DINT memory address pSource DINT memory address sDescstring STRING 255 Data description string END_VAR The function copies data from the memory address pDestination to the memory address pSource The data are copied swapped in accordance with the descriptor string defined The descriptor string has the following format lt number gt lt type gt lt number gt lt type gt Number is a decimal number and defines then data quantity for the following type Type is a lower case letter describing the size of the data type as follows Type Codesys data type Size B BYTE 8 Bit W BOOL WORD INT 16 Bit D DWO
277. ey 00000000 Menu C12632256 BFLDRMANY 4 4 2 1 1 0 0 FArial 8 1 0 3 6 00000001 Setup C12632256 FArial 8 1 0 0 15359 00001312 back C12632256 FArial 8 1 0 3 6 00001323 Delete cycle C12632256 FArial 8 1 0 3 6 00002800 1st PLC key C12632256 FArial 8 1 0 3 6 lt labelling for optional PLC keys 00002801 2nd PLC key C12632256 FArial 8 1 0 3 6 see section SPS Tasten in DELPHMML INI 00002926 127th PLC key C12632256 FArial 8 1 0 3 6 00002927 128th PLC key C12632256 FArial 8 1 0 3 6 From no 3000 general texts follow both for additional keys and notes entries etc Lenze 321 7 7 8 7 8 1 322 ETC MMI Appendix Language file SPRACHE TXT 00003000 Your password please 00003001 Setup password 01000007 mc 01000008 File has been changed Save change 01000009 Cycle files cannot be loaded as job 01000010 The value of the entry is impermissible For this parameter only a value between f and f is permitted 01000011 Input fields The texts no 01010000 01010064 are used for the PLC signals gt Local On Off text function in the DIAGNOSTICS operating mode This way the inputs and outputs of the control system can be assigned clear names and designations E 0 0 E 3 7 are the inputs 01010000 Basic IOs 01010001 E 0 0 here e is 0 01010002 E 0 1 01010031 E 3 6 01010
278. f re quired Data word Name Direction Type of signal 134 Error class NC PLC static This is where the error class of each reported error is specified The following error classes exist 1 slight local error 2 fatal local error 3 slight global error 4 fatal global error Local errors only affect the sub system which has reported the error Global errors always stop or interrupt the currently running DIN program Data word Name Direction Type of signal 135 Error module NC PLC static This is where the module which has reported the error is specified for every reported error The following modules can report errors 1 axis computer 2 initialization 3 interpreter 4 coupling 5 PLC runtime system 6 rough interpolator 7 memory management 9 central control 10 PLC 11 operating system 12 CAN 13 auxiliary routines 14 communication NC gt MMI 15 communication MMI gt NC 18 DS402 conform drive amplifier 19 Lenze drive amplifier 244 Lenze EDSTCXN EN 2 0 5 1 2 Data block 1 Assignment EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 1 5 1 2 Data word Name Direction Type of signal 136 Error number NC PLC static This is where the actual error number is reported An error number is always assigned to the corresponding error module The error can only be clearly de termined by means of the error number and error modul
279. f the respective axis the coefficients az and a3 are also specified The coefficient ao corresponds to the starting position of the axis and a is calculated internally p is the position on the chord which results between start and target position of the involved axes G06 X 100 0 1234 0 00182 Y 15 0 00145 0 0003067 A30 13 F2000 Lenze 105 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 7 G10 Definition of a restart position Syntax Meaning of the addresses Explanation Example 106 G10 can be used to set restart positions in the program at which the processing can be resumed after an error G10 AXES AXES Axes which should be repositioned for the restart After a minor error has occurred the Start nach G10 Start after G10 command see MC and NC Software Manual can be used to resume program processing again at the last programmed G10 prior to the error For this the G10 saves the following information gt Absolute relative dimensions G90 G91 gt Path route operation G31 G30 Main plane G17 G18 G19 Modal G function G0 G1 G2 G3 Subprogram plane gt Tool and workpiece coordinate system T S gt Actual positions of the programmed axes Status of the correction module G40 G41 G42 Please note that the G10 does not save either the state of the parameter field nor the zero points of the coordinate systems The state of other NC funct
280. face 1 or 2 WriteCobld_w WORD Cobld ETCxM CAN node ReadCobld_w WORD Cobld CAN node ETCxM QueueSize_w WORD Number of messages being buffered END_VAR Description Creating and initialising a structure for managing CAN transfers This allows to receive or send any CAN messages When the function is called it checks whether the stated Cobld are not still in use It is also possible for the Cobld to be entered into the control configuration of CoDeSys at a CANopen module ReadCobld_w or WriteCobld_w equals 0 means that no Cobld is required yet The function returns a handle on the administrative structure If it returns 0 no administrative structure could be created using the stated parameters Example handle_pr DINT handle_pr DefineCanMsg 1 1014 1114 32 8 8 6 2 AddCobldCanMsg only ETCxM Declaration FUNCTION AddCobldCanMsg BOOL VAR_INPUT handle_pr DINT Handle on the management structure Cobld_w WORD Cobld Read_bit BOOL direction TRUE for CAN nodes ETCxM END_VAR Description This function allows adding a Cobld to the management structure see function DefineCanMsg for CAN transfers The function returns TRUE if the Cobld has been entered successfully in the management structure If the Cobld is already in use or the maximum number 32 of possible Cobld has been reached it returns FALSE Example handle_pr DINT FctReturn_bit BOOL handle_pr Defin
281. found later in this chapter QET Edit existing cycle The cursor must be positioned on the line in which the cycle is called Delete a cycle call at the current cursor position The exact description of the file manager including the meaning of the softkeys used can be found later in this chapter 308 Rotate the representation of the profile in X Y and Z direction via lt gt and lt gt keys Shift the representation of the profile in X and Y direction via lt gt and lt gt keys Change the size of the graphic window via lt gt and lt gt keys Change display size of the graphic via lt gt and lt gt keys EDSTCXN EN 2 0 7 6 1 ASCI editor Key functions EDSTCXN EN 2 0 ETC MMI 7 Programming operating mode 7 6 ASCI editor 7 6 1 The editor is primarily used for entering and changing CNC programs according to DIN 66025 but also for editing any ASCII files E Programme Lente ETCO75 Note We recommend to operate the editor via an external keyboard To facilitate program creation the CNC blocks are automatically set in upper case letters If you want to enter lower case letters e g for axes u v w press the lt Shift gt key during the entry In comments the editor automatically switches to the usual entry form lt Cursor left right gt Move cursor a character to the left right lt Shift gt lt Cursor left right gt Highlight character to the left ri
282. ft with G193 however on the modal offset The modal offset can be reset with G121 N10 G90 In block 30 the internal actual position is set to 30 and the modal offset to N20 GO X100 20 N30 G120 X30 The displayed actual position actual pos modal pos is not changed during this process N40 GO X130 In block 40 200 130 70 is traveled The displayed actual position is 200 Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 48 G121 Programming the modal offset Change of the modal offset with the transfer of the change amount into the NC actual position at the same time Syntax G121 AXES Meaning of the addresses AXES Validity identification and new modal offset Explanation When the traverse keys are used for traveling modal or target point travel via PLC axes the axes are positioned via the modal offset This traverse movement can in principle be superimposed to the movement in the NC program see G122 The desired position in reference to the current coordinate system of the control results from the total of NC actual position and the modal offset The effect of the modal offset is like a coordinate shift G121 can be used to program the modal offset in the most simple case in order to zero it and to deactivate the shift triggered via the traverse keys During this process the modal offset is transferred into the NC actual position and the modal offset is reset
283. function detects the usage data for a device and stores it in the disk info structure defined The disk info structure is structured as follows TYPE DISKINFO_TR STRUCT blocksize_w WORD Size of a logical block in bytes blocknumb_w WORD Formattet total capacity in blocks blockused_w WORD Used capacity in blocks blockfree_w WORD Free capacity in blocks END_STRUCT END_TYPE info_p Pointer to the disk info structure device_pc ou to the device name M 390 Empty string for the default evice Lenze 389 8 8 Library 8 PLC programming 8 8 3 FILE IO functions 8 8 3 13 Device driver 390 The control supports different devices with write w and for some devices read r access The access takes place via a file system A file must be opened using the function SysOpenFile before it can be accessed With the exception of the device Printer several files can be opened simultaneously on a device In total four simultaneously opened files are possible The file names must comply with the DOS 8 3 convention i e must contain a maximum of 8 characters for the file name and 3 characters for the file extension no special characters must be used Device ID Access Description Silicone disk SD rw This driver allows access to the Flash PROM of the control RAM Disk RD rw This driver allows access to the so called RAM Disk battery buffered RAM Net Disk ND rw This driver allows acce
284. g files C 308 and an ASCII editor EI 305 for editing programs The name of the file being edited is displayed in the upper right In the editor field in the illustration on the left the contents of the file are displayed and edited For a CNC program a graph can be optionally displayed in the illustration on the right Up to eight files can be opened at the same time The names are entered in a list By means of the lt TAB gt key and the lt Cursor gt keys the files are selected By means of the lt Enter gt key they are brought to the foreground The operation of the editor is described in a separate section 302 Lenze EDSTCXN EN 2 0 Horizontal function keys EDSTCXN EN 2 0 New program Open program Save program Save as Teach IN Teach In ON OFF Teach In Extended Close program Program to NC Graphics Reset image position Display position Graphics on off back Lenze ETC MMI Programming operating mode 7 6 Prepare the editor for entering a new file If a file is already being edited it remains active in the background Via the file selection line in the upper window area files from the background can be brought to the foreground Open existing program file A dialogue opens C1 B06 Here you can select the desired tile After lt Enter gt has been pressed the file is opened in the editor Save the displayed program file If a new file has been created a
285. ght of the cursor lt Pos1 gt Set cursor to beginning of line lt End gt Set cursor to end of line lt Ctrl Pos1 gt Set cursor to beginning of file lt Ctrl End gt Set cursor to file end lt Page up gt Browse up page by page lt Page down gt Browse down page by page lt Ctrl gt lt C gt Copy range to clipboard lt Ctrl gt lt X gt Move range to clipboard cut lt Ctrl gt lt V gt Paste contents of clipboard at cursor position lt Ctrl gt lt Z gt Reset last change of a line lt ENTER gt Add new line lt Backspace gt Delete the character to the left of the cursor or marked text block lt DEL Delete the character to the right of the cursor or marked text block Lenze 305 m ETC MMI 7 6 Programming operating mode 7 6 1 ASCI editor Dialogue box for file selection This dialogue box is used among other things for the selection of a program for the editor and for the transfer to an NC computer Cursor keys Pathname Display filter 44 sti m ii 3 w Il er il i er pij 2 cn Kain Lali basketball Bodie Basketball homi baka Kies basketball dii EEE OM i een OF Measctdin Gi _Meaeeldin Hehe Teen chproqrammeleszeyetcimenilarg rechne de ENTER Display profile select file ESC of the program discard entry ETCNO76 General functions gt A dialogue box button input field selection list etc can be selected with the lt TAB gt key By means of the lt Cu
286. h G24 a G26 must then be programmed with the corresponding axis letters N100 G24 For all axes of the plant the positive traversing range limits are predefined to the value defined by the machine constants G24 X2345 554 The positive traversing range limit of axis X is defined to the absolute position 2345 554 Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 13 G25 Define negative traversing range limit Definition of a traversing range limit in negative traversing direction Syntax G25 AXES Meaning of the addresses AXES Negative traversing range limit of the specified axes Explanation If axis addresses are specified with the preparatory function the programmed values are entered into the parameter field from P336 related to the machine zero point defined by the basic offset If on the other hand no other DIN address is specified except for the preparatory function the parameter field is occupied again with values preset in the machine constants To activate the traversing range limits shifted with G25 a G26 must then be programmed with the corresponding axis letters Example N150 G25 For all axes of the plant the negative traversing range limits are predefined to the value defined by the machine constants N200 G25 X 115 The negative traversing range limit of axis X is defined to the absolute position 115 3 2 2 14 G26 Activate traversing range limits Activat
287. hange the material speed to a small value e g 1 For this purpose click lt S7 gt Override When the PLC and CNC programs are loaded correctly a marker follows the circular profile The output Tool down is set and reset according to the called M function 9 ETCNO35 To stop the drives press lt 2 gt Stop Lenze 73 Getting started NOS 13 Testing CNC and PLC program Error messages of the CNC If 24 V is not applied to one of the two inputs in time the program stops and program the following error message appears in a red box ETCN036 This error message is generated via the SPSERROR function in the PLC_KEYS module after a timer of 5 s has elapsed The text belonging to the error number is contained in the file sps_fehl db English version sps_erro db This file is located in the directory cfg of the ETC MMI The figure shows an error from the control system 2 of the PLC program module 10 with the error number 400 F_TOOL_UP_KI For a correct error message an error number 2 10 400 with the corresponding text must be entered in the file sps_fehl db 74 Lenze EDSTCXN EN 2 0 Getting started 2 PLC keys in the ETC MMI 2 14 Labelling of the PLC keys in the ETC MMI 2 14 1 2 14 PLC keys in the ETC MMI In the PLC KEYS operating mode it is possible to start manual functions in the PLC from the ETC MMI For this purpose 6 menu levels are available This corresponds t
288. he Drive CAN bus CAN2 Value Meaning 0 No CAN Open modules connected 125 Bit rate 125 kBit s 250 Bit rate 250 kBit s 500 Bit rate 500 kBit s 1000 Bitrate 1000 kBit s Lenze EDSTCXN EN 2 0 4 3 18 MK_DELTAT EDSTCXN EN 2 0 Machine constants A Software configuration 4 3 MK_DELTAT 4 3 18 This machine constant sets the internal interpolation cycle ms of the control During each of these rough interpolation cycles the control calculates new position values for the participating axes from the programmed path The smaller the cycle the closer are the calculated positions to one another However this also means that the calculation load for the control and the bus load for the drive amplifier with digital interface is higher The ETC can operate with a minimum rough interpolation cycle of ims If the amplifiers are provided with a CAN interface the limited bandwidth of the CAN bus transfer is extremely important In the following table you can find the minimum rough interpolation cycle and the average CAN2 bus load depending on the number of configured CAN axes and the set bit rate For the calculation of the bus load only the cyclic telegrams were taken into account while any additional asynchronous telegrams from ETC MMI or PLC were not The specified value may vary slightly due to different telegram lengths for different drive amplifiers Number of axes 1000 kBit 500 kBit 250 kBit 1 1ms 29 2ms 29 3 ms 38 2 1ms 52 2 ms
289. he axes the value is programmed by which the zero point of the axis should be shifted With the preparatory function G92 the zero points of all desired axes can be shifted in a block If a Tis programmed in the same block the shift takes place in the current tool coordinate system TO T31 otherwise the current workpiece coordinate system SO 31 is shifted The special position of SO must be noted When S0 is shifted all the other S coordinate systems are also shifted If machine constant MK_SOTO_VERSATZ_ERLAUBT is not set an error message is generated during the attempt to shift SO and the program is terminated N20 G92 X0 03T1 The zero point of the X axis in T1 is shifted by 30 mm here Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 35 G93 Absolute zero shift Syntax Meaning of the addresses Explanation Example 3 2 2 36 G99 Return Syntax Explanation Example EDSTCXN EN 2 0 G93 can be used to shift the zero point of the current coordinate system to an absolute programmed value G93 AXES AXES Axes whose zero point should be shifted The absolute zero shift is programmed with the preparatory function G93 and the address letters of the axes for which the zero point should be shifted The new zero point offset of the coordinate system to be shifted is programmed directly under the address letters of the axes The preparatory function
290. he communication between PC and ETCHx has been established and the monitor interface activated C4 21 1 Inthe terminal program enter the command reboot 2 During the running reboot process press and hold the lt Shift gt lt gt keys F a When the prompt gt appears the input in the boot monitor of the control system is active On the control system the LEDs 1 6 flash circulatingly Note When the firmware is running the control system can also be reset by switching the control system on off or by pressing the reset key Lenze 83 EDSTCXN EN 2 0 Getting started 2 16 Updating the firmware of the ETCHx in the Standalone operating mode 2 16 2 Querying the version of the firmware 2 16 2 Querying the version of the firmware 1 When the prompt gt of the boot monitor is displayed enter the command ver The version of the firmware is queried and displayed Variant with ETC MMI Fie Ei me Ca hee Heb D s3 OF g gt wer Firmware Osseiee VLI HA NEE Booleade BOOTSS V1 38 25 08 04 ETCN005 Variant Standalone Ba ce aa Col hee Heb Da e 3 Oh f gt ver Firmware EXCSS Vi T beta 14 028 05 Bootcode BODTSS 1 35 75 08 04 3 ETCN006 2 16 3 Updating the firmware Initial state The communication between PC and ETC has been established and the monitor interface has been activated C2 21 1 To transfer the current firmware to the ET
291. he direct representation of individual memory cells is achieved using special rows of signs They are made up of a percentage sign an area prefix a prefix for the data width and two or three natural numbers separated by dots Area prefix Meaning l Input Output Data block DBO DB15 of the ETC 0 Data width Meaning prefix X 1 Bit B Byte 8 Bits Ww Word 16 Bits D Double word 32 Bits 8 4 5 1 Addressing I O modules The I O addressing is always organised at the word level The addresses of I Os derive from the internal organisation of the process image of the control Access type Syntax Comment In bits AIX x y QX x y x number of the data word 0 127 y Bit in the word 0 15 In bytes IB x QB x x number of the byte 0 254 In words IW x QW x x Number of the data word In double words ID x QD x x Number of the double word Stop Access by word Because of the internal data organisation it must be noted for access by byte that the high byte is placed first in the memory followed by the low byte see example Double word access Because of the internal data organisation there is normally no point in a double word access because high and low words would be transposed see example EDSTCXN EN 2 0 Lenze 349 8 PLC programming 8 4 Project planning 8 4 6 Remanent variables 8 4 5 2 Addressing data blocks The data blocks DBO DB15 are addressed via the area prefix M
292. he same filter time constant should always be entered for axes which are included in one path interpolation This MC is set to 0 by default and should only be increased if an axis tends to oscillate in the case of discontinuities on the path e g at transitions from one radius to another radius This affects mainly axes that have a great reverse backlash and toothed racks Reasonable values range between 0 and 0 2 s The higher the set value the greater the path deviation which is caused by the filter Lenze 211 A Machine constants 4 10 Configuration of axes Referencing 4 10 1 MK_REF_RICHTUNG_UND_FOLGE 4 10 Configuration of axes Referencing 4 10 1 MK_REF_RICHTUNG_UND_FOLGE This machine constant determines the direction and the sequence in which the axes carry out a home position approach The direction into which the axis is to move first is defined by the sign of the entered value The sequence in which the axes carry out the home position approach during joint referencing is defined by the amount of the value If an axis should not participate in an automatic home position approach enter 0 or 128 for this axis 128 indicates an inversion of the direction during the manual home position approach of the axis Example The machine has an X Y Z and a C axis Make sure that the Z axis has traveled out of the working area before X and Y MK_APPLACHSIDX with default values are moved The Y axis must search the cam in negati
293. he same list identifier match in the different projects For this the feature File link can be used The variable list is exported from one project The other projects import it so that the content does not have to be re entered To ensure the correct data exchange between controls the global variable lists in both projects must match One project can export the file prior to the transfer the others should import it prior to the transfer Besides simple data types a variable list can also contain structures and arrays The elements of these combined data types will be sent individually If a variable list is larger than a transfer unit the data are divided into several transfer units It can therefore not be guaranteed that all data of the variable list will be transferred within a single cycle Parts of the variable list can be received in different cycles This can also be the case for variables containing structure and array types 8 6 Generate program EDSTCXN EN 2 0 After creating a project in CoDeSys in the programming languages of IEC61131 3 the project must be translated into a program which can be executed by the control Via the menu item Online gt Login an executable program is automatically created from the project currently being edited and transferred into the RAM of the control If there is an online connection to the control it is possible via the menu item Online gt Create boot project to transfer the cur
294. he speed is needed as for discontinuous acceleration to cover the same distance in the same time With I the duration of the material transport is defined in relation to a full sewing motor revolution in percent The value 50 corresponds to a half revolution The smaller the programmed value the greater the resulting values for maximum speed and acceleration The intermittent operation has an effect on profiles between M14 and M15 M16 M21 It also has a modal effect beyond the program end It is switched off by G159 Lenze 151 CNC programming 32 G functions 3 2 2 G functions individual descriptions Example G158 K2 Activate intermittent operation with linear ramps GO X10 Y300 Approach starting position and select profile start M14 M14 GO A90 Position needle into the starting position 90 0 highest position G33 AO Automatic coupling between path and rotation axis on G1 E500 L3 Select speed and stitch length X300 Profile Y10 X10 Y300 M15 Select profile end G34 Path coupling off GO AO Needle up G159 Intermittent operation off 3 2 2 63 G161 Accept actual position Acceptance of the current actual positions of the axes as the new starting position for the next interpolation Syntax G161 AXES Meaning of the addresses AXES Validity identification of the axes whose actual positions should be accepted Explanation If it once becomes necessary in a DIN program to deliberately remove the controller enable
295. he strobe has value 1 the acknowledgement signal is set to RPE In the case of synchronized M functions the Read enable signal is with drawn This takes place before the acknowledgement signal is set Data word Name Direction Type of signal 151 M function NC gt PLC Message The data word contains the number of the M function in binary representa tion 0 9999 The M function can be programmed in the parts program or generated by pressing the key The numbers of the M functions are partially defined by standards DIN 66025 the free numbers can be assigned application specifically For a list of defined M numbers for the ETC including description refer to the ETC pro gramming NC operating system Effect in the PLC Execution of the function specified via the M function Read enable is activated after the function has been completed or at another sui table point in time Data word Name Direction Type of signal 159 00 Strobe H function NC gt PLC Strobe The signal is set to 0 if the data word is valid for the H function It is set to value 1 if the acknowledgement signal of the PLC has changed from 1 to 0 After switching on the control the signal has the value 1 Effect in the PLC If the signal has the value 0 the data word of the H func tion is accepted The acknowledgement signal is set to the value 0 after acceptance If the strobe has value 1 the a
296. heels with CAN interface For this purpose the handwheel must be configured in the machine constants Configure the handwheel analog to a normal axis The configured handwheels are consecutively numbered in the control from 0 N 1 while N corresponds to the maximum number of configurable handwheels Therefore the assignment of an axis letter is optional and generally not required The following machine constants must be set MK_CANDRIVES This machine constant assigns application axis numbers to the node numbers 1 12 on the second CAN bus and thus defines which application axes are configured For each unassigned node number enter value 1 The axis letters are assigned to the specified application axis numbers via MK_APPLACHSIDX MK_APPLACHSIDX Assignment of a free axis letter for the configured handwheel The assignment of a letter is optional and only required if the handwheel or the configured application axis channel is to be addressed via other G functions as G187 e g home position approach with G74 MK_ACHSENART MK_IMPULSE MK_WEG For the application axis assigned by MK_CANDRIVES bit 7 must be set or value 128 entered Number of pulses which the handwheel provides per defined distance Distance which an assigned axis should cover per number of pulses MK_IMPULSE at an evaluation factor of 1 0 The direction can be changed by changing the sign MK_HANDRADZUORDNUNG This machine constant is an axis spec
297. id modally in the program G17 is automatically valid after the end of the program A plane must be selected when a program is first started A standard default setting is not provided G18 The plane Z X is selected 3 2 2 10 G20 Block jump optionally with condition check Syntax Meaning of the addresses Explanation Example 108 Program branching in a program with programming of the jump target and an optional jump condition G20 X E X Jump target E Index of the Q Bit direct programming or of the parameter field indirect programming for the condition check With G20 a jump is programmed within a program If the DIN address E is also specified the execution of the jump is made dependent on a condition If E is programmed directly the function is time synchronized and the value of E is interpreted as an index of a Q Bit The jump is only executed if the Q Bit is 17 In the case of indirect programming the jump is only executed if the contents of the specified parameter is not equal to 0 A time synchronization only takes place if it is a time synchronized parameter N20 G20 X50 After block 20 block 50 is processed G20 X1E14 Continue with block 1 if the O Bit 14 contains a value not equal to 0 Otherwise continue with the block after G20 Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 11 G22 Subprogram call optionally with condition
298. ie een 4 Setting additional tabs EN ENP EE EN E E ii in Er Loose MK MESS AUFLOESUNG 236 PoP PP PP BP BP BP PP Pp Pp ep HH D O O 9 O OG 8 Ga OG GOG O O oe resolution of the Lenze analog measured values mm V zi EDSTCXN EN 2 0 Machine constants A List of machine constants 4 16 cap dai ap aap pea epee ap ea appa aap eae ea ee a eee ah ep ap eres apenas eee eee je 5 Technology specific settings asasccassccacacececacecacsescesecesecesesenseseaseee MK_MFKT_UPR_TABELLE 0 table of M functions after which a 0 G22 L9000 Mfktnr is to be added 0 the table may have a max of 16 entries 0 0 0 0 0 0 0 0 0 0 0 0 0 K_WLK_C_GRENZWINKEL 45 cutting sewing angle up to which the C axis is to be abruptly fed K X WINKEL 0 angle of the inclined X axis in degrees X Z plane K_GEWINDE VMAX 0 thread grinding K_SPINDELMAX GS1 6000 spindle speed in rpm at 10 V 6000 for gearbox stage 1 for spindle type 9 6000 MK _ SPINDELMAX GS2 6000 spindle speed in rpm at 10 V 6000 for gearbox stage 2 for spindle type 9 6000 MK _ SPINDELMAX GS3 6000 spindle speed in rpm at 10 V 6000 for gearbox stage 3 for spindle type 9 6000 MK_SPINDELDREHZAHLMAX 6000 max permissible spindle speed in rpm 6000 not taken into account
299. iew Connecting ETCHx and PC Connecting ETCHx and PC Three types of connections are possible between the ETCHx and a PC Connection type Serial connection Local connection via Ethernet pear to pear connection Network connection gt o Cable version System cable type EWL 0068 or a comparable RS232 cable with double sided 9 pin SUB D socket for the pin assignment see ETC Hardware Manual Connection via serial interface Local TCP IP connection Network TCP IP connection Lenze System cable type EWL 0065 EWL 0066 or EWL 0067 double sided RJ45 Ethernet patch cable STP Cat5 double sided RJ45 Description This connection is only required for commissioning A free COM port at the PC is connected with the RS232 interface of the ETCHx The PC communicates via a terminal program with the monitor interface of the ETCHx A network card in the PC is connected with the Ethernet connection of the ETCHx via a cross over cable Communication takes place via the TCP IP protocol The ETCHx is connected to a separate or existing network e g Intranet via an Ethernet connection Communication takes place via the TCP IP protocol ETCM004 EDSTCXN EN 2 0 Getting started 2 Status display 2 2 2 2 Status display LEDs on the front plate of the ETC report the actual system state The meanings of the signals differ in the start up phase and during op
300. ific MC which assigns a configured handwheel to the individual axes This MC has a parameter for each application axis in which the number of the assigned handwheel is entered It must only be changed if more than one handwheel is configured The assignment can only be changed via this MC Lenze EDSTCXN EN 2 0 Machine constants A Configuration of axes Handwheels 4 13 MK_HANDRADFAKTOR 4 13 7 4 13 7 MK_HANDRADFAKTOR This machine constant is an additional axis specific evaluation factor for the handwheel function It is used to obtain different evaluation factors for the individual axes e g when linear as well as rotation axes are operated on one handwheel 4 13 8 MK_HANDRADFILTER EDSTCXN EN 2 0 This machine constant is a filter time constant ms for the handwheel function It can be used to smooth the speed specification of the handwheel to make the traversing movement softer via the handwheel This is normally only necessary for handwheel evaluation factors and low handwheel resolution e g evaluation factor 100 and one increment per grid on the handwheel Value Meaning 0 Handwheel filter switched off default 100 100 ms filter time constant corresponds to a limit frequency of 10 Hz 250 250 ms filter time constant corresponds to a limit frequency of 4 Hz The value can be set to any value between 0 and 500 ms The handwheel filter causes a time delay of the position specifications from the handwheel to the selected axi
301. ight bottom to add a new entry below a section It can for example be used to enter cycles in the programs section These cycles will be loaded on startup ETCN095 EDSTCXN EN 2 0 Lenze 319 m ETC MMI 7 7 Diagnostics operating mode Vertical function keys 320 Start Stop Travel Travel Axis Override Override Lenze Starts the selected program or blockwise processing in single block operation Immediately stops program execution All axes are stopped with the set deceleration ramps After a restart processing is started again Manual traverse key for positive axis direction of the selected axis Manual traverse key for negative axis direction of the selected axis Select the axis to be traversed Alternatively the axis can be selected by means of the lt Cursor gt keys Increase the axis or path speed of the selected axis in percent of MK_VMAX Over 10 the value is changed in steps of 10 below 10 in steps of 1 Reduce the axis or path speed of the selected axis in percent of MK_VMAX Over 10 the value is changed in steps of 10 below 10 in steps of 1 EDSTCXN EN 2 0 7 8 Appendix ETC MMI 7 Appendix 7 8 Language file SPRACHE TXT 7 8 1 7 8 1 Language file SPRACHE TXT Examples from the language file EDSTCXN EN 2 0 The language file e g SPRACHE TXT contains all display and message texts with the exception of the error messages which are saved i
302. iguration of axes Assignment and evaluation 207 Configuration of axes Basics 204 Configuration of axes Controller settings 211 Configuration of axes Correction of axes 215 Configuration of axes Handwheels 218 Configuration of axes Operating range 210 Configuration of axes Referencing 212 Configuration of axes Resolution 209 Configuration of axes speed and acceleration 213 Configuration of axes Synchronous axes 220 ETCxC mk 39 load file into control system 40 Overview 226 overview 36 Software configuration 193 Storage space reservation 200 Technology specific settings 221 Test settings 192 machine constants 112 manufacturer 12 ME bus termination 15 MEMCOMP 395 MEMCOPY 395 MEMSET 396 MK_ACHSENART 208 218 220 MK_APPLACHSIDX 205 207 218 MK_BAHNBESCHL 214 MK_BAHNBREMS 214 MK_BESCHL 213 MK_BREMS 213 MK_CANDRIVES 204 207 218 MK_CANOPEN_BAUDRATE 198 MK_CONST_REL_INCH 195 MK_CONST_REL_MM 195 MK_DELTAT 199 MK_DW224_255 225 EDSTCXN EN 2 0 Contents MK_EPSILONGRAD 197 MK_EPSILONMM 197 MK_FEHLERRESTART 197 MK_GENAUHALTZEIT 210 MK_GEWINDE_VMAX 224 MK_GRUNDOFFSET 210 MK_HANDRADFAKTOR 219 MK_HANDRADFILTER 219 MK_HANDRADZUORDNUNG 218 MK_HEADERANZAHL 201 MK_IMPULSE 209 218 MK_KANALANZAHL 201 MK_KARTESISCH_ACHSNR 222 MK_KONTURFEHLER 195 MK_KUNDE 193 MK_LAH_GRENZWINKEL 196 MK_LAH_RUECKLAUFGRENZE 202 MK_LAH_VORLAUF
303. imum number of blocks which can be interpolated backwards in a program These blocks are stored in the prebuffer and reduce the predepth see above The MC contains one parameter for each possible NC channel The value in this MC must not exceed MK_LAH_VORLAUFTIEFE 8 Otherwise the return limit is limited to this value and an error is reported Note The number of blocks to be interpolated backwards is also limited by other factors In general the backward interpolation stops when no more interpolation blocks are available It stops as soon as a function occurs which is not a pure interpreter function and cannot be inserted in the previous or subsequent block e g an individual M function which is not preceded by a traverse block or a traversing block with M or O function OT Please make sure that M functions are output by default during backward interpolation but no O functions Lenze EDSTCXN EN 2 0 Machine constants 4 Storage space reservation 4 4 MK_PFELD_GROESSE 4 4 9 4 4 9 MK_PFELD_GROESSE This machine constant defines the total size of the parameter field in the control including the 1024 system parameters The MC specifies the number of parameters in the parameter field Each parameter is assigned 8 byte of the main memory The minimum size is 2048 parameters For further information on the parameter field refer to chapter P field 180 Lenze 203 EDSTCXN EN 2 0 A 4 5 4 5 1 4 5 4
304. in the event of a termination The sequence of the transformation is always C gt A gt B G114A0J30E1 Transformation on tool length along Y is 30 mm Lenze 131 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 45 G115 Convex surface transformation Syntax Meaning of the addresses Explanation Example 132 Convex surface transformation on or off G115 X Y ZA BC I XYZ Selection of lateral and longitudinal axis 0 lateral axis 0 slope factor of the lateral axis if programmed ABC Selection of the involved rotation axis and radius at the start of the cone when the position of the longitudinal axis 0 l without programmed axes 0 switch off transformation temporarily 1 switch on transformation with old parameters again Sheath transformation is a process whereby cartesian coordinates are represented on a cone surface The cone is defined via radius and slope The cartesian coordinates are transformed during the axis output in coordinates for a rotation axis and a longitudinal axis The rotation axis rotates the workpiece and the longitudinal axis moves the tool along the rotation axis The third possible axis vertically to the workpiece is not transformed To switch the transformation off G115 must be programmed without parameters When the transformation is switched on the involved rotation axis can only still be moved via programming of the lateral
305. in X 7 XA24 0 BitZsetinX In the case of a true result all the on going actions in the current NC channel are stopped Two variants of continuing the program are then possible Program jump The stopped actions are canceled and the program is continued with block I In this case the code letter E must not be programmed The target block number must be contained in the same program in which the comparison is also programmed If the target block number is not equal to the current block number N a true result leads to the deletion of all modal and non modal comparative operations which were made on the same or subordinate program planes Subprogram call The stopped actions are saved program E is placed in processing In this case the code letter E must be programmed a target block number must not be specified If the subprogram is processed the control continues processing at the interrupted position A true result does not lead to the export of modal or non modal comparative operations 138 Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 It is the user s responsibility to ensure that all axes which he uses in the subprogram are returned to the positions which he found during the subprogram call Seven modal comparisons can be activated at the same time With Y the index for the table line must be specified A missing Y is interpreted as a non modal c
306. in with FreeV24 this restores the previous state prior to the allocation Possible interfaces are COM1 unit_di 0 and COM2 unit_di 1 For the priority values between 128 lowest and 127 highest can be used with a priority of 127 meaning that the interface cannot be appropriated The function returns the address of the allocated V24 request structure If it returns O the interface could not be allocated request_p DINT request_p ALLOCV24 0 110 The first V24 interface X3 connector is allocated with a priority of 110 Lenze 377 8 PLC programming 8 8 Library 8 8 2 V24 functions 8 8 2 2 INITV24 Declaration Description Example 8 8 2 3 FREEV24 Declaration Description Example 378 FUNCTION InitV24 DINT VAR_INPUT req_pr DINT Address of the V24 request structure mode_dw DWORD flags_dw DWORD END_VAR This function is used to set up the interface parameters of a V24 interface allocated with AllocV24 gt mode _dw results from the OR combination of mode bits 397 gt flags_dw results from the OR combination of flag bits B91 A return value other than 0 signals an error 391 ret_di DINT requestV24_p DINT requestV24_p ALLOCV24 1 127 ret_di InitV24 requestV24_p mode_no_parityOR mode_8_bits_per_char OR mode_no_rts_cts_control OR mode_stop_bit_len_2 OR mode_rx_baudrate_9600 OR mode_tx_baudrate_9600 OR mode_rx_buffersize_2k OR
307. ing for the customer specific comparison operation type 0 G130 VO Meaning Sync Dwell time for non tangential not equal to 180 profile transitions Preliminary position of the resistance wire in X Max reached position of the X axis before the standstill of X Default position of the X axis at which the resistance wire is switched on Lenze 187 CNC programming 3 5 Data fields 3 5 1 P field Axis positioning handler for handling tasks G97 X10 Sewing G97 X5 X6 188 Index 1040 1041 1042 1043 1044 1045 1046 1047 Index 1050 1051 1052 1057 1058 1059 Meaning Intended speed for axis positioning Target speed on reaching the target point Intended traverse path after triggering Accumulated actual traverse path after triggering Number of the input which should be used as a trigger signal 0 23 Positioning state 0 Standstill 1 Find trigger signal 2 Positioning running 3 Intended traverse path reached or exceeded P1041 0 4 Intended traverse path reached standstill P1041 0 Acceleration and brake ramp Current default speed on the positioning axis Meaning Y correction value which is added for each mm of feed of the X axis to the position of the Y axis Only in the case of spindle type 6 Number of stitches of sewing head 1 since the control was switched on Number of stitches of sewing head 2 since the control was switched on only in the
308. ing of a linear axis helix or expanding radius spiral with additional positioning of a linear axis conical helix Note When correction modules are used e g TRC only the normal arc can be programmed The additional functions are not allowed G02 AXES D IJ K R FEL G03 AXES D IJ K R FEL AXES Target point coordinates of the three linear principal axes default X Y Z as well as start or target point coordinates of the three rotative secondary axes default A B C D Radius change on reaching the target point l Center coordinates of the first principal axis X or number of additional full circles J Center coordinates of the second principal axis Y or number of additional full circles K Center coordinates of the third principal axis Z or number of additional full circles R Interpolation radius F Path speed E L Selection of feed speed via speed E and increment L F E L With G02 G03 the interpolation on a circular path is programmed in the selected plane G17 G18 or G19 G02 clockwise G03 counterclockwise Note It is always necessary to select a plane there is no standard default setting To determine an arc you need to specify three points These are always the arc start point and arc end point as well as either a center or a radius This results in the following mandatory DIN address combinations for the determination of an arc depending on the plane G17 XY IJ or XY R G18 ZX KI
309. int 10 10 is now executed when the drive is also in the zero point Otherwise the control system traverses the drives on a straight line from the current point to the starting point 2 To change the material speed press lt S6 gt lt S7 gt Override 3 To stop the drives press lt 2 gt Stop EDSTCXN EN 2 0 Lenze 49 2 10 2 10 4 2 10 4 Exit ETC MMI 50 Getting started Creating a CNC sample program Extending the CNC program Extending the CNC program The sample program test din executes a circular profile The actual target of a CNC program is to switch on a tool while executing a program Thus the sample program is extended by the corresponding M functions M14 and M15 which lift or lower the tool when the profile is executed The M functions are programmed in a separate PLC program M function Target function Programming of a separate PLC program M14 Lower tool An output for lowering the tool is to be set Switchover to the next command only after one of the lower limit switches has been activated M15 Lift tool An output for lifting the tool is to be set Switchover to the next command only after one of the upper limit switches has been activated Starting point The cursor flashes in the top right of the text editor and the graphic area is displayed In the control system the program e g test din is loaded 1 Press lt F2 gt Open program 2 Select the program e g test din and pr
310. ion for the following events OnChannelCreate Create a new communication channel in the gateway OnConnect Open close a communication channel OnRead Receive a message via the communication channel OnWrite Send a message via the communication channel OnLoadFirmware Transfer the firmware OnFileOpen Open a file OnFileClose Close a file OnMsg2Nc Send a message to the control system OnMsg2Mmi Send a message to the application ETC MMI OnError If an error occurs Mi Ingheway Connechons Trace About M le herve rase M Cehle pen l OnGosnect M GieFilet oes I Fame F shathe F Omiin 7 Daha bern m am i l DaE mmi r One Fa ETCNO61 Activated traces are automatically switched on the next time the gateway is started Lenze bei EDSTCXN EN 2 0 ETC MMI Gateway 6 3 Configuring the ETC MMI gateway 6 3 3 About Version information 6 3 3 About Version information The About tab shows the version numbers of the gateway the configuration tool and the MmiCtrl dll MA ateway Cosnechons Traca About SEE Lenze Veron 2100 Damay V 2201 Pirri Ciri ar 2201 Lande Dre Syehers GmbH ETCNO62 282 Lenze EDSTCXN EN 2 0 6 4 Mmigtway ini Connection section Options section Traces section Sections of the connections EDSTCXN EN 2 0 ETC MMI Gateway Mmigtway ini 6 P O In the file mmigtway ini the current configuration of the gateway is saved Inthe Connec
311. ion in the target point for grinding corners with the following linear interpolation F High rate speed on the path G31 or every axis G30 E L Selection of feed speed via speed E and increment L F E L GOO can be programmed in path operation G31 and in route operation G30 Path operation All axes reach the programmed target point at the same time Two directly successive GO G1 functions can be connected with a tangential arc with the radius R For this parameter R must be specified in the first block The programmed radius is corrected to smaller radii by the control if the distance between the line circle intersection point and the peak exceeds the length of one of the two lines or an R is also programmed in the following block In the latter case the available path length for the circle adjustment is shortened by half Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 As an alternative to R D can be used to program the maximum path deviation in the target point in order to define the grinding of the corner which is created between two G0 G1 blocks The two blocks must also be programmed in direct succession here otherwise the D is ignored In contrast to the corner cut with R no plane must be selected during the grinding of corners since a polynomial G6 and not a circle is inserted between the two blocks The interpolation takes place in the space The high r
312. ion is switched on or off to move the tool tip via 6 axes inthe space at a constant speed G114 1J K ABCEL l Tool length along the X axis at zero position of the A B and C axis This corresponds to the distance between the pivotal points of the C axis and the A axis Default 0 J Tool length along the Y axis at zero position of the A B and C axis This corresponds to the distance between the pivotal points of the A axis and the B axis Default 0 K Tool length along the Z axis at zero position of the A B and C axis This corresponds to the distance between the pivotal point of the B axis and the tool tip Default 0 ABC Identification for the rotation axes which should be involved in the transformation At least one is necessary The value should be 0 E Identification 0 tool path is programmed default 1 workpiece path is programmed L Identification 0 kinematics with shifted pivotal points default 1 kinematics with common pivotal point of the A B and C axis The 6 axes transformation allows for the consideration of different machine kinematics and tool geometries e g spacial tool correction tool orientation and interpolation of a tool path at a constant path speed Both the path of the tool tip tool path and the path of the cartesian axes tool path can be programmed here The transformation is switched off through the programming of G114 without the specification of parameters and at the end of the program or
313. ion or deactivation of traversing range limits Syntax G26 AXES Meaning of the addresses AXES Validity identification any value Explanation If axis addresses are programmed in addition to the preparatory function the values entered in the parameter field are transferred for the positive and negative traversing range limits and thus activated If no other DIN addresses are programmed except for G26 the traversing range limits of all axes are canceled Example N250 G26 X0 The positive and the negative traversing range limit of the axis X is activated EDSTCXN EN 2 0 Lenze 111 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 15 G27 Jump function with repetition counter Syntax Meaning of the addresses Explanation Example Programming of a loop which should be passed n times G27 X Z Jump target block number Z Repetition counter The programmed block number is carried out in accordance with the number in the repetition counter Z The target block number must always be smaller than the block number in which G27 is programmed i e only returns are allowed Failure to observe this leads to a termination with an error message The target block number must exist otherwise an error message occurs during the program processing The maximum value which can be programmed under Z is 65535 if the value 0 is specified the loop is passed through 65536 times N10 The program execu
314. ion to G88 G89 A B C a Relative angle of rotation of the YZ plane in degrees Relative angle of rotation of the ZX plane in degrees Relative angle of rotation of the XY plane in degrees The profile rotation is used to define the position of a profile description on a workpiece The rotation is effective for S1 S31 jointly In the reference workpiece coordinate system SO the rotation is not effective However the rotation can be defined there vertically in SO It only becomes active when changing over to S1 31 When the rotation is activated the actual positions of the X Y Z A Band C axis are adjusted to the new plane location a compensating movement does not take place The transformation sequence is always A gt B gt C The specifications of the angle are relative specifications The rotation is deactivated by omission of all the parameters and it is automatically deactivated at the end of the program or in the event of a program termination During deactivation the angle is reset to 0 N1 GO X10 Y15 SOTO With block 4 a profile rotation of the YZ plane about 10 and the XY lane about 15 is activated for all systems S1 31 The rotation is N2G193xoyos P ae a only becomes effective in block 5 since it was activated in S0 vertically N3 SO N4 G89 A10 C15 The current actual positions are converted in block 5 to the rotated N5 S1 system Lenze EDSTCXN EN 2 0 Syntax Meaning of the addresses
315. ions like spline G5 and radius transfer G1 with R are also not saved If possible only use the G10 at the start of completed profile sections For the Wiederanlauf nach Fehler Restart after error function the machine constant MK_FEHLERRESTART must be set otherwise a termination will also occur after a minor error and processing cannot be resumed at the point of interruption N80 G10 X0 YO Block 80 is selected as the restart block and the current positions of the X and Y axis are saved as the restart position Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 8 G16 Selection of the principal and secondary axes of the current NC channel Syntax Meaning of the addresses Explanation Example EDSTCXN EN 2 0 With G16 the principal and secondary axes of the current NC channel which are involved in the three main planes can be freely selected and thus the preset axes X Y Z and A B C can be replaced G16 AXES AXES Axes which should be selected as the principal and secondary axes 1 first principal axis X 2 second principal axis Y 3 third principal axis Z 4 first secondary axis C 5 second secondary axis A 6 third secondary axis B The selection of other principal and secondary axes is necessary if different axes to the preset axes should be interpolated with G2 G3 corrected using the TRC or considered during Look Ahead If the first prin
316. is reached by all axes at the same time G1 AXESRDFEL AXES Target point coordinates of the axes R Radius with which the following linear interpolation GO G1 should be connected D Max path deviation in the target point for grinding corners with the following linear interpolation F Feed speed on the path G31 or every axis G30 E L Selection of feed speed via speed E and increment L F E L G01 can be programmed in path operation G31 and in route operation G30 Path operation All axes reach the programmed target point at the same time Two directly successive G0 G1 functions can be connected by a tangential arc with the radius R For this parameter R must be specified in the first block The programmed radius is corrected to smaller radii by the control system if the distance between the line circle intersection point and the peak exceeds the length of one of the two lines or an R is also programmed in the following block In the latter case the available path length for the circle adjustment is shortened by half As an alternative to R D can be used to program the maximum path deviation in the target point in order to define the grinding of the corner created between two G0 G1 blocks The two blocks must also be programmed in direct succession here otherwise the D is ignored In contrast to the corner cut with R no plane must be selected during the grinding of corners since a polynomial G6 and not a circle
317. its The O field can be used to control the progress of a NC program e g G150 by means of external events The individual bits can be controlled by the PLC in data block 1 The assignment can be freely defined by the user If fast inputs are configured see MC and NC software manual the corresponding Q bits are not read from data block 1 of the PLC but rather directly from the corresponding inputs EDSTCXN EN 2 0 Lenze 189 4 4 1 190 Machine constants Basics Machine constants Basics This chapter describes the machine constants MCs of the controls ETCPC and ETCHC Some of the described MCs are not available in both control types due to the different hardware features The respective identifiers are marked with a corresponding footnote MCs are used to adapt the control to the specific field of application These include the actual machine with its axes as well as the fields of technology and operating philosophy Therefore the extent to which the end customers and users can affect the MCs should be limited At the end of this chapter you can find a complete overview of the MCs including comments This overview is included in the supply of each ETC MMI under the name MUSTER MK SAMPLE MC but can also be supplied separately Note The file MUSTER MK SAMPLE MC serves as a basis for your specific adaptations Therefore it is recommended to generate a copy of the file The name of the file is ir
318. ix 7 8 Configuration file DELPHMMI INI 7 8 3 Configuration file DELPHMMI INI The configuration file by default delphmmi ini contains settings which are required for the operation of the IPC and the NC computer and should only be changed by trained personnel A section refers to the expressions that are enclosed in example config A term means the expressions following a section example cfg c Programs Lenze ETC mmi cfg Please note that it is also possible to specify all paths within the configuration file relatively to the path of the executable program This means that if the executable program is located under c Programs Lenze ETC mmi the entry cfg refers to the same subdirectory c Programs Lenze ETC mmi cfg Section config EDSTCXN EN 2 0 Term demo 1 mmiTrace 0 axformat 3f nc ETC_Kunde touch 1 cfg cfg prg prg err ncr_fehl db errsps sps_fehl db errmmi mmi_fehl db initbta 2 Lenze Description 1 gt Operation without control system demo installation 0 gt Operation with control system Log trace logs of the operating software Is used by the manufacturer for troubleshooting Formatting instruction for the representation of the axis display in order to show more or less positions after the decimal point Identification indicating which control system is to be addressed The basic setting takes place automatically during installation se
319. le be maintained by the MMI developer others by the PLC programmer and others by the end customer It must be ensured that the text numbers are strictly assigned EDSTCXN EN 2 0 ETC MMI 7 Appendix 7 8 Configuration file DELPHMMI INI 7 8 3 Section Term Description SPS_EXEC Call of a file that is executable under Windows by a PLC message Entry EXE file parameter MAX MIN NORM EXE file executable Windows file Parameter transfer parameter for EXE file MAX maximum window MIN minimum window NORM normal window entryO C WinNT Notepad Examples entry1 C WinNT Notepad Readme txt See also section SPS_EXEC entry2 C WinNT Notepad Readme txt Max entry3 C WinNT Notepad Min LenzeTools F1 C Programs lenze GDC_4_70 bin gdc32 With KeyCode F12 diagnostics F1 axis exe settings F2 Lenze tools the tools keys are F2 C Programs lenze ETC MMI axcop exe activated F3 C Programs lenze ETC CoDeSys CoDeSy The texts for key labelling must be entered s exe in the language file from entry 1501 for F1 F4 C Programs lenze GDO_1_20 osci exe F5 c Programs lenze etc mmi etchc1 ht BARANZ Configuration ofthe bar display ANZ1 0 800 10802 1 P30 See also section BARANZ following this ANZ2 0 800 10902 2 P31 table ANZ3 0 3000 10920 3 4711 DOUBLE Anz4 0 4000 10930 4 D10 WORD pfielddisplay1 The entries in these sections are evaluated pfielddisplay2 by the HMI when the operating mode is pfielddisplay3 changed They are no
320. lean value defines 1 whether after a complete download of the NCR the automatic DIN program that was used last is loaded back into the control system and prepared for the program start The name of the automatic DIN program that was used last This entry is updated by the HMI Enter the number of the program 1 7999 that is always to be started If no number or zero is entered the program that was loaded last is started During program start a leadscrew pitch correction file is transferred Specifies a bitmap that is to be displayed If no file is specified the default bitmap of the application is displayed The integer value in seconds determines how long the application is to wait while the logo is being displayed gt 0 until it continues to start up the system The value is limited to the entry under the term time Specifies the period of time in seconds that the logo is displayed If the value is 0 the display of the logo is suppressed Defines the Y coordinate of the left upper edge of the image in the display Defines the X coordinate of the left upper edge of the image in the display Basic number in the file Sprache txt where the I O signal texts start 1 separate texts for each module 0 the texts of module 1 are used for all modules If the entry Language in the Config section remains empty the language section is used Texts of several files are defined Texts can for examp
321. loaded in kByte at the same time The control reserves twice the memory specified in the MC in order to support the online change function of the PLC programming interface The memory reserved in this manner is thus permanently assigned to the PLC and is no longer available for other tasks of the control The default value of 128 kByte is sufficient for smaller PLC programs In the case of larger programs this value must be increased accordingly 4 4 2 MK_SPS_DATENGROESSE This machine constant defines the size of the data memory for the variables of the PLC in kByte This memory is permanently reserved for the PLC and is no longer available for other tasks in the control The default value of 32 kByte should be sufficient for most PLC programs 4 4 3 MK_SPV_SPEICHERGROESSE This machine constant defines the size of the internal main memory in RAM for managing DIN programs also online programs The specification is the number of storage blocks at 1024 byte 1 kByte Their value can be increased or decreased Reasonable values start from 64 K The maximum value at 4 MByte memory capacity is 2048 kByte Note The memory space required by the DIN programs in the internal main memory is approx 2 4 times as much as the size of the corresponding ASCII file This is due to the fact that the programs are already preinterpreted and stored in an intermediate code in the main memory for a faster execution during loading 200 Lenze EDST
322. lt Cursor gt keys and press lt Enter gt Note During the next start of the control system the MC file entered in the INI file will be loaded EDSTCXN EN 2 0 ETC MMI Diagnostics operating mode 7 7 EDS Load description file of a manufacturer of a CAN module All defined code positions can be read out The code positions released for writing can be overwritten with new values For details refer to the module description of the manufacturer of the CAN modules If the softkey is pressed a selection of the CAN bus 1 1 O bus 2 drive is displayed first Afterwards the node number of the desired module must be specified In the following dialogue the description file eds of the module type is selected The selected module can now be accessed ETCN094 back Back to the previous level Edit password After the softkey has been pressed a dialogue is displayed The password for changing passwords must be entered here C 294 Afterwards a selection list is displayed where the password to be changed must be selected You will then be prompted twice to enter the new password in order to avoid possible errors New passwords become active immediately after the change If you do not want a password for certain operating modes enter an empty string as active password MMI configuration Display and change configuration file DelphMML ini c1 327 Every tab represents a section of the Ini file Use the button in the r
323. m the last interpreted DIN block Lenze Sync x x x XxX XxX X EDSTCXN EN 2 0 Parameters for program management EDSTCXN EN 2 0 Index 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 540 541 544 545 546 547 551 552 553 554 555 CNC programming Data fields P field Meaning Sync Program number and block number of the starting NC x program in start mode 0 MMI Program number and block number of the starting NC x program in start mode 1 PLC Program number and block number of the starting NC x program in the start mode 2 ZYK Program number and block number of the starting NC x program in start mode 3 APP1 Program number and block number of the starting NC x program in the start mode 4 APP2 Program number and block number of the starting NC x program in start mode 5 APP3 Program number and block number of the starting NC x program in start mode 6 APP4 Program number and block number of the starting NC x program in start mode 7 APP5 Program number as a trigger condition for the block x search function Block number as a trigger condition for the block search x function Logical block number as a trigger condition forthe block x search function M function as a trigger condition for the block search x function Number of loops passed as a trigger condition for the x block search function P
324. mber 0 11 Meaning Modal axis speed manual traversing m min or U min in the order of the axis number 0 11 Max axis speed m min or U min in the order of the axis number 0 11 Acceleration ramp m s2 or U s2 in order of the axis number 0 11 Deceleration ramp m sec2 or U s2 in the order of the axis number 0 11 Damping time constant for acceleration and deceleration ramps ms in the order of the axis number 0 11 Meaning Max material speed m min Acceleration ramp m s Deceleration ramp m s Dampening time constant for deceleration and acceleration ramps ms EDSTCXN EN 2 0 Getting started 2 Parameterising drives via machine constants 2 8 Machine constant file ETCxC mk 2 8 2 2 8 2 Machine constant file ETCxC mk Test setting Hardware configuration Software configuration Setting of the axes Axis related limit values Path related limit values EDSTCXN EN 2 0 In the control variant With MMI the file ETCxC mk is loaded into the control system ETCxC when the ETC MMI is started In the Standalone variant it is detected that the machine constants have already been loaded The following example of machine constants is an excerpt from the file ETCxC mk with preset machine constants which must be adapted for the specific application MC keyword MK_TEST_OHNEMECHANIK MK_SPS_DUMMY MC keyword MK_CANDRIVES MK_APPLACHSIDX MK_ACHSENART MC keywor
325. mber of symbols for symbolic program number management K_HEADERANZAHL 100 max number of NC programs to be managed at the same time K_SPS_SPEICHERGROESSE 128 size of the PLC program memory in kByte MK_SPS_DATENGROESSE 32 size of the PLC data memory in kByte else see seseseseceses jee eS JE 3 Setting of axes EJ a ea ea tn fb Feo ete resolution of position encoder ee zoomen MK IMPULSE 65536 number of pulses per MK WEG 65536 after the quadruplication 65536 65536 65536 65536 MK WEG 10 specification in mm or Grad degrees 10 WEG POSITION at which the axis computer 10 sees number of MK IMPULSE E 10 10 10 MK_SSIKONF 0 configuration of SSI encoders 0 bit 0 6 no of significant bits 12 32 O bit 7 1 binary code 0 gray code 0 0 0 MK ACHSEINGAENGE 1234 assign of limit switches to axis inputs 1234 1234 a 1234 input number of the spare input 1234 input number of the reference cam 230 Lenze EDSTCXN EN 2 0 1234 aa 1234 Ls MK _ US 0 Z 0 0 0 0 0 MK_UAO 0 48 0 0 0 0 0 MK UA12 0 Af 0 fe 0 f 0 0 0 MK_TEACHACHSE I p8 1 fe 1 0 0 0 MK_MASSSTAB 1 Z 1 1 1 1 1 MK _HANDRADZUORDNUNG 0 0 0 0 0 0 MK_HANDRADFAKTOR 1 1 1 1 1 1 EDSTCXN EN 2 0
326. measure The withdrawal from the finished profile also takes place via G143 by programming the overmeasure and the positioning amount negatively Lenze 143 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 56 G143 Parameters of grinding phases during noncircular grinding Syntax Meaning of the addresses Explanation Example 144 With G143 the parameters must be programmed for every grinding phase e g roughing smoothing fine finishing and sparking out G143 X DCFL J I x Overmeasure for this phase in mm Positioning amount per revolution in mm C Motion range of the C axis in which the positioning should take place If it is not programmed the positioning takes place via a complete revolution of the C axis F Path speed during this phase in mm min L Program number of the subprogram in which the finished profile is described J Block number in the current program from which the finished profile is described l Number of additional revolutions without positioning G143 is needed to define the grinding phases during noncircular grinding At least one grinding phase is necessary For L the number of the program is specified in which the finished profile is described As an alternative to L the block number from which the finished profile is described in the current program can also be specified with J In any case the description of the finished profile must be ended with
327. mmended to select only one option for each variable list i e either only read or only write If different variables of a project are to be read and written use several variable lists one for reading and one for writing It is also recommended that only one control per network will send the same variable list Cyclical transmission Only valid if Write has been enabled The values will be sent in the time intervals defined irrespective of whether they have changed Transmit on change The values will only be sent if the value has changed or if the time defined for the minimum interval has expired 354 Lenze EDSTCXN EN 2 0 PLC programming 8 Generate program 8 6 Settings in the global variable list 8 5 2 Pack variables Ifthis option is enabled the variables will be combined to a transfer unit where possible For UDP a transfer unit has a size of 256 bytes If not all variables of the list fit into one transfer unit several transfer units will be created for this list If the option is disabled each variable will go into its own transfer unit If transfer when modified has been configured a separate check takes place for each transfer unit whether it has changed and must be sent List identifier The list identifier is used as a unique ID to exchange variable lists between different projects Variable lists with the same list identifier will be exchanged It must be ensured that the definitions of the variable lists with t
328. mode The axis selected with the lt Axis gt key or lt Cursor gt keys is traversed as long as the lt Travel gt lt Travel gt key is pressed The speed at which the axes are traversed is determined by MK_MODVMAx It can be influenced via the lt Override gt lt Override gt key Switch over of the display between e Tolerance margin in input unit mm e Set position e Modal position Enter single block e g G S T and M functions The execution is completed and triggered with lt Enter gt Back to the previous level EDSTCXN EN 2 0 Diagnostics data NC timing information Trace Axis information Dump DPR Version information back EDSTCXN EN 2 0 Lenze ETC MMI Diagnostics operating mode 7 7 Display different internal control specific data The function is intended for internal use only or for trained service personnel The display can be cleared with the lt ESC gt key Open dialogue for activating events that are to be logged From the list of available traces individual traces can be selected with a double click and activated with lt Start gt You will then be prompted to enter a file name e g log ETC_MMI trc The events will be written to this file The activations will be reset when the MMI is quit Show parameters of the configured axis The file IBprot txt is created in the log directory and displayed It contains information on the system inter alia
329. n off 61 Stop block preprocessing 74 Home position approach 75 Change scaling factor for input units 76 Change scaling factor for pulse evaluation 88 Basic rotation 89 Profile rotation 90 Absolute dimensions reference dimension 91 Incremental dimensions 92 Relative zero shift of the current coordinate system 93 Absolute zero shift of the current coordinate system 96 Programming of spindle circumferential speed 97 Programming of spindle speed 99 Subprogram return 100 Polar coordinates linear interpolation high rate 101 Polar coordinates linear interpolation 102 Polar coordinates circular interpolation clockwise 103 Polar coordinates circular interpolation counterclockwise 110 Polar coordinates accept center 110 Polar coordinates accept center 112 Tangential correction on 113 Tangential correction off 114 6 axes transformation X Y Z A B C 115 Sheath transformation 116 Rotation axis transformation B C gt A B 92 Lenze h Cc Cc Cc h2 h2 h2 v v v v h2 h2 h2 Group Attribute S EDSTCXN EN 2 0 EDSTCXN EN 2 0 No 117 118 120 121 122 125 130 131 132 133 134 140 141 142 143 144 145 150 151 152 153 158 159 161 162 175 180 181 187 193 194 195 200 201 209 211 222 226 231 232 233 234 250 251 252 253 CNC programming G functions Overview of G functions Meaning Reserved Reserved Coordinate shift via modal offset Programming of the mod
330. n parameters 2 Click on New T TCAP 5 AP Mad TEPAP Weir Mares Tuag Carers 3 ae Cua rw ETCM036 3 Specify a name e g network and select the TCP IP protocol as parameter Click OK Erundas Sera D Lace DPR dee Lar ra Scher fi H Ta dee Sead ARE pa PS ae 35 T emip reed Ze ae ETCM040 EDSTCXN EN 2 0 Lenze 69 Getting started 2 12 Creating a PLC sample program 2 12 3 Loading the PLC sample program into the control system 4 Double click the Address field and specify the correct IP address 8 Charai teskar aa icip Meier TEPAP Pinti TEPP Hiir Use Lig Tun ribhe Echbr CHEER en ale Prat inci 128 bhei maich ehren Medora beled ir ETCMO41 Note Do not use any leading zeros in the IP addresses Otherwise the IP address will be interpreted as octa decimal number 5 Asthe control system contains a Motorola processor the field Motorola byteorder must be set to Yes If required correct this setting by double clicking several times Note The left window area shows the connection options in this case the two connections local_ and network The current setting is the setting that is displayed in the right window before you click OK it is used for log in 6 Close the window with OK 70 Lenze EDSTCXN EN 2 0 Getting started 2 Creating a PLC sample program 2 12 Loading the PLC sample program into the control system 2 12 3
331. n separate files The file is created in the ANSI character set typical of Windows and can be edited with any editor e g the editor in the PROGRAMMING operating mode of the MMI software The beginning of a text line is always marked by a number The number serves as a selection criterion for the MMI software If there is no number at the beginning of a line the text is added to the previous text with word wrap Some of the texts contain additional information which are not directly displayed In addition to the text the softkey labels also contain the information on the colour of the softkeys C an optional bitmap its alignment and possible animation B the text flow the font to be used its size and colour F For example 00000000 Menu C12632256 BFLDRMANY 4 4 2 1 1 0 0 FArial 8 1 0 3 6 gt Ifa tilde is added to a text a statement Axx in the corresponding text is replaced by the code letter of the axis marked with xx The code letter results from the current machine configuration The index of the axis is determined by the entry xx If the machine configuration is XZC the text This is the A2 axis is displayed as This is the C axis The numbers 1 00001323 are used for labelling the function keys softkeys Numbers below 3000 may only be used for function keys not for other displays or similar 0000001 C12632256 FArial 8 1 0 3 6 lt empty function k
332. n the basis of the selected target system and do not normally require modification A description of the target system settings can be found in the CoDeSys manual 8 4 2 Configuring PLC tasks of the ETCxM Binding PLC tasks 340 With the ETCxM it is possible to use four PLC tasks independently from each other Each task can be linked to an IEC program component PRG during the call The program components linked to the tasks are processed almost parallel by the multitasking operating system of the ETCxM The processing sequence is a result of the interval time time controlled and the priority of a task A task will run until a PLC cycle has been completed or another task with higher priority is started In order for a PLC program to be processed by the ETCxM at least one task must have been created in the task configuration of CoDeSys and linked to one IEC program component la gg Tosk cond pore ioe a en ay j PLC PRG 5 Timi Tami ETC102 Lenze EDSTCXN EN 2 0 Task properties EDSTCXN EN 2 0 PLC programming 8 Project planning 8 4 Configuring PLC tasks ofthe ETCxM 8 4 2 The properties of the individual tasks are configured in the Task configuration of CoDeSys T ikaita pre Tam El T Ine F gg era ee Pagers Eve Pub PAD primas pag HDNet NEST Fl ETC103 The following points must be noted gt The greater the value for priority the greater the task priority
333. n this case it is available as communication channel for other applications During installation the following files are copied to the system directory on the PC e g c Windows System32 File Description mmigtway exe Gateway program mmictr dll Interface for the application ipcom dll DLL with internal gateway functions gtwconf exe Configuration interface mmigtwayini Configuration file CQ 283 Note If you want to install the ETC MMI gateway without ETC MMI manually copy the files to your system directory Lenze EDSTCXN EN 2 0 ETC MMI Gateway Starting the ETC MMI gateway 6 2 6 2 Starting the ETC MMI gateway EDSTCXN EN 2 0 The ETC MMI gateway is started automatically when an application e g ETC MMI loads the file mmictrl dll The current configuration is read from the file mmigtway ini 4 283 and checked In the task bar an icon for the ETC MMI gateway is displayed You can open the menu with a mouse click on the gateway icon _odr 050301 1519 Ser 2 A ee hea cy ay Po Settings Start configuration interface About Display version and manufacturer information Exit Close gateway if there are active connections to an application a warning is displayed Lenze 377 6 3 6 3 1 6 3 6 3 1 278 ETC MMI Gateway Configuring the ETC MMI gateway Connection Setting up connections Configuring the ETC MMI gateway Via the configuration interface of the ETC MMI gatew
334. n value FALSE indicates a wrong transfer parameter Lenze EDSTCXN EN 2 0 PLC programming 8 Library 8 8 General functions 8 8 1 8 8 1 17 SETINPUT_WORD Declaration FUNCTION SETINPUT_WORD BOOL VAR_INPUT WORD_W WORD No of the data word VAL_W WORD END_VAR Description The function executes a boolean OR operation with the value val_w and the data word word_w of the input process image and writes the result to the same data word Return value FALSE indicates a wrong transfer parameter The function allows the developer to create a test environment without hardware 8 8 1 18 SINGLEBLOCK only ETCxC Declaration FUNCTION SINGLEBLOCK BOOL VAR_INPUT Sentence string STRING 80 sentence string PARAMETER_P DINT Address of a structure END_VAR Description This function sends an individual sentence to the NC computer The sentence string must be used as described under SPSERROR Example 1 SINGLEBLOCK GO X100 2 Y50 73 0 An individual sentence without parameter is sent to the NC computer Example 2 TYPE PARAMETER_TR STRUCT pos X Ir LREAL pos_Y di DINT END_STRUCT END_TYPE param_tr PARAMETER_TR SINGLEBLOCK gt GO X f Y d ADR param_tr An individual sentence with parameters is sent to the NC computer EDSTCXN EN 2 0 Lenze 369 8 PLC programming u 8 8 Library 8 8 1 General functions 8 8 1 19 SPSERROR Declaration Description 370 FUNCTION SPSERROR BOOL VAR_INPUT
335. nction has been called a dialogue is displayed Via the lt Cursor gt keys select a program and start the transfer with lt Enter gt lt ESC gt cancels the action Note In the DelphMMi ini you can determine which programs are loaded automatically when the control system is initialised B27 Display in 3 D mode of the profile of a program which is in the editor The graph is currently limited to a profile description of the axes X Y and Z Zero shift rotation individual programming and similar are not supported Show original position of the profile If a program is running use Display position to display and observe the current position on the profile Show and hide graphical display The size of the window can be changed by means of the Split screen function Back to the previous level 303 m ETC MMI 7 6 Programming operating mode Vertical function keys Vertical function keys for graphics on 304 Stop Insert cycle Edit cycle Delete cycle File manager Rotate by X Y Z Move by X Y Split screen Zoom Lenze Quits a running program Adds a prepared cycle The cycle is selected by means of the lt Cursor gt keys and added to the line where the cursor is positioned by means of lt Enter gt lt ESC gt cancels the selection A cycle is a subprogram to which parameters are transferred when it is called More detailed information on creating cycles can be
336. neCanMsg The return value of the function is of no consequence Example handle_pr DINT handle_pr DefineCanMsg 1 1014 1114 32 ClearCanMsg handle_pr 8 8 6 6 ReadCanMsg only ETCxM Declaration FUNCTION ReadCanMsg INT VAR_INPUT handle_pr DINT Handle on the management structure dest_pr DINT Address to the data structure END_VAR Description With this function a CAN message can be read from the reception buffer The reception buffer is implemented as FIFO The structure for reception data is as follows TYPE CAN_MSG_TR STRUCT cobid_w WORD size_b BYTE rtr_bit BOOL data_ab ARRAY 0 7 OF BYTE END_STRUCT END_TYPE The variable dest_pr must always be given the address of a variable of type CAN_MSG_TR see example This function will provide an immediate return in any case The meaning of the return values can be found in the following table Return value Meaning 2 Invalid handle No new message in FIFO New message available no further message in FIFO 2 New message available and further messages in FIFO 433 Lenze EDSTCXN EN 2 0 Example PLC programming 8 8 8 6 7 WriteCanMsg only ETCxM Declaration Description Example EDSTCXN EN 2 0 Library 8 8 CAN functions only ETCxM 8 8 6 handle_pr DINT received_bit BOOL msg st CAN_MSG_TR handle_pr DefineCanMsg 1 1014 1114 32 handle_pr DefineCanMsg 1 1014 1114 32 FUNCTION WriteCanMsg INT VAR
337. ng movements feed enable Data word Name Direction Type of signal 179 00 15 Limit switch active NC gt PLC static The signal has the value 1 if the negative limit switch of an axis is active otherwise value 0 Effect in the PLC Disabling machine functions or traversing movements feed enable Data word Name Direction Type of signal 180 00 15 Reference switch active NC gt PLC static The signal has the value 1 if the reference switch of an axis is active other wise value 0 Effect in the PLC If required man execution of homing via the PLC Lenze 265 EDSTCXN EN 2 0 gt 5 1 5 1 2 266 Interface PLC lt gt NC operating system Definitions Data block 1 Data word Name Direction Type of signal 182 00 15 Slave axis limit switch active NC PLC static The signal has the value 1 if the positive limit switch of the slave axis of a synchronous axis is active otherwise the value is 0 Effect in the PLC Disabling machine functions or traversing movements feed enable Data word Name Direction Type of signal 183 00 15 Slave axis limit switch active NC PLC static The signal has the value 1 if the negative limit switch of the slave axis of a synchronous axis is active otherwise the value is 0 Effect in the PLC Disabling machine functions or traversing movements feed enable Data word Name Direction Type of signal 184 00 15 Slave a
338. ng started 2 11 ETC PLC programming with CoDeSys PALA Configuring the control system in the ETC CoDeSys Enter CAN address Each module has its own CAN address node ID An address consists of the type specific basic address and the individually set address at the hex switch on the front side EEEREN ETCM029 If the HEX switch is set to zero arrow points to the left for the fieldbus modules used the following resulting node IDs must be entered for the individual modules Module CAN Set Resulting basic address at the hex switch node ID ETCHIOxx 80dez 0 80der ETCHUOxx 16 dez 0 16 dez ETCHA022 48 dez 0 48 dez fie Edi mume ieee Gir Cries hie Haia Sowerubeactl petat iIe E FTorcisioT E ee EEE ne ee 1 0 ee Lenze Dag tale 16 Hocole FIE sun renden inalcge 1 Hedule FIC Irene Fl rege G Cap Meeter Fit jats le El pr BETesiooe ES FAR Si zj E EIFE Can Input wapi 7 am eg Trace AT im ze lst ar lage ern HEEE EDS VAR let coir Hoi ceased Oh waka andl rene Pireja Redd i Geen firey ewe pres jra 00 is a Faction B Eretas iip ETCN023 EDSTCXN EN 2 0 Nodeguarding Task configuration EDSTCXN EN 2 0 Getting started 2 ETC PLC programming with CoDeSys 2 11 Configuring the control system in the ETC CoDeSys 2 11 2 If the Nodeguarding option is activated a message is sent to the module at the interval specified in milliseconds under Guard Time
339. nication error with XT3 expansion card Checksum error in RAM disk RAM disk not enough heap memory for creating the file buffer No more space in RAM disk directory too many files RAM disk is full RAM disk validation File could not be recovered and was deleted RAM disk Battery is empty please replace RAM disk RAM error in CMOS RAM Unknown device name V24 interface to the floppy disk drive already in use Floppy disk drive not empty access denied Timeout during access to floppy disk drive Error during access to floppy disk drive Floppy disk drive reports transmission error Floppy disk drive reports V24 overrun Floppy disk is write protected No floppy disk inserted Read write error on the floppy disk The function to be executed is not supported by the device driver File name contains illegal characters V24 interface to the printer already in use Printer is already in use access denied Printer not connected or not ready File block number outside the permitted range File block used twice PC disk Unknown IO error PC disk Timeout during IO operation 391 392 PLC programming FILE IO functions Constant DSK_DLL_OUT_OF_MEMORY DSK_NET_NOT_CONFIGURED DSK_NET_COM_ERR DSK_NET_ANSWER_ERR DSK_NET_TIMEOUT_ERR DSK_NET_CANNOT_OPFEN_FILE DSK_NET_CANNOT_CLOSE FILE DSK_NET_HANDLE_ERROR DSK_NET_READ_ERROR DSK_NET_WRITE_ERROR DSK_NET_FILE_NOT_EXISTS DSK_NET_DIR_NOT_CREATED DSK_NET_DIR_NOT_DELETE
340. nnung_ab Lenze MX1 159 0 MW1 160 MX1 168 0 MW1 169 MW1 177 MW1 178 MW1 179 MW1 180 MW1 181 MW1 182 MW1 183 MW1 184 MW1 185 MW1 192 MW1 200 MW1 201 MW1 202 MB1 204 0 MW1 212 MW2 0 MW2 16 MW2 80 MW2 96 MW2 97 MW2 98 MW2 99 MW2 100 MW2 126 MW2 127 MW2 128 MW2 144 MW2 160 MW2 161 MW2 162 MW2 163 MW2 164 MW2 190 MW2 191 MW2 192 MW2 224 MW13 12 ARRAYIO 7 OF WORD MW1 203 ARRAYIO ARRAYIO ARRAYIO ARRAYIO ARRAYIO ARRAYIO ARRAYIO ARRAYIO ARRAYIO ARRAYIO ARRAYIO ARRAYIO 11 OF BYTE 7 OF WORD 15 OF WORD 63 OF WORD 15 OF WORD 25 OF WORD 15 OF WORD 15 OF WORD 25 OF WORD 31 OF WORD 31 OF WORD 15 OF BYTE EDSTCXN EN 2 0 PLC programming 8 Interface to the ETC 8 7 System variables of the ETCxM 8 7 3 8 7 3 System variables of the ETCxM Currently the data blocks of the PLC are freely available as data memory for the ETCxM 8 7 4 Using machine constants in the ETCxC In the ETCxC the machine constants MK_DW224_255 MC_DW224 255 are freely available to store machine specific values For the ETCxC these are shown in the data block 2 after data word 224 so that the content can be read by the PLC The system variable DB2_nc2sps_maschinenkonstante_aw DB2_nc2plc_machineconstant_aw points to the values of these machine constants The machine constants MK_TE
341. nt These may be specified more than once in a block Computer statements are preceded by a colon They must occur alone in a block and may only be combined with comments A block may have a maximum length of 256 characters For program loops or branches a statement can be preceded by block numbers These must be assigned within the program in ascending order The program end is indicated by an M function or a G function gt M30 main program end G99 subprogram end Lenze EDSTCXN EN 2 0 Comments G preparatory function Modal functions EDSTCXN EN 2 0 CNC programming Bi Basics 3 1 Comments are limited by round or curly brackets and read over at runtime A comment can occur at the end of the block or alone in a block The line length of 256 characters must also not be exceeded with a comment If a comment is opened with a bracket the line end is automatically seen as the comment end When using the curly brackets for comments it is possible to suppress them during importation via the monitor interface into the control This is defined by the machine constant MK_NCPROG_OHNE_KOMMENTARE The comments are then not saved in the control When using computer statements comments must generally be placed in curly brackets Example G17 plane selection XY plane This is also a comment The preparatory function G is either only valid in its block non modal function or replaces another function which was valid
342. nterface to the ETC_MMI DB1 Contains all standard signals NC lt gt PLC as well as an area from the virtual keyboard DB2 Interface between PLC and MMI DB8 DB15 This is where the interface data between the NC computer and the MMI is stored This interface corresponds to the Dual Port RAM interface which is used as a connection to the MMI Every data block consists of 256 data words DW of 16 bit each One block contains static signals as well as messages data that are exchanged with acknowledge characters handshake The data areas are bidirectional i e the data from the PLC to the NC as well as the data from the NC to the PLC is included Note In CoDeSys the signals data of the data blocks are available as what is called system variables The data exchange between NC and SPS takes place cyclically during each cy cle of the PLC program The data which is transferred from the NC to the PLC is copied before a PLC cycle starts the data from the PLC to the NC after a cy cle Static signals are set without prior evaluation Data whose evaluation must be ensured is transmitted as a message and has two additional signals for a handshake Strobe and Acknowledgement Lenze EDSTCXN EN 2 0 Interface PLC lt gt NC operating system 5 Definitions 5H With Strobe the transmitter validates the previously written data with Acknowledgement the receiver indicates the evaluation of
343. ntryO c ProgramsLenze ETC mmi Lenze b mp 25 Description entry1 for identification P1200 definition of the corresponding P field 1 23 value which is set in the P field top text for display and selection Image file that can be displayed P1200 definition of the corresponding P field 1 23 value which is set in the P field Min minimum value that may be entered Max maximum value that may be entered Flag 1 The value must be entered top text for display and selection In this example the software checks the input for min max If there is no input the field is not entered in the DIN file Name of an image file that can be displayed The 25 indicates that not half the screen width but only 25 of it is available for the graphic The value can be entered in the range 0 100 To ensure language independence the display texts can also be taken from a file other than delphmmi ini The source file is the file specified in the INI file e g delphmmi ini in the config section in the language entry without file extension txt Example Section Zyklen L8000 326 Term entry1 L8000 4100 entry1 P1200 1 23 Min Max Flag 4151 Lenze Description The text with the no 4100 from the file sprache txt is displayed here The text with the no 4151 from the file sprache txt is displayed here EDSTCXN EN 2 0 7 8 3 Definitions Contents ETC MMI 7 Append
344. o an error is displayed in the dialogue window The HMI always sends back a message to the PLC SBO_MMI_EXECUTE 8016 In the first DW the error number is coded 0 No error 1 Error executing the program 2 A program is already running 3 Could not find program 4 No program specified for the entry In the second DW the number of the requested job is returned Note Limitation Only one program from the list can be executed at the same time Lenze EDSTCXN EN 2 0 ETC MMI 7 Appendix 7 8 Configuration file DELPHMMI INI 7 8 3 BARANZ The configuration of the bar displays for Vist and Override can be changed to display a different value from the DPR Moreover two different bar displays below the axis positions can be configured in the Automatic operating mode For this purpose there is a new section BarAnz in the Delphmmi ini This section contains up to four entries for the four bars Example BARANZ ANZ1 0 800 10802 1 P30 ANZ2 0 800 10902 2 P31 ANZ3 0 3000 10920 3 4711 DOUBLE Anz4 0 4000 10930 4 D10 WORD The values of an entry have the following meaning 1 Min value of the bar or the labelling currently the entries lt 0 are not supported 2 Max value of the bar or the labelling the Max value must be greater than the Min value 3 Text number of the descriptive text in the language text 4 Bar on which the value is to be displayed 1 upper right standard Vist 2 lower right standard
345. o 42 function keys In this example the following assignments are to be made to three PLC keys F1 System on off F4 Lower tool F5 Lift tool 2 14 1 Labelling of the PLC keys in the ETC MMI The labelling of the PLC KEYS is realised in the language dependent file lenze txt innamic PLE bey assiignnencs OOG02 700 PLC ip cii 2e5hrar1 al 3 1 0 0 15550 DOOOTHOO Power on oo ecaraiz2ieerar ial 6 1 0 0 6 DISSZA Poeer off Ol Cazes ata 81 0 0 8 Deza oriwes on 02 L225 oar ial 1 0 0 6 OOS280F orives off Ps MCL6a22Sotrarial 1 0 0 6 OOOOH Valve toa clamp i eclsds2seerar tal amp 1 0 0 6 Eee erode 61 0 9 8 te oh RS a eae Text a El 193 GIESZALD Text LSB Tat bESSSHL Text OOCITALE Text ETCN037 These texts are then assigned to the keys by the configuration file delphmmi ini 3 Tasten Endisi r r seeti bii Kays auf eritar Seite SRS Taiten peed bis Key auf weiter Sette SP5 Tasten reerli bis keyii auf dritter Zette 2P3 Tasten pea ER Kr FE keptl 7p07 700 beper 280 De ET 50 Kt E Ji 3 KEpLO ZBIN 2027 keylleshis 2826 Kepl ete 20H keylis EI 208i kepl 1 Keyl Send kopisi Eerli l ETCNO38 Lenze EDSTCXN EN 2 0 75 Getting started 2 14 PLC keys in the ETC MMI 2 14 2 Calling the signals in the PLC Key 00 Texts 2800 and 2801 from the file lenze txt are used for the first PLC key 2 texts for one key aut
346. oDeSys program components to the PLC tasks it must be noted that each task is only allocated to a part of the process image The process image is a copy of the current states of the input output blocks hardware to which the PLC has access Before every PLC cycle complete program run the current states of the input modules are copied into the process image and after each PLC cycle the current states of the outputs in the process image are transferred to the output modules Because each task is allocated to a part of the process image only the corresponding part of the process image will be updated before and after the program component to which a task is allocated will be run 8 4 3 Configuring PLC tasks of the ETCxC Binding PLC tasks Step 1 342 Unlike the ETCxM the ETCxC only has 2 tasks with task 1 being the main task The 2nd lower priority task is used as an interface to control internal signals for operation e g error management In order to run a user specific component IEC program component PROGRAM within the task instead of control internal functions the following steps are required Two tasks must be inserted into the task management of CoDeSys 1st task entry ETC104 Lenze EDSTCXN EN 2 0 Step 2 Step 3 PLC programming 8 Project planning 8 4 Configuring I O modules 8 4 4 As identification for the control that this task entry is the 2nd lower priority task PLC_PRG2 must be entere
347. oad gragmmms 1 ety iar ng ieh de SF3_FEHLCS Wii ehi DE 1 Leribe help noon hip EETCNO95 3 Specify the language in the line Language German Lenze English Lenze_gb 4 Close the window with lt Enter gt 5 Quit and restart the ETC MMI EDSTCXN EN 2 0 Lenze 33 27 2 7 2 2 7 2 34 Getting started Starting ETC MMI Establishing a connection between ETC MMI and ETC Establishing a connection between ETC MMI and ETC 1 On the task bar click on the ETC MMI Gateway icon _odr 050301 1519 Ser we OS mca Sprays 1i ETCN001 A menu opens Settings Start configuration interface About Display version and manufacturer information Exit Close gateway if there are active connections to an application a warning is displayed 2 Click on Settings MIA etree Coneco Teaca Aiat Mares Pass DD ETL_TFARINGI 17218570 BE Pa ee ee Connections List of the already configured connections A green LED next to the connection name indicates an active connection via which the messages and or cyclic data are transferred Via the Settings button you can edit the communication parameters of the selected connection A272 Trace In the case of faults in the communication you can activate trace logs on this tab G4 287 About Display version and manufacturer information Lenze EDSTCXN EN 2 0 Getting started 2 Starting ETC MMI 2 7 Establishing a connecti
348. oes not result in the slave axis moving b m P If several slave axes should be coupled to a master axis or vice versa G162 must be programmed once for every axis pair to be defined The resulting total desired position including all the transformations also G162 and coordinate system offsets S0 Sn Tn is stored from P944 for all axes in the parameter field If no axis is programmed all the axis couplings which were activated with G162 are deactivated Note The function does not limit the speed of the slave axis and the actual value difference between the master axis and the slave axis is not monitored If necessary a corresponding monitoring must be carried out in the PLC see example If the feed enables of the slave axes exist these axes can also be traversed when the coupling is switched on independent of the master axis This can be helpful when setting up the machine for example Lenze 153 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions Example The axes A and B should be coupled one to one to the movement of axis C after the home position approach The starting positions and coordinate system offsets of allthree axes should be equal when they are activated i e b 0 and m 1 G162 Delete axis group G74 CO AO BO Home position movement GO CO AO BO approach all axes to be coupled to the same starting position G162 CO A1 Couple A axis to C axis G162 CO B1 Couple B axis to C axis M
349. of CANopen devices at CAN1 VAR_INPUT NodelD BYTE ObjectNum WORD SubIndex BYTE DataType WORD Buffer DINT BufSize WORD Status POINTER TO BYTE END_VAR FUNCTION DrvReadObject BOOL ETCxC at CAN2 Read out of objects in the object directory of CANopen devices at CAN2 VAR_INPUT NodelD BYTE ObjectNum WORD SubIndex BYTE DataType WORD Buffer DINT BufSize WORD Status POINTER TO BYTE END_VAR NodelD Node number of the CANopen node ObjectNum Number of the object to be read SubIndex Index of the subobject to be read DataType Data type according to CiA DS301 Buffer Address of the buffer in which the read data are stored BufSize Size of the buffer in Byte Status Address of a variable for filing the transfer status This function allows the PLC to read individual objects of CANopen devices The reading process takes place in the background whilst the PLC continues working The transfer queue can buffer up to 15 read write requests By requesting the transfer status the PLC can check whether the transfer is still ongoing has finished or whether an error has occurred during transfer If several transfer requests are to be carried out in parallel a separate status variable needs to be defined for each request Lenze ioi 8 PLC programming The return value is TRUE ifthe read request could be passed to the transfer queue otherwise the transfer queue is already full 8 8 Library 8 8 5 CANo
350. of m s2 in input units GIT2 Conversion factor of input units s2 in input units GIT2 Meaning Analogue measured value of channel 0 15 gt MK_MESS_AUFLOESUNG Axis positions determined by measuring cycles for a basic rotation Basic rotation angle A B C in the YZ ZX and XY plane Thread pitch G33 Thread pitch correction G33 Thread cylinder correction G33 Thread measurement distance G33 Radius in the polar machine coordinate system MK_MASCH_POL Angle in the polar machine coordinate system Angle of the C axis in the polar coordinate system Angle of the oblique X axis from MK_X_WINKEL Sinus of the angle of the oblique X axis Cosinus of the angle of the oblique X axis Tangent of the angle of the oblique X axis Tool data Tn of channel 0 P700 tool radius mm Tool data of channel N gt P576 P730 tool radius mm Technology data from MK_TECHNOLOGIEDATEN1 Technology data from MK_TECHNOLOGIEDATEN2 Technology data from MK_TECHNOLOGIEDATEN3 Technology data from MK_TECHNOLOGIEDATEN4 Lenze Sync x Sync x xxx x x x x x X K XK Unit mm Einh Unit GIT m min min GIT Unit GIT2 m s s2 GIT2 Unit MC EDSTCXN EN 2 0 Parameter for time recording Index 377 378 379 380 381 382 389 390 391 392 393 Technology specific user parameters CNC programming Data fields P field Meaning Sync Total runtime since the start of the NC program x Total of
351. offsets and the tool data of all coordinate systems are saved and restored after the control has been switched on Otherwise the control is in TO after the switch on and the offsets of all coordinate systems are zero In all tool coordinate systems the zero point can be shifted or set using the functions G92 G93 and G193 During the change over to another coordinate system the current actual positions in To g are cleared with the zero point offsets of the new system Tnew and displayed The tool data and the offsets of the tool coordinate systems can be loaded via the ETC MMI into the control or transferred from the control into the PC Determination of the total offset of the S and T coordinate systems P192ff MK_SOTO_VERSATZ_ERLAUBT 0 In SO offset Tm In Sn offset SO Sn Tm with n gt 0 MK_SOTO_VERSATZ_ERLAUBT 1 in SO offset SO Tm In Sn offset SO Sn Tm with n gt 0 G193 X0 YO T1 Set current position of the X and Y axis in T1 to zero T5 S P711 Change over to T5 and then activate the S coordinate system which is entered in the tool data of T5 in P711 Lenze 179 3 5 3 5 1 3 5 3 5 1 Distribution 180 CNC programming Data fields P field Data fields P field For programming with variables a data field the parameter or P field is available in the control This data field contains different data gt Internal data of the NC computer This data is created by the processing of a pr
352. ofthe used data types BYTE unsigned 8 bit integer ULONG unsigned 32 bit integer 4 bytes long with the byte with the lowest value first FLOAT IEEE single precision floating point 4 byte long with the byte with the lowest value of the mantissa first 3 2 2 78 G234 Direction dependent height correction Syntax Meaning of the addresses Explanation Example 166 In the case of direction dependent height correction the position of the specified axis is corrected dependent on the driving direction in the current plane via a grid point table G234 AXE K AXE Identification of the axis which should be corrected 0 correction off 1 correction on K Parameter field index from which the correction table is stored in the P field This function can be used for example to correct a Z axis by an offset dependent on the current driving direction in the XY plane The correction is limited to a maximum value of 1 input units e g mm or degrees With K the parameter field index is programmed from which the correction table is stored in the P field The first value of the table must contain the number of the following table values Every table entry contains a correction offset for a defined profile angle in the current time of G234 selected plane The table values must cover an angle range of 360 the first table value applies to a profile angle of 0 The table can have a maximum of 36 entries 10 per co
353. ogram and or reflects certain states of the NC computer Only read accesses can be made to this data The access to most of this data is time synchronized Data for cycles and macros This area is reserved for use in cycles and macros In this area data is transferred from the NC computer to the cycles In addition it is used as a variable area for the cycle programs Cycles and macros have a write and write access to this data user programs should only have read access to this area The access is not time synchronized gt Data for user programs This area is provided for free use in user programs These have write and read access The access is not time synchronized The meaning of the parameters is program dependent The parameter field has a default size of 2048 entries these can be enlarged with the machine constant MK_PFELD_GROESSE user specifically 0 Internal data ofthe NC computer 1023 1024 Data for cycles 1499 1500 User data 2047 2048 Enhanced P field MK_PFELD_GROESSE The parameter field can be accessed by gt G functions gt Arithmetic functions formula processor gt Messages of the MMI gt Messages of the PLC Lenze EDSTCXN EN 2 0 Assignment of system parameters Axis specific parameters EDSTCXN EN 2 0 CNC programming Bi Data fields 3 5 P field 3 5 1 The assignment of the area of the parameter field in which the internal data of the NC computer is stored is specified in the f
354. ollowing The specified digits correspond to the parameter numbers under which the variables are addressed Axis related values are always entered in the sequence in which they are defined in the machine constant MK_APPLACHSIDX Meaning of the units in the following tables Unit Meaning Inc Increments 2 Degree Unit Translative path input unit machine constant dependent default mm mm Millimeter m Meter h Hour min Minute s Second ms Millisecond GIT Coarse interpolation cycle MC Unit is dependent on the machine constants The parameter is specified in percent The parameter has no unit With some parameters the unit is dependent on whether the parameter belongs to a linear axis or a rotation axis In the case of linear axes the input unit is also dependent on the value in the machine constants MK_METRISCH MK_CONST_REL MM and MK CONST REL INCH The following enhanced table applies to these parameters Unit Meaning with linear axes Meaning with rotation axes mm Input unit Degree mm min Input units minute Revolutions minute m s2 Meter second2 Revolutions second2 Inc mm Increments input unit Increments degree A cross in field Sync indicates that the access to the corresponding parameter is time synchronized i e that the contents of the parameter in a NC program is only read when the block was executed before The further interpretation of the NC program is also stopped until this has happened Index Meaning Syn
355. omatically contain a toggle function This means that the system is switched on when F1 is pressed and switched off when F1 is pressed again The output value in the PLC is switched over every time the key is pressed Key 03 Text 2805 Lower tool of the file lenze txt applies Key 04 Text 2806 Lift tool of the file lenze txt applies Representation in the ETC MMI ETCN039 2 14 2 Calling the signals in the PLC T bei FLOC _propramstart_EIT DSL POC HC _propiisatap EIT ATHA PEL CIFIC optional ston HIT T2871 Whi HCPC stop feed HET TUT ya ih ths ETC HHi EL key DRITES_on Tan u iTi ATH ey ee dowr ATI ool up ATH ETCN040 In the example an absolute assignment is made to the word variable MMI_PLC_key_DRIVES_ON gt MX1 121 0 X bit accesses bit 0 of the DW212 in the DB1 Access to the symbolic system variable is also possible DB1_AW212_mmi2plc_jog_key_aw 0 0 DB2_MMI2SPS_TASTEN_AW 0 0 2 14 3 Function of the keys The keys in the ETC MMI have the same function as the M functions M14 and M15 i e they can be used to lower and lift the tool The input or the signal of the visualisation must be applied within 5 s Otherwise an error message appears 76 Lenze EDSTCXN EN 2 0 Getting started R Operation via a Lenze HMI 2 15 Settings for the connection of a Lenze HMI H505 2 15 1 2 15 Operation via a Lenze HMI In addition to operation via the ETC MMI with PC operation via a L
356. omparison i e the function is only interpreted once and does not remain effective in the background A programmed modal comparison remains active until another comparison was programmed at the same position of the comparison table Y gt the entry is exported with G131 this or another comparison G130 G150 G151 becomes true on the same or a higher program plane and the result of the comparison is evaluated as a block jump subprogram end on the return to a higher program plane after the subprogram end all comparisons are deactivated which were activated in this subprogram gt the comparison was completed in the case of non modal comparison program end or program termination Note If several conditions are met at a specific time in the comparison table which would result in a block jump only the modal comparison with the lowest table index is executed The address J can be used to define whether the axes should be braked with or without ramp when the event occurs and when a traverse movement is interrupted as a result The standard setting J not programmed is Bremsen mit Rampe Brake with ramp Example G130 X P1 Z200 K2 Y1130 The comparison condition with the index 1 is entered The jump to block 30 is executed if the contents of P1 become smaller than 200 N20 G130 X P1300 K5 Z1 120 In block 20 wait until P1300 is not equal to 1 EDSTCXN EN 2 0 Lenze 139 CNC programming 3
357. on see G36 is switched off To achieve this a 1 is programmed in a block with the preparatory function G37 under the address of the axis whose modal oscillation should be switched off The axis is then stopped immediately i e it does not travel its oscillation stroke to the end N15 G37 Z1 In block 15 the modal oscillation of the Z axis is stopped 3 2 2 21 G40 Deactivate tool correction Syntax Meaning of the addresses Explanation Example EDSTCXN EN 2 0 Switch off the tool path correction which was switched on by G41 G42 G40 E E Selection of the departure strategy only with standard TRC 0 a departure block must follow G40 default 1 no departure block after G40 the axes remain on the last corrected position G40 switches off the correction procedure which was switched on with G41 or G42 again A tool radius compensation is provided by default The uncorrected target point is approached with the next traversing block It must be noted that a traversing block must always be programmed for the TRC following G40 if E1 is not specified The starting point of this block is on the compensated path the target point of the block is uncompensated N100 G1 X10 Y10 Last profile block within the TRC N 110 G40 TRC off N 120 G1 X0 Departure block Lenze 115 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 22 G41 Tool path correction left G42 Tool path correction
358. on between ETC MMI and ETC 2 7 2 3 To create a new connection click on Add on the Connection tab 4 Specify a name for the connection To enable an application to communicate with a control system via the ETC MMI Gateway each connection must be assigned an unambiguous name You can choose any name Assign e g consistent names ETCO ETC1 or application specific names ramp laser control etc A name can contain up to 31 ASCII characters A Z a z 0 9 5 Select a connection type gt UDP connection for ETCHx control systems Ethernet communication via DPR UDP IP protocol PCI connection for ETCPx control systems DPR communication via a WDM driver ETCPC sys in the scope of supply of the ETCPC 6 Enter a communication parameter in the IP address field ETCHC IP address C4 28 ETCPC Index of the PCI cards indexes of the PCI cards are in the range 0 9 and are automatically assigned by the driver The first ETCPx has the index 0 7 Close the dialogue via OK Your entries are saved in the file mmigtway ini CQ 283 If a connection with the same parameters already exists the error Gateway cannot change the parameter is reported EDSTCXN EN 2 0 Lenze 35 2 8 2 8 1 2 8 2 8 1 Test setting 36 Getting started Parameterising drives via machine constants Overview of the most important machine constants Parameterising
359. on from this block has been processed M function numbers from 1 to 255 can be used for this type of subprogram call The M function itself is transmitted normally to the PLC If the same M function is programmed in the subprogram that was called it does not result inthe subprogram call being called again Stop If another subprogram is called in the subprogram 9000 M function number which contains the triggering M function a call recursion occurs and then the error message Program stack overflow This subprogram mechanism is not only active in the automatic program processing The same M function is also expanded as an individual block in a subprogram call N10 GO X300 M14 N20 G2 After the control has traversed the X axis to the value 300 and the information has been transmitted via the M14 to the PLC the subprogram 9014 is executed Processing with block N20 is only continued after subprogram 9014 has been completed The program sequence of the example is functionally identical with N10 GO X300 M14 G22 L9014 N20 G2 Lenze EDSTCXN EN 2 0 3 4 4 Q functions Example EDSTCXN EN 2 0 CNC programming Bi Block extensions 3 4 Q functions 3 4 4 States of CAN I O modules can be programmed under the address Q Q functions are also referred to as fast inputs because they are entered directly in the course interpolator without a detour via the PLC into the NC program Since only CAN ou
360. on is not time synchronized and therefore it is also suitable for fast responses in the range of maximum one interpolation cycle when fast inputs are used No modal comparisons which were programmed before with G130 or G150 are exported G152 E3 ZO Waits for the state 0 of Q Bit 3 G152 E3 Z1 Waits for the state 1 of Q Bit 3 Blocks which should be executed after a positive edge of Q Bit 3 Lenze 149 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 61 G153 Wait for the termination of a channel 1 Syntax Meaning of the addresses Explanation Example 150 G153 is used to synchronize the program end in channel 1 with channel 0 G153 K K Channel number of channel 1 G153 is called in channel 0 in order to wait for the program end in channel 1 and in order to return the axes of channel 1 again to channel 0 The return of the axes is only possible through the termination of channel 1 A channel can cannot be terminated from outside except for by a program termination but rather only by a M30 at the main program level of the corresponding channel G22 L10 K1 UO VO Start the program 10 in the second channel with transfer of U and V axis G1 X10 Y5 F100 The axes U and V cannot be traveled here G153 K1 Wait until the program is completed in channel 1 GO UO VO The axes U and V can be addressed again here M30 10 Program for the second channel GO U100 M23 GO V50 M25 GO U200 V150
361. on must be passed the address of a memory area of 6 bytes see example The return value of the function indicates whether the address could be read ret_bit BOOL mac_a ARRAY O 5 OF BYTE ret_bit GetMacAddr ADR mac_ab GetUserParam only ETCxM FUNCTION GetUserParam LREAL VAR_INPUT index_dw DWORD Index of MK_TECHNOLOGY_DATA_x END_VAR This function allows for the values of the machine constants MK_TECHNOLOGY_DATA_1to MK_TECHNOLOGY_DATA_4to be read The value index_dw to be passed corresponds to the position starting with 0 numbered sequentially from first entry of MK_TECHNOLOGY_DATA_1 to the last entry of MK_TECHNOLOGY_DATA 4 MK_TECHNOLOGY_D 1 1 0 0 0 0 0 0 0 0 0 ATA 1 MK_TECHNOLOGY_D 0 4 5 3 5 7 0 0 0 0 0 0 ATA 2 wert_d DINT wert_Ir LREAL wert_Ir GetUserParam 9 returns the value 1 1 wert_di LREAL_TO_DINT GetUserParam 12 returns the value 3 Lenze EDSTCXN EN 2 0 8 8 1 7 10 SET Declaration Description Example 8 8 1 8 Load_Param Declaration Description Example PLC programming 8 Library 8 8 General functions 8 8 1 FUNCTION IO_SET BOOL VAR_INPUT byte_w WORD bit_w WORD END_VAR The function inverts the state of an output In the output byte byte_w value range 0 31 the bit bit_w value range 0 7 will be inverted The return value of the function is of no consequence IO_SET 1 3 inverts the output 00 10 F
362. on of tangential correction of the specified axis A B C a b c example AG112 C1 G122 Configuration of traverse button operation example AG122 X1 The specified string must be specified in inverted commas and must not exceed 80 characters The configured default settings are automatically activated when the control is started up after the MCs have been loaded as well as at the program end and after a program termination Example MK_VOREINSTELLUNG G17 G1 F30000 G26 XO ZO For further information on the G functions refer to chapter CNC programming EDSTCXN EN 2 0 Lenze 193 A 4 3 4 3 3 4 3 3 4 3 4 4 3 5 194 Machine constants Software configuration MK_NCPROG_OHNE_KOMMENTARE MK_NCPROG_OHNE_KOMMENTARE This machine constant suppresses the storage of comments and spaces in DIN programs All comments in curly brackets are deleted and groups of more than one space are reduced to one This is probably recommended for reasons of saving memory space in Flash PROM of the control However this setting is only suitable ifthe programs do not have to be viewed or changed in the control Value Meaning 0 Transfer of DIN programs to Flash PROM without changes default 1 Prior to saving in Flash PROM delete comments and reduce program Note If DIN programs are retransferred to the PC and this retransfer overwrites the original program on the PC comments will also be deleted in this case MK_NCPROG_NICHT_INS_
363. oncircular grinding 144 G144 G145 Programming a correction table during noncircular grinding 145 G150 Q Bit comparison 146 G151 Q Bit comparison 148 G152 Q Bit comparison 149 G153 Wait for the termination of a channel 1 150 G158 G159 Intermittent operation 151 G16 Selection of the principal and secondary axes 107 G161 Accept actual position 152 G162 Define axis group 153 G17 G18 G19 Plane selection 108 G175 Axis replacement 154 G180 Modal travel 155 G181 Modal travel 156 G187 Handwheel 156 G193 Set absolute zero point 157 G194 Program an add basic offset 157 Lenze 423 i Contents G195 Absolute coordinate shift 158 G20 Block jump 108 G200 Geometry filter 159 G201 Change the acceleration and deceleration ramps 160 G209 Set the geometry counter 161 G211 Transformation for two axle articulated robot kinematics 161 G22 Subprogram call 109 G226 Reconfigure hardware limit switch 163 G233 2D 3D axis correction 164 G234 Direction dependent height correction 166 G24 Define pos traversing range limit 110 G25 Define neg traversing range limit 111 G251 Accept step response of an axis 167 G252 Value input via display device 168 G253 Output of acomment 170 G26 Activate traversing range limits 111 G27 Jump function with repetition counter 112 G30 G31 Route or path control 112 G33 Coupling 113 G34 Coupling 114 G36 Modal oscillation 114 G37 Modal oscillation 115
364. one of these MCs this is called a synchronous axis This is the only case when the number of configured physical axes differs from the number of configured application axes After it has been established which application axes exist letters must be assigned to these axes The axes in the DIN program can only be programmed via the axis letters Lenze EDSTCXN EN 2 0 Machine constants A Configuration of axes Basics 4 5 MK_APPLACHSIDX 4 5 2 4 5 2 MK_APPLACHSIDX EDSTCXN EN 2 0 This MC has 18 parameters one for each ofthe 18 possible axis letters The order of the letters assigned to the parameters is fixed Only the assignment of the application axis numbers can be freely selected The order of the letters is as follows XYZCUVWABuvwabcxyz Exactly one application axis can be assigned to each letter For the letters that are not used enter 1 or any non configured application axis number The control only searches the axes that are configured in MK_CANDRIVES and assigns the first axis letters it finds to the axes Therefore if you specify one application axis number more than once in this MC the first letter is used and the others are ignored The assignment of axis letter is completely optional However you should observe the following rules which make it easier for others to understand your machine Identify the linear principle axes of the machine with X Y Zand the rotative principle axes with A B C Define X Y Z
365. ontrol system reporting the error EIE_Seh liirg TMT Firar fnis m sai contig aT He n ETCN064 Such a window must be acknowledged with lt Enter gt before other keyboard entries are accepted modal dialogue The message types are differentiated by their colours A blue background indicates a note a yellow background a warning and a red background an error All messages are saved in a log book file with date and time of the event on the PC and can be accessed in the Diagnostics operating mode 312 Lenze EDSTCXN EN 2 0 7 4 Setup operating mode ETC MMI Setup operating mode 7 4 ETCNO68 The Setup operating mode contains functions for setting up the plant Among other things you can carry out homing and manual travel and manage tools Horizontal function keys Reference automatic manual back Manual travel Modal travel Step travel Increment Target point travel EDSTCXN EN 2 0 Via the lt Start gt key an automatic home position approach can be initiated All axes are referenced in the configured sequence A manual home position approach can be initiated You can select the desired axis by means of the lt Axis gt key or lt Cursor gt keys and traverse the axes with the lt Travel gt lt Travel gt or lt Start gt key Back to the previous level Here you can manually traverse the axes The axis selected with the lt Axis gt key or lt Curso
366. or operating the MMis It may only be changed by trained personnel Further information 4 327 73 5 Language switch All texts of the user interface are saved in an ASCII file which can be changed with any editor This way the texts can be individually adapted or translated into foreign languages if the characters can be displayed The language file is set in the configuration file delphmmi ini Further information 2 321 EDSTCXN EN 2 0 Lenze 291 7 7 3 6 7 3 6 7 3 7 292 ETC MMI Operating ETC MMI Passwords Passwords In the ETC MMI a password can be assigned for each operating mode and additionally for changing the passwords These passwords are prompted for when the ETC MMls are started or when the operating mode is changed The following passwords are preset Operating mode password administration Password Setup 1 Automatic 2 Program 3 Diagnostics 4 Edit password 5 Passwords can be changed in the Diagnostics operating mode B12 They are saved in encrypted form in Lenze pwd Note If you delete the file Lenze pwd in the cfg folder all passwords are reset to the standards listed in the table If you do not want any passwords to be prompted e g during commissioning enter a space as password Notes warnings error messages Notes warnings and errors reported in the NC system are shown in a separate window The title line displays the name of the c
367. or subordinate program planes The address J can be used to define whether the axes should be braked with or without ramp when the event occurs and when a traverse movement is interrupted as a result The standard setting J not programmed is Bremsen mit Rampe Brake with ramp If the address L is programmed when the condition which was defined with E and Z applies the actual positions of all configured axes are saved from the index in the parameter field specified for L This function can be used to determine the position of the event independently of the configured brake ramp N10 G151 X10 E31 Z1 The program does not continue with the program processing until the Q Bit 31 has reached the state 0 remains in position as long as condition Q 31 1 applies Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 60 G152 Non modal waiting function Q Bit comparison Syntax Meaning of the addresses Explanation Example EDSTCXN EN 2 0 Wait for a comparison to be become true on an externes event G152 E Z E Index of the external event Z State of the comparison G152 carries out a comparison of the Q Bit E 0 63 with the state Z 0 or 1 In contrast to G151 no block jump takes place in the case of a positive comparison result G152 only blocks the program from being executed further in current channel until the comparison result becomes true The functi
368. ose double click on the file Training1 pro in Windows File Explorer 4 67 CoDeSys starts and the sample program is loaded 2 Load the PLC program into the control system via Online gt Log in EB 3 Start the PLC program via Online gt Start 68 Lenze EDSTCXN EN 2 0 Start CNC program EDSTCXN EN 2 0 nou A WwW Getting started 2 Testing CNC and PLC program 2 13 Start the ETC MMI via lt Start gt Programs gt Lenze gt ETC In the ETC MMI window press lt F11 gt program The MMI window opens in the Programming operating mode It shows the text editor for the CNC program Press lt F8 gt Graphics and afterwards lt F7 gt Graphics on off The window is split The text editor is displayed on the left the display field for the graph graphic area on the right Press lt F2 gt Open program Select the CNC program e g test din and press lt Enter gt Press lt F7 gt Program to NC Select the CNC program e g test din and press lt Enter gt The CNC program is transferred to the control system LO 49 Press lt 1 gt Start The drives start and the profile of the rectangle are executed M 49 The drawn straight line from the zero point 0 0 to the starting point 10 10 is now executed when the drive is also in the zero point Otherwise the control system traverses the drives on a straight line from the current point to the starting point C
369. otation axis Bit 1 0 observe HW limit switch 1 ignore HW limit switch 0 0 0 ER 1 FR Bit 3 2 00 normal axis 01 spindle 10 Measurement axis 11 Spindle amp measurement axis Bit 5 4 Setting rotation axes BitO 1 00 Rotation axis with absolute positioning 01 Modulo 360 axis sign determines direction 11 modulo 360 axis shortest distance is taken Bit 7 handwheel Assignment spindle handler spindles Ey 1 Standard spindle handler Ly OE a ee f 2 Software configuration EENE EEEE K_KUNDE ae activates different customer specific extensions K_VOREINSTELLUNG Ag for initialization after reset or program end K_ PASSWORT 0 password no for machine constants editor for integrated operating control K SPRACHE 0 language selection for integ operating control 0 German K_FLOPPYDISK 0 no of interface to which floppy is connected 0 no floppy K_DRUCKER 0 no of interface to which printer is connected 0 no printer K_DRUCKER_V24MODE 9600 settings for the printer interface 8 baud rate data bits parity stop bits 0 Iz K_CANOPEN_BAUDRATE 0 CAN1 bit rate for CAN Open or 0 for SLIO 1000 CAN2 bit rate for CAN Open drive K_FEHLERRESTART 0 1 restart after error allowed K_SOTO VERSATZ ERLAUBT 0 1 shift of SO or TO allowed K_S_VERSATZSPERRE 0
370. ould not also be counted G209 E P2000 restore old value 3 2 2 75 G211 Transformation for two axle articulated robot kinematics Syntax Meaning of the addresses EDSTCXN EN 2 0 G211 is used for switching on or off a transformation for a simple two axle articulated robot kinematics A B with support for an optional third axis C for the tool orientation G211 E J E For switching the optional third axis on 0 without third axis 1 with third axis for tool orientation Lever length L1 default value from P760 MK_TECHNOLOGIEDATEN1 0 J Lever length L2 default value from P761 MK_TECHNOLOGIEDATEN1 1 Lenze 161 3 2 sD Explanation Example 162 CNC programming G functions G functions individual descriptions The function transforms from the X Y plane in the Cartesian coordinate system into a A B machine coordinate system During this process the tool orientation of the C axis if desired E1 is also transformed The following figure shows the machine kinematics in the 0 setting of the A and B axis ETCNO54 The lever lengths L1 and L2 may also be negative The X Y coordinate of the pivotal point of the C axis is programmed when the transformation is activated In the initial position AO BO this corresponds to the coordinate XO YO in the Cartesian coordinate system During transformation the two virtual axes X and Y are created which are then used for programming in the Cartesian coordinat
371. ows the PLC the operating mode selected by the operator in which the NC control is at present 0 initial state no axis movement possible 1 set up 2 set up functions modal traveling step travel zero points 3 automatic autom processing of programs individual block following block 4 programming 80H diagnostics DW131 7 The operating modes are preselected by the operator If Lenze s MMI is used the selected submodes are stored in the DB2 in DW128 Effect in the PLC operating mode oriented enable or disable Data word Name Direction Type of signal 132 00 NC program is running NC PLC static Value 1 of the signal indicates that the processing of an NC program or a traversing block Manual individual block is active The signal is pending until the end of the program M02 M30 program termination NC pro gram stop or internal termination due to an error which cannot be reme died or the end of a block or block termination manual operation Effect in the PLC Evaluation for disable synchronization time measure ment Lenze 259 gt 5 1 5 1 2 260 Interface PLC lt gt NC operating system Definitions Data block 1 Data word Name Direction Type of signal 132 02 Block search active NC gt PLC static Value 1 of the signal indicates that the processing of an NC program is ac tive in the block search The signal is pending until the target block of the block
372. p or down a number to integer values TRUNC x truncx Delivers the positions before the decimal point of a number FRAC x x truncx Delivers the positions after the decimal point of a number MIN x y min x y Delivers the smaller value MAX x y max x y Delivers the larger value RANDOM x y rand Delivers random numbers between x and y Lenze EDSTCXN EN 2 0 Example EDSTCXN EN 2 0 Syntax Operation AND x y x 0 A y 0 OR x y x 0 v y 0 XOR x y x 0 v y 0 NOT x x 0 BITAND x y XAY BITOR x y xvy BITXOR x y xvy BITNOT x Pl T PI180 1 180 CNC programming Bi Formula processor 3 3 Arithmetic operations s3 Description Logical AND operation Logical OR operation Logical exclusive OR operation Logical NOT Bit wise AND operation Bit wise OR operation Bit wise exclusive OR operation Bit wise NOT Constant 3 141592654 Constant 0 01745329252 The arithmetic operations are processed in the sequence corresponding to the mathematical rules To label leading positions brackets up to a nesting depth of 4 levels are allowed N10 P1050 sin 89 9 P1051 34 91 cos P1052 N20 P1060 atan2 P1 P0 N30 P1061 hypot PO P1 Lenze 173 3 4 3 4 1 3 4 3 4 1 Example 174 CNC programming Block extensions Parameter assignment P Block extensions The blocks may be enhanced by one or several additional functions which are indicated by the address letters H M P QO S and
373. pen functions Status 0 1 2 3 4 5 Example status_b devicetype_dw Meaning Inactive Request in transfer queue Transfer active Transfer completed successfully Transfer cancelled Timeout CopReadObject 1 16 1000 0 COP_UNSIGNED32_KW ADR devicetype_dw SIZEOF devicetype_dw ADR status_b 8 8 5 5 CopXReadObject ETCxM at CAN2 Declaration FUNCTION CopXReadObject BOOL Reading of objects in the object directory of CANopen devices at CAN2 VAR_INPUT CanNum_b BYTE NodelD_b BYTE ObjectNum_w WORD SubIndex_b BYTE DataType_w WORD Buffer_p DINT BufSize_w WORD Status_pb POINTER TO BYTE END_VAR Parameters CanNum_b Number of the CAN Bus 1 or 2 NodelD_b Node number of the CANopen node ObjectNum_w Number of the object to be read SubIndex_b Index of the subobject to be read DataType_w Data type according to CiA DS301 Buffer_p Address of the buffer in which the read data are stored BufSize_w Size of the buffer in Byte Status_pb Address of a variable for filing the transfer status Description The functionality of this function is completely identical to the function CopReadObjekt It contains an additional parameter CanNum_b which defines the number of the respective CAN Bus 402 Lenze EDSTCXN EN 2 0 8 8 5 6 Declaration Parameters Description EDSTCXN EN 2 0 PLC programming 8 Library 8 8 CANopen functions 8 8 5 CopWriteObject ETCxC and ETCxM at CAN1 DrvWriteObje
374. perTerminal and activating the monitor interface 3 Inthe Connect to dialogue select the PC interface via which you want to establish the connection for example COM1 Cnm Im B Erba cheii ka Pas phares rarah AS fers red i chad 4 Click OK 5 Inthe COMx Properties dialogue enter the following data fin pe eco TT Cesis bee E Pai Hama ETCM007 ETCM008 22 Lenze EDSTCXN EN 2 0 EDSTCXN EN 2 0 Getting started R Establishing the communication between PC and ETCHx 2 4 Starting the terminal program HyperTerminal and activating the monitor interface 2 4 2 As soon as a connection has been established between the PC and ETC the LEDs 1 6 at the ETCHx start to flash circulatingly The message Wait Boot Loader appears and the following window is displayed Konitor Schnittstelle aktiviert Wait DOP server successfully started Try to open boot project ETCM009 7 Press the lt gt key until the prompt gt appears Fie Ei Ges Cal Time Pep Daw of sag Honitor Schnitistelle aktiviert Mail DOP server successfully started Try to open bool project gt ETCM010 The monitor interface has been started You can now send commands to the ETC via the keyboard Lenze 3 Getting started 2 4 Establishing the communication between PC and ETCHx 2 4 2 Starting the terminal program HyperTerminal and activating the monitor inte
375. peration the situation is the exact opposite While only the X axis moves on the machine X and Z move on the display The tool tip moves in Z direction in relation to the workpiece Note When the X axis travels in route operation the modal offset of the Z axis P160ff is shifted This corresponds an actual shift of the NC coordinate system If required this shift can be undone by means of a G121 and set it against the NC actual position POff Value Meaning 0 Oblique X axis switched off default 15 X axis is offset by 15 in relation to the perpendicular 30 X axis is offset by 30 in relation to the perpendicular The specified angle may range between 90 and 90 4 15 10 MK_GEWINDE_VMAX This machine constant limits the feed speed mm min of the coupling axis during thread grinding For further information on the thread grinding function refer to ETC Programmierung NC Betriebssystem ETC programming NC operating system for G33 224 Lenze EDSTCXN EN 2 0 Machine constants A Technology specific settings 4 15 MK_DW224 255 4 15 11 4 15 11 MK_DW224_255 This machine constant is used to affect the sequence program of the PLC The contents ofthe 32 entries of this MC are copied in the data area MW2 224 to MW2 255 of the PLC during the transfer of the machine constants The programmer can freely define the meaning of the data words This MC can be used for example to configure different pieces of equipmen
376. possible S T change overs and coordinate shifts are allowed Jump functions G20 G22 G125 are also allowed Directly successive blocks with identical grid points are ignored If additional functions are programmed these are also lost Lenze EDSTCXN EN 2 0 3 2 2 6 G06 Polynomial interpolation Syntax Meaning of the parameters Explanation Example EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 Polynomial interpolation third degree in a block G06 AXES target az a3 NAXS II KELF AXES NAXS E L Random axis address whose polynomial coefficients target a2 a3 should be programmed Secondary axis which is interpolated linearly to the path movement a2 0 a3 0 Position of the segment in the polynomial line 0 intermediate segment default 1 the first segment 2 the last segment 3 one segment only Tangential correction of the rotation axis 0 or not programmed relative to the starting position of the axis 1 the rotation axis is first positioned in the starting point of this segment on the tangential angle Type of curve only programmed with the first segment of the curve 0 an open curve default 1 a closed curve Path feed Selection of feed speed via speed E and increment L F E L With G6 a polynomial third order is programmed in the following form for every axis f p asp a2p arp ao Besides the target position o
377. previously modal function Modal G functions are combined in groups in which only one function is valid at a time Modal functions remain valid until they are replaced by a new modal function of the same group These functions are divided into the following groups Group Function a Interpolation type Change over between path and route operation Plane selection Dimensions Tool correction Coordinate shift Speed agreement a no an S Functions which do not mutually deactivate each other but rather which are deactivated by themselves or a special deactivation function When a subprogram is called the valid modal states of the function groups a d are saved In the subprogram it is then possible to activate new modal functions The subprogram return then sets the modal functions to the saved state This applies to all eight possible subprogram levels An exception is a program termination which is either triggered by pressing the lt STOP gt key or by an error During this process the control is switched back to the path control operation and into the reference dimension system These and additional modal functions can be defined at the end of the program or after a program termination with the aid of the machine constant MK_VOREINSTELLUNG Lenze 89 CNC programming 3 1 Basics Block preprocessing and time synchronization 90 When a CNC program is processed a distinction is made between program interpretation
378. programmed axes The direction of the home position approach is defined by the corresponding machine constant of the axis i e the direction corresponds to the automatic home position approach An axis is programmed by the input of any single digit number under the corresponding axis address G74 X The home position approach is carried out for the configured axes in the configured sequence Lenze 119 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 28 G75 Scaling factor for input units Syntax Meaning of the addresses Explanation Example Setting the scaling factor of the individual axes for the programmed input units G75 AXES AXES Specification of the axis and the factor G75 causes an extension or compression of the programmed profile before processing by internal correction modules This can be non symmetrical if different scaling factors are programmed for the individual axes It must be noted here that only the respective programmed target coordinates center coordinates and radius are scaled i e circles remain unchanged as circles and are never expanded into ellipses If a negative scaling factor is used it is mirrored about the respective axis The programming of the function without the specification of axes sets all the factors to 1 again G75 X2 Y 3 Scaling factor 2 for X and 3 for Y G1 X10 Y5 Travel to X20 and Y 15 3 2 2 29 G76 Scaling factors for pulse evalua
379. programmed grid points are initialized to 0 The table contains the correction values for the X axis in reference to the modulo 360 position of the C axis Up to 720 correction values can be stored in the table i e the minimum distance between the grid points is 0 5 The correction takes place through the addition of the correction values on the axis setpoints of the X axis A linear interpolation takes place between two neighboring grid points The uncorrected position values always appear in the display of the NC actual position The correction table must be defined before the noncircular grinding is switched on G144 D10 Distance of the grid points should be 10 G145 C330 X12 The correction takes place in the range of 320 to 20 with the correction G145 c340 x13 Value at 320 and at 20 0 um With 350 the greatest correction takes place with 13 um G145 C350 X13 G145 C360 X13 G145 C10 X12 Lenze 145 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 58 G150 Modal comparative operation O Bit comparison Syntax Meaning of the addresses Explanation 146 Import or export of a modal comparison to an external event Q Bit G150X Y ZEVJL Target block number Target program number State of the comparison Index of the external event Index of an optional customer specific comparative operation lt M N lt xXx Brakes 0 without ramp 1 with ramp defaul
380. psoverride_allg_w db1_nc2sps_spsoverride_spindel_w db1_nc2sps_spsoverride_ozillation_w db1_nc2sps_spsoverride_sps_w db1_nc2sps_verfahr_ab db1_nc2sps_mmi_tasten_aw Lenze Direction PLC NC PLC NC PLC NC PLC NC PLC gt NC PLC gt NC PLC gt NC PLC gt NC PLC gt NC PLC NC PLC NC PLC gt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt HMI PLC lt HMI EDSTCXN EN 2 0 Description of the signals EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 1 5 1 2 Data word Name Direction Type of signal 000 00 EMERGENCY STOP PLC NC static 0 emergency stop state 1 normal operating state Effect in the NC The 0 signal interrupts all movements the program process is interrupted Data word Name Direction Type of signal 000 01 Feed enable total PLC gt NC static 001 00 15 Feed enable axis 0 15 PLC gt NC static For each axis a Feed enable signal is output There is also a common enable signal The resulting f
381. puts These displays are shown in two colours One column shows the description of the input or output In the other column next to it the assigned value is displayed The value is displayed as non standardised and unsigned 16 bit value You can exit the mask by pressing the ESC key or by selecting the above mentioned softkeys Lenze 323 m ETC MMI 7 8 Appendix 7 8 1 Language file SPRACHE TXT Text assignment of the inputs outputs in the language file Example Softkey assignment Heading assignment 324 The text assignment of the individual inputs and outputs is realised via text numbers The text numbers are structured according to the following key Each character corresponds to a digit Key TKKKXNNN 8 digit number T Type 0 local digital I O module EC IO 1 local analogue I O module EC ADA EC ADC 2 CAN I O module SLIO CANOpen KKK Node number 001 127 for CAN bus modules 001 008 for local modules x Type of the I O signals 0 unused 1 digital input 2 digital output 3 analogue input 4 analogue output NNN Number of the I O signals 000 063 for CAN bus digital I O signals 000 007 for CAN bus analogue I O signals 000 023 for local inputs 000 015 for local outputs A basic number of 30000000 is added to this number This basic number can be changed via a parameter in the configuration file This way the texts in the language file can be moved Text in the language file 300
382. r G150 are exported Example G134 X P16 K3 Waits for P16 gt to become 50 Z50 Blocks which should be executed afterwards EDSTCXN EN 2 0 Lenze 141 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 55 G140 G141 G142 Noncircular grinding on off Syntax Meaning of the addresses Explanation 142 The functions G140 G142 are used to switch the Noncircular grinding function on or off G140 G141X C D LKE G142 X C D LKE Total overmeasure in mm C Start area of the positioning as a position of the angle axis with L 0 only If it is not programmed the start area of the positioning is defined by the starting position of the C axis D Grinding wheel diameter If it is not programmed the current diameter is taken from the tool data L Profile 0 constant default 1 not constant K Noncircular grinding 0 without correction table default 1 with correction table see G144 G145 E Noncircular grinding 0 from outside default 1 from inside G141 is used to switch on the Noncircular grinding function namely with a negative direction of rotation of the C axis during the profile creation G142 activates noncircular grinding with a positive direction of rotation G140 switches the Noncircular grinding function off again The individual grinding phases are called by G143 with the description of the finished profile as a subprogram between G141
383. r gt keys is traversed as long as the lt Travel gt lt Travel gt key is pressed The speed at which the axes are traversed is determined by MK_MODVMAx It can be influenced via the lt Override gt lt Override gt key The selected axis is traversed by the specified increment see below The direction is determined by the lt Travel gt lt Travel gt keys During step travel the axes are traversed at high rate Increment in mm for traversing the selected axis The entry must be completed with lt ENTER gt The function key is only labelled and enabled if the lt Step travel gt key has been pressed The Target point travel function refers to all axes If you press the lt Start gt key all axes whose actual and set position is not identical are traversed During Target point travel the axes are traversed at high rate 293 ETC MMI Setup operating mode Target position Handwheel Handwheel factor back Datum points Reset Import Correct S switchover back Tool management 294 Lenze Target position for the selected axis Select the desired axis by means of the lt Axis gt key or lt Cursor gt keys The entry must be completed with lt ENTER gt lt ESC gt cancels the entry and restores the old positions The function key is only labelled and enabled if the lt Target point travel gt key has been pressed The handwheel keys are only displayed if a
384. ram In the subprogram the state of the main program is initially valid yet this can be changed By specifying a block number under the address J it is possible to start with a specific block number of the subprogram If no program number L is specified the subprogram is called within the current program The program processing then branches to the specified block number The program is continued like with a normal subprogram call after G99 with the block following G22 It is important to note here that the block numbers must always be assigned numerically in ascending order It is also possible to program a number of repetitions under the address That means that the block following G22 is started when the program L was called I times EDSTCXN EN 2 0 Lenze 109 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions Starting a second NC channel Example The subprogram can also be executed in parallel to the current program For this in K the number of the NC channel must be specified in which the program should be started The specified channel number must be greater than the number of the current channel normally 0 and smaller than the maximum channel number in the machine constant MK_KANALANZAHL An NC channel can only activate the axes which have been assigned to it If axes should be traversed in channel 1 these must be transferred to the new channel at the start of the NC channel with G22 Channel
385. ram in the second channel cannot be started via the start key It can only be started from a program in the first channel For further information on multi channels refer to chapter CNC programming in the descriptions for G22 C4 109 and G153 CO 150 Lenze 201 A 4 4 4 4 7 4 4 7 4 4 8 202 Machine constants Storage space reservation MK_LAH_VORLAUFTIEFE MK_LAH_VORLAUFTIEFE This machine constant defines the maximum number of orders in the prebuffer The prebuffer is a circular puffer FIFO between DIN interpreter and rough interpolator and is used to isolate the interpretation from the execution of DIN blocks This MC defines how many blocks can be seen in advance during the processing of a DIN program The MC contains one parameter for each possible NC channel The minimum value of this MC is 8 blocks The entered value should be a power of two 8 16 32 64 128 If not it is internally rounded up to the next higher power of two The prebuffer is assigned resources in the main memory namely approx 1500 byte per block If the size of the memory is insufficient for installing the prebuffer a corresponding error message is generated when restarting the control and the prebuffer is reduced to the minimum size of 8 blocks Please also read chapter Block preprocessing and time synchronization in chapter CNC programming L21 90 MK_LAH_RUECKLAUFGRENZE This machine constant defines the max
386. ramming 8 4 Project planning 8 4 4 Configuring I O modules 8 4 4 1 Configuring CAN Master global CAN settings Basic parameters CAN parameters 344 Automatic address The switch should be disabled otherwise CoDeSys will allocate the addresses automatically Ea een Na ioe Com Cpi Ferala O S avia La a i iio fi a FF Hein f M itera ciara Sac SP al Dit ar De beathest Hats er ETC106 Baud rate The baud rate for the CAN Bus must be selected in accordance with the settings of the connected CAN modules Note Entering the baud rate is only enabled for the ETCxM For the ETCxC this parameter is without function Only settings of the machine constants are possible Com Cycle Period Will not be evaluated by the control Sync Window Length Will not be evaluated by the control Sync COB ID Will not be evaluated by the control Node ID Enter a 0 here Automatic start up Will not be evaluated by the control Support DSP301 Will not be evaluated by the control Heartbeat Master Will not be evaluated by the control Lenze EDSTCXN EN 2 0 PLC programming 8 Project planning 8 4 Configuring I O modules 8 4 4 8 4 4 2 CAN slave configuration Basic parameters Tove panies CA paneer Hess Ppr Senet PC Teram Daa liac Wrk i Unde d va sihan aaa Harp siders Erri pa iea m ETC107 Module ID ID number of the module Node ID The node ID is entered in the CAN parameter ta
387. rations is canceled again by G133 or through program end or program termination G132 No interruption now GO X100 Y200 SO Travel Z axis to tool change position GO ZO M10 Get tool GO Z20 and lift it GO X0 YO Travel to start position G133 Interruption allowed again Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 54 G134 Non modal waiting function parameter field comparison Wait for a comparative operation to become true Syntax G134 X Z K Meaning of the addresses First operand Second operand Comparative operation Explanation G134 carries out a comparison K between the two operands X and Z Both constants and indexes of parameter fields are allowed as operands In contrast to G130 no program branching takes place in the case of a positive comparison result The G134 only blocks the program from being executed further in current channel until the comparison result becomes true The comparative operations possible under K are 0 X Z X equals Z 1 X gt Z X greater than Z 2 X lt Z X smaller than Z 3 X2Z X greater than or equal to Z 4 X lt Z X smaller than or equal to Z 5 X Z X not equal to Z 6 XA24 0 BitZ deleted in X 7 XA22 0 Bit Z set in X The function is not time synchronized and therefore it is also suitable for the fast responses in the range of maximum one interpolation cycle No modal comparisons which were programmed previously with G130 o
388. reigabe_w MW1 5 DB1_W5_plc2nc_regulator_release_w db1_sps2nc_einlesefreigabe_bit MX1 7 0 DB1_X7_0_plc2nc_read_in_release_bit db1_sps2nc_programmstart_b MB1 9 0 DB1_B9_0_plc2nc_program_start_b db1_sps2nc_programmstop_b MB1 12 0 DB1_B12_0_plc2nc_stop_program_b db1_nc2sps_betriebsbereit_2_bit MX1 128 1 DB1_X128_0_nc2plc_NC_ready_1 bit db1_nc2sps_programmstart_b MB1 137 0 DB1_B137_0_nc2plc_program_start_b db1_nc2sps_programmstop_b MB1 142 0 DB1_B142_0_nc2plc_stop_program_b Him dahrad Funchens ee ala Bl i ches dene Fun Bir Lara ies Free Fre Mhe ein Pieper 3 prion i anabir Corsano pee ata Eraman gt DUR iig i mipi b auma h iij DOL II reipi ENTE DON eT pre kabosi reae bo ai O60 WSS mipi unan rera fe DEL WIZ mp rani a DRL ATE pipir b apisia a AND AE _nedple_end_ol_ pul BARD WE api a a DLAT wip e m ara i fA C80 wi eip ee ca DAD DAG W178 ar rn rence fF DULAT eer nur r DBL WiN rete ca nr fell RT eg Gotan STR 5 R ihini Note Required for Release of CNC Release of CNC Manual travel of keys e g Lenze HMI coded bit by bit for 12 drives Manual travel of keys e g Lenze HMI coded bit by bit for 12 drives Release of CNC Release of CNC ETC MMI ETC MMI Monitoring CNC ETC MMI ETC MMI ETCN026 The complete list of the system variables can be displayed in the programming window of the ETC CoDeSys via lt F2 gt Lenz
389. relevant It must be provided with the extension MK However it is recommended to use a name that is related to the machine e g the machine number The file can be transferred to the control in two different ways Either via an ETC MMI whenever the control is restarted or by means of any terminal program via the monitor interface of the control In the first case the file is stored on the hard disk of the PC The second case is only necessary if no PC supported MMI is connected to the control The MCs are stored in the control in a non volatile memory This is where they are updated if the MCs are changed in any way Controls delivered ex works do not contain an MC file Therefore the message keine Maschinenkonstantendatei geladen no machine constants file loaded appears when the control is first put into operation When adapting the MC file please make sure that MCs which are not included in the MC file are not reset to the default value but keep the previously set value However to gain a better overview all MCs should be described in the MC file Some MCs have a limited value range If the entered value lies outside this value range it will be limited to this range Lenze EDSTCXN EN 2 0 Machine constants A Basics 41 The exact name of the MCs must be entered otherwise the NC computer will not recognize it During the transfer of the MCs the ETC issues an error message for each MC it does not recognize From th
390. rent project into the Flash PROM of the control In addition a file Projectname prg will be created in the project directory on the hard drive if in Project gt Options gt Icon configuration the control field Create binary file for the application has been selected This file can also be loaded into the control via the monitor interface of the control using Z modem transfer In this case the file name of the boot project must be changed to default prg For the ETCxC this file can also be transferred to the control via the ETC MMI Lenze 355 8 PLC programming af 8 7 Interface to the ETC 8 7 1 Data blocks 8 7 Interface to the ETC 8 7 1 Data blocks The integrated PLC has an internal RAM range available which is divided into 16 so called data blocks Each data block DB contains 256 data words DW of 16 Bit 8 7 2 System variables of the ETCxC The system variables represent a predefined number of variables from the data blocks In CoDeSys the system variables can be inserted into a project via the menu item Insert operand gt System variables or the input assistance via function key F2 the following is a list of the defined system variables Data block 0 DBO_sps2nc_taste_an_funktion_w MWO 0 DBO_sps2nc_nc_fehlerquittung_w MWO 1 DBO_nc2sps_fehlertext_s MWO 16 DBO_nc2sps_fehlerinfo_s MW0 96 DBO_nc2sps_aktuelles_menu_w MWO 128 DBO_nc2sps_ob20_ereignis_w MWO0 129 DBO_nc2sps_einzeltastenmeldung_w
391. rface Important commands of the monitor program Fault elimination 24 Command dir dr pattern del dr pattern cd dr format dr reboot help ver ipconf hwconf Meaning Shows the contents of the specified drive The flashdisk sd is preset other possible drives are program storage ps Ram disk rd and floppy disk fd if existing As pattern the usual MS DOS patterns can be used e g din Deletes the specified files on the specified drive The flash disk sd is preset Changes to or shows the currently selected drive The flash disk sd is preset Formats the current disk and thus deletes all files on this disk A disk name must be specified Resets the control system To activate the boot monitor the key must be pressed afterwards until the boot monitor responds this may take 3 4 seconds Displays the help page with commands of the monitor program Displays version string Configures network parameters for Ethernet interface Displays hardware configuration of the control system CPU type memory etc If you cannot establish a connection to the ETCHx by means ofthe described procedure proceed as follows 1 Check the cabling between PC and ETCHx 2 Check the connection parameters of the terminal program A first test of the cable connection can be performed by means of a bridge between the pins 2 and 3 at the socket of the cable control system side gt Afterw
392. right Syntax Meaning of the addresses Explanation Example 116 Switching on the tool radius compensation or an application specific correction procedure for the tool path G41 R J L G42 R J L R Tool radius to be compensated J Tool orientation value 0 9 L Transfer type 0 linear 1 circular The preparatory functions switch on the tool radius compensation or an application specific correction procedure The tool radius is transferred from the parameter field P700 which is preset with a T change over or can possibly be programmed directly with the code letter R In the case of application specific corrections the dimensions are transferred via agreed interfaces parameter field machine constants G41 activates a correction to the left G42 to the right of the programmed path related to the direction of the tool movement The compensation applies to the selected plane G17 G18 G19 After the compensation has been selected the compensated path is approached with the following block The starting point of this block is the current actual position the target point lies on the compensated path intersection point with following block Refer to the following table for the corresponding tool orientation J It shows the relation between the coordinates of the cutting center Xs Ys and the coordinates of the tool cutting point Xp Yp for every orientation value J Xp Yp 0 Xs Ys 1 Xs R Ys R 2 Xs R Ys R 3 Xs R Ys
393. rm31 hlp NewTast 0 Scanzposfile testaufz txt Zposkorrfile testaufz kor saveanddownload 0 startcycle 12345 machineconstants mk default mk mkhlp mk hlp download entry1 ETCxC cfg ETCxC rsc entry2 ncr cfg spsdummy prg programs entryO d demo std cfg 9000 zyk EDSTCXN EN 2 0 Lenze Description This term offers the possibility that the MMI software shows online helps If the file name of a Windows help file is specified the online help is displayed in Windows format If only a directory e g c Programs Lenze ETC mmi help is specified the standard software shows help texts in the form of ASCII files The ASCII files must be located in the specified directory Inthe MMI software the function related help is opened by simultaneously pressing the Control key and a function key The name convention of the file that is displayed is lt number of the function gt txt To activate the key of the IPC with the second function without keyboard driver NewTast must be set to 1 By default the keyboard driver is installed and NewTast 0 Default name of the ASCII file in which the position values are saved in ASCII format 3D correction file is transferred to the control system If SaveAndDownload is set to 1 a program is transferred immediately to the control system when it is saved during programming This term is used during programming of cycles see also cycle programming
394. rmination wait quit Termination Brake interrupt Interrupt Brake block jump Block jump Brake interrupt 10 Interrupt 11 Brake error 12 Error 13 Balancing run Current increment e g stitch length during sewing x Current interpreter state x 0 No program active 1 Single function active 2 Program active 3 Interrupt program active 4 Block search active Bit coded state of modal functions x BitO O route operation G30 1 path operation G31 Bit1 O empty run M15 M16 M21 1 profile M14 Bit2 O event handler disabled G132 1 event handler enabled G133 Bit3 O override enabled M48 1 override disabled M49 Bit4 1 G114 active Bit5 1 G231 active Current line number not block number in the NC x program Current setpoint speed e g for a spindle Corresponds x to the value programmed for address E in the DIN block GO G3 Number of the M function by which the last subprogram call was triggered For use in cycles which are called by M functions MK_MFKT_UPR_TABELLE Last output H function number x Current number of preprocessed blocks in the block search buffer Geometry counter for block progress display x Progress display for current traversing block O block x start 1 block end Efficiency of geometry filter G200 in Number of the NC channel for which the subsequent data is valid x Current program number Current block number Current logical block num
395. rogram The MMI window opens in the Programming operating mode It shows the text editor for entering the CNC program 3 Press lt F8 gt Graphics and afterwards lt F7 gt Graphics on off The window is split The text editor is displayed on the left the display field for the graph graphic area on the right In the top left of the text editor the cursor flashes ETCN014 EDSTCXN EN 2 0 Lenze 47 Getting started 2 10 Creating a CNC sample program 2 10 2 Entering and saving a CNC program 2 10 2 Entering and saving a CNC program We create a program for a profile with rounded reference points Starting point The cursor flashes in the top right of the text editor and the graphic area is displayed 1 Enter the CNC program in the text editor according to the following table Line Input in the text editor Meaning 1 2 3 G17 Determine plane 4 5 G2 X20 Y20 R10 6 G1X30 7 G2 X40 Y10 R10 8 G1 Y0 9 G2 X30 Y 10 R10 10 G1X20 11 G2 X10 YO R10 12 G1Y10 13 rate 14 M30 End of program 1 Determine program number G1 F10000 Determine travelling speed GO X10 Y10 Travel to starting point at high rate GO X0 YO Travel to zero point at high 2 Press lt F4 gt Save as 3 As program name enter e g test din 4 Press lt Enter gt 48 Lenze Execute a section of the square profile Display in the graphic area creates a straight line from the zero point to the starting point creates a quar
396. rogram termination 4 Function is deactivated in the event of a program termination and with modal branches No Meaning Group Attribute 00 Point to point positioning high rate a 01 Linear interpolation a 02 Circular interpolation clockwise a 03 Circular interpolation counterclockwise a 04 Dwelltime 05 Spline interpolation via the programmed grid points h i 06 Polynomial interpolation with coefficient programming h1 i 10 Definition of an error recovery item after an error Lenze 91 CNC programming 3 2 G functions Sl Overview of G functions No Meaning 16 Definition of the principal axes of the current NC channel 17 Plane selection XY 18 Plane selection XZ 19 Plane selection YX 20 Block jump optionally with condition check 21 Synchronous parameter field assignment 22 Subprogram call optionally with condition check and start of a new NC channel 24 Define negative traversing range limit 25 Define positive traversing range limit 26 Activate deactivate traversing range limits 27 Block jump with repetition counter 30 Route operation 31 Path operation 33 Coupling between path and rotation axes on 34 Path coupling off 36 Modal oscillation on 37 Modal oscillation off 40 Correction module off 41 Correction module left on 42 Correction module right off 53 Deactivate temporary coordinate shift 54 Temporary zero shift of the current tool coordinate system 60 Exact positioning o
397. rol systems Ethernet communication via DPR UDP IP protocol PCI connection for ETCPx control systems DPR communication via a WDM driver etcpc sys in the scope of supply of the ETCPC IP address Specify the communication parameters that depend on the connection type ETCHC IP address C4 28 ETCPC Index of the PCI cards indexes of the PCI cards are in the range 0 9 and are automatically assigned by the driver The first ETCPC has the index 0 PC Directory lt Ok gt Use this button to write entries in the file mmigtway ini 283 If a connection with the same parameters already exists the error Gateway cannot change the parameter is reported Use the Remove button to delete the selected connection You can only delete connections that are not used by any application Lenze 279 ETC MMI Gateway 6 3 Configuring the ETC MMI gateway 6 3 1 Connection Setting up connections Details Display If you want to display the communication status of the selected connection communication status click the Details button EIC TRAINS 172 1b Dpr Anke Trane mitted Recessed Messages 1 745 messages tain mmi de_us noi de_us m ogi us 5 re alain i 133 wA gai n 133 agem ngea E19 nagimi imel m 795 megir sbl ua magemmrsbll_us 7 maim bi us I magnm rsbj_us 7 mam emeus BR magnm rm es 735 ETCN060 Settings Edit connection Via the Settings button you can edit the communication parameters
398. ror Lenze EDSTCXN EN 2 0 PLC programming 8 Library 8 8 General functions 8 8 1 8 8 1 28 WRITE_PARAM_REAL only ETCxC Declaration Description FUNCTION WRITE_PARAM_REAL BOOL VAR_INPUT IDX_DI DINT Parameter index VAL_R REAL value END_VAR The function writes the value val_i at the location idx_di into the P field The return value FALSE indicates an error 8 8 1 29 WRITE_PARAM_LREAL only ETCxC Declaration Description FUNCTION WRITE_PARAM_LREAL BOOL VAR_INPUT IDX_DI DINT Parameter index VAL_LR LREAL value END_VAR The function writes the value val_i at the location idx_di into the P field The return value FALSE indicates an error 8 8 1 30 WRITE_SYSPARAM only ETCxC Declaration Description Example EDSTCXN EN 2 0 FUNCTION WRITE_SYSPARAM BOOL VAR_INPUT IDX_I INT 0 127 VAL W WORD END_VAR WRITE_SYSPARAM writes the value val_w to the location idx_i in the operating data Return value 0 means wrong index ret_bit BOOL et_bit WRITE _SYSPARAM 101 100 Writes the value 100 into the operating data word 101 This defines that the PROGRAM PLC_PRG2 if available will be called cyclically every 100 10 ms Lenze 375 8 8 Library 8 PLC programming 8 8 1 General functions 8 8 1 31 Return codes of the functions LOAD SAVE LOAD_PARAM SAVE_PARAM Specially for READ_PARAM WRITE_PARAM 376 Return code 110 11
399. rrection value The interpolation between the entries is linear The correction is switched off at the end of the program or in the event of a program termination and by programming G234 without axis letters P1200 4 Number of grid points P1201 0 0 Offset for 0 P1202 0 1 Offset for 90 P1203 0 2 Offset for 180 P1204 0 3 Offset for 270 G234Z1K1200 Correction of the Z axis on G234 Correction off Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 79 G251 Accept step response of an axis G251 is used to set the drive and attitude control parameters of an axis through the acceptance of a step response and can only be used by a special axis setting tool like the AXSCOPE Generally this function is not important for DIN programmers Syntax G251 AXES I J KL Meaning of the addresses AXES Speed stroke of the axis to be set in mm min or 1 min l Jump duration in seconds J Acceleration duration in seconds K Number of jumps L Identification 0 recording of the master axis default 1 recording of the slave axis 2 recording of master and slave axis Explanation The function oscillates the specified axis K times with the specified speed the accelerating duration J and the jump duration to and fro At the end of the movement the axis is positioned at its starting point again The traverse path corresponds to speed The pause between the jumps is
400. rsor gt keys you approach an element in the selected dialogue area e g a certain file in the file selection area With the lt Enter gt key you execute an action With lt ESC gt you cancel the action Select file 1 Press the lt TAB gt key several times until the display and input field of the directory name is selected 2 If you want to change the file path press lt Enter gt and enter a new path Press lt Enter gt to confirm the entry or lt ESC gt to discard it 3 Press the lt TAB gt key several times until the file selection field is selected 4 Select the file by means of the lt Cursor gt keys Press lt Enter gt to select the file 306 Lenze EDSTCXN EN 2 0 Display profile of the program Set filter EDSTCXN EN 2 0 ETC MMI 7 Programming operating mode 7 6 ASCI editor 7 6 1 1 Select the file whose profile you want to display see above 2 Afterwards press the lt TAB gt key several times until the Kontur des Programms anzeigen Display profile of the program button is selected 3 Finally press lt Enter gt The profile of the selected program is displayed 4 Press lt ESC gt to close the display By means of the display filter the display of the files in the File selection field can be extended or limited The display filter is shown in addition to the directories in square brackets DIN When this entry is selected all data of the current directory affected
401. rst Tx Rx PDO contains the digital data and the second Tx Rx PDO the analogue data For the second PDO asynchronous only RTR should always be entered under Transmission Type since this is the standard setting for most modules when transferring analogue values These entries are not evaluated by the control 8 4 4 3 Checking the number of inputs and outputs EDSTCXN EN 2 0 The control carries out an implicit check of the number of digital analogue inputs and outputs Here the assumption is made that the digital data are located in the first Tx Rx PDO and the analogue values in the second Tx Rx PDO This assumption and the resulting check will only take place if in the EDS file for the CANopen module for the object entry 1000pex Device Profil Number the IO support for digital and analogue inputs outputs has been selected in the additional information highest value 16 bit see CiA DS401 Device Profil for Generic I O Modules Note The control generates an error message if the number of configured digital analogue inputs outputs of a PDO exceeds the actual number Lenze 347 8 PLC programming 8 4 Project planning 8 4 4 Configuring I O modules Extract from an EDS file Description of object index 1000hex 1 0 functionality Disable check 1000 ParameterName DeviceType ObjectType 0x7 DataType 0x7 AccessType ro PDOMapping 0 DefaultValue 0x30191 Additional information General information Special function
402. s IP address is requested when connections are established in the ETC MMI Gateway EI 34 Specify the IP address according to the following general rules for IP addresses If the control system and PC are connected with a local network segment or via a direct Ethernet connection without Internet Intranet connection assign IP addresses of class B or class C to the two network stations gt Addresses of class B are in the range from 128 0 0 0 to 191 255 255 255 The corresponding subnet mask is 255 255 0 0 default gt Addresses of class C are in the range from 192 0 0 0 to 223 255 255 255 The corresponding subnet mask is 255 255 255 0 default The gateway address is not relevant here You can enter a free IP address of the subnetwork not 0 0 0 0 Example IP address Subnet Gateway mask address This address must be assigned to the ETCHC and 181 16 1 10 255 255 0 0 181 16 1 1 specified as connection parameter in the ETC MMI Gateway LO B4 This address must be specified in the network 181 16 1 11 255 255 0 0 181 16 1 1 connection of the PC TCP IP settings Note Do not use any leading zeros in the IP addresses Otherwise the IP address will be interpreted as octa decimal number If ETCHx and PC are to be connected with an existing network segment the addresses and the subnet mask must be assigned by the network administrator Note If the Ethernet adapter supports 100Base T technology Auto Select or
403. s by the set value Therefore the time constant should not be set to a value which is too high Otherwise the response times are extended unnecessarily Lenze 219 A 4 14 4 14 1 4 14 4 14 1 4 14 2 4 14 3 220 Machine constants Configuration of axes Synchronous axes MK_ACHSENART Configuration of axes Synchronous axes A synchronous axis is configured in the control by entering the corresponding axis number in two places in MK_CANDRIVES This way a forced coupling is generated between the two physical axes The axis channel with the lower index is automatically the master axis The slave axis channel which has been assigned the same axis identification is the slave axis The slave axis executes all entries for the master axis synchronously If a forced coupling is configured the following machine constants must also be specified MK_ACHSENART In this MC Bit 6 must be set if the synchronous axis is a gantry axis If this is the case there is a mechanical coupling between the master and the slave axis For axes with an analog interface this means that the home position approach is already carried out synchronously In the case of axes with a digital interface the home position approach is merely started synchronously MK_SYNCHRONABWEICHUNG This machine constant defines the maximum permissible deviation between master and slave axes position for synchronous error monitoring Depending on the axis type
404. s defined by two addresses X Y for G17 X Z for G18 Y Z for G19 The assignment of the principal axes can be changed with G16 When the axes U and W are used as main axes these cannot be used for the center programming The center coordinates can be programmed in absolute dimensions or in incremental dimensions The center of the polar coordinate system also determines the center of the circle at the same time therefore programming the circle radius is not necessary The target position is defined by the polar angle W in reference to the current center The angle can be programmed in absolute dimensions or in incremental dimensions The programmed center coordinates have a modal effect The preparatory function G102 G103 has a modal effect N100 G17 N110 G01 X50 YO F5000 N120 G103 X0 YO W180 N130 G102 X10 Y10 WO Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 40 G110 Polar coordinates accept center Transfer the reached set position as a new center in the polar coordinate system Syntax G110 U W Meaning of the addresses U Polar radius W Polar angle Explanation The current positions of the principal axes are transferred as new center coordinates and the target position programmed with the radius U and the angle W is approached with G101 from this new center If neither the radius U nor the angle W are programmed no movement is executed The radius and the
405. s set to pre operational Lenze EDSTCXN EN 2 0 PLC programming 8 8 8 5 10 CopXEnableSync only ETCxM Declaration Parameters Description Library 8 8 CANopen functions 8 8 5 FUNCTION CopXEnableSync DINT Releasing the Sync message VAR_INPUT CanNum_uc BYTE END_VAR CanNum_uc Number of the CAN Bus 1 or 2 Calling this function enables the sending of the CANopen Sync message by the PLC The Sync messages will be sent with the cycle time of the PLC task calling the function The function returns the following values Return value Meaning 0 Function completed successfully 1 CAN task is not ready 3 Wrong CAN number 4 The function has already been released 5 The send buffer ofthe CAN Controller is already assigned 8 8 5 11 CopXDisableSync only ETCxM Declaration Parameters Description EDSTCXN EN 2 0 FUNCTION CopXDisableSync DINT Blocking the sending of Sync messages VAR_INPUT CanNum_uc BYTE END_VAR CanNum_uc Number of the CAN Bus 1 or 2 Calling this function disables the sending of the CANopen Sync message by the PLC The blocking of the Sync messages can only take place before the PLC task which enabled the sending The function returns the following values Return value Meaning 0 Function completed successfully CAN task is not ready 3 Wrong CAN number 4 The function is not enabled 5 The sending of Sync messages was released by a different task 6 The sen
406. se the system cable of type EWL 0068 or a comparable RS232 cable with double sided 9 pin D Sub socket for the pin assignment see ETC Hardware Manual Start the PC Start the ETCHx by mains connection or initialise the ETCHx by a reset press the Reset key on the front panel As soon as the ETC firmware has been loaded the green watchdog LED lights up at the ETCHx Starting the terminal program HyperTerminal and activating the monitor interface EDSTCXN EN 2 0 For the communication between PC and ETCHx you require a terminal program The terminal program HyperTerminal is available in every standard Windows installation If you have already established a connection with an ETC i e if a connection is already configured start the connection via lt Start gt gt Programs gt Accessories gt Communication gt HyperTerminal gt ConnectionName ht See next section If no connection has been configured yet start the HyperTerminal via lt Start gt gt Programs gt Accessories gt Communication HyperTerminal The program queries different settings of the telephone connection because it is also designed for a modem connection These settings are not significant in this context After you have been prompted enter a name for the connection for example ETC and click OK Lenze 21 Getting started 2 4 Establishing the communication between PC and ETCHx 2 4 2 Starting the terminal program Hy
407. search has been reached Data word Name Direction Type of signal 132 03 Individual block is running NC gt PLC static Value 1 of the signal indicates that the processing of an individual block is active triggered by the individual block function see ETC MMI or by input on the MMI manual operation The signal is pending until block termina tion NC program stop or internal termination due to an error which can not be remedied Effect in the PLC Evaluation for disable synchronization time measure ment Data word Name Direction Type of signal 0132 04 Interrupt active PLC NC static Value 1 of the signal indicates that the NC is in the Interrupt state see also Interrupt signal Effect in the PLC None Data word Name Direction Type of signal 132 08 All axes stopped NC gt PLC static The signal always has value 1 when the axes have stopped or no command for traversing the axis is currently active The signal All axes stopped is generated from the state signals of all axes Data word Name Direction Type of signal 133 00 07 Optional hold NC gt PLC static This signal from the MMI activates a Programmed hold through M01 Effect in the NC 0 optional hold inactive 1 optional hold active Lenze EDSTCXN EN 2 0 EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 1 5 1 2 Data word Name Direction Type of signal 133
408. selected with G201 General The preparatory function G01 has a modal effect The end position of the axes can be programmed either in the reference dimension system G90 or in the incremental dimension system G91 under the addresses of the positioning axes The unit F is dependent on which axes are programmed If only linear axes are involved input units min default mm min is programmed in F If only rotation axes are involved 1 min is programmed in F If both are involved the unit F is dependent on whether the guide axes are linear or rotation axes see G16 N10 G31 Path operation on N20 G1 X0 Z10 CO F2 Position X axis to 0 mm and Z axis to 10 mm with 2 mm min the C axis is also i positioned to 0 at the same time N50 N30 G1 C360 F60 C axis moves to position 360 degrees with the speed 60 revolutions per minute 4 N50 G1 X10 Y10 Select modal G function and gt X approach the starting osition X Start p N60 Y30 R10 The blocks N60 and N70 are N70 X30 connected with a tangential arc with a radius of 10 mm instead of with a 90 angle Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 3 G02 Circular interpolation clockwise GO3 Circular interpolation counterclockwise Syntax Meaning of the addresses Explanation EDSTCXN EN 2 0 Definition of a circle or segment of a circle clockwise or counterclockwise with linear position
409. set to 1 Otherwise the program is canceled In this state the axes can be moved manually and individual functions or other programs can be executed Once programs and individual functions are inactive the interrupt state can be exited by means of a pos edge of the interrupt signal The interrupted pro gram can then be resumed by triggering a normal start or canceled by pres sing the stop key When the program is resumed a balancing run of the axes will take place at first taking the shortest route to the point of interruption with 1 10 of the max traversing speed The interrupt signal is ORed with the interrupt signal in the virtual keyboard Effect in the NC NC switches to interrupt state with the 1st pos edge With the next pos edge the state is exited again if no other actions are active Note In the interrupt state it is not possible to make coordinate shifts or zero point corrections Lenze 251 5 Interface PLC lt gt NC operating system 5 1 Definitions 5212 Data block 1 Data word Name Direction Type of signal 013 00 07 Individual following block PLC gt NC static Switching between following and individual block operation This signal is ORed with the Individual following block signal from the DB15 Effect in the NC A program is processed continuously following block or block by block individual block 0 following block 1 individual block Data word Name Direction Type of signal
410. simulates the actual position counter ofthe drive actual position desired position for the test of the NC function without mechanics MK_SPS_DUMMY 1 0 1 1 0 with integrated PLC function 1 without integrated PLC function 1 without integrated PLC function releases are reset Lenze EDSTCXN EN 2 0 Hardware configuration Software configuration EDSTCXN EN 2 0 Getting started 2 Parameterising drives via machine constants 2 8 Overview of the most important machine constants 2 8 1 MC keyword No of Values Meaning values MK_CANDRIVES 12 1 0 11 Assignment of the axis number 0 11 to MK_APPLACHSIDX 18 MK_ACHSENART 12 MC keyword No of values MK_CANOPEN_BAUDRATE 2 MK_DELTAT 1 Lenze 1 0 11 XXXXXXXO XXXXXXXL XXXXXXOX XXXXXXLX XXXX00XX XXXX01XX XXXX10xXx XXXX11xx XX00XXXX XX01XXXX xx11xxxx XOXXXXXX X1XXXXXX OXXXXXXX 1XXXXXXX Values 0 10 1000 the CAN node address in the order ofthe CAN node address 1 12 1 No axis number is assigned to the node address 0 11 An axis number is assigned to the node address Assignment of the axis number 0 11 to the axis description in the order of the axis description X Y Z C U V W A B u V W X y Z a b c 1 No axis number is assigned to the axis description 0 11 An axis number is assigned to the axis description Assignment of the axis type to the axis number in the order of the axis number 0 Pe iE
411. sing must be started anew Stop the program with a M1 command The program is continued with lt Start gt M1 must be edited accordingly by the PLC Do not execute all blocks marked with a Each traverse block must be triggered by the lt Start gt key In the case of a switch over during running operation processing is stopped with the next possible block After the Single block function has been deactivated the lt Start gt key must be pressed again Show a graphical display of the current program instead of the position display The graph is currently limited to a profile description of the axes X and Y Zero shift rotation individual programming and similar are not supported 299 m ETC MMI 7 5 Automatic operating mode Vertical function keys Start Stop Feed stop Override Override Horizontal function keys for re Drawing border graphics on Enlarge Reduce Zoom 300 Lenze Starts the selected program or blockwise processing in single block operation Immediately stops program execution All axes are stopped with the set deceleration ramps After a restart processing is started again If Feed stop is activated the axes are no longer traversed until the function has been deactivated The axes are stopped with the set deceleration ramps The current traversing speed and the set override value are displayed in the status field The function must be execute
412. sity corresponds in size to the defined profile grid points G200 AXES AXES Axes which should be considered for the filter function with the specification of the filter constants for each axis The geometry filter can replace several G1 blocks by a single G1 During this process up to 20 grid points are saved and a line between the first and the last point is calculated with each new grid point Then the deviations between the calculated line and all saved grid points are determined and compared with the maximum allowed tolerances programmed for G200 If the deviation in all points is within the tolerance the new point is saved and the corresponding block removed from the input stream Otherwise the current block is saved and the previous optimum of saved grid points is output as the new block Only G1 blocks can be reduced when nothing except for the axes specified for G200 is programmed Generally blocks with F M S T or Q cannot be reduced The tolerances programmed for G200 must be specified in input units The tolerances of the individual axes may be different in size and are considered based on each axis To be able to asses the efficiency of the geometry filter the relation of reducible to reduced blocks is displayed in percent in P567 The maximum efficiency attainable is approximately 94 The time based overhead of the geometry filter is fully compensated from an efficiency of approx 15 by
413. spaces Accuracy lt nothing gt 6 digits 0 do not output a decimal point n output max n digits after the decimal point Data type CoDeSys Data type definition format string DWORD u DINT D LREAL If STRING s The returned value corresponds to the number of characters which have been copied to the string STRING _S ses Lenze EDSTCXN EN 2 0 PLC programming 8 Library 8 8 General functions 8 8 1 Example TYPE TEST _R STRUCT Dw DWORD LREAL END_STRUCT END_TYPE ss STRING 80 ret_i INT di DINT tr TEST_R One parameter di 345 ret_i FORMAT s_s d ADR di ret_i 4 s_s gt 345 Several parameters t_r dw 123 torr 4 321 ret_i FORMAT s_s 1 u 2 f ADR t_r ret_i 19 s_s 1 123 2 4 321000 8 8 1 4 GetFirmwareVersion Declaration FUNCTION GetFirmwareVersion STRING 80 VAR_INPUT type_i INT END_VAR Parameters type _i Version string 1 NCR 2 Bootloader Description The function returns version strings EDSTCXN EN 2 0 Lenze 363 2 G 8 8 8 8 1 8 8 1 5 Declaration Description Example 8 8 1 6 Declaration Description Example 364 PLC programming General functions GetMacAddr nur ETCxM FUNCTION GetMacAddr BOOL VAR_INPUT pMac DINT Address of an array of the teyp ARRAY 0 5 OF BYTE END_VAR With this function the MAC address of the Ethernet controller of the control can be read The functi
414. ss to the hard drive of a PC The device can only be used if the control has an Ethernet interface On the PC the Lenze ETC Data Server must have been started The PLC can access the directory which has been entered into the configuration file of the server To create the connection between the control and the PC the control given the IP address of the PC via the function SetCurrentPath For this it is necessary to enter a fixed IP address in the network settings of the PC PC Disk PC rw This driver allows access to the hard drive of a PC The device can only be used if an application is running on the PC which uses the Lenze Gateway e g ETC MMI Using the Gateway configuration software a directory can be defined which the PLC can access Program memory PS W _ This driver allows DIN programs to write tot he only ETCxC internal DIN program memory via the PLC It must be ensured that the file name must also be identical to the program number therefore the DIN program must not contain a program number with command Example SysOpenFile PS 12 din O_WRONLY opens a DIN program with the program number 12 Lenze EDSTCXN EN 2 0 8 8 3 14 Global constants for File IO functions EDSTCXN EN 2 0 Constant DSK_EEPROM_NOT_READY_KI DSK_EEPROM_CHECKSUM_KI DSK_EEPROM_DISK_FULL_KI DSK_ACCESS_DENIED_KI DSK_TOO_MANY_FILES_KI DSK_EEPROM_DIR_FULL_KI DSK_FILE_NOT_EXIST_KI DSK_INVALID_ACCESSMODE_KI DSK_UNKNOWN_EEPROM_TYPE_KI DSK
415. system 5 1 Definitions 5212 Data block 1 Data word Name Direction Type of signal 032 00 Acknowledgement for M function PLC gt NC Acknowledgeme nt The signal is set to 0 when the PLC has detected the value 0 of the strobe for M functions and accepted the data of the M functions transferred by the NC It is set to 1 when the strobe has accepted the value 1 again 240 Effect in the NC If the signal has the value 1 new data can be transferred to the PLC in the case of value 0 the PLC has accepted the pending data In this case the strobe is set from 0 to 1 for signaling that the acceptance was successful When the signal changes from 1 to 0 the NC starts to process the next block provided that the Read enable has been activated Data word Name Direction Type of signal 033 00 Acknowledgement for H function PLC gt NC Acknowledgeme nt The signal is set to 0 when the PLC has detected value 0 of the strobe for H functions and accepted the data of the H functions which has been trans ferred by the NC It is set to 1 when the strobe has accepted value 1 again Effect in the NC If the signal has the value 1 new data may be transmitted to the PLC in the case of value 0 the PLC has accepted the pending data In this case the strobe is set from 0 to 1 by the NC acceptance signal has been detected If the data acceptance tak
416. t L Parameter field index for saving the axis actual positions G150 carries out a comparison of the Q Bit E 0 63 on the state Z 0 or 1 This also applies for fast inputs which are also represented as Q Bit In the case of a true result all the on going actions in the current NC channel are stopped Two variants of continuing the program are then possible with G150 Program jump The stopped actions are canceled and the program is continued with the block X In this case the code letter Y must not be programmed The target block number X must be contained in the same program in which the comparison is also programmed If the target block number X is not equal to the current block number N a true result leads to the export of all modal and non modal comparative operations which were made on the same or subordinate program planes Subprogram call The stopped actions are saved program Y is placed in processing In this case the code letter Y must be programmed a target block number X must not be specified If the subprogram is processed the control continues processing at the interrupted position A true result does not lead to the export of modal or non modal comparative operations It is the user s responsibility to ensure that all axes which he uses in the subprogram are returned to the positions which he found during the subprogram call Lenze EDSTCXN EN 2 0 Example EDSTCXN EN 2 0
417. t 1 polar machine coordinate system Note The speed within the interpolator is only limited in the Cartesian coordinate system The maximum speeds of the polar radius axis and angle axis can no longer be monitored after the transformation In an extreme case e g traveling through the polar zero point this may lead to following errors MK_KARTESISCH_ACHSNR This machine constant defines the numbers of the Cartesian axes in the case of a polar machine coordinate system The positions of these virtual axes are used to calculate the positions of the polar radius and angle axis later on The numbers of the axes should be the same as the polar axes to ensure that only the number of axes that are physically available must be configured This MC has the following three entries Index Default Meaning 0 0 Number of the cosine axis X 1 1 Number of the sine axis Y 2 1 Number of the optional tangential correction axis or 1 C The first two entered axes must be configured as linear axes in MK_ACHSENART All unit dependent MCs except for MK_WEG must be specified in mm for these axes The third axis must be configured as a rotation axis Lenze EDSTCXN EN 2 0 Machine constants A Technology specific settings 4 15 MK_POLAR_ACHSNR 4 15 5 4 15 5 MK_POLAR_ACHSNR This machine constant defines the numbers of the radius and the angle axis in the polar machine coordinate system They are the physical axes for radius and angle on th
418. t HMI Message buffer user data 28 data words PLC HMI Message buffer counter 2 PLC gt HMI Monitoring of PLC is running PLC gt HMI Sub mode PLC HMI States 256 bits PLC HMI Keys 256 bits PLC HMI Message buffer acknowledgement counter PLC HMI Message buffer counter 1 PLC HMI Message buffer user data 28 data word PLC HMI Message buffer counter 2 PLC HMI Monitoring of HMI is running PLC HMI Freely available machine constants PLC NC If the key control is activated DB1 31 4 the 128 bits from DB2 8 0 to DB2 15 15 correspond to the MMI keys DB1 212 0 to DB1 219 15 DW080 00 095 15 DW128 DW127 00 127 15 DW191 00 191 15 DW224 00 255 15 Signal state 1 has the effect that a text is displayed in the PLC messages window on the MMI The texts are stored ina file default Lenze txt DW080 00 is linked with the entry 01020001 DW080 01 with the entry 01020002 etc If the ETC MM1 is used the selected sub mode is stored here 0 no sub mode selected operating mode DW131 1 Operating mode DW131 1 step travel modal traveling target point traveling handwheel manual homing automatic homing 7 zero points Operating mode DW131 3 1 block search Operating mode DW131 4 1 teaching Au PwrnNhH The data words are used for mutual control of PLC and MMI This way they can monitor whether the counterpart is still alive Operating mode PL
419. t of a machine with additional components To create one PLC version only the equipment can be recorded in the MCs and the PLC program can react accordingly Lenze 225 EDSTCXN EN 2 0 Machine constants 4 16 List of machine constants 4 16 List of machine constants kK kK kK kK x kk k k In the following you can find the list of machine constants as it is loaded in the control The list is provided as an ASCII file and can be edited on a PC The structure of the list corresponds to the previous description It is recommended to enter the required values for all machine constants Do not change the key values listed Only change or add the corresponding numerical values nn The individual numerical values within a keyword end with a comma The last numerical value must end with a semicolon During editing make sure not to delete the comment characters accidentally gt Sequence of axes The internal order of axes is defined via MK_APPLACHSIDX All axis specific machine constants must be configured in this order Machine configuration The machine constant MK DW224 255 at the end of this file contains important information for the PLC For further information refer to the comment next to the machine constant wr 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 sess s sos s sos ass
420. t used by default pfielddisplay4 Each section describes the indexes ofthe P fields for a specific operating mode which the NCR is to update cyclically in the area of the P field permanent display of the DPR s The assignment of the sections to the operating modes is fixed 1 Setup 2 Automatic 3 Programming 4 Diagnostics PO 1200 Example The contents of the P field 1200 are cyclically updated in the DPR under P31 1 nc2mmi_r pfanz_r val_ad 0 If the value is 1 there will be no update on this index Zyklen see also Cycle programming entryO L8000 grinding L8000 is a reference to a section where the cycle is described in more detail Grinding is a text that is used for cycle selection L8000 see also Cycle programming entry1 P1200 1 23 top The individual entries describe the cycle entry2 P1201 2 34 middle entry3 P1202 3 45 bottom EDSTCXN EN 2 0 Lenze 331 7 ETC MMI 7 8 Appendix 7 8 3 Configuration file DELPHMMI INI Section Term WerkzeugVerwaltung Wsk default wsk wtk default wtk magazinplaetze 9 KSxx a C e g KSyy e SPS Tasten KeyCode Shift F8 332 Lenze Description Determination of the internal tool management see documentation on the standard HMI Name and path of a file with workpiece correction data After a complete download this file is transferred to the NCR for presetting Name and path of a file with tool correction data Aft
421. ta will be transferred without byte swapping Lenze EDSTCXN EN 2 0 PLC programming Library 8 8 8 MMI communication functions 8 8 7 If a message from HMI is available when calling GetApplicationMessage OK is set to TRUE and the message copied into the defined buffer The function provides an immediate return in any case even if no message from HMI is available In that case OK is set to FALSE By evaluating sb1_b the message can be identified by the PLC The definition of control blocks must take place between the PLC and MMI developer The length of the user data is stored in len_w in bytes The variables sb2_b and index_b are optional Their use must be resolved between the PLC and HMI developer handle_b is reserved for the simultaneous communication with several applications Note These messages are always transferred unsynchronised Up to 10 messages of this type form MMI to PLC can be buffered in the control the rest will be lost In this case the control reports a corresponding error message If necessary synchronisation mechanisms must be agreed between HMI and PLC 8 8 7 2 PutApplicationMessage Declaration Parameters EDSTCXN EN 2 0 FUNCTION_BLOCK PutApplicationMessage sends a message with up to 512 Byte user VAR_INPUT data_pab Datatypes _s sb1_b sb2_b index_b handle_b len_w END_VAR VAR_INPUT ok END_VAR data_pab Datatypes _s sb1_b sb2_b index_b handle_b len_w ok data to the
422. te the saved machine constants in the control system gt The number of parameters in the file is greater than the maximum number in the operating system The parameters overwrite the saved machine constants in the control system up to the maximum number An error message is generated for each parameter of the file that is not adopted gt The number of parameters in the file is smaller than the maximum number in the operating system The parameters overwrite the saved machine constants in the control systems The missing machine constants up to the maximum number are completed by the entries that already exist in the control system Note If the control system is in an error status display in the ETC MMI in the SETUP operating mode NCR ERROR the loaded machine constants are not adopted in the control system The machine constants have only been adopted correctly when the control state Idle display in the ETC MMI in the SETUP operating mode NCR STEHT NCR STANDS is reached Lenze EDSTCXN EN 2 0 Getting started 2 Parameterising drives via machine constants 2 8 Example for adapting a machine constant file 2 8 4 2 8 4 Example for adapting a machine constant file Test setting Hardware configuration Software configuration Setting of the axes Explanation EDSTCXN EN 2 0 The drive configuration has 3 drives with the following properties Drive 1 Drive 2 Drive 3 Axis number 0 1 1
423. ter circle adds a straight line adds a quarter circle adds a straight line adds a quarter circle adds a straight line adds a quarter circle adds a straight line to a closed square profile ETCNO15 EDSTCXN EN 2 0 Getting started R Creating a CNC sample program 2 10 Loading the CNC program into the control system and starting it 2 10 3 2 10 3 Loading the CNC program into the control system and starting it Load program into the control Starting point PLC program is displayed in the editor nn 1 Press lt F7 gt Program to NC 2 Select the program e g test din 3 Press lt Enter gt The program is transferred to the control system ETCxC Start program in the control Starting point The cursor flashes in the top right of the text editor and the system graphic area is displayed In the control system the program e g test din is loaded Note On principle operation of the CNC program is possible without connected mechanics and drives and also without a PLC program For this purpose the following machine constants must be set gt MK_TEST_OHNEMECHANIK 1 gt MK_SPS_DUMMY 1 1 Press lt S1 gt Start The drives start and the profiles of the rectangle are executed if the graphic is not switched on the numbers of the set and actual positions change The individual commands are shown in the lower part of the window ETCNO16 The drawn straight line from the zero point 0 0 to the starting po
424. terpolation task on the angle programmed in the geometry function The pure correction only has an effect on circle profiles the abrupt positioning has an effect on all interpolation types Note This function does not calculate the current path vector in the case of linear interpolation i e the rotation axis is not aligned automatically to the current path orientation The speed of the correction axis is corrected The correction takes place up to the maximum permissible axis speed MK If this speed is exceeded the path speed is reduced accordingly The function has a modal effect and can be deselected by G113 Example G112 C1 The tangential correction for the C axis is switched on in normal mode pure correction without alignment on programmed angle 130 Lenze EDSTCXN EN 2 0 CNC programming BI 3 2 2 43 G113 Tangential correction off Syntax Meaning of the addresses Explanation Example G functions 3 2 G functions individual descriptions 3 2 2 Tangential correction off G113 AXES AXES Axis for which tangential correction should be switched off The tangential correction switched on with G112 is switched off for the programmed axis If none is programmed the tangential correction is switched off for all axes G113 The tangential correction is switched off 3 2 2 44 G114 6 axes transformation Syntax Meaning of the addresses Explanation Example EDSTCXN EN 2 0 The 6 axes transformat
425. tes the blocks between N10 and G27 three times before G27 X10 Z3 continuing with the block after G27 3 2 2 16 G30 G31 Route or path control Syntax Explanation Example 112 The preparatory function G30 is used to switch the control to route operation and the preparatory function G31 is used to switch the control to path operation G30 G31 In path operation all programmed axes travel a path where the speed of the axes results from the programmed path speed All axes reach their programmed end point at the same time In route operation the programmed axes travel their distance at the same time but independently from one other All axes travel to the end point with the valid speed The end point is not reached at the same time depending on the programmed distance The processing of the next block starts after the last axis has reached its target point The preparatory function G31 Path operation is preset after the control has been switched on or reset if another default setting has not been selected in the machine constants with MK_VOREINSTELLUNG N5 G30 With block 5 the control is switched to the route operation Lenze EDSTCXN EN 2 0 CNC programming BI G functions 3 2 G functions individual descriptions 3 2 2 3 2 2 17 G33 Coupling between path and rotation axes on Syntax Meaning of the addresses Explanation Example EDSTCXN EN 2 0 With G33 the coupling is switched on between the path or an
426. text numbers must not be assigned twice Note All ASCII files can be edited with any editor also with the ETC MMI software You can thus adapt all texts in the files to your requirements e g different language Left window position if doscal lt gt 0 Top window position if doscal lt gt 0 Doscal 0 means that the software is presented optically as it was programmed doscal lt gt 0 can be used to change the window size of the MMI software Doscal 1 means that the complete screen is made available for the application The left upper edge is defined by the terms left and top Doscal 2 to doscal 1000 means that the window size can be changed from 0 2 to 100 of the complete screen size Caution The window can be minimised such that it can no longer be seen Watchdog lt gt 0 set offers the possibility to cyclically check whether the IPC communicates with the PLC i e whether the connection still exists For the operability the running PLC program must support the watchdog function As the watchdog function is not supported by the PLC sample program spsdummy loc it is deactivated by the statement 0 If the value is 1 Windows is shut down after the program has been quit If the value is zero Windows is not shut down Specifies the path to the help files EDSTCXN EN 2 0 ETC MMI 7 Appendix 7 8 Configuration file DELPHMMI INI 7 8 3 Section Term helpfile c Programs Lenze ETC m mi ncfo
427. the axes related to the basic offset Modal acceleration specification of the axes Tolerance margin of the axes Modal actual speed of the axes Negative software traverse limits of the axes related to the basic offset Real actual position of the axes related to the basic offset Positive software traverse limits of the axes related to the basic offset Saved actual positions of the axes related to the basic offset these are saved by an external trigger signal at the same time States of the input signals of the axes limit switch reference cam BitO positive limit switch Bit1 negative limit switch Bit2 reference cam Bit3 reserve input States of the input signals of the slave axes for synchronous axes BitO positive limit switch Bit1 negative limit switch Bit2 reference cam Bit3 reserve input Synchronous distance between master and slave axes for synchronous axes Min synchronous distance determined via 200 fine interpolation cycles Max synchronous distance determined via 200 fine interpolation cycles Conversion factor of input units in increments Basic offset from the MCs MK_GRUNDOFFSET Default speed ofthe axes for use in cycles initialized to the value ofthe maximum speed in MK_VMAX Additional basic offset of the axes G194 Desired positions of the axes including allthe transformations and coordinate system offsets Extension factors of the axes G75 Programmed target position fro
428. the data If the transmitter detects the acknowledgement of the receiver it withdraws the Strobe signal after which the receiver deletes its Acknowledgement signal It is now permitted to transfer new data For the data transfer no spe cial temporal conditions must be observed but make sure that the signals occur in order described The times of the Strobe and Acknowledgement signals are monitored They must not exceed a period of one second If this period is exceeded an error message is output which leads to the termina tion of the currently running DIN program In general the data exchange for messages always follows the following signal pattern A oo LE ETCNO58 Data New value Strobe Valid Acceptance detected Acknowledgement New value accepted Next value detected I o m m o 0 w gt In the following description of the signals and data the respective signal type is defined as static gt message strobe acknowledgement The designation of the data words is carried out according to the following procedure Dxxx yy xxx number of the data word in a data block 0 255 yy bit number in a data word 0 15 EDSTCXN EN 2 0 Lenze 241 gt 5 1 5 1 1 5 1 1 Assignment Interface PLC lt gt N
429. the defined area boundaries An input ended with ESC does not change the original value of the parameter field The program continues at any rate no E programmed with the block after block N10 Lenze 169 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 81 G253 Output of a comment optional with program termination The text specified in the G function is displayed on the connected control computer If an error number is specified the current program can also be canceled Syntax G253A BCE X Y ZF Meaning of the addresses a First display parameter b Second display parameter C Third display parameter E error number to be displayed on the control computer F Text number or a format statement in connection with X Column of the display Y Line of the display Z Character size for the display Explanation G253 is a function for displaying a text or an error message at a predefined position and in a predefined size application dependent standard status line via softkeys in normal size on the control computer X can be used to select another column position and Y can be used to select another line position for the text output In addition an alternative character size can be defined under Z The first and most simple use of the function is to enter the text to be output in comment characters in the same line as G253 It must be noted that no parameters are evaluated anymore until
430. the library management of CoDeSys 8 5 1 Settings in the target system EDSTCXN EN 2 0 Enable the check box Support network variables in the tab Network functionality of the dialog box Target settings Enter UDP under Names of supported network interfaces foie Sellin Conia Lacs ET Tage Paie Bie L n Ira Heak uniri inant l bpp parmin nra Fi Suppo mbaoi van H nap Ot mpari en reas i c Er hii CAWDOR DEAT war checken nanan ETC111 Lenze 353 8 PLC programming 8 5 Network variables 8 5 2 Settings in the global variable list 8 5 2 Settings in the global variable list Create a new global list of variables Here you define the variables to be exchanged with other controls The transfer properties can be defined via the properties dialog of the variable list PANG jei i Gobel anabi Lit arrar he Wares ia ae ber Lr ber iis Hes per betes coer recen LP Hak Qe E Fii eibi Look ieia CTI EAD T Pierre char MT Ar bean BE Tran hg T Tuner or ann ETC112 You can define the network properties of this variable list by pressing the button Add network connection The options have the following meaning Network type As network type UDP must be selected Read Read means that the variable values of one or several other controls will be read Write Write means that the variables of this variable list or sent to other controls It is reco
431. the project ETC Schulung des HMI ETC training of the HMI will be briefly explained Start page Selection of the Hand Manual and Auto operating modes gt Switching the drives on and off gt Error reset gt Activation of the download page E E training ETCN048 Manual operating mode Setting the override for manually traversing the axes gt Traversing the X and Y axes in both directions Error reset Return to start page Display ofthe axis positions Bei RENIE s HH ia RE Bbh i da Hh he fa Ohno HHH ete ai ETCN049 EDSTCXN EN 2 0 Lenze 81 Getting started 2 15 Operation via a Lenze HMI 2 15 2 Functional description HMI505 operation Auto operating mode Error reset Return to start page Display ofthe axis positions Start of the NC program 1 Stop of the running NC program AUTOMATIC une no HGH HHH ii 1 HHH ETCNO56 Download page Project name Schulung1_HMI505_V1 VTS ETCNO57 82 Lenze EDSTCXN EN 2 0 Getting started 2 Updating the firmware of the ETCHx in the Standalone operating mode 2 16 Calling the boot monitor in the control system 2 16 1 2 16 Updating the firmware of the ETCHx in the Standalone operating mode Note The steps described in this chapter only apply to the ETCHx variant DIN rail variant they are not required for the ETCPx variant PCI card 2 16 1 Calling the boot monitor in the control system Initial state T
432. the travel times since the start of the NC x program Total of waiting times for M functions since start ofthe x NC program Time since the control was switched on x Time since the control was switched on x Time since the control was switched on x Total of the dwell times since the start of the NC x program Total runtime since the start ofthe NC program x Total ofthe travel times since the start ofthe NC program Total of waiting times for M functions since start ofthe x NC program Total of the waiting times by Q Tab and V Tab x comparisons since the start of the NC program 3 Unit GIT GIT GIT 3 5 Dl The parameters in the range between P1024 and P1099 are provided for technology specific functions and only of importance for the respective technology For all of the technologies not listed here parameters P1024 P1099 are available to the user Material cutting Index 1024 1025 1026 1027 1028 1030 1032 1033 1034 1035 1036 Polystyrene cutter Index 1040 1041 1042 1043 EDSTCXN EN 2 0 Meaning Sync Overcut length Cutter length Total cutter abrasion Minimum length of an empty run for lifting the holding down device Copy from MK_KONTURWINKEL2 Advance before plunge Min cutter oscillation speed G97 spindle type 2 Path speed for min cutter oscillation Max cutter oscillation speed Path speed for max cutter oscillation Path distance window as a cutter criterion for the cutter grind
433. the unit is either millimeters or degrees This machine constant is only important if a forced coupling was configured MK_SYNCHRONOFFSET This machine constant defines the distance between the home positions of master and slave axis in mm or degrees It should ideally be 0 in order to ensure that both axes are already synchronous after the home position has been reached The master axis continues to travel by the value which is entered here after reaching the home position while the master axis stops at the home position Lenze EDSTCXN EN 2 0 Machine constants A Technology specific settings 4 15 MK_MFKT_UPR_TABELLE 4 15 1 4 15 Technology specific settings 4 15 1 MK_MFKT_UPR_TABELLE This machine constant is a list of up to 16 M function numbers which generate a branch in a subprogram during processing within a DIN program A difference is made between the following cases Value Meaning lt 500 When the configured M function appears in the program a subprogram call with the program number 9000 M function number is inserted subsequently The programmed M function is output before the first executable block of the subprogram is executed 500 Each of these values stands for the following 99 M function numbers Every time 600 one of these 100 M functions appears in the program the M function is replaced 700 with the program number 9000 basic M function number by means of a 800 subprogram call Therefore M621 becomes G2
434. tion Syntax Meaning of the addresses Explanation Example 120 Setting the scaling factor for the pulse evaluation of the individual axes G76 AXES AXES Specification of the axis and the factor G76 can be used to change the pulse evaluation pulses per distance of the axes This corresponds to a linear transformation as made necessary e g by a change over of the gearbox stage Like G75 G76 causes an extension or compression of the programmed profile However in contrast to G75 the speeds and accelerations are also effected The max allowed speeds and accelerations from the machine constants are adjusted for this accordingly The change to the pulse evaluation means that the resulting profiles are different geometrically to those programmed in the case of non symmetrical scaling factors e g circles turn into ellipses and the speed on the path is not constant anymore If a negative scaling factor is used it is mirrored about the respective axis The programming of the function without the specification of axes sets all the factors to 1 again G76C 1 Invert the movement direction of the C axis Lenze EDSTCXN EN 2 0 CNC programming BI 3 2 2 30 G88 Basic rotation Syntax Meaning of the addresses Explanation Example EDSTCXN EN 2 0 G functions 3 2 G functions individual descriptions 3 2 2 Rotation of the systems S1 31 in the XY plane G88 C X Y C Basic rotation angle in degrees X Y Determina
435. tion of the basic rotation angle from Delta X and Delta Y The basic rotation is used to define the position of a workpiece S1 31 relative to the machine workspace SO The rotation is effective for S1 31 together about the same angle in the XY plane In the reference workpiece coordinate system SO the rotation has no effect however the rotation can be defined there vertically in SO It only becomes active when changing over to S1 531 When the rotation is activated the actual positions of the X Y and C axis are adjusted to the new position a compensating movement does not take place The specification of the angle is an absolute specification The rotation is deactivated by programming the G88 without parameters or by the specification of angle 0 The function has a modal effect and remains active until the control is deactivated or reset N1 GO X10 Y15 SO TO With block 3 a rotation of the XY plane is activated for all systems N2 G193 X 10 Y50 S1 S1 S31 about 30 degrees relative to the unrotated SO The N3 G88 C30 rotation takes effect immediately since it was activated in S1 vertically Lenze 121 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 31 G89 Profile rotation Syntax Meaning of the addresses Explanation Example 122 Rotation of the systems S1 S31 in the XYZ plane acts like the G88 however is only effective within a program and in addit
436. tion specification is accepted from the P field a distinction is made between two scenarios de pending on the configuration of the traverse key 1 G122 X0 default configuration The modal target position results from the difference between target posi tion specification of the PLC and actual NC actual position The specification therefore takes effect in relation to the current coordinate system 2 G122 X1 The modal target position results directly from the target position specifica tion of the PLC The specification therefore takes effect in relation to the cur rent NC actual position Verfahrtaste 0 110 0 100 110 0 SPS Achse am Ziel ETCNO59 Data word Name Direction Type of signal 128 00 NC Betriebsbereit_1 NC gt PLC static Value 1 indicates that the NC control is ready for operation in all operating modes The 0 signal appears when the NC control changes to an error state which can be remedied and which interrupts the program flow the NC pro gram is running signal remains on 1 The signal changes from 0 to 1 after the cause of the errors has been re medied error acknowledged by operator Effect in the PLC not defined Data word Name Direction Type of signal 128 01 NC Betriebsbereit_2 NC gt PLC static Value 1 indicates that the NC control is ready for operation in all operating modes The 0 signal appears when the control changes to an error state
437. tional hold Programmed stop Home position approached yes no Limit switch approached yes no Limit switch approached yes no Reference cams approached yes no Reserve input AR Angle basic rotation Lenze Direction PLC NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC PLC lt NC BI 5 2 5 2 1 271 gt 5 2 5 2 1 272 DB12 data word DW198 201 DW202 205 DW206 209 DW210 213 DW214 217 DW218 221 DW222 225 DW226 229 DW230 233 DW234 237 DW238 241 DW242 245 DW254 DW255 DW174 175 DW176 177 DB13 data word DRO34 DLO34 DRO35 DLO35 DW036 037 DW038 041 DW042 DW043 DW044 DW045 DW046 DRO49 DLO49 DB14 data word DW000 255 Interface PLC lt gt NC operating system Extended interface for MMI functions Data blocks 8 14 Name Following error of axis 0 in input units Following error of axis 1 n input units Following error of a
438. tions sections general information of the gateway is saved The following key variables are defined gt UdpConns number of UDP connections number of ETCHCs gt PciConns number of PCI connections number of ETCPCs gt DemoConns reserved for simulated connections In the Options section with the key variable AutoClose you can determine whether the gateway is to be closed automatically when there is no connection to an application The key variables defined in the Traces section are the active traces If the value of the variable is non zero the corresponding trace information is logged in the file mmigtway trc 2 281 For each connection another section is created is the index of the connection UdpConn for UDP connection ETCHC PCiConn for PCI connection ETCPC gt DemoConn for demo connection The names of the connection the communication parameter IP address for UDP connections index for PCI cards and the PC disk path are saved under nn the key variables Name Param PcDir Lenze 283 6 4 6 4 1 6 4 1 284 ETC MMI Gateway Mmigtway ini Example of the file mmigtway ini Example of the file mmigtway ini Connections UdpConns 3 PciConns 1 DemoConns 0 Options AutoClose 0 Traces OnChCreate 0 OnConnect 0 OnRead 0 OnWrite 0 OnWrCh 0 OnLoadFw 0 OnFileOpen 0 OnFileClose 0 OnMsg2Nc 0 OnMsg2Mmi 0 OnError
439. to IW QW The first module receives the address word 64 the following modules receive the word address word 64 plus the byte address minus 128 Module Displayed Displayed Input input Input Diagnostics input output address output address address address address ETCHIO08 IB128 QB128 gt IW64 OW64 unchanged ETCHU008 IB129 QB128 gt IW65 OW64 Next module IB129 OB130 gt IW65 QW66 It is not necessary to change the diagnostics address Note The described address allocation method prevents the addresses of the individual modules from overlapping However the allocation is not optimum in terms of space For an optimum assignment of the addresses of the following modules they must be calculated For simplification reasons this is not done here 56 Lenze EDSTCXN EN 2 0 Getting started 2 ETC PLC programming with CoDeSys 2 11 Configuring the control system in the ETC CoDeSys 2 11 2 In the control configuration the Automatic calculation of adresses checkmark should not be set Otherwise the CoDeSys will newly assign the addresses when the control configuration is changed Addresses automatically B Serien Ir i n B ETCRCIRZOT Tey Digitals ID Hodulim FIE khaloge 10 Hodols FIE EI CAHH Sasrter FIX B ETCEHINOS EDS TAR Aura akain o iiH 1 BE ST e4 Can Inpaut sch tra re ing eich an BE aT ZLBLTE USI ne LE Plan wi pac I B ETCEIO0h He WAR ETCNO22 Lenze EDSTCXN EN 2 0 57 Getti
440. tputs are available for the digital outputs these are always connected to the PLC cycle The PLC cannot change the initial state of the outputs concerned anymore until the enable has been reset by the PLC However it can read the current initial state at any time independent of this Fast outputs are not automatically reset by the control after the end of the program or in the event of a termination If necessary this is performed by the PLC by withdrawing the enable and resetting the outputs For more information on enabling the fast inputs outputs refer to the documentation MC and NC software manual Q statements may also be programmed more than once within a block 00 0 014 0 015 1 Initialize states of the outputs G60 XO Exact positioning off GO X159 Y31 00 1 Approach position 159 in X and 31 in Y set output 0 to 1 and G1 X163 Y77 execute the next block without stopping G1 Y121 Q14 1 015 0 Continue traveling and at the end of the block set output 14 to land G1 Y154 set output 15 to 0 Lenze 177 3 4 3 4 5 3 4 5 Example 178 CNC programming Block extensions S functions S functions The letter S in the DIN block always stands for the specification of the current workpiece coordinate system to which the following position specifications refer Under a coordinate system the control understands the definition of a zero point offset for each axis related to the zero point in SO where SO is r
441. ts of the control are to be specified in um units enter the value 0 001 4 3 7 MK_CONST_REL_INCH This machine constant defines the input resolution using the inch system 25 4 is the default value i e 25 4 mm unit If you prefer 1 10th inch units for the input and output of the control enter 2 54 here 4 3 8 MK_KONTURFEHLER EDSTCXN EN 2 0 This machine constant defines the maximum permissible calculated deviation mm from the programmed path if the profile transition is non tangential Together with MK_RADIUS B BEWERTUNG and MK_BAHNBESCHL it determines to which extent the speed on the path at a corner must be reduced if Look Ahead G60 is switched on In the process the control determines the maximum speed at a corner as follows V max VR B Vmax Max speed at the corner mm s R Radius of a tangential circular arc with a distance of MK_KONTURFEHLER between the programmed reference points and the vertex of the circular arc mm B Set path acceleration MK_BAHNBESCHL G201 mm s2 The speed is also limited by the maximum permissible jerk increase of acceleration per time unit V max R B K T T Time constant for the permissible increase of acceleration s MK_T_BAHNBESCHL K Value of MK_RADIUS_B_BEWERTUNG In general the following applies the smaller the value in the MC the smaller the resulting speed in corners and the higher the path quality The same applies in the reverse case Lenze 19
442. ts of the PLC apa Opens two windows showing the data exchange between the MMI and the PLC via the data block DB2 The upper window shows data sent by the MMI program to the PLC The lower window displays data sent by the PLC to the HMI Use the lt TAB gt key to switch between the windows and use the lt Cursor gt keys to scroll down the display ETCN091 EDSTCXN EN 2 0 EDSTCXN EN 2 0 Enable PLC Remote On Off binary Cards On Off Local dig I O local anal I O Remote I O back back Lenze ETC MMI Diagnostics operating mode 7 7 The Enable PLC function is used for checking the most important interface signals between PLC and NC ETCN092 Displays the input and output statuses of the external 1 O modules connected via CAN bus in binary form 0 input output not set This function is only significant if the system is equipped with the corresponding hardware In the language file a text can be saved for each input and output Q 327 If an input is set it is displayed in a different colour Shows a list of the configured CAN bus modules A module can be selected by means of the lt Cursor gt keys Press lt Enter gt to display the inputs and outputs of this module Back to the previous level Back to the previous level 317 318 ETC MMI Diagnostics operating mode Machine constants edit MC load MC Lenze Edit machine constants C4 199 A B Cc
443. tting acceleration and deceleration ramps on the path which are similar to sin2 214 Lenze EDSTCXN EN 2 0 Machine constants A Configuration of axes Correction of axes 4 12 MK_SPINDELUMKEHRSPIEL 4 12 1 4 12 Configuration of axes Correction of axes 4 12 1 MK_SPINDELUMKEHRSPIEL Correction of a spindle gradient distortion Structure of correction file EDSTCXN EN 2 0 This machine constant uses millimeters or degrees to define by which value the set position is to be corrected if the travel direction is reversed The default value is 0 As soon as a value is entered the spindle reverse compensation is switched on The correction of a spindle gradient distortion or linearity distortion of the position measurement system can be carried out by means of a table which is stored in Flash PROM or transferred by ETC MMI after the control has been started up The correction is switched on automatically after the table has been transferred The correction is carried out for the axes specified in the file within the defined actual positions The positions refer to the home position In the case of a periodically repeated error it is possible to define the relative range by means of specifying a modulo value within the defined correction area Once the end of this relative area is reached the values from the top of the table are processed again For the correction values one byte each is available i e the correction value can be
444. two dots is a reference to a higher level directory In the lower area all files in the current directory are listed gt A dialogue box button input field selection list etc can be selected with the lt TAB gt key By means of the lt Cursor gt keys you approach an element in the selected dialogue area e g a certain file in the file selection area With the lt Enter gt key you execute an action With lt ESC gt you cancel the action Lenze EDSTCXN EN 2 0 Horizontal function keys Vertical function keys Hotkeys EDSTCXN EN 2 0 Copy Move Delete Rename Print Graphics Display back Mark one Mark all 5 3ja n lt ETC MMI 7 Programming operating mode 7 6 File manager 7 6 2 Copy selected file s Move selected file s to a different directory Delete selected file s Rename selected file s Print selected file s Display the graphic selected by the cursor lt ESC gt closes the graphic Display the file selected by the cursor write protected lt ESC gt closes the graphic Exit file manager Mark the graphic selected by the cursor Mark all files If files are already selected this function reverses the selection Copy Delete Move Print Rename View Selection via filter Deactivate filter selection Reverse selection Dot select deselect current file Lenze 309 7 6 7 6 3 7 6 3 Insert cycles Example 310 ETC MM
445. types _s STRING 255 END_VAR VAR_OUTPUT sb1_b BYTE sb2_b BYTE index_b BYTE handle_b BYTE len_w WORD ok BOOL END_VAR data_pab Pointer to received user data Datatypes _s Optional data descriptor see DefDataTypes sb1_b Control block 1 of the message from HMI sb2_b Control block 2 optional index_b Block counter optional handle_b Sender ID reserved len_w Length of received user data in bytes ok TRUE if a message has been received With this function the PLC can fetch a message of type SBO_SPSAUFTRAG_KUC SBO 14 with up to 512 Byte user data from HMI Here the message buffer between NCR and MMI in the dual port RAM will be used The function can be used together with PutApplicationMessage to establish a fast message communication between the PLC and HMI In data_pab a pointer to a buffer can be transferred where the received message should be stored For this it must be ensured that the buffer is large enough to accept the received message When starting or resetting the PLC this pointer will automatically be initialised to the start of DB7 MW7 0 If the format of the message to be received is known in advance the data descriptor datatypes_s can be used to automatically carry out the possibly required byte swapping Otherwise this must be carried out later with MOVESWAPPED or the functions GET_WORD GET_DWORD etc have to be used to fetch the data from the message If the defined descriptor string is faulty the da
446. ue N90 G181 stop all axes started with G180 EDSTCXN EN 2 0 Lenze 155 CNC programming 3 2 G functions 3 2 2 G functions individual descriptions 3 2 2 67 G181 Modal travel off Syntax Meaning of the addresses Explanation Example Stop one several or all axes started with G180 G181 AXES AXES Axes to be stopped The programmed value is without meaning All programmed axes are stopped if they were started with G180 To stop all axes started with G180 it is sufficient to program this function without axes see G180 3 2 2 68 G187 Handwheel Syntax Meaning of the addresses Explanation Example 156 Switching the handwheel function for one or several axes on or off G187 AXES AXES Evaluation factor of the handwheel for the assigned axis The value programmed under AXES is interpreted as an evaluation of the handwheel path for the selected axis The handwheel function works superimposed to all the other traversing movements of the axes The resolution of the handwheel is configured with MK_IMPULSE and MK_WEG The product from the evaluation factor and the value from MK_HANDRADFAKTOR acts as a multiplier on the path of the handwheel No handwheel is active by default The assignment of the axes to the configured handwheels is defined with MK_HANDRADZUORDNUNG This is necessary if more than one handwheel exists in the machine The function is created internally via the traverse key codes 105
447. urves The control limits the speed when machining circles depending on the circle radius and the permissible path speed per time unit jerk as follows V max R B K T Vmax Max speed on the circular arc mm s R radius of the circular arc mm B Set path acceleration MK_BAHNBESCHL G201 mm s2 T time constant for the permissible acceleration increase MK_T_BAHNBESCHI s K Value of MK_RADIUS_B BEWERTUNG This MC is thus an evaluation factor for the permissible jerk on circular arcs It can be used to correct the speed limit for small radii upwards or downwards Lenze EDSTCXN EN 2 0 Machine constants A Software configuration 4 3 MK_EPSILONMM 4 3 11 4 3 11 MK_EPSILONMM This machine constant is used for tolerance analysis mm when specifying translatory positions It is currently taken into account during circle center point programming only where it determines exactly how the circle s radius and center are to be programmed During the interpretation of a circle the control reports a fault if the programmed radius of a circle is less than this MC or if the difference between the starting radius and the target radius is bigger than this MC The starting radius is the distance between the programmed center and the starting point and the end radius the distance between the target point and the programmed center of the circle 4 3 12 MK_EPSILONGRAD This machine constant is used for tolerance analysis grad
448. use_spsoverride_b PLC NC 012 00 db1_sps2nc_programmstop_b PLC NC 012 08 db1_sps2nc_unterbrechen_bit PLC gt NC 013 00 013 07 db1_sps2nc_einzel_folgesatz_bit PLC gt NC 013 08 013 15 db1_sps2nc_satzausblenden_bit PLC gt NC 014 00 db1_sps2nc_rueckzug_bit PLC gt NC 016 00 017 15 db1_sps2nc_tastensignale_aw PLC NC 018 00 021 15 db1_sps2nc_qbit_signale_aw PLC NC 031 00 031 15 DB1_sps2nc_freigaben_mmi_w PLC gt NC 032 00 db1_sps2nc_mfkt_quitt_bit PLC gt NC Lenze Ss gt 5 1 5 1 2 246 Interface PLC lt gt NC operating system Definitions Data block 1 Data word 033 00 035 00 035 08 036 00 037 15 038 00 039 15 042 00 043 15 044 00 045 15 080 00 080 15 081 00 081 15 082 00 082 15 083 00 083 15 084 00 091 15 128 00 128 01 129 00 129 15 130 00 131 15 131 00 131 15 132 00 132 02 132 03 132 04 132 08 133 00 133 07 133 08 133 15 134 00 134 15 135 00 135 15 137 00 137 07 137 08 137 15 138 00 138 15 139 00 139 15 142 00 144 00 150 00 151 00 151 15 159 00 160 00 160 15 177 00 177 15 178 00 178 15 179 00 179 15 180 00 180 15 181 00 181 15 182 00 182 15 183 00 183 15 184 00 184 15 185 00 185 15 192 00 199 15 200 00 200 15 201 00 201 15 202 00 202 15 203 00 203 15 204 00 211 15 212 00 219 15 All
449. used to delete the reception FIFO completely The return value of the function is of no consequence Example requestV24_p DINT 380 requestV24_p ALLOCV24 1 127 CLRRXBUFFER requestV24_p Lenze EDSTCXN EN 2 0 PLC programming 8 Library 8 8 V24 functions 8 8 2 8 8 2 9 CLRTXBUFFER Declaration FUNCTION ClrTxBuffer BOOL VAR_INPUT req_pr DINT Address of the V24 request structure END_VAR Description This function can be used to delete the sender FIFO The return value of the function is of no consequence Example requestV24_p DINT requestV24_p ALLOCV24 1 127 CLRTXBUFFER requestV24_p EDSTCXN EN 2 0 Lenze 381 8 PLC programming 8 8 Library 8 8 2 V24 functions 8 8 2 10 Global constants for V24 functions error codes V24_WRONG_UNIT_KDI DINT 100 wrong V24 interface number V24_OUTOFMEMORY_KDI DINT 101 not enough RAM for creating the V24 FIFO buffer V24_OVERRUN_ERROR_KDI DINT 102 Overrun V24_PARITY_ERROR_KDI DINT 103 Parity error V24_FRAMING_ERROR_KDI DINT 104 Framing error V24_RECEIVED_BREAK_KDI DINT 105 Received break Mode bits MODE_EVEN_PARITY_KDW DWORD 16 00000000 MODE_ODD_PARITY_KDW DWORD 16 00000004 MODE_NO_PARITY_KDW DWORD 16 00000010 MODE_7_BITS_PER_CHAR_KDW DWORD 16 00000000 MODE_8 BITS _PER_CHAR_KDW DWORD 16 00000001 MODE_RTS_CTS_CONTROL_KDW DWORD 16 0000108
450. utively numbered within the control Therefore if you declare several handwheels the first one is the one with the smallest application number is identified as handwheel 0 the next one as handwheel 1 etc A gantry axis is a special form of a synchronous axis It includes a mechanical coupling between master and slave axis In contrast to simple synchronous axes the home position approach for gantry axes which have an analog interface is carried out synchronously Ss Lenze EDSTCXN EN 2 0 Machine constants A Configuration of axes Resolution 4 7 MK_IMPULSE 4 7 1 4 7 Configuration of axes Resolution 4 7 1 MK_IMPULSE 4 7 2 MK_WEG Example 4 7 3 MK_MASSSTAB EDSTCXN EN 2 0 This machine constant determines the number of pulses assigned to the actual value counter of the axis interface for rotary motors per revolution on the motor shaft and for linear induction motors per millimeter Enter the number of pulses including the pulse quadruplication e g for ECS compact servo 65536 imp revolution By specifying a negative value the definition direction of the axis is reversed i e it moves into the opposite direction Changing the sign when specifying MK_WEG has the same effect The same applies to the home position approach must be taken into consideration for MK_REF_RICHTUNG_UND_FOLGE This machine constant determines the distance at which the axis computer counts the increments entered under MK_IMPULSE i e
451. utomatic termination of the currently running program Effect in the PLC When value 1 is recognized the Program stop signal DW 012 XX is set after checking any other possible existing conditions Data word Name Direction Type of signal 144 00 Feed stop NC gt PLC static Image of the Feed stop keys It has the value 1 for as long as the informa tion in the virtual keyboard of the NC has the value 1 The value 1 re quests the axes to stop without canceling the program or a traversing move ment Effect in the PLC If the value 1 of the signal is detected and after any other existing conditions have been checked the PLC withdraws the Feed enable signal for all axes Feed enable must be restored in the case of Program start and Start after feed stop EDSTCXN EN 2 0 Lenze 263 gt 5 1 5 1 2 264 Interface PLC lt gt NC operating system Definitions Data block 1 Data word Name Direction Type of signal 150 00 Strobe M function NC gt PLC Strobe The signal is set to 0 if the data word is valid for the M function It is set to value 1 if the acknowledgement signal of the PLC has changed from 1 to 0 After switching on the control the signal has the value 1 Effect in the PLC If the signal has the value 0 the data word of the M func tion is accepted The acknowledgement signal is set to the value 0 after acceptance If t
452. valuate an output error mes sage If DW001 is unequal to DW133 error counter a new error message is pending Once the PLC has evaluated the error message DW001 must be set to the value of DW133 This way the error in the NC computer is acknowled ged Direction NC PLC Data word Name 016 00 095 15 Type of signal Error text static From DW016 onwards the error text of the currently pending error is stored as null terminated string Data word Name 096 00 127 15 Direction NC PLC Type of signal Additional error information static From DW096 onwards additional information e g axis letter on the cur rently pending error is stored if applicable as a null terminated string Lenze EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 5 1 Data block 0 5 1 1 Data word Name Direction Type of signal 128 Current menu NC PLC static This is where the current menu is identified 0 invalid 1 main menu 2 set up 3 automatic 4 programming 5 diagnostics 6 user If you want the PLC program to change to a standard menu the identifica tion of the new menu must be stored in DW128 prior to executing the func tion New state Data word Name Direction Type of signal 129 Event NC PLC static This is where the NC stores an identification for which reason the 2nd PLC task is to be carried out before the 2nd PLC task is called PLC_PRG2 OB20
453. ve direction The C axis must not be included in the automatic home position approach MK_REF_RICHTUNG_UND FOLGE 2 2 1 0 545 Lenze EDSTCXN EN 2 0 Machine constants A Configuration of axes speed and acceleration 4 11 MK_MODVMAX 4 11 1 4 11 Configuration of axes speed and acceleration There are different MCs which influence the maximum speeds and ramps for the individual axes and for the paths resulting thereof These are the limit values that must not be exceeded by the control The axis specific MCs are effective in path route and manual operation The path specific MCs only act as limit values in path operation 4 11 1 MK_MODVMAX 4 11 2 MK_VMAX This machine constant is the maximum speed for manual operation traverse buttons of the individual axes The specified value is limited to MK_VMAX This machine constant is the maximum permissible speed of the individual axes in m min or 1 min This corresponds the high rate speed of the axes in route operation Also the traversing speed in path operation is limited by the control if possible to such an extent that the maximum speed of the individual axes is not exceeded Note In the case of some transformations such as basic profile rotation and 6 axes transformation the control cannot limit the material speed because seen logically the transformation takes place after the path interpolation and the die speed of the axes cannot be determined beforehand 4
454. ve is indicated by the setpoint with a green background 4 Inthe submenu alternately press lt S3 gt Travel and lt 4 gt Travel In inching mode the selected drive rotates in positive or negative direction 5 To change the speed of the drive press lt S6 gt Override or lt S7 gt Override 6 To select the next axis for traversing press lt S5 gt axis The green setpoint display switches 44 Lenze EDSTCXN EN 2 0 2 9 CNC programming according to DIN 66025 2 9 1 G functions EDSTCXN EN 2 0 Getting started 2 CNC programming according to DIN 66025 2 9 G functions 2 9 1 The following description of functions according to DIN 66025 is an excerpt from the chapter CNC programming CO 87 G functions define geometric preparatory functions for the operation of the axes On principle a DIN block with a G function has the following structure The letter G follows the number of the G function This is followed by the parameters which consist of a letter and the corresponding value G number parameter value parameter value The following shows some examples of G functions g 00 01 02 03 17 18 19 Meaning Parameter Linear interpolation high AXES R D FEL rate Linear interpolation Circular interpolation clockwise Circular interpolation counterclockwise Plane selection XY for circular interpolation Plane selection XZ for circular
455. when specifying rotative positions It only affects the programming of direction dependent modulo 360 axes see MK_ACHSENART This is where it defines whether the programmed traversing movement is executed or suppressed Example A rotation axis is to be positioned to 90 The sign defines the direction Depending on whether the axis was previously at 89 5 or 90 5 it would now have to be traversed either by half a degree or by 359 5 degrees MK_EPSILONGRAD intervenes by suppressing the traversing movement if the traverse path is larger than 360 MK_EPSILONGRAD in the absolute dimension system 4 3 13 MK_OVERRIDEMAX This machine constant limits the override specification to this value input in 0 1 4 3 14 MK_FEHLERRESTART EDSTCXN EN 2 0 This machine constant activates the function Wiederanlauf nach Fehler Restart after error which allows you to restart at the point of interruption or at a point previously defined in the program after a global minor error error class 3 in the program After an error of this kind the program goes into standby mode which can be exited via Start possibly Start after G10 for restart or Stop Value Meaning 0 No restart possible global minor error leads to program termination default 1 Restart after error possible See also description of G10 L21 106 Lenze 197 4 3 4 3 15 4 3 15 4 3 16 4 3 17 198 Machine constants Software configuration MK_SOTO_VER
456. witched off The data from the table is transferred to the NC computer and saved on the PC ina file Back to the previous level This key requests the current magazine data from the NC computer and saves it in the file vom_nc wsk in the configuration directory The received data is interpreted according to the specification in the tool management and displayed The table shows the assignment between magazine positions and the coordinate systems The change positions are also entered in the table The positions for X Y Z and C can either be entered manually or determined via a teach function If the machine offers the possibility to move the axes independently from softkeys the positions can be approached and adopted for the selected magazine position by means of the lt Position import gt key The data is entered in the corresponding columns The current axis positions are read as tool change positions and entered in the table The data from the table is adopted in the NC computer however only temporarily i e the information is lost when the control system is switched off 295 m ETC MMI 7 4 Setup operating mode Import save back Load tool record Tool number back Enter M function Entry Vertical function keys Start Stop Travel Travel Axis Override Override 296 ETCNO70 The data from the table is transferred to the NC computer and saved on the PC ina file Back to
457. xes on the path come to a short term stillstand as a consequence because no subsequent speed can be determined without a successor block In the table containing the G functions the time synchronized G functions are indicated by the index s CQ 91 In addition to these functions there are also commands which do not have an executing function but rather merely affect the sequential program flow or only affect the interpretation of the program in another way These functions are already completely executed during the interpretation but are not placed in the prebuffer and therefore do not result in the path motion being interrupted These commands include gt Parameter field assignments P2000 100 Formula P2001 P2000 50 gt Some G functions e g G20 G22 All the G functions concerned are indicated in the table containing the G functions by an index 911 Lenze EDSTCXN EN 2 0 3 2 G functions Syntax Example CNC programming Bi G functions 3 2 Overview of G functions 3 2 1 A DIN block with a G function always has the following structure the letter G is followed by the number of the G function This is then followed by the parameters which are each formed by their address letters and the corresponding value G number address identification address value Possible address identifications are gt X Y Z A B C U V W x y z a b c u v was designations for axes referred to as
458. xis max value 1st axis min value 1st axis Def 2 The second definition block contains per axis one 32 bit integer for the modulo value The modulo value defines the relative actual position range covered by the correction table This range can be repeated multiple times between the minimum and maximum value The specification is made in increments The remaining 4 byte per axis are not assigned and must be initialized with O 0 4 8 12 16 20 8n MOD 0 MOD 0 MOD sis n number of axes in the header Modulo value 3rd axis Filler Modulo value 2nd axis Filler Modulo value 1st axis Lenze EDSTCXN EN 2 0 Machine constants A Configuration of axes Correction of axes 4 12 MK_SPINDELUMKEHRSPIEL 4 12 1 Data Each data block has 8 byte of data per axis and contains the actual correction data Each correction value is represented by one byte Thus on data block contains 8 correction values per axis Each correction value has a value range of 128 127 increments 0 8 16 24 n 1 8n X Y Z ii n n number of axes in the header 8 correction values nth axis 8 correction values 3rd axis 8 correction values 2nd axis 8 correction values 1st axis Lenze 217 EDSTCXN EN 2 0 A 4 13 4 13 1 4 13 4 13 1 4 13 2 4 13 3 4 13 4 4 13 5 4 13 6 218 Machine constants Configuration of axes Handwheels MK_CANDRIVES Configuration of axes Handwheels The control allows for the connection of electronic handw
459. xis 2 in input units Following error of axis 3 in input units Following error of axis 4 in input units Following error of axis 5 in input units Following error of axis 6 in input units Following error of axis 7 in input units Following error of axis 8 in input units Following error of axis 9 in input units Following error of axis 10 in input units Following error of axis 11 in input units Override axes Override spindles Direction PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC Event counter number of positive edges on the Reserveeingang der ersten Achse Reserve input of the first axis Event interval interval between two events see DW174 175 in microseconds Lowest resolution fine interpolation cycle Name reserved normally channel number Program active Current tool number Current workpiece number Active identification axis 0 3 Band speed Current program number Current programmed block number Current relative block number Last M function Current dwell time Level Path route operation Name reserved Lenze Direction PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC PLC NC Direction EDSTCXN EN 2 0 5 2 2 Assignment Description EDSTCXN EN 2 0 Data block 15
460. xis reference switch active NC PLC static The signal has the value 1 if the reference switch of the slave axis of a syn chronous axis is active otherwise the value is 0 Effect in the PLC If required manual execution of homing via the PLC Lenze EDSTCXN EN 2 0 Interface PLC lt gt NC operating system B Definitions 51 Data block 1 5 1 2 Data word Name Direction Type of signal 192 00 199 15 State CAN modules CANopen NC gt PLC static Signal state 1 indicates that the corresponding CANopen module is availa ble The bits in the data words are assigned by means of the module ID node no Example 192 01 indicates state of node 1 192 15 indicates state of node 15 193 01 indicates state of node 17 Effect in the PLC Option of monitoring the CAN modules Data word Name Direction Type of signal 200 General override for axes NC PLC static 201 Override for spindle speed NC gt PLC static 202 Override for oscillation speed NC gt PLC static 203 Override for PLC axes Target NC gt PLC static position approach Evaluation factor which is set on the HMI for the currently valid traversing speed The specification is made in steps of 0 1 copy from the virtual key board Effect in the NC The selected value is used as a factor for evaluating the cur rently programmed maximum speed of the rough interpolator The override is effective both in manual as well as in automatic operation It can
461. ys 256 Bits PLC HMI 160 00 160 15 Message buffer receipt counter PLC HMI 161 00 161 15 Message buffer counter 1 PLC HMI 162 00 189 15 Message buffer User data 28 data word PLC HMI 190 00 190 15 Message buffer counter 2 PLC HMI 191 00 191 15 ETC MMI monitoring running PLC HMI Lenze EDSTCXN EN 2 0 8 8 4 2 Declaration Description 8 8 4 3 MEMCOMP Declaration Description 8 8 4 4 MEMCOPY Declaration Description Example EDSTCXN EN 2 0 PLC programming 8 Library 8 8 Memory access functions 8 8 4 GET_BYTE GET_WORD GET_DWORD GET_INT GET_DINT GET_REAL GET_LREAL FUNCTION GET_TYPE BYTE VAR_INPUT pAddress END_VAR DINT memory address The functions GET_TYPE read the corresponding data type TYPE from the address stated and carry out the required byte swapping see also DEFDATATYPES FUNCTION MEMCOMP INT VAR_INPUT pMem1 DINT memory address pMem2 DINT memory address diSize DINT number of bytes END_VAR The memory areas Mem1 and Mem2 are compared in bytes Return value 0 if the content is identical 1 if the content of Mem1 gt Mem2 1 if the content of Mem1 lt Mem2 FUNCTION MEMCOPY BOOL VAR_INPUT ziel_p DINT memory address daten dat DINT memory address anzahl_di DINT number of bytes END_VAR The anzahl_di bytes after memory address quelle_p are read and entered after memory addr

Reference Manual ETCHC-ETCPC_1st generation NC

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