HEIDENHAIN iTNC 530 HSCI

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74 HEIDENHAIN Technical Manual iTNC 530 HSCI

Overview of the purely digital control architecture with HSCI and EnDat 2.2:

HSCI PWM

EnDat 2.2

HSCI

Main

Computer

Controller

Unit

Inverter

Rotary Encoder

Linear Encoder

Rotary Encoder

Drive

Main Page

Default Chapter3
- Table of Contents3
Update Information19
1.1 General Information21
Update Information no21
1.1 Overview22
- Memory Media with NC Software 60642X22
Important Notes22
New Software Options23
New Machine Parameters24
New Functions29
- Notes on the Adaptive Control Functions33
- Default Tool Axis for Test Run33
- Switching between Rapid-Traverse and Feed-Rate Potentiometers33
- Modified Handling of the Spindle During LIFTOFF Due to Power Failure33
- Revised MOD Dialog of the Software Versions34
- Behavior of DCM34
- Nesting Depth for NC Programs34
- Input for Speed Encoder of the Spindle Can be Switched35
- Protection for the Configuration of the Ethernet Interfaces35
- Different Effect of the Two DIADUR Keys35
- Tool Change Within an AFC Cut35
- Software Option 144—Motion Adaptive Control (MAC)41
1.6 Software Option 144-Motion Adaptive Control (MAC)43
DHCP Server43
- Status of DHCP Clients46
- DHCP Client Settings47
- Advanced Options for DHCP48
VNC Settings49
PLC Functions53
- Concluding PLC Actions54
- Diagnostics54
- PLC Modules56
- Changes to PLC Modules57
- Module 9046 Copy Controller Data to the PLC Memory58
- Module 9047 Reset or Initialize Controller Algorithms60
- Module 9170 Find the Current Torque61
- Module 9279 Shut down Control (Configurable)62
- Module 9283 Generate Tool-Usage File63
- Module 9286 Select the VNC Client and Control the Focus Assignment64
- Module 9287 General Status Requests Regarding VNC Clients66
- Module 9288 Status Requests Regarding a VNC Client68
- Meaning of the Symbols Used in this Manual71
- Proper and Intended Operation71
Introduction71
- General Information72
- CC 61Xx Controller Unit84
  - UEC 11X, UMC 11X Controller Unit with Integrated Inverter and PLC86
  - Designation of the MC XXXX, CC 61Xx and UMC 11X88
- PL 6Xxx PLC Input/Output Systems with HSCI Interface89
- SPI Expansion Modules93
- TE 6Xx Keyboard Units96
- BF 2Xx Visual Display Units101
- MB 6Xx Machine Operating Panel103
- HSCI Adapter for PLB 6001 OEM-Specific Machine Operating Panel105
- HR 4Xx(FS), HR 5Xx(FS) Handwheels106
- Industrial PC with Windows 7113
- MS 110 / MS 111 Installation Kit122
- CML 110 Capacitor Module for 24 V Power Supply123
- Other Accessories123
  - IPC 6110 Main Computer124
  - IPC 6120 Package125
- Documentation126
Brief Description127
- Specifications127
- Accessories134
- Software Options136
- Designation of the Software139
2.7 Software140
- PLC Software140
- Upgrade Functions (Feature Content Level)150
- NC Software Exchange on the Itnc 530152
- Installing a Service Pack167
- Special Features of the Software169
  - Firmware169
  - Configuration169
- HEROS 5 Operating System172
- Selinux175
- Data Backup179
Released NC Software180
Mounting and Electrical Installation181
3.1 General Information182
- Degrees of Protection182
- ESD Protection183
Environmental Conditions185
- Storage and Operating Temperatures185
- Conditions for Integrating the MC in the Operating Panel186
- Humidity During Operation186
- Heat Generation and Cooling187
- Installation Elevation188
- Limit Values for Ambient Conditions188
- Mounting Attitude MC 6Xxx, CC 61Xx, UV XXX, um XXX, UE 2Xx B189
- Mounting Attitude of UMC 111 (FS)190
- Mounting Attitude of UEC 11X (FS)191
- Mounting Attitude of MC 6222, MC 7222192
- Mounting Attitude of CC 6106, UV XXX, um XXX, UE 2Xx B(D)193
- Mounting Attitude of PLB 6Xxx194
Handling the HDR Hard Disk195
- Shipping Brace of the Hard Disk195
Mounting the Solid State Disk (SSD)196
2.4 General Information197
- Hardware Components Overview197
Overview of Components197
Hsci204
- PLC Module206
3.6 Hsci207
3.5 Overview of Components207
- Topology207
- HSCI Interface208
Itnc 530 HSCI Connection Overview209
- MC 6141, MC 6241: Main Computer for Installation in Electrical Cabinet209
- MC 6242: Main Computer for Integration in the Operating Panel210
- MC 6222: Main Computer for Installation in the Operating Panel211
- MC 7222: Main Computer for Installation in the Operating Panel212
- MC 6341: Main Computer for Installation in Electrical Cabinet213
- IPC 6341: Industrial PC for Installation in Electrical Cabinet214
- CC 6106, Controller Unit with 6 Control Loops and HSCI Interface215
- CC 6108 Controller Unit with 8 Control Loops and HSCI Interface216
- CC 6110 Controller Unit with 10 Control Loops and HSCI Interface217
- UMC 111 FS: Compact Controller Unit with Inverter218
- UMC 111: Compact Controller Unit with Inverter, PLC I/Os219
- UEC 11X: Compact Controller Unit with Integrated Inverter and PLC I/Os220
- PLB 62Xx221
- PLB 62Xx FS221
- PLB 61Xx222
- I/O Modules PLD-H and PLA-H223
Supply Voltages in the HSCI System226
- Overview: Power Supply for the Itnc228
- Current Consumption of the HSCI Components229
- X90: +24 V NC Output of the Uxc 11X (FS)230
- X101: NC Power Supply231
- Power Supply of the CC 61Xx232
MS 110 / MS 111 Installation Kit for Double-Row Configuration247
- Double-Row Configuration248
- MS 110 Pin Layout250
- Connection Overview250
Uxc 11X (FS): Power Supply and Motor Connection254
- UEC 11X (FS)257
Uxc 11X (FS): Meaning of the Leds263
Power Supply for PLC Outputs265
Power Supply for PLB 6Xxx (FS)267
Meaning of the LED on PLB 6Xxx268
- Power Supply for Control-Is-Ready Signal268
3.15 Power Supply for Control-Is-Ready Signal269
Digital PLC Inputs/Outputs269
- X9: Safety-Related PLC Inputs/Outputs273
- PLC Inputs on the PLD-H275
- Fast PLC Inputs276
- PLC Outputs on the PLD-H277
- Uxc 11X (FS): Digital PLC Inputs/Outputs278
Analog PLC Inputs/Outputs285
PROFIBUS Connection288
PROFINET Connection289
Configuring the PLC Inputs/Outputs with Ioconfig291
Buffer Battery294
Encoder Connections296
- Position Encoder Input297
- Speed Encoder Input300
Adapters for Encoder Signals304
Connecting the Motor Power Modules (Only CC 61Xx)307
Analog Nominal Value Output308
- CMA-H 04-04-00—Pin Layout310
- Touch Probes313
3.26 Touch Probes317
MB 620 Machine Operating Panel317
- Data Interfaces - X26, X116: Ethernet Interface RJ45-Port325
- USB Interface (USB 2.0)328
3.28 Data Interfaces329
- HDL Interface329
MB 720 (FS) Machine Operating Panel330
- X18: EMERGENCY STOP on MB332
- X7: PLC Outputs332
- X6: PLC Inputs333
- X31: MB 720, Permissive Button / NC-Start / NC-Stop335
- X10: Interface to Keyboard and Potentiometers338
- X30: Handwheel Connection, Permissive Button / Emergency Stop339
- HSCI Adapter for PLB 6001 (FS) OEM-Specific Machine Operating Panel341
TE 620 Keyboard Unit355
TE 630 Keyboard Unit356
- Possible Configurations for the Potentiometers of a te 6Xx358
TE 635Q (FS) Keyboard Unit359
TE 645Q (FS) Keyboard Unit360
- Connection Overview for the te 645Q361
TE 730, te 720 Keyboard Unit364
TE 735 (FS) Keyboard Unit367
TE 740 Keyboard Unit370
- TE 745 (FS) Keyboard Unit373
- BF 250 15-Inch TFT Screen377
- BF 260 19-Inch TFT Display Unit379
Handwheel Input383
- HR 4Xx (FS) or HR 5Xx (FS) Portable Handwheel383
- HR 520FS, HR 410FS Safety-Oriented Electronic Handwheels387
- HR 550 Handwheel with Wireless Transmission393
- HR 410 Portable Handwheel411
- HR 130 Panel-Mounted Handwheel413
- HRA 110 Handwheel Adapter414
CML 110 Capacitor Module416
Connecting Cables: Specifications418
Dimensions419
- MC 6241420
- Mb 720 (Fs)425
- Te 635Q (Fs)426
- Te 645Q (Fs)427
- Te 720428
- Te 730429
- Te 735 (Fs)430
- Te 630431
- Te 620432
- Te 740433
Te 745434
Bf 250435
- Bf 750436
Bf 260437
- Bf 760439
  - CC 6106440
  - CC 6108 / CC 6110441
- Umc 111 (Fs)442
- UEC 11X (FS)443
- PL 6Xxx (FS)444
- Plb 6001(Fs)445
- Psl 130446
- Psl 135447
- MS 11X448
- Adapter Block for the Data Interface449
- USB Hub450
- Line-Drop Compensator451
- Touch Probes457
- Cml 110464
  - Itnc 530 HSCI Grounding Diagram with Modular HEIDENHAIN Inverter System—External PSL 13X465
  - Itnc 530 HSCI Grounding Diagram with Modular HEIDENHAIN Inverter System—Power Supply Unit Integrated in UV(R)466
3.46 Itnc 530 HSCI Grounding Diagram with Modular HEIDENHAIN467
Itnc 530 HSCI Basic Circuit Diagram467
- Itnc 530 HSCI Cable Overview—Basic Configuration, MC in Electrical Cabinet469
- Itnc 530 HSCI Cable Overview—Basic Configuration, MC in Operating Panel470
- Itnc 530 HSCI Cable Overview—Basic Configuration, MC in Electrical Cabinet, UEC 1Xx471
- Itnc 530 HSCI Cable Overview—Basic Configuration, MC in Operating Panel, UEC 1Xx472
- Cable Overview for Itnc 530 HSCI with HEIDENHAIN Inverter Systems473
- Itnc 530 HSCI Cable Overview — Accessories474
Machine Parameters475
4.1 What Is a Machine Parameter?477
The Machine Parameter Programming Mode of Operation477
Input and Output of Machine Parameters478
- Special Case: Entering a Formula479
- Activating the Machine Parameter List480
List of Machine Parameters494
- Encoders and Machines494
- Positioning502
- Operation with Velocity Feedforward Control510
- Servo Control with Following Error511
- Integrated Speed and Current Control512
- Spindle Function and Input526
- Integrated PLC530
- Configuration of the Data Interface533
  - 3-D Touch Probe535
  - Tool Measurement with TT537
- Tapping542
Display and Operation543
- Colors553
- Machining and Program Run557
- Hardware566
- Second Spindle582
Modules, Markers and Words583
- Overview of Modules583
5.1 Overview of Modules591
Overview of Markers and Words591
Configuring the Axes and Spindle603
- Control Loops603
- Selecting the Axes603
6.1 Control Loops604
- Axis Designation604
  - Algebraic Signs of the Axes605
  - Rotary Axes A, B, C605
- Encoders606
- Assignment for Axes614
- Encoders with Multiturn Information614
- Assignment for Spindles616
- Specifications of the Controller Unit618
- Reading Axis Information621
- Current Tool Axis622
- Traverse Ranges623
- Lubrication Pulse629
- Special Function M150629
PLC Axes630
- Module 9120 Start PLC Axis631
- Module 9121 Stop PLC Axis631
- Module 9122 Status of PLC Axis632
- Module 9123 Traverse the Reference Marks of PLC Axes633
- Module 9124 Feed Rate Override for PLC Axis634
- Module 9125 Stop PLC Axis at Next Hirth Grid Position634
- Coupling Function for PLC Axes or Auxiliary Axes635
PLC Positioning640
- Module 9221 Start a PLC Positioning Movement641
- Module 9222 Status Request of PLC Positioning Movement642
- Module 9224 Stop PLC Positioning Movements643
- Module 9227 Position Auxiliary Axes and NC Axes644
- PLC Positioning through Markers and Words646
Axis-Error Compensation647
- Backlash Compensation647
- Cause Outside of the Control Loop647
- Acceleration-Dependent Backlash Compensation649
- Cause Within the Control Loop650
- Linear Axis Error Compensation651
- Nonlinear Axis Error Compensation652
- Compensation of Thermal Expansion659
- Compensation of Sliding Friction (Only for Digital Axes)662
- Torsion Compensation663
- Kinematicscomp664
Tilting and Swivel Axes701
- Determining the Mechanical Offset701
- Double Swivel Head 45 Degrees702
- Forked Swivel Head708
- Tilting Table / Rotary Table712
- Description of the Kinematics Configuration714
- Temperature Compensation with Tilting Axes741
  - Constraints on the Entry of a Formula743
  - Permanent Temperature Compensation743
- Changing the Milling Heads745
- Kinematicsopt746
- Automatic Compensation of Offset for Tilting Axes770
- Virtual Tool Axis776
- Cylindrical Surface777
Gantry/Synchronized Axes778
- Master-Slave Position Deviation779
- Datum at Position after Switch-On (Mp860.X = 0)780
- Datum at Reference Marks (Set Mp860.X Bit 1)780
- Master-Slave Torque Control782
- Brake Test for Synchronized Axes792
- Constraints for the Brake Test794
Reference Marks796
- Traversing the Reference Marks797
The Control Loop810
- Maximum Acceleration812
- Relation between Jerk, Acceleration, Velocity and Distance812
- Minimum Distance813
- Interpolator814
- Speed Controller848
- Switching Drives on and off858
  - Procedure for "Switching Drives on and Off"859
  - Machine Parameters, Markers, Modules and PLC Words863
- Current Controller866
- Power and Torque Limiting873
- Weakened Field Operation880
Contouring Behavior891
- Radial Acceleration891
- Contour Velocity at Corners892
  - Rounding of Corners893
  - Monitoring Functions894
6.11 Monitoring Functions896
- Position Monitoring896
  - Difference between Position at Switch-On and Shutdown897
  - Special Case: Absolute Multiturn Rotary Encoder897
- Nominal Speed Value Monitoring898
- Movement Monitoring899
- Standstill Monitoring900
- Monitoring of the Power Supply Unit902
- Module 9167 Monitoring of DC-Link Voltage903
- Temperature Monitoring904
- Internal Power Supply and Housing Fan907
- Momentary Utilization of Drive Motors918
  - Consideration of I0 When Using Synchronous Motors919
  - Module 9166 Momentary Utilization of the Drive Motor919
- Determining the Current Torque of a Drive920
- Status of HEIDENHAIN Power Modules922
- Controlling the Motor Brakes925
- Emergency Stop Monitoring930
Spindle944
- Position Encoder of the Spindle945
- Speed Encoder of the Spindle950
- Analog and Digital Closed-Loop Spindle Control952
- Coded Output of Spindle Speed965
- S Code Table966
- Volts-Per-Hertz Control Mode967
- Oriented Spindle Stop968
- Rigid Tapping977
- Switching the Modes of Operation980
- Operating a Second Spindle985
- C-Axis Operation987
Integrated Oscilloscope992
- Available Channels or Signals of the CC-DIAG Signal994
- Oscilloscope Display998
- Meaning of the Soft Keys999
- Saving and Loading a Recording1000
- Oscilloscope Via NC Program1001
- Circular Test1003
Commissioning1004
- Tables for Power Modules, Supply Modules and Motors1004
- Entries in the Power Module Table (Inverter.inv)1008
- Entries in the Power Module Table (Motor.amp)1008
- Entries in the Motor Table (Motor.mot)1009
- Table of Power Supply Modules (Supply.spy)1011
- Series Reactor1012
- Determining Data for Synchronous Motors1016
Field Orientation1019
6.14 Commissioning1020
- Preparation1020
- Commissioning Digital Control Loops with Tncopt1023
  - Reversal Spikes1025
  - IPC and Kv Factor1025
- Commissioning of Digital Axes1026
- Commissioning the Digital Spindle1055
- Optimize the Acceleration1058
- Commissioning an Analog Axis1060
- Adjusting the Servo Amplifier1061
- Commissioning the Analog Spindle1064
Block Diagram for Itnc 530 with CC 61Xx1065
- CC 61Xx / UEC 1Xx Controller Units - Specifications1067
7.1 Specifications1069
Connecting the Encoders1069
- Position Encoders1069
- Speed Encoders1070
- Relationship between Speed Input, Position Input and PWM Output1071
7.3 Relationship between Speed Input, Position Input and1072
Single-Speed, Double-Speed, PWM Frequency1072
- Structure of the New CC 61Xx and UEC 11X Controller Units1072
- Performance of the CC 61Xx1074
- Single-Speed and Double-Speed (Software Option 49)1074
- Combination of Several CC 61Xx Controller Units1078
- Use of Several UV(R) Power Supply Modules1080
- PWM Frequency1082
  - Switching the PWM Frequency During Operation1083
  - Switching the PWM Frequency Depending on the Speed1084
PLC Cycle Time1087
7.6 Monitoring Functions1088
Special Functions1088
- Multifunction Filter1088
- Objective of the Filters1088
- Types of Filters1088
- Possible Settings for Multifunction Filters1089
- Recommended Types of Filters1089
- Filters in the Position Controller1090
- Dynamic Determination of Load1093
- Filter Order for Separate Low-Pass Filter in the Speed Controller1093
- LIFTOFF Function1098
- Activating TRC1101
- TRC – Torque Ripple Compensation1101
- Peculiarities in Weakened-Field Operation1103
  - Reduction of the Magnetization Current1103
  - Setting the Reduction of the Magnetization Current1103
- Crossover Position Filter (CPF)1104
Stick-Slip Friction Compensation at Quadrant Transitions1106
- Field Orientation1108
- Possibilities for Determining the Field Angle1110
- Reading or Setting the Field Angle Via the PLC1118
- Saving the Determined Field Angle1120
- Definition of the Field Angle1121
  - Adjustment of Linear and Torque Motors1122
  - Linear Motor Setup1122
General Information1122
- Torque Motor Setup1123
- Position and Speed Encoders1124
- Temperature Sensor1125
7.10 Adjustment of Linear and Torque Motors1126
- Safety Precautions for Linear and Torque Motors1126
- Commissioning Linear and Torque Motors1128
- Machine Parameters for Linear Motors1128
- Machine Parameters for Torque Motors1129
- Adjustment of the Current Controller1130
- Adjustment of the Speed Controller1133
7.12 Determining Entries for Motor Tables1140
- Determining Data for Linear Motors1140
- Determining Data for Torque Motors1143
Machine Interfacing1147
- Position and Status Display1147
- Position Display of the Tool Axis1148
- Position Display Step1148
- Position Display for Rotary Axes and PLC Auxiliary Axes1149
- Reading of Axis Coordinates1150
- Free Rotation1152
- Free Rotation Defined by Words1153
- Free Rotation with Module 92231153
- Feed Rate Display1155
- Display of the M Functions1157
- Feed Rate for Rotary Axes1157
- Control in Operation1159
- Erasing the Status Information1161
- Interrogating the Status Display through the PLC1162
- Operating Modes1165
- Operating Times1169
Error Messages1176
- Error List1177
- PET Table1177
- Module 9084 Display PLC Error Messages with Additional Data1180
- Module 9085 Display PLC Error Message1181
- Module 9086 Clear PLC Error Message1181
- Module 9087 Status of PLC Error Message1182
- Module 9392 Display PLC Error Message with Help Offset1182
- Module 9393 PET Column for PLC Notification1184
- Service Files1185
  - Help Soft Key in MOD1189
  - Help Window with HELP Key1190
- PLC Pop-Up Window1192
  - Tncguide – Context-Sensitive Help System for the Itnc 530 (User Documentation)1195
  - Basic Conditions for the OEM1196
  - Files and Structure of the Help System1197
  - Context-Sensitive Call1199
  - Designing Soft Keys for Context-Sensitive Help1200
  - Enhanced Error Notification1201
  - Including an OEM-Specific Online Help File1202
  - National Languages1202
  - Online Help Files and Tncremont1202
  - Module 9391 Display an Error Message with Additional Offset1204
- Machine Datum1205
  - Datum Setting1206
  - Datum Management Via Preset Tables1208
  - Block Number Increment for DIN/ISO Programs1210
  - Finding the Block Number1210
- NC Program1210
  - Setting "Look-Ahead"1210
  - Module 9322 Information of the Current NC Program1211
  - Checking the NC Program During Editing1212
  - Deleting Lines from an NC Program1212
  - Display of the NC Program1212
  - NC Program Selected1212
  - Status Information about the End of an NC Program1213
  - Access to Data from the NC Program1214
  - Canceling an NC Program1214
  - Automated NC Program Start1215
  - Behavior During Program Interruption1216
  - Sorted Machining of Block Elements1216
  - Retract the Tool Automatically from the Contour1217
- Adaptive Feed Control (AFC)1218
  - Operating States of AFC1219
  - General Information about Learning1220
  - General Information about Controlling1222
  - Automatic Selection of the Learning/Controlling Status1223
  - Additional FN Functions1224
  - Associated Files1225
  - Files for Machining1225
  - The Three Files of Adaptive Feed Control1226
  - NC-Function Macro at Overload1231
  - Default Settings for Using AFC1232
  - Initial Learning and Controlling with AFC1234
  - Activating/Deactivating AFC1235
- Global Program Settings (PGM)1236
- Cycles1241
  - Cycles for Milling Pockets with Combined Contours1241
  - Pocket Milling1241
  - Scaling Factor1243
- End of Program Run1244
  - Returning to the Contour1244
  - M/S/T/Q Transfer During Block Scan1247
  - Canceling Block Scan1248
  - Delay Time for the Change Signals (M/S/T)1249
  - Instructions in MGROUPS.SYS1249
  - Instructions in MSPLIT.SYS1250
- M Functions1251
  - Status of M Functions1255
  - Modal Cycle Call M891256
  - Program Stop with M Functions1256
  - Program Stop with M061256
  - Reduced Feed Rate of Tool Axis with M1031256
  - Automatic Activation of M1341257
  - Error Messages During Cycle Call1257
  - Auxiliary Cycles1258
  - Calling an NC Macro with an M Function1258
- Powering up and Shutting down the Control1260
- Module 9189 Shut down the Control1262
- Arc End-Point Tolerance1263
  - Limit-Switch Tolerance for M140 / M1501263
  - Message for Power Interruption1263
- Radius Compensation1264
- User Parameters1264
- Code Numbers1265
  - Module 9272 Code Number in PLC String1266
  - Color Settings1267
- Programming Station Mode1267
- Graphic Display1275
  - Projection in Three Planes1275
  - Rotation of the Coordinate System1275
  - Graphic Display for Datum Shift1276
  - Position of the Cursor1276
- Special Characters1277
- Itnc Character Set1278
  - Medium Characters1280
  - Large Characters1282
- Conversational Language1283
  - Additional Conversational Languages1285
  - Decimal Point1285
- Logs1286
  - PLC Log1286
  - Diagnostics Log1287
  - OEM Log1288
  - Standard Log1289
  - Example of a Standard Log Entry1294
  - Writing to the Log1295
  - Additional Log1296
  - Module 9276 Write Operand Contents into the Log1297
- Diagnostic Functions1298
  - Drivediag1299
  - Main Computer1300
  - Meanings of the Signals under "Main Computer / Status"1302
  - Meanings of the Signals under "Drive Control Board / Status"1304
  - Meanings of the Signals under "Supply Unit / Status"1306
  - Power Supply Unit1306
  - X, Y, Z, Etc. (Axis)1308
  - Meanings of the Signals under "Status / Speed Controller"1311
  - Meanings of the Signals under "Status / Position Controller"1314
  - Meanings of the Signals under "Status / PLC"1315
  - Meanings of the Signals under "Endat/Status"1316
  - Meanings of the Signals under "Power Module / Status"1317
  - Meanings of the Signals under "Speed Controller / Overview"1317
  - Automated Testing of Drives1318
  - Electronic ID Label1319
- BUS Diagnosis1320
  - Soft Keys for HSCI/PROFIBUS Diagnostics1322
  - "State" Window1325
  - Overview of HSCI/PROFIBUS I/O Configuration1328
- Expanded PLC Module Interface for 18 Axes1329
- Basic Configuration1332
- Window Manager1332
  - Configuration with XFCE1334
  - Configuration of the TNC Taskbar1336
  - Screen Saver1337
  - Third Desktop1337
  - Software Option 133 — Remote Desktop Manager1338
  - General Information on the Connections1340
  - Windows Terminal Service (RDP) Connection1340
  - VNC Connection1343
  - WEB Connection1346
  - XDMCP Connection1347
  - Shutting down or Rebooting an External Computer1349
  - User-Defined Connection1352
  - Small PLC Window1354
- Large PLC Window1358
  - Format Instructions1359
  - Variable Names1360
  - Special Commands1363
  - Switches for Variables1363
  - Input Fields1367
  - Mathematical Expressions for Screen Positions1367
  - Opening or Clearing Screen Mask for the PLC Window1369
PLC Soft Keys1372
- Soft-Key Project File for Screen1372
- Keywords in the Soft-Key Menus1373
- Miscellaneous Keywords in the Soft-Key Project File1373
- Additional Parameters for the Keywords1376
- Example of a Soft-Key Project File1379
- Module 9203 Activate PLC Soft-Key Menu1380
- Module 9204 Update the PLC Soft Keys1381
- Module 9205 Set the Word for Acknowledgment of PLC Soft Keys1382
- Module 9206 Change the Settings of the PLC Soft Keys1383
- Module 9207 Replace PLC Soft Keys1384
- Module 9208 Status Information of the PLC Soft Keys1385
- Soft-Key Project File for HR 420, HR 5Xx1385
- Display/Delete PLC Soft-Key Row1389
- Soft-Key Rows1389
Keystroke Simulation1392
- Itnc Control Panel1392
- Module 9180 Simulation of NC Keys1393
- Module 9181 Disable Individual NC Keys1393
- Module 9182 Re-Enable Individual NC Keys1394
- Module 9183 Disable Groups of NC Keys1394
- Module 9184 Re-Enable Groups of NC Keys1395
- Module 9186 Call a Soft-Key Function1395
- Module 9187 Status of a Soft-Key Function Call1396
- Module 9188 Call a Soft-Key Function1396
- Soft Keys that Can be Simulated1397
- Codes for Keystroke Simulation1400
- Machine Operating Panel1404
- Touchpad on USB Port1405
Files1406
- Disable Soft Keys for File Types1406
- Disabling File Types for Editing1406
- Selecting a File1407
- Copying, Renaming or Deleting a File1408
- Datum Tables (*.D)1409
- PLC Files1419
DCM – Dynamic Collision Monitoring1424
- DCM – Monitoring the Working Space for Collisions1424
- Compensation of the Angle Tolerance1430
- Integration of Cmos in the Description Table1432
- Optimizing the DCM Performance1433
- Collision Exclusions1436
- Exclusion Table1437
- Special Case: Tool with the Predefined CMO Name "Tool"1438
- Activating and Deactivating Monitoring1439
- DCM in the Test Run Mode1441
- Configuration of the Definition Table1442
- Excluding the TT for Tool Measurement1449
- Changing Cmos in NC Programs1450
- DCM and Handwheel Superimpositioning1450
- DCM for Counter Axes1451
- Module 9063 Deactivate and Activate Collision Monitoring1451
- Module 9064 Status Information about Collision Monitoring1452
- Fixture Monitoring with DCM1453
  - Defining Insertion Points1456
  - Modeling Fixtures1458
  - Probe Cycle1464
  - TP Functions1469
  - Variables1470
  - Mathematical Functions1473
  - Cmo1474
  - Test Point1475
  - Automatic Activation/Deactivation of Fixture Situations1477
- Tool Carrier Kinematics and DCM1477
- Modeling Tool Carriers1480
- Kinematicsdesign1488
Pallet Management1490
- Configuring a Pallet Table1490
- Field Names1491
- Executing a Pallet Table1493
- Pallet Preset Table1495
- Markers and Machine Parameters1496
- Module 9090 Select a Line in the Pallet Table1497
- Module 9281 Select a Line in the Pallet Table1498
- NC Macro for Changing the Tool During Tool-Oriented Machining1499
- NC Macro for Changing Pallets and Fixtures1500
- Module 9280 Start the NC Macro (Run Pallet Entry)1501
- NC Macro at the End of an NC Program1501
Electronic Handwheel1502
- Two Handwheels on the TNC1504
- HR 130 Panel-Mounted Handwheel1510
- HR 420 Portable Handwheel1513
  - Activation and Override Potentiometers1514
  - Window Upon Activation of the HR 4201515
- HR 520 Portable Handwheel1516
- HR 550FS Wireless Handwheel1518
  - Switching the HR 550FS On/Off1521
  - HR 150 Panel-Mounted Handwheels with HRA 110 Handwheel Adapter1524
PLC Inputs/Outputs1526
- 24 V – Switching Input/Outputs1526
- Module 9004 Edges of PLC Inputs1528
- Analog Inputs1529
- Analog Outputs1529
Incremental Jog Positioning1530
Hirth Coupling1532
- Module 9148 Use Nominal Value as Actual Value1533
Datum Shift1534
Touch Probe1535
- Using the Touch Probes1536
- Touch Probe Cycles1539
- Measurement Log in Manual Touch Probe Cycles1546
- Tool Measurement1552
Special Functions for Laser Cutting Machines1561
- Analog Voltage Output1561
- Graphic Simulation (Without TOOL CALL)1563
- Program Stop for M Functions and TOOL CALL S1564
Tool Changer1565
- Tool and Pocket Table1565
- Module 9093 Read Data from Tables Selected for Program Run1575
- Module 9094 Write Data into a Tool and Datum Table1576
- Module 9096 Delete a Line from the Tool Table1577
- Module 9350 Read Data from the Tool Table1578
- Module 9351 Write Data to Tool Table1579
- Definition of the Tool Magazine Using Magazine Rules1580
- Example for a Description of the Tool Magazine Using Magazine Rules1582
- Module 9216 Pop-Up Window with Tool Selection List1583
- Module 9304 Copy Columns P1 to P5 to the Pocket Table1584
- Module 9340 Search for a Pocket Depending on Magazine Rules1585
- Module 9341 Edit a Pocket Table Depending on Magazine Rules1586
- Module 9342 Find Magazine and Pocket Number1587
- Module 9343 Compile and Activate Magazine Rules1588
- Module 9300 Lock/Release the Pocket Table1589
- Pocket Exchange in the Pocket Table1589
- Managing Multiple Tool Magazines1590
- Module 9305 Tool Exchange in the Pocket Table1590
- Search Sequence of the Tool Magazines1591
- Tool Life, Replacement Tool1594
- Indexed Tools1596
- Tool-Usage Test1597
  - Tool Usage Test for Pallet Tables1598
  - Structure of the Tool-Usage File1599
- Automatic Calculation of Cutting Data1601
  - Calculation of Cutting Data1602
  - Cutting Data Table1602
  - Material Tables1602
- Automatic Tool Recognition1603
  - Controlling the Tool Changer1603
  - Calling an NC Program with TOOL CALL1605
  - Program Example: Positioning to the Tool Change Position1606
  - Variable and Fixed Pocket Coding1608
  - Output of the Tool Number with Fixed Pocket Coding1611
  - Output of the Pocket Number with Variable Pocket Coding1612
  - Sequence for New and Returned Tool When Changing Tools1614
  - Module 9035 Read Status Information1615
  - N - N: Normal Tool Follows a Normal Tool1616
  - S - N, Single Changing Arm, M4540 = 0 or Mp7481.X, Bit X = 01617
  - S - N: Normal Tool Follows a Special Tool1617
  - S → N, Double Changing Arm, M4540 = 1 or Mp7481.X, Bit X = 11618
  - PLC Programming Example1629
- Extended Tool Management1641
  - Configuration File for OEM-Specific Extended Tool Management1643
  - Oemsettings.py1643
  - Oemrulelist.py - Rule-Based Configuration File for Tables1644
  - Oemrules.py - Rule-Based Configuration File for Columns1645
  - Column Rules1646
  - Tool Management Views1646
  - Linking Tables1647
  - Possible Table Links1647
  - Special Columns1651
  - Examples of Oemrules.py1652
  - Oementries.py - Configuration File for Data Transfer to Tool Data Form1654
  - Oementrylist.py - Configuration File for Tool Data Form1657
  - Host Computer Operation1659
PLC Programming1661
- Cycle Times PLC I/Os1662
- Overview of Cycle Times1662
- Detection of Pulses at PLC-Inputs1665
- PLC Main Menu1667
- Selecting the PLC Mode1667
  - PLC Functions of the Main Menu1669
  - Differences from File Management of NC Part Programs1670
- File Management1670
- The WATCH LIST Function1671
- The I/O-FORCE LIST1674
- The TABLE Function1676
- The TRACE Function1678
- The Logic Diagram1680
- The COMPILE Function1682
- Advanced Setup1683
Conditional Compilation1684
Hard-Disk Organization1689
- Encrypted PLC Partition (PLCE:)1690
System Files1701
- Oem.sys1701
- Module 9270: Read a Code Word1708
- Module 9271: Write a Code Word1708
- Ncmacro.sys1709
  - Module 9291 Call an NC Macro1711
  - Cycle.sys1712
- Mgroups.sys1712
- Tnc.sys1712
9.5 Data Transfer NC > PLC, PLC > NC1713
- Data Transfer NC - PLC, PLC - NC1713
- Data Transfer NC Program - PLC (FN19: PLC =)1713
- Data Transfer PLC - NC Program (Q-Parameters)1714
- Data Transfer NC Program - NC (FN17: SYSWRITE)1716
- Data Transfer NC - NC Program (FN18: SYSREAD)1725
- Data Transfer of Machine Parameters - PLC1737
- Interrogate PLC Operands in the NC Program (FN20: WAIT FOR)1740
- Data Transfer PLC Operand = NC Program1741
- Overview of Operands1744
- Module 9075 Write to Symbolic PLC Operand1745
- Module 9076 Read Symbolic PLC Operand1746
- Operand Addressing (Byte, Word and Double Word)1747
- Timers1748
  - Module 9006: Set and Start PLC Timer1750
  - Module 9197 Start Cyclic Timer1750
- Counters1751
- Fast PLC Inputs1753
Program Creation1754
- ASCII Editor1755
- Program Format1755
- Program Structure1756
- Logical Names for Files1757
9.8 Command Set1758
- Command Set1758
- Overview1758
- Load (L)1761
- Logic Processing with the LOAD Command1761
- Input I41761
- I4 I5 O21761
- Input I51761
- Output O21761
- Operand Content1761
- Gate the Content of the a I51761
- Logic Accumulator and Input I5 with AND. Assign the Gating Result to = O21761
- Word Processing with the LOAD Command1762
- Load Not (LN)1763
  - Logic Processing with the Load Not Command1763
  - Word Processing with the Load Not Command1764
  - Load Two's Complement (L-)1765
- Load Byte (LB)1766
- Load Word (LW)1766
- Load Double Word (LD)1767
- Assign (=)1767
- Assign Byte (B=)1768
- Assign Word (W=)1769
- Assign Double Word (D=)1769
- Assign Not (=N)1770
- Assign Two's Complement (=-)1770
- Set (S)1771
- Reset (R)1772
- Set Not (SN)1773
- Reset Not (RN)1774
- And (A)1775
- And Not (AN)1777
- Or (O)1779
- Or Not (On)1781
- Syntax: Operands: Action1782
- Exclusive or (XO)1783
Example1784
- Result to Double Word D81784
- Exclusive or Not (XON)1785
- Addition (+)1787
- Initial State: Constant = 10 000 (Dec) Word W6 = 200 (Dec) Double Word D81787
- Function STL Accumulator Operand Content1787
- Load the Constant into the L 10000 Word Accumulator1787
- Subtraction (-)1788
- Multiplication (X)1789
- Division (/)1790
- Remainder (MOD)1791
- Increment (INC)1792
- Decrement (DEC)1792
- Equal to (==)1793
- Less than (<)1794
- Greater than (>)1795
- Less than or Equal to (<=)1796
- Greater than or Equal to (>=)1797
- Not Equal (<>)1798
- And [ ] (A[ ])1799
- And Not [ ] (An[ ])1801
  - Or Not [ ] (On[ ])1801
  - Exclusive or [ ] (Xo[ ])1801
  - Exclusive or Not [ ] (Xon[ ])1801
- Addition [ ] (+[ ])1802
- Subtract [ ] (–[ ])1803
- Remainder [ ] (Mod[ ])1803
- Equal to [ ] (==[ ])1804
- Less than [ ] (<[ ])1805
  - Less than or Equal to [ ] (<=[ ])1805
  - Greater than or Equal to [ ] (>=[ ])1805
  - Not Equal []1805
- Shift Left (<<)1806
- Shift Right (>>)1807
- Bit Set (Bs)1808
- Initial State: Double Word D81808
- Double Word D121808
- Function1808
- Operand Content1808
- Load the Double Word D81808
- L D8 3E80 3E801808
- Into the Word Accumulator1808
- Assign the Result to Double Word D121808
- Bit Clear (Bc)1809
- Bit Test (Bt)1810
- Push Data Onto the Data Stack (PS)1811
- Pull Data from the Data Stack (PL)1812
  - Push Logic Accumulator Onto the Data Stack (PSL)1812
  - Push Word Accumulator Onto the Data Stack (PSW)1813
  - Pull Logic Accumulator from the Data Stack (PLL)1813
  - Pull Word Accumulator from the Data Stack (PLW)1814
  - Unconditional Jump (JP)1814
  - Jump if Locig Accumulator = 1 (JPT)1815
  - Jump if Locig Accumulator = 0 (JPF)1815
- Call Module (CM)1816
- Call Module if Logic Accumulator = 1 (CMT)1816
- Call Module if Logic Accumulator = 0 (CMF)1817
- End of Module, End of Program (EM)1818
  - End of Module if Logic Accumulator = 1 (EMT)1818
  - End of Module if Logic Accumulator = 0 (EMF)1818
  - Label (Lbl)1818
INDEX Register (X Register)1819
Commands for String Processing1821
- Logical Comparisons During String Processing1822
- Operand Declaration1822
- ADD String (+)1823
- LOAD String (L)1823
- STORE String (=)1823
- Overwrite String (OVWR)1824
- EQUAL to Command for String Processing (==)1825
- NOT EQUAL Command for String Processing (<>)1827
- Modules for String Processing1828
Submit Programs1831
- Calling the Submit Program (SUBM)1832
- Interrogating the Status of a Submit Program (RPLY)1832
- Canceling a Submit Program (CAN)1833
9.12 Cooperative Multitasking1835
- Cooperative Multitasking1835
- Starting a Parallel Process (SPAWN)1835
- Control of Events1836
Constants Field (KF)1841
Program Structures1842
- IF ... else ... ENDI Structure1843
- REPEAT ... until Structure1843
- WHILE ... ENDW Structure1844
  - CASE Branch1844
  - End of Indexed Module Call (ENDC)1845
Linking Files1846
- USES Statement (USES)1847
- GLOBAL Statement (GLOBAL)1848
  - EXTERN Statement (EXTERN)1848
  - Markers, Bytes, Words, and Double Words1849
- PLC Modules1849
- Number Conversion1852
Python1856
Data Interfaces1857
- Principles of Data Transfer1858
- Data Transfer Check: Handshaking1862
  - Hardware Handshaking1862
  - Software Handshaking1862
The Ethernet Interface of the Itnc1863
- SMB Signing1863
- X26, X116: Ethernet Interface RJ45-Port (100Baset)1863
Connecting the Itnc to the Network1864
- Settings at the Itnc1864
- Network Settings for Internet Access1870
- PING Function1871
- Network Settings UID/GID1872
- Configuring an Interface1873
- Mount Settings1874
- Configuring the DHCP/DNC Server1887
Protection against Data Tampering1893
- General Disabling of Data Access1893
- Restricting Access to the PLC Partition1893
The USB Interface of the Itnc1894
- USB Data Carriers on the Control (Upgrade Function – FCL)1896
- Connecting and Disconnecting USB Data Carriers (Upgrade Function)1897
- USB Data Carriers Tested by HEIDENHAIN (Upgrade Function)1897
- Drive Name and User Group for USB Device1898
Itnc Serial Data Interfaces1899
- RS-232-C/V.24 Interface1899
- Signal Levels1900
- Signal Designation1901
- Pin Layout1901
Configuration of Interfaces1902
- Control Characters1902
- Configuration of Interfaces - Data Bits/Block Check Character (BCC)1903
- Selection of Interfaces and Operating Modes1903
Data Transmission Protocols1907
- Selection of Transmission Protocols1907
- Standard Communications Protocol1908
- Communications Protocol with Block Check Character1910
- LSV2 Transmission Protocol1913
- Timeouts1913
Saving and Loading Files1914
Data Transfer by PLC1916
PLC Modules1917
- Module 9100 Assign Data Interface1918
- Module 9101 Release Data Interface1919
- Module 9102 Status of Data Interface1919
- Module 9103 Transmit String through Data Interface1920
- Module 9104 Receive String through Data Interface1921
- Module 9105 Transmit Binary Data through Data Interface1922
- Module 9106 Receive Binary Data through Data Interface1923
- Module 9107 Read from Receiving Buffer1924
- Module 9110 Transmit a Message Via LSV21925
- Module 9111 Receive a Message Via LSV21926
- Module 9112 Transmit ASCII Characters Via Data Interface1927
- Module 9113 Receive ASCII Characters Via Data Interface1928
External Programming1929
Itnc 530 and Windows1931
- IPC 6341—Industrial PC with Windows 71931
- VNC Access and Screen Resolution1933
- Network Settings1934
- Registered Users1938
- VNC Password of the IPC1939
- RDP Settings of the IPC1940
- Language Settings on the IPC1941
- DSP/NC Error Messages1943
Itnc Error Messages During Data Transfer1944
Error Messages of the File System1945
Subject Index1947

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