engineering

mannesmann
Rexroth

MT-CNC
Parameter Description
V16
Reference Manual

DOK-MT*CNC-PAR*DES*V15-ANW1-P

271815 Indramat
Parameter Description

Titel Parameter Description

Kind of dokumentation Reference Manual

Docu-type DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44

Internel filing remarks Mappe 1 (EN)

M104181E.pdf
Drawing no.: 109-0668-4181-02

Purpose of this document This document describes the system-, process- and parameters of the
MT-CNC and MTC200

Reference This electronic document is based on the hardcopy document with

document desig.: DOK-MT*CNC-PAR*DES*V15-ANW1-EN-P

Revision Date Remarks

4181-02 07.96 First translation
into English
DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44 06.97 1st E-Doc

Copyright INDRAMAT GmbH, 1996

Copying this document, and giving it to others and the use or
communication of the contents thereof without express authority, are
forbidden. Offenders are liable for the payment of damages. All rights are
reserved in the event of the grant of a patent or the registration of a utility
model or design (DIN 34-1).
The electronic documentation (E-doc) may be copied as often as needed
if such are to be used by the customer for the purpose intended.

Published by INDRAMAT GmbH Bgm.-Dr.-Nebel-Str. 2 D-97816 Lohr a. Main

Phone 09352/40-0 Tx 689421 Fax 09352/40-4885

ENC (GL)

Validity All rights are reserved with respect to the content of this documentation
and the availability of the product.

About this document DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44 06.97

Contents

I Contents

Prefacee 0-1

1 System Parameters 1-1

1.1 General ......................................................................................................................1-1

1.2 Name of the Management Process ..........................................................................1-13
1.3 Name of Process 1 ... 6............................................................................................1-13
1.4 External Mechanism.................................................................................................1-14
1.4.1 Defining the Axis Type .............................................................................................1-17
1.5 Tool Management ....................................................................................................1-21
1.6 Organization of the Setup List ..................................................................................1-23
1.7 Maximum Number of Tool Edges .............................................................................1-24
1.8 Wear Factor Register / Offset Register ....................................................................1-25
1.9 Comment .................................................................................................................1-26
1.10 Wear Factors ...........................................................................................................1-27
1.11 Tool Life Data...........................................................................................................1-28
1.12 Tool Geometry Limits ...............................................................................................1-28
1.13 Description of User Tool Data 1 ... 9 ........................................................................1-29
1.14 Description of User Tool Edge Data 1 ... 5 ...............................................................1-30
1.15 Symbol for User Tool Status Bit 1 ... 8 .....................................................................1-30
1.16 Symbol for User Tool Edge Status Bit 1 ... 8 ............................................................1-31
1.17 Global M Function Mode ..........................................................................................1-32
1.18 Global Q Function Mode ..........................................................................................1-33
1.19 S Function Mode ......................................................................................................1-34
1.20 T/E Function Mode...................................................................................................1-34
1.21 Tool Technology ......................................................................................................1-34
1.22 Description of User Tool Edge Data 6 ... 10 .............................................................1-35

2 Process Parameters 2-1

2.1 General ......................................................................................................................2-1

2.2 Default System of Units for Programming ..................................................................2-9
2.3 Programmable Decimal Places for Distances ..........................................................2-10
2.4 Displayed Decimal Places for Distances ..................................................................2-11
2.5 Default Interpolation Plane .......................................................................................2-12
2.6 Maximum Path Velocity............................................................................................2-13
2.7 Maximum Path Velocity Change Without Ramp.......................................................2-14
2.8 Maximum Path Acceleration.....................................................................................2-15
2.9 Maximum Number of Offset Tables..........................................................................2-15
2.10 Default for Radius/Diameter Programming Tables ...................................................2-16
2.11 Tool Management ....................................................................................................2-16
2.12 Type of Tool Storage ...............................................................................................2-17
2.13 Endless Rotating Tool Storage.................................................................................2-17
2.14 Number 'n' of Tool Locations in Tool Storage...........................................................2-18
2.15 Number of Spindles With Tool .................................................................................2-18
2.16 Number of Grippers .................................................................................................2-19
2.17 Axis Number of Tool Storage Axis............................................................................2-19
2.18 Position 1 ... 4 (Offset 1 ... 4 to the Reference) ........................................................2-20
2.19 Maximum Entry for Length/Radius Wear and Offset ................................................2-22
2.20 D Corrections ...........................................................................................................2-23

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 I-1

MT-CNC

2.21 Maximum Entry for Length/Radius D Correction...................................................... 2-24

2.22 Reverse Program Execution Required..................................................................... 2-25
2.23 Reference Required ................................................................................................ 2-26
2.24 Acceleration Time Constant..................................................................................... 2-26
2.25 Cartesian-Polar Coordinate Transformation ............................................................ 2-27
2.26 Manual Axis Jogging Causes Reset ........................................................................ 2-28
2.27 Linear Interpolation Type Default............................................................................. 2-28
2.28 Tool Length Correction Default................................................................................ 2-29
2.29 Default Zero Offset .................................................................................................. 2-29
2.30 Feed Programming Default ..................................................................................... 2-29
2.31 Spindle Speed Programming Default....................................................................... 2-30
2.32 Trigonometric Arguments, Unit Default.................................................................... 2-30
2.33 Activate Tool Correction .......................................................................................... 2-31
2.34 Asynchronous Turret Movement.............................................................................. 2-31
2.35 Re-position Tool Storage Axis ................................................................................. 2-32
2.36 Deviating M Functions / Deviating Q Functions ....................................................... 2-33
2.37 M Function Groups .................................................................................................. 2-33
2.38 Rotary Axes Mode Default....................................................................................... 2-34
2.39 Activate Tool Correction for Turret........................................................................... 2-35

3 Axis Parameters 3-1

3.1 General ..................................................................................................................... 3-1

3.2 Associated Process(es) ........................................................................................... 3-15
3.3 Axis Designation...................................................................................................... 3-15
3.4 Mode of Operation................................................................................................... 3-16
3.5 Position Feedback Location..................................................................................... 3-17
3.6 Incremental Encoder Resolution.............................................................................. 3-19
3.7 Linear Encoder Resolution ...................................................................................... 3-21
3.8 Feed Constant / Graduation per Revolution............................................................. 3-22
3.9 Gearbox Revolutions - Input / Output ...................................................................... 3-24
3.10 Motor Speed at 9 Volts Command........................................................................... 3-24
3.11 KV Factor ................................................................................................................ 3-25
3.12 Positive and Negative Software Travel Limits .......................................................... 3-27
3.13 Reference Position .................................................................................................. 3-29
3.14 Position Polarity....................................................................................................... 3-32
3.15 Homing Direction ..................................................................................................... 3-33
3.16 Maximum Feedrate.................................................................................................. 3-35
3.17 Maximum Feedrate Change Without Ramp............................................................. 3-36
3.18 Maximum Acceleration Rate .................................................................................... 3-37
3.19 Homing Speed......................................................................................................... 3-37
3.20 Jogging Speed ........................................................................................................ 3-38
3.21 Jogging Speed - Rapid ............................................................................................ 3-39
3.22 Parametric Jogging Distance................................................................................... 3-39
3.23 In-position Window .................................................................................................. 3-40
3.24 Monitoring Window .................................................................................................. 3-41
3.25 Waypoints ............................................................................................................... 3-43
3.26 Automatic Backlash Compensation ......................................................................... 3-44
3.27 Minimum Open-Loop Speed .................................................................................... 3-45
3.28 KV Factor for Low-Speed Operation........................................................................ 3-46
3.29 Motor Direction (for Primary Spindle Mode) ............................................................. 3-46
3.30 Zero Point Offset (for Primary Spindle Mode) .......................................................... 3-47
3.31 Maximum Operating Speed of Incremental Encoder ............................................... 3-49
3.32 Position Feedback Direction .................................................................................... 3-50
3.33 Tach Voltage per 1000 RPM ................................................................................... 3-51
3.34 Voltage to Current Ratio .......................................................................................... 3-53

I-2 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 •Parameter Description •

Contents

3.35 Current to Torque Constant .....................................................................................3-54

3.36 Reduced Torque at Positive Stop.............................................................................3-54
3.37 Maximum Feed to Positive Stop...............................................................................3-55
3.38 Spindle Gearbox Revolutions - Input/Output (for Primary Spindle Mode) ................3-56
3.39 Maximum Programmable Spindle Speed .................................................................3-57
3.40 Maximum Spindle Acceleration Rate........................................................................3-57
3.41 Orient Speed............................................................................................................3-58
3.42 In-Position Window (for Primary Spindle Mode) .......................................................3-59
3.43 Axis Defined in RIGHT HAND COORD. System as (Axis Functionality)...................3-60
3.44 Axis Designation For Rotary Axis Mode ...................................................................3-62
3.45 Parameter Set in Drive Used for Rotary Mode .........................................................3-63
3.46 Axis Number of Assigned Rotary Axis ......................................................................3-63
3.47 Jogging Speed (for Primary Spindle Mode)..............................................................3-64
3.48 Jogging Speed - Rapid (for Primary Spindle Mode) .................................................3-65
3.49 Parametric Spindle Jogging Distance.......................................................................3-65
3.50 Position feedback location (for digital drives) ...........................................................3-67
3.51 Number of Spindle Gear Ranges .............................................................................3-67
3.52 Minimum / Maximum Spindle Speed, Gear Range 1 ... 4 .........................................3-68
3.53 Maximum Spindle Acceleration, Gear Range 1 ... 4 .................................................3-68
3.54 Automatic Spindle Gear Range Selection ................................................................3-69
3.55 Axis Designation 2 ...................................................................................................3-69
3.56 Direction for Polar Coordinate Transformation .........................................................3-70
3.57 Axis Droop Compensation........................................................................................3-70
3.58 Number of Associated Axis (Droop Comp.)..............................................................3-71
3.59 Number of Droop Compensation Points...................................................................3-72
3.60 Distance Between Droop Compensation Points .......................................................3-72
3.61 Start Position of Droop Compensation .....................................................................3-73
3.62 Unit of Droop Compensation Values ........................................................................3-73
3.63 List of Droop Compensation Values .........................................................................3-74
3.64 Spindle Acceleration, Position Mode ........................................................................3-74
3.65 Software Travel Limits Immediately Active ...............................................................3-75
3.66 Window for Re-Positioning and NC Block Restart....................................................3-75

4 APR-SERCOS Parameters 4-1

4.1 General ......................................................................................................................4-1

4.2 List of APR-SERCOS Parameters..............................................................................4-1

5 Setting Tool Storage Parameters 5-1

5.1 Sequence of Parameter Setting .................................................................................5-1

5.2 NC-Controlled Tool Storage .......................................................................................5-3
5.2.1 Benefits of NC-Controlled Tool Storage .....................................................................5-3
5.2.2 Example: Setting up the Parameters of a Disk Magazine..........................................5-3
5.3 PLC-Controlled Tool Storage .....................................................................................5-5
5.3.1 General ......................................................................................................................5-5
5.3.2 Example: Setting up the Parameters of a Disk Magazine..........................................5-5
5.3 Commissioning Instructions for Combined Spindle/Turret Axes with Digital
Servo Drive with SERCOS Interface ..........................................................................5-6
5.4.1 Parameter Setting ......................................................................................................5-6
5.4.2 Primary Spindle Mode ................................................................................................5-6
5.4.3 Turret Mode ...............................................................................................................5-7

Index S-1

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 I-3

MT-CNC

Figures A-1

I-4 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 •Parameter Description •

Preface

0 Preface

Purpose of the This description details the individual parameters of the MT-CNC that permit entire
description machine systems to be commissioned.

Definition In this document, a parameter is a variable that cannot be changed during machine
operation.

Parameter The following parameter groups are available for setting the parameters:
groups
Name of the parameter group Purpose Related to

SYSTEM PARAMETERS System configuration

PROCESS PARAMETERS Process configuration

MT-CNC
ANALOG DIGITAL Axis configuration (CPU)
AXIS- AXIS-
PARAMETERS PARAMETERS
(for analog drives) (for digital drives
with
SERCOS interface)

- APR-SERCOS Specific functions MT-CNC

PARAMETERS (APRB)

- SERCOS Drive configuration Digital drive with

PARAMETERS SERCOS interface

System The system parameters describe the coarse structure of the system.
parameters

Process Process parameters give a more detailed description of the processes or stations
parameters that are a part of the system.

Digital axis At the controller end, digital axes (digital drives with SERCOS interfaces) are
parameters configured using the digital axis parameters; at the drive side, the SERCOS
parameters are used for this purpose.

Analog axis The parameters of analog axes, in contrast, are exclusively set at the controller side
parameters using the analog axis parameters.

APR-SERCOS Inside the MT-CNC, the APR-SERCOS parameters are used for setting the
parameters parameters and for activating specific functions on the axis processor modules
(APRB-02, APRB-03 and APRB-04) and, with certain restrictions, the axis
processor module APRB-01 (controlling analog drives).

• Parameter Description DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 0-1

MT-CNC

SERCOS The SERCOS parameters contain all parameters that are required for a digital drive
parameters with a SERCOS interface.
In contrast to the other parameters, SERCOS parameters are loaded into the digital
drive, not into the MT-CNC. Please refer to the User's Manuals of the digital drives
with SERCOS interface for details of these parameters.

Parameter Parameter sets of the MT-CNC can be created and edited using a personal
sets computer (PC) or the controller PC of the MT-CNC. Parameter sets can be saved
on diskettes or hard disks and can be uploaded into the MT-CNC.

Parameter Up to 99 complete parameter sets can be stored in the parameter directory. An

handling unlimited number of sets in 'archived form' may be stored on a diskette or a hard
disk (the capacity of the storage device is the only limitation).
SERCOS parameters may be archived in a similar manner.

Please refer to the Description 'User Interface: F5 Parameters' for additional

information about creating, editing and storing parameter sets, in particular under
the aspect of the user interface handling.

0-2 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 Parameter Description •

System Parameters

1 System Parameters

1.1 General

Task of the The system parameters describe the system with respect to
system • existing processes,
parameters • external mechanisms,
• required axes,
• tool data sets, and.
• the behavior of the global auxiliary functions

Procedure Entering the name of a process and/or mechanism defines this process or external
mechanism as existing.
The MT-CNC is notified of axes by the definition of the axis type and the allocation
to the axis processor modules.
Besides the master process, an MT-CNC is able to control up to 6 further processes
and up to 25 external mechanisms.
• With an MT-CNC 03 with 9 slots (5 axis processors), up to 20 NC-controlled
axes, and
• with an MT-CNC 02 with 6 slots (3 axis processors), up to 12 NC-controlled axes
can be distributed to the existing processes.
If tool management is required, the tool data sets used inside the plant system can
be configured with the system parameter.

Forms The forms on the following pages are used for defining the system parameters.
They should be completed before commissioning is started.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-1

1-2 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •
MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 1
System parameters: Processes of 7

Process
Parameter Description no. Process name
A00.000 Name of the 0
management process

A00.001 Name of process 1 1

A00.002 Name of process 2 2
A00.003 Name of process 3 3
A00.004 Name of process 4 4
A00.005 Name of process 5 5
A00.006 Name of process 6 6

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 2
System parameters: external mechanisms of 7

No. of Mechan-
external ism type
Parameter Description mech- Name of external mechanism
anism

A00.007 External mechanism 7 7

A00.008 External mechanism 8 8

A00.009 External mechanism 9 9

A00.010 External mechanism 10 10

A00.011 External mechanism 11 11

A00.012 External mechanism 12 12

A00.013 External mechanism 13 13

A00.014 External mechanism 14 14

A00.015 External mechanism 15 15

A00.016 External mechanism 16 16

A00.017 External mechanism 17 17

A00.018 External mechanism 18 18

A00.019 External mechanism 19 19

A00.020 External mechanism 20 20

A00.021 External mechanism 21 21

A00.022 External mechanism 22 22

A00.023 External mechanism 23 23

A00.024 External mechanism 24 24

A00.025 External mechanism 25 25

A00.026 External mechanism 26 26

A00.027 External mechanism 27 27

A00.028 External mechanism 28 28

A00.029 External mechanism 29 29

A00.030 External mechanism 30 30

A00.031 External mechanism 31 31

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 3
S y s t e m p a r a m e t e r s : Axi s types for M T-CNC 02 of 7

Axis
Axis configuration Hardware identification

Number Axis processor

Axis type module

Parameter Description

A00.032 Axis 1 type 1 4 1

A00.033 Axis 2 type 2 4 2
A00.034 Axis 3 type 3 4 3
A00.035 Axis 4 type 4 4 4

A00.036 Axis 5 type 5 5 1

A00.037 Axis 6 type 6 5 2
A00.038 Axis 7 type 7 5 3
A00.039 Axis 8 type 8 5 4

A00.040 Axis 9 type 9 6 1

A00.041 Axis 10 type 10 6 2
A00.042 Axis 11 type 11 6 3
A00.043 Axis 12 type 12 6 4

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 4
S y s t e m p a r a m e t e r s : Axi s types for M T-CNC 03 of 7

Axis configuration Hardware Axis

identification
Number Axis processor
Axis type module

Parameter Description
A00.032 Axis 1 type 1 4 1
A00.033 Axis 2 type 2 4 2
A00.034 Axis 3 type 3 4 3
A00.035 Axis 4 type 4 4 4

A00.036 Axis 5 type 5 5 1

A00.037 Axis 6 type 6 5 2
A00.038 Axis 7 type 7 5 3
A00.039 Axis 8 type 8 5 4

A00.040 Axis 9 type 9 6 1

A00.041 Axis 10 type 10 6 2
A00.042 Axis 11 type 11 6 3
A00.043 Axis 12 type 12 6 4

A00.044 Axis 13 type 13 7 1

A00.045 Axis 14 type 14 7 2
A00.046 Axis 15 type 15 7 3
A00.047 Axis 16 type 16 7 4

A00.048 Axis 17 type 17 8 1

A00.049 Axis 18 type 18 8 2
A00.050 Axis 19 type 19 8 3
A00.051 Axis 20 type 20 8 4

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 5
System parameters: Tool management of 7

Parameter Description min max

A00.052 Tool management Yes No
A00.053 Organization of the setup list station-related program-related

A00.054 Maximum number of tool edges 1 9

A00.055 Wear factor register Yes No
A00.056 Offset register Yes No
A00.057 Comment (assembly instructions) Yes No
A00.058 Wear factors Yes No
A00.059 Tool life data Yes No
A00.060 Tool geometry limits Yes No
A00.061 Description of user tool data 1

A00.062 Description of user tool data 2

A00.063 Description of user tool data 3

A00.064 Description of user tool data 4

A00.065 Description of user tool data 5

A00.066 Description of user tool data 6

A00.067 Description of user tool data 7

A00.068 Description of user tool data 8

A00.069 Description of user tool data 9

A00.091 Tool technology turning/milling grinding

A00.070 Description of user tool edge data 1

A00.071 Description of user tool edge data 2

A00.072 Description of user tool edge data 3

A00.073 Description of user tool edge data 4

A00.074 Description of user tool edge data 5

A00.092 Description of user tool edge data 6

A00.093 Description of user tool edge data 7

A00.094 Description of user tool edge data 8

A00.095 Description of user tool edge data 9

A00.096 Description of user tool edge data 10

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 6
System parameters: Tool management of 7

Parameter Description
A00.075 Symbol for user tool status bit 1

A00.076 Symbol for user tool status bit 2

A00.077 Symbol for user tool status bit 3

A00.078 Symbol for user tool status bit 4

A00.079 Symbol for user tool status bit 5

A00.080 Symbol for user tool status bit 6

A00.081 Symbol for user tool status bit 7

A00.082 Symbol for user tool status bit 8

A00.083 Symbol for user tool edge status bit 1

A00.084 Symbol for user tool edge status bit 2

A00.085 Symbol for user tool edge status bit 3

A00.086 Symbol for user tool edge status bit 4

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 7
S y s t e m p a r a m e t e r s : B e h a v i o r o f g lobal auxiliary of 7
functions

Parameter Description Output Acknowledgment

A00.087 Behavior of global M functions

A00.088 Behavior of global Q functions

A00.089 Behavior of S functions

A00.090 Behavior of T/E functions

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

System Parameters

1.2 Name of the Management Process

Name Name of the management process

Number A00.000
Value range Up to 20 displayable characters
Default value Master
Unit -
From version ≤ 4.10
Dependency -
Purpose If the system, in which parameters are to be set, consists of several processors
(stations), clarity can be improved if process '0' is defined as a pure management
process without axes. Coordinating the existing processes and external
mechanisms is the sole task of this process. If, from the system-related perspective,
it is more advantageous that the master process performs other jobs (such as
controlling a loader for the parts delivery) in addition to the coordination tasks, the
master process may have axes allocated.
The axes must directly be allocated to the master process (process '0') if the system
consists of one station only.

There must always be a master process (process '0').

1.3 Name of Process 1 ... 6

Name Name of process 1 ... 6

Number A00.001 ... A00.006
Value range Up to 20 displayable characters
Default value No
Unit -
From version ≤ 4.10
Dependency -
Purpose The names of the other processes and/or machining stations that are to be
controlled and administered by the MT-CNC must be listed here.

• No entry means that a process has not been defined.

• A process may also be used as a pure computing process or for controlling
PLC sequences (sequence cascades with reverse technique).
• Up to nine feed axes (linear or rotary axes) and up to three primary spindles
may be allocated to a process.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-13

MT-CNC

1.4 External Mechanism

Name External mechanism

Number A00.007 ... A00.031
Value range Up to 20 displayable characters
Default value No
Unit -
From version ≤ 4.10
Dependency -
Purpose An external mechanism permits a process of a slave MT-CNC or a PLC process
(e.g. external controller) to be linked to a master MT-CNC. An external mechanism
may also be used as an additional diagnosis element (to display additional
messages in the diagnosis menu, for example).

According to the mechanism type, the MT-CNC automatically generates the

necessary diagnosis messages. In this task, it employs the associated base
message files (that may be modified by the user) and the existing user message
files:

Type of external Base message files User message files

mechanism
MT-CNC- process CNC ANW. xxx USMSGyy.xxx
SPS-process UNDEFANW.xxx
xxx: GER (German) yy: Number of process or mechanism
USA (English)
ESP (Spanish)
FRA (French)
ITA (Italian)

• No entry means that an external mechanism has not been defined.

• Name and type must both be selected for each required external mechanism.
• In addition to the seven internal processes, an MT-CNC is able to control up to
25 external mechanisms.

NC-controlled axes cannot be allocated to an external mechanism.

1-14 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

System Parameters

Example:

INDRAMAT
A B C D E F G
Diagnoseübersicht
0. Transfer
→ wartet auf Bearbeitungsende S1 H I J K L M N
1. Beladestation
→ wartet auf Bearbeitungsende $
O P Q R S T
2. Frässtation 1a
→ Absatz vorfräsen
S2 :
3. Frässtation 1b I I ! „
→ Bearbeitung beendet U V W ( ) ? ^
4. Bohrstation 2a S3
→ wartet auf Tischdrehung % & > _
5. Bohrstation 2b X Y Z [ ] < \
→ Innenbohrung D50 reiben S4
6. Frässtation 3b
→ Absatz fertigfräsen
7. Meßstation 4a
→ Absatz messen
S5
8. Meßstation 4b
→ Innenbohrung D50 messen
9. Frässtation 5a S6
→ Bearbeitung beendete
←
Esc + R S Pos 1 End
10. Frässtation 5b - G O
→ wartet auf Tischdrehung S7
11. Frässtation 6a A I J K M ←
→ Passung 20 H7 fräsen X 1 2 3 F →
12. Frässtation 6b
→ Absatz vorfräsen S8 B 0 : T
.
13. Entladestation
Y 4 5 6 -
→ wartet auf Bearbeitungsende
C , / =
Z 7 8 9

Main Shift
Help F1 F2 F3 F4 F5 F6 F7 F8 Menue
Ctrl Alt Del Ins Enter

Master MT-CNC

Process External mechanism

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ... 31

Slave MT-CNC

Process External mechanism

0 1 2 3 4 5 6 7 8 9 10 11 12 ... 31

(external controller)
milling station boring milling station meas. station milling station milling station
station 2b

3 5 6 8 10 12

0 Messen 13
Transfer
loading 1 unloading
station station
(PLC process)

2 4 7 9 11

milling station boring station meas. station 4a milling station milling station
(externalcontroller)

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-15

MT-CNC

1) Linking a process of a slave MT-CNC to the master MT-CNC

Procedure • Enter the name of the external mechanism
• Select the type ‘MT-CNC process'
Synchron- The external mechanism (process of a slave MT-CNC) is synchronized from the NC
ization program in the same way as the other processes. At the PLC, the mechanism
signals are available that transfer the NC control commands
• define mechanism,
• reverse mechanism,
• advance mechanism,
• lock mechanism, and
• program number,
and the acknowledgment signals
• part machined, and
• acknowledge mechanism execution.
Diagnoses The diagnoses that, for the external mechanism, are produced in the slave MT-CNC
are, for the entered external mechanism of the 'MT-CNC process' type, displayed
on the master MT-CNC via the I/O level. This requires the application files of the
process in the slave MT-CNC to be stored, for the external mechanism, in the
master MT-CNC. This also applies to base message files (message text of the NC)
if they have been modified.

To ensure faultless operation of the diagnosis system, the diagnosis messages in

the user message files and in the base message files of the slave MT-CNC must
agree with the ones of the external mechanisms of the master MT-CNC.

2) Integrating a PLC process

Procedure • Enter the name of the external mechanism

• Select type 'PLC'
Synchron- The external mechanism (PLC process) ) is synchronized from the NC program in
ization the same way as the other processes. Using the mechanism signals (see above),
the PLC recognizes the commands that are issued in a process. After an AP
command, for example, it starts the execution of a sequence cascade and signals
its end with the associated acknowledgment signal.
Diagnoses The diagnoses that are produced in the PLC for the PLC process are displayed for
the entered external mechanism (of the 'PLC process' type). In this process, all
diagnoses (1 through 600) are available to the user.

If the participating controllers have free processes available, PLC sequences

should rather be controlled from a process, using auxiliary functions. The
functionality at the NC end (such as reversing, single block operation, sequence
search, or re-positioning and NC block restart) significantly facilitates
commissioning and operation of a PLC process.

1-16 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

System Parameters

3) Increasing the number of messages for a process

Procedure • Enter external mechanism
• Select 'PLC' type

• Using external mechanisms (of the 'PLC process' type) enables the number of
messages for the internal processes to be increased and several messages to
be displayed at the same time.
• A similar utilization of the external mechanisms is in diagnosing individual
machine modules in parallel to the existing processes (e.g. the tool changer or
the hydraulic system).

1.4.1 Defining the Axis Type

Name Axis 1 ... 12 type (for MT-CNC 02)

Axis 1 ... 20 type (for MT-CNC 03)
Number A00.032 ... A00.051
Value range Analog linear axis, analog rotary axis, analog primary spindle, digital linear axis,
digital rotary axis, digital primary spindle, digital primary spindle with rotary axis
capability, digital combined spindle/turret axis.
Default No
Unit -
From version ≤ 4.10
Dependency -
Purpose To administer the axes in the controller, the MT-CNC 02 employs consecutive
numbers from 1 through 12, and the MT-CNC 03 02 employs consecutive numbers
from 1 through 20. The axis type must be allocated to these internal logic axis
numbers, taking the existing slots and axis modules and the interrelated
interpolation axes into account.
Slot, axis The MT-CNC 02 offers up to three slots (slot numbers 4,5, 6). The MT-CNC 03
module, and offers up to five slots (slot numbers 4,5, 6, 7, 8). The axis processors (with the logic
axis numbers internal axis processor numbers 1, 2,3, 4, 5) can be installed in these slots.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-17

MT-CNC

slot
number

axis processor
number

axis number

axis processor modules

Fig. 1-1 Slot numbers, axis processor numbers and axis numbers of MT-CNC 02

slot
number

axis processor
number

axis number

axis processor module

Fig. 1-2 Slot numbers, axis processor numbers and axis numbers of MT-CNC 03

1-18 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

System Parameters

The following axis modules are available:

Axis Axis processor Axis processor Axis processor Axis processor
processors module APRB-01 module APRB-02 module APRB-03 module APRB-04
The axis processor This module permits up The axis processor The APRB 04 module is
module is used for to four digital drives with module is used for used for controlling up to
controlling up to four SERCOS interface to be controlling up to four four digital drives with
analog drives with controlled. There is no digital drives (with SERCOS interface. The
incremental encoders. In encoder interface on the SERCOS interface) of a module features an
addition to axis module. As velocity and SCARA robot. For the additional coprocessor;
interpolation, the module position control are first two axes, the axis the transformation
performs position control. performed in the drive, processor module function (transformation
the encoder interface is automatically performs from cartesian
located in the drive coordinate transformation coordinates to polar
controllers. The digital from cartesian coordinates) may thus be
axis processor module coordinates to polar used for face milling.
merely supplies position coordinates. The third
target values to the drive. axis should be used as
Data exchange between the Z axis, and the fourth
the digital drives and the axis as auxiliary rotary
axis processor module axis.
takes place via a fiber
optics ring with a
SERCOS interface.

Fig. 1-3 Allocating the drive numbers of the APRM-V03 axis processor module to the axes of a
SCARAS

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-19

MT-CNC

Fig. 1-4 Face milling using the transformation function

Installation The above-mentioned axis processor modules can easily be installed in the MT-CNC.
Starting from slot 4, the axis processors must be plugged into the slots without leaving
a gap.

NOTE that there may only be axes of the same type allocated to an axis processor.
This means that only digital axes are to be allocated to a digital axis processor, and
only analog axes to an analog axis processor.
On the axis processor modules, the drives are numbered from 1 through 4. The
drive number must be set on each fiber optics module of a digital drive, and is
therefore particularly important for digital drives.

Mutually interpolating axes should possibly be allocated to the same axis processor.
This should be observed when the axis types are defined.

All axes that participate

• in the transformation for face milling (usually axes designated ‘X’, ‘C’, and ‘Z’, if
the 'Z' axis is to be included in the interpolation during face milling);
• in a primary spindle synchronization; or
• in a synchronous axes compound (slave axes or Gantry axes)
must be allocated to an axis processor module.

Axis types The type of each required axis must be specified. Possible axis types are
• analog linear axis,
• analog rotary axis,
• analog primary spindle,
• digital linear axis,
• digital rotary axis,
• digital primary spindle
• digital primary spindle with rotary axis capabilities
• digital combined spindle/turret axis
These axis types must be allocated to the axis processor modules.

1-20 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

System Parameters

• Each process can have up to nine linear or rotary axes and three primary
spindles allocated. One of these axes may be used as a tool axis that is
moved asynchronously with respect to the other axes. There are linear axes,
rotary axes and combined spindle/turret axes for numerically controlled tool
storage systems.
• In addition to the axis names (see axis parameter Cxx.001), each axis must
have its functionality allocated (see 'Axis definition' axis parameter Cxx.053).
Within a process, each axis significance (axis functionality) may only exist
once.

1.5 Tool Management

Name Tool management

Number A00.052
Value range Yes/No
Default value No
Unit -
From version ≤ 4.10
Dependency -
Purpose Tool management should be employed if at least one process utilizes tools whose
location must be administered inside the machine, whose compensation values
must be updated independently of the NC program, and whose life count and/or
wear must be monitored.
Tool management of the MT-CNC will perform this task.
Effect If the tool management parameter has been set to 'Yes', further system parameters
will be displayed that are used for configuring the tool data sets within the plant
system. They enable the machine manufacturer to adapt and optimize the tool data
sets and the associated input screens of the user interface with respect to the user-
related requirements.

Ii must be ensured that the configuration of the tool data sets is the same in all
controllers if the tool data sets are to be used in a plant-crossing manner on
different MT-CNCs in the system.

The following table shows the structure of a tool data set as a function of the optional
data.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-21

MT-CNC

DATA
NAME VALUE RANGE DATA TYPE UNIT OPTION SL TL
ELEMENT
Base tool data (per tool)
Tool identification
Index address hexadecimal long word with 32 bits (read only) - 01
ID (tool name) up to 28 characters (any characters) STRING28 - 02 X X
Storage 0 - 2 (0: magazine/turret, 1: spindle, 2: gripper) - 03 X
Location 0 - 999 - 04 X
Tool number 1 - 9999999 DINT - 05 X X
Duplo number 1 - 999 INT 06 X
Correction type 1-4 USINT - 07 X X
Number of tool tips 1-9 USINT - 08 X X
Tool status 0/1 (32 status bits) - 09 X
Location data
Free half locations 0-4 USINT - 10 X
Old location 1 - 999 INT - 11 X
Stor. of next setup tool 0 - 2 (0: magazine/turret, 1: spindle, 2: gripper) INT - 12
Loc. of next setup tool 1 - 999 INT - 13
Stor. of prev. setup tool 0 - 2 (0: magazine/turret, 1: spindle, 2: gripper) INT - 14
Loc. of prev. setup tool 1 -999 INT - 15
Units
Time 0/1 (0: min, 1: cycle) USINT - 16 X
Length 0/1 (0: mm, 1: inch) USINT - 17 X
Technology data
Tool code 1- 9 USINT - 18 X X
Represenation type 0 - 999 INT - 19 X X
User data
-38 +38
User data 1 +/- 1.2 ∗ 10 - +/- 3.4 ∗ 10 and 0 REAL any 20 X X
(mom. input via BOF: as for geometry data)
. . . . . . .
. . . . . . .
. . . . . . .
-38 +38
User data 9 +/- 1.2 ∗ 10 - +/- 3.4 ∗ 10 and 0 REAL any 28 X X
(mom. input via BOF: as for geometry data)
Comment up to 5 x 76 characters (any characters) - X X
Tool tip data (per tool tip)
Tool tip identification
Tool tip position 0-8 USINT - 01 X X
Tool tip status 0/1 (16 status bits) WORD - 02 X
Tool life data
Remaining tool life 0.0 - 100.00 REAL % 03 X X
Warning limit 0.1 - 100.00 REAL % 04 X X
max. utilization time 0 - 9999999 (0: life time measurement de-activated) REAL min or cycle 05 X X
Process cutting time 0 - 9999.999 REAL min or cycle 06 X X
Geometry data
Length L1 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 07 X
Length L2 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 08 X
Length L3 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 09 X
Radius R -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 10 X
Wear L1 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 11 X X
Wear L2 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 12 X X
Wear L3 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 13 X X
Wear R -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 14 X X
Offset L1 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 15 X X
Offset L2 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 16 X X
Offset L3 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 17 X X
Offset R -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 18 X X
Geometry limits
L1_min -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 19 X X
L1_max -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 20 X X
L2_min -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 21 X X
L2_max -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 22 X X
L3_min -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 23 X X
L3_max -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 24 X X
R_min -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 25 X X
R_max -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch 26 X X
Wear factors
Wear factor L1 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch/ 27 X X
min or cycle
Wear factor L2 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch/ 28 X X
min or cycle
Wear factor L3 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch/ 29 X X
min. or cycle
Wear factor R -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT mm or inch/ 30 X X
min. or cycle
User data
-38 +38
User data 1 +/- 1.2 ∗ 10 - +/- 3.4 ∗ 10 and 0 REAL any 31 X X
(mom. input via BOF: as for geometry data)
. . . . . . .
. . . . . . .
. . . . . . .
-38 +38
User data 5 +/- 1.2 ∗ 10 - +/- 3.4 ∗ 10 and 0 REAL any 35 X X
(mom. input via BOF: as for geometry data)
User data 6 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT any 36 X X
. . . . . . .
. . . . . . .
. . . . . . .
User data 10 -9999.9999 - +9999.9999 or -999.99999 - +999.99999 DINT any 40 X X
Explanation: SL: = data specific to setup list TL: = data specific to tools list

1-22 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

System Parameters

1.6 Organization of the Setup List

Name Organization of the setup list

Number A00.053
Value range station-/program-related
Default value station-related
Unit -
From version ≤ 4.10
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Setup lists Setup lists contain the expected data of the tools that must be available at the
beginning of a new machining process (see 'Tool management' description). Albeit
they are not mandatory, their utilization is recommended in transfer and production
machine operation with large batch quantities.
The organization of a setup list can be related to the station or to the program.
Station-related In a station-related organization, a setup list can, within an NC program package, be
organization created for each process. Up to 99 programs can share a setup list.
This organization type is recommended for parts family production. Here, the
individual NC programs in an NC program package show little difference, and all
required tools can be accommodated in the associated tool storage.

NC program package n

Process 0 Process 1 Process 6

NC program 1 Setup list NC program 1 NC program 1 Setup list

Setup list
NC program 2 NC program 2 NC program 2

NC program 3 NC program 3 NC program 3

....
. . .
. . .
. . .
NC program 99 NC program 99 NC program 99

Fig. 1-5 Station-related organization of the setup lists

Program- A program-related organization of the setup lists enables the user to create a setup
related list for each NC program.
organization This organization type should be used if an NC program package is not exclusively
used for parts family production and if the tools required for the individual programs
of the NC program package can not simultaneously be accommodated in the
existing tool storage.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-23

MT-CNC

NC program package n

Process 0 Process 1 Process 6

NC program 1 Setup list 1 NC program 1 Setup list 1 NC program 1 Setup list 1

Setup list 2 Setup list 2

NC program 2 NC pogram 2 NC program 2 Setup list 2

NC program 3 Setup list 3 NC program 3 Setup list 3 NC program 3 Setup list 3

....
. . .
. . .
. . .
NC program 99 Setup list 99 NC program 99 Setup list 99 Setup list 99
NC program 99

Fig. 1-6 Program-related organization of the setup lists

The 'Organization of the setup list' remains without effect if setup lists are not
created and if the process-related control signal 'No equipment check'
(PxxCMGMTC) has been set during machine operation.

1.7 Maximum number of Tool Edges

Name Maximum number of tool edges

Number A00.054
Value range 1 ... 9
Default value 1
Unit -
From version ≤ 4.10
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose This parameter specifies the maximum number of tool edges that must be
administered for each tool.
Each tool can have a maximum of nine edges (edge data sets including
compensation and tool life data) allocated, irrespective of the actual number of
edges the tool possesses.

It is recommended not to specify more tool edges than are actually expected to
exist. Each tool edge will occupy memory space that is no longer available to the
user. This is particularly important if a large number of tools must be administered.

1-24 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

System Parameters

Drill with Drill with Cutting tool with Cutting tool with
one edge two edges one edge two edges
Fig. 1-7 Typical tools with different number of edges

1.8 Wear Factor Register / Offset Register

Name Wear factor register

Offset register
Number A00.055,
A00.056
Value range Yes/No
Default value No
Unit -
From version ≤ 4.10
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The 'Wear factor register'' parameter defines whether or not a tool wear memory is
provided for each tool.
The 'Offset register'' parameter defines whether or not a memory for additional tool
offset values (for an adapter, for example) is provided for each tool.
These registers can be used for updating the individual length and radius values of
each tool edge independently of each other.

Including the The MT-CNC considers the geometry, wear and offset registers of the active tool
corrections edge and the active D correction in length and tool radius path compensation as
follows:

Length compensation L1 = length L1 + wear L1 + offset L1 + D correction L1

Length compensation L2 = length L2 + wear L2 + offset L2 + D correction L2
Length compensation L3 = length L3 + wear L3 + offset L3 + D correction L3
Radius compensation R = radius R + wear R + offset R + D correction R

Effect Registers that have been set to 'Yes' appear on the user interface of the PC and the
SOT together with the related input mechanisms of lengths 'L1', 'L2' and 'L3' and
radius 'R'.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-25

MT-CNC

If wear factors are used (see system parameter A00.058), tool management
employs the wear factor registers to compensate the wear of the tools with the wear
factors. The wear factor registers will exclusively be available to the user if the wear
factors have not been selected. The wear factor registers are also influenced by the
user interface function 'Replace'. The 'Replace' function resets the remaining life
count (in per cent) to 100%, and clears all wear factor registers that are related to
the tool.

Tool management, in contrast, does not influence the offset register.

Tip
The tool presetter should store the existing length and radius values in the
geometry register (that always exists), and the dimensions of the related adapter in
the offset register. The wear factor register, in contrast, should be available to the
user for fine corrections.

• Set the 'Wear factor register' parameter to 'Yes' if the wear factors (system
parameter A00.058) are to be available to the end user, and are to be
displayed on the user interface of PC and SOT.
• The dimensions of tool adapters that are used for several tools while they
remain on the machine can be compensated by D corrections.

1.9 Comment

Name Comment (Assembly instructions)

Number A00.057
Value range Yes/No
Default value -
Unit -
From version ≤ 4.10
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose If required, each entry in the setup list can have a comment of a maximum of 5 ∗ 75
characters allocated.
The comment can be used for accompanying information (e.g. assembly
instructions) of the individual groups of alternate tools.

The comment is only available on the PC.

1-26 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

System Parameters

1.10 Wear Factors

Name Wear factors

Number A00.058
Value range Yes/No
Default value No
Unit -
From version ≤ 4.10
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The wear factors enable wear-related changes in tool length and tool radius to be
compensated.
Wear Length wear compensation is automatically activated if tool length compensation is
compensation active and if a length wear factor ≠ 0 has been entered for the tool edge concerned.
Correspondingly, radius wear compensation is automatically activated if tool radius
compensation is active and if a radius wear factor ≠ 0 has been entered for the tool
edge concerned.
To compute the values that are used for compensating the tool wear, tool
management multiplies the tool's cutting time with the related wear factors and adds
the result to the existing values in the wear factor registers:

Wear L1 = Wear L1 + cutting time ∗ length wear factor L1

Wear L2 = Wear L2 + cutting time ∗ length wear factor L2
Wear L3 = Wear L3 + cutting time ∗ length wear factor L3
Wear R = Wear R + cutting time ∗ radius wear factor R

Updating time Tool management updates the wear values

• upon a transition to another edge;
• when an edge is called up again;
• when the tool is brought back into the magazine (tool storage unit = magazine)
• when the tool is swiveled off the machining position (tool storage unit = turret)
• when the tool is de-selected with 'T0' (tool storage unit = turret, or no tool storage
unit)

The 'Wear factor register' system parameter (A00.055) must be set to 'Yes' if the
wear factors shall be available to the end user and be displayed on the user
interface of PC and SOT, and if entering values shall be possible.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-27

MT-CNC

1.11 Tool Life Data

Name Tool life data

Number A00.059
Value range Yes/No
Default value Yes
Unit -
From version ≤ 4.10
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose This system parameter defines whether or not tool management performs tool life
monitoring and whether or not the tool life data is displayed on the user interface of
PC and SOT, thus permitting values to be entered.
Tool life data Tool life data includes:
• remaining tool life,
• warning limit, and
• maximum utilization time.

If tool life monitoring is not required, the corresponding monitoring mechanisms

can be de-activated by setting the 'Tool life data' parameter to 'No'.

1.12 Tool Geometry Limits

Name Tool geometry limits

Number A00.060
Value range Yes/No
Default value No
Unit -
From version ≤ 4.10
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose This system parameter defines whether or not the geometry limits, that have been
allocated in the setup list, are displayed on the user interface of PC and SOT, thus
permitting values to be entered.
Geometry The geometry limits of the setup list enable the tools in the tool storage system to
limits be checked with respect to their usability for the scheduled machining process.
Checking the tool geometry at the beginning of a new start avoids interference and
thus damage to tools, workpiece, and machine.
Checks Whether or not lengths and radii of the existing tools are suitable for the scheduled
machining process is checked for each individual edge during the automatic
equipment check that is performed upon the new start of an NC program:

1-28 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

System Parameters

L1_ min < L1 < L1_ max

L2_ min < L2 < L2_ max
L3_ min < L3 < L3_ max
R_ min < R < R_ max

Select 'No' for geometry checks you do not want to be performed and geometry
limits you do not want to be displayed.

1.13 Description of User Tool Data 1 ... 9

Name Description of user tool data 1 ... 9

Number A00.061 ... A00.069
Value range Up to 13 characters (any characters permitted)
Default value ‘‘
Unit -
From version ≤ 4.10
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The user tool data 1 ... 9 in the base tool data make it possible to allocate user-
related data to each tool.
Effect Upon entering the name, the user tool data is entered in each tool data set, and
displayed on the PC and SOT user interface. In addition, a value may be entered for
the corresponding data item.
User tool data Typical user tool data items include:
• tool weight
• speed of the tool change
• maximum speed of the tool
• maximum dimensions of the tool
• ...

• Numbers with up to 7 significant digits may be stored in the user tool data
1 ... 9 (of the REAL type with a 24-bit mantissa and an 8-bit exponent).
• Using the TLD commands I functions, the user tool data may be read from the
PLC or NC user program, modified in the program, and written back.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-29

MT-CNC

1.14 Description of User Tool Edge Data 1 ... 5

Name Description of user tool edge data 1 ... 5

Number A00.070 ... A00.074
Value range Up to 13 characters (any characters permitted)
Default value ‘‘
Unit -
From version ≤ 4.10
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The user tool data 1 ... 5 in the tool edge data make it possible to allocate user-
related data to each tool edge.
Effect Upon entering the name, the user tool edge data is entered in each tool edge data
set, and displayed on the PC and SOT user interface. In addition, a value may be
entered for the corresponding data item.
User tool edge Typical user tool edge data items include:
data • cutting speed,
• spindle speed,
• machining feed,
• mean value memory,
• compensation value buffer,
• ...

• Numbers with up to 7 significant digits may be stored in the user tool edge
data 1 ... 5 (of the REAL type with a 24-bit mantissa and an 8-bit exponent).
• Using the TLD commands I functions, the user tool edge data may be read
from the PLC or NC user program, modified in the program, and written back.

1.15 Symbol for User Tool Status Bit 1 ... 8

Name Symbol for user tool status bit 1 ... 8

Number A00.075 ... A00.082
Value range Any character
Default value ‘‘
Unit -
From version ≤ 4.10
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The user tool status bits 1 ... 8 in the base tool data make it possible to allocate
user-related status information to each tool.
Effect Upon entering the required symbol, the related tool status bit is entered in each
base tool data set, and displayed on the PC and SOT user interface. In addition, a
value may be entered for the corresponding bit.

1-30 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

System Parameters

User tool Typical user tool status bits include:

status bit • primary tools (always remain in the tool storage unit),
• tool not yet measured,
• tool required for next machining process,
• change tools at reduced speed,
• ...

• If a letter is used as the symbol of a user tool status bit, this symbol is displayed
as a capital letter in the related screens. This distinguishes the user tool status
bits from the status bits of the tool management. The latter appear as lower case
letters and cannot be altered.
• Using the TLD commands I functions, the user tool status bits may be read
from the PLC or NC user program, modified in the program, and written back.

1.16 Symbol for User Tool Edge Status Bit 1 ... 8

Name Symbol for user tool edge status bit 1 ... 8

Number A00.083 ... A00.086
Value range Any character
Default value ‘‘
Unit -
From version ≤ 4.10
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The user tool edge status bits 1 ... 4 in the tool edge data make it possible to
allocate user-related status information to each tool edge.
Effect Upon entering the required symbol, the related tool edge status bit is entered in the
tool edge data set, and displayed on the PC and SOT user interface. In addition, a
value may be entered for the corresponding bit.
User tool edge Typical user tool edge status bits include:
status bit • measuring the tool edge,
• replacing the tool edge,
• ...

• If a letter is used as the symbol of a user tool edge status bit, this symbol is
displayed as a capital letter in the related screens. This distinguishes the user
tool edge status bits from the status bits of the tool management. The latter
appear as lower case letters and cannot be altered.
• Using the TLD commands I functions, the user tool edge status bits may be
read from the PLC or NC user program, modified in the program, and written
back.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-31

MT-CNC

1.17 Global M Function Mode

Name Global M function mode

Number A00.087
Value range Output mode: at the end, at the beginning, no output
Acknowledgment mode: at the end, at the beginning, later
Default value Output mode: at the end
Acknowledgment mode: at the end
Unit -
From version 5.16
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The 'Global M function mode' parameter defines the output behavior and the
acknowledgment behavior of all M functions throughout the process.
Explanation The global M function output mode can be set to 'at the beginning of the
movement', 'at the end of the movement', or 'no output'. The global M function
acknowledgment mode can be set to 'at the beginning of the movement', 'at the end
of the movement', or 'later'.
If the machine manufacturer defines the output mode as 'at the beginning of the
movement' or 'at the end of the movement', the NC transfers the auxiliary function
concerned as a normal auxiliary function to the PLC. If necessary, it waits for
acknowledgment at the beginning or at the end of the movement. If the machine
manufacturer defines the output mode as 'no output', the auxiliary function
concerned will not be transferred to the PLC.
If the acknowledgment mode is defined as 'at the beginning of the movement' or 'at
the end of the movement', the NC waits at the beginning or at the end, respectively,
of the movement for the acknowledgment from the function concerned. If, in
contrast, the machine manufacturer defines acknowledgment mode as 'later', the
NC transfers the auxiliary functions as rapid auxiliary functions to the PLC and
continues program execution without interruption. NOTE: The NC only transfers the
M and Q functions as rapid auxiliary functions if the user has programmed this
feature by a trailing 'Q' in the NC program.

• Up to 40 M functions with an output and acknowledgment mode that is different

to the global M function behavior can be defined in each process.
• The M functions ‘M0’, ‘M01’, ‘M02’, ‘M30’ cannot be entered. The NC always
outputs them at the end, and waits until the PLC acknowledges the functions
before it continues program execution.
• The NC always outputs the gear changing functions ‘Mj40’ through ‘Mj44’ (j ∈ {‘‘,
‘1’, ‘2’, ‘3’}) at the beginning of a block. If a multi-stage gear system exists, it
waits until the output M function has been acknowledged before it continues
program execution. Irrespectively of the selected mode, the NC always shows
this behavior if the M functions ‘Mj40’ through ‘Mj44’ are used for changing
gears. The NC only considers the output and acknowledgment mode of the M
functions ‘Mj40’ through ‘Mj44’ if these functions are not used for changing
gears.

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System Parameters

1.18 Global Q Function Mode

Name Global Q function mode

Number A00.088
Value range Output mode: at the end, at the beginning, no output
Acknowledgment mode: at the end, at the beginning, later
Default value Output mode: at the end
Acknowledgment mode: at the end
Unit -
From version 5.16
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The 'Global Q function mode' parameter defines the output behavior and the
acknowledgment behavior of all Q functions throughout the process.
Explanation The global Q function output mode can be set to 'at the beginning of the movement',
'at the end of the movement', or 'no output'. The global Q function acknowledgment
mode can be set to 'at the beginning of the movement', 'at the end of the
movement', or 'later'.
If the machine manufacturer defines the output mode as 'at the beginning of the
movement' or 'at the end of the movement', the NC transfers the auxiliary function
concerned as a normal auxiliary function to the PLC. If necessary, it waits for
acknowledgment at the beginning or at the end of the movement. If the machine
manufacturer defines the output mode as 'no output', the auxiliary function
concerned will not be transferred to the PLC.
If acknowledgment mode is defined as 'at the beginning of the movement' or 'at the
end of the movement', the NC waits at the beginning or at the end, respectively, of
the movement for the acknowledgment from the function concerned. If, in contrast,
the machine manufacturer defines acknowledgment mode as 'later', the NC
transfers the auxiliary functions as rapid auxiliary functions to the PLC and
continues program execution without interruption. NOTE: The NC only transfers the
M and Q functions as rapid auxiliary functions if the user has programmed this
feature by a trailing 'Q' in the NC program.

Up to 40 Q functions with an output and acknowledgment mode that is different to

the global Q function behavior can be defined in each process.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-33

MT-CNC

1.19 S Function Mode

Name S function mode

Number A00.089
Value range Output mode: at the end, at the beginning, no output
Acknowledgment mode: at the end, at the beginning, later
Default value Output mode: no output
Acknowledgment mode: later
Unit -
From version 5.16
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The 'S function mode' parameter defines the output behavior and the
acknowledgment behavior of all S functions throughout the process.

1.20 T/E Function Mode

Name T/E function mode

Number A00.090
Value range Output mode: at the end, at the beginning, no output
Acknowledgment mode: at the end, at the beginning, later
Default value Output mode: no output
Acknowledgment mode: later
Unit -
From version 5.16
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The 'T/E function mode' parameter defines the output behavior and the
acknowledgment behavior of all T and E functions throughout the process.

1.21 Tool Technology

Name Tool Technology

Number A00.091
Value range • Turning/milling
• Grinding
Default value Turning/milling
Unit -
From version 5.16
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The 'Tool technology' parameter enables grinding-related registers to be activated
inside the tool data set.

1-34 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

System Parameters

Explanation If the parameter is set to 'grinding', the NC reserves the first five user tool edge data
items for the 'grinding' technology. Within the tool screen, the user interface shows
this user tool edge data under the following names:
• minimum spindle speed S-min
• maximum spindle speed S-max
• max. grinding wheel peripheral speed SUG-max
• angle of skew Schrägwinkel
• assigned next edge Folgeschneide
The user interface also displays the grinding-related 'Tool code' data element in the
base tool data.

The first five user tool edge data items may not be employed by the user if the
'Tool technology' parameter has been set to 'grinding'.

1.22 Description of User Tool Edge Data 6 ... 10

Name Description of user tool edge data 6

Description of user tool edge data 7
Description of user tool edge data 8
Description of user tool edge data 9
Description of user tool edge data 10
Number A00.092 ... 096
Value range Any name of up to 13 characters.
The value range of the user tool edge data elements defined here depends on the
'Programmable decimal places for distances' process parameter as follows:
'Programmable decimal places for distances' Value range
process parameter (Bxx.002)
4 -9999.9999 through +9999.9999
5 -999.99999 through +999.99999

Default value -
Unit -
From version 5.16
Dependency Only appears if the 'Tool management' system parameter (A00.052) has been set
to 'Yes'.
Purpose The 'Description of user tool edge data 6 ... 10' parameter enables the machine
manufacturer to define additional data elements in the tool data set by specifying a
corresponding description.

In contrast to the user tool data 1 ... 9 and the user tool edge data 1 .. 5 (of the
REAL type with a 24-bit mantissa and an 8-bit exponent), numbers with up to 8
significant digits (32-bit values without exponent) may be stored in the user tool
edge data 6 ... 10 (of the DINT type with 32-bit values without exponent).

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 1-35

MT-CNC

1-36 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Process Parameters

2 Process Parameters

2.1 General

Task of the Basically, the process parameters describe:

process • the path motion,
parameters • the tool storage magazine,
• the default states,
• the auxiliary functions, and
• the specific functions of a process

Forms The forms on the following pages are used for defining the process parameters.
They should be completed for each process before commissioning is started.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-1

MT-CNC

2-2 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 1
Process parameters: Basic definitions of 5

Parameter Description min max Value Unit

Programmable
Bxx.002 decimal places 4 5
for distances
Displayed
Bxx.003 decimal places 0 4
for distances
Bxx.005 Maximum path 10.0 500 000.0 mm/min
velocity 1.00 50 000.00 inch/min
Bxx.006 Max. path velocity 0.1 100 000.0 mm/min
change 0.01 10 000.00 inch/min
Bxx.007 Maximum path 1 100 000 mm/s²
acceleration 0.1 10 000.0 inch/ s²
Max. number
Bxx.012 of offset tables 0 9

Reverse program
Bxx.032 execution required Yes No

Reference
Bxx.033 required Yes No

Acceleration
Bxx.034 time constant 0 1000 ms

Cartesian/polar
Bxx.035 coordinate Yes No
transformation
Manual axis jogging
Bxx.036 causes Yes No
reset

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 2
Process parameters: Tool management of 5

Parameter Description min max Value Unit

Tool.
Bxx.014 management Y No

Type of
Bxx.015 tool storage Magaz Turret.
.

Asynchronous
Bxx.044 turret Yes No
movement
Re-positioning
Bxx.045 tool storage at beginn. at end
axis
Endless rotating
Bxx.016 tool Y No
storage
Number of tool
Bxx.017 locations in tool 0 999
storage
Number of
Bxx.018 spindles with 0 4
tool
Number of
Bxx.019 grippers 0 4

Axis number of
Bxx.020 tool storage axis 0 20

Position 1
Bxx.021 (offset to the 0 n
reference)
Position 2
Bxx.022 (offset to the 0 n
reference)
Position 3
Bxx.023 (offset to the 0 n
reference)
Position 4
Bxx.024 (offset to the 0 n
reference)
Max. entry
Bxx.025 for 0 99999.9999 mm/inch
length wear
Max. entry
Bxx.026 for 0 9999.99999 mm/inch
radius wear

DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 3
Process parameters: Tool management of 5

Parameter Description min max Value Unit

Max. entry
Bxx.027 for 0 9999.99999 mm/inch
length offset
Max. entry
Bxx.028 for 0 9999.99999 mm/inch
radius offset
Activate
Bxx.043 tool correction at once next
activ.

Bxx.029 D corrections Yes No

Max. entry
Bxx.030 for length 0 9999.99999 mm/inch
D correction
Max. entry
Bxx.031 for radius 0 9999.99999 mm/inch
D correction
Re-position
Bxx.045 tool storage Yes No
axis

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 4
Process parameters: Default state of 5

Parameter Description min max Value Unit

Linear interpolation
Bxx.037 type default G00 G01

Default for radius/

Bxx.013 diameter G15 G16
programming
Default
Bxx.004 interpolation G17 G18 G19
plane
Tool length
Bxx.038 correction G47 G48 G49
default
Default
Bxx.039 zero offset G53 G54 G55 G56 G57 G58 G59

Default system of
Bxx.001 units for G70 G71
programming
Feed programming
Bxx.040 default G94 G95

Spindle feed
Bxx.041 programming G96 G97
default
Trigonometric
Bxx.042 arguments, RAD DEG
unit default
Rotary axes
Bxx.056 mode default G36 G37 G38

DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

MT-CNC Parameters

No. of parameter set: created: Date: Name:

Name of parameter set:
Name of section:

Sheet 5
Process parameters: Auxiliary functions of 5

Parameter Description Value Unit

Bxx.046 Deviating
M functions

Bxx.047 Deviating
Q functions

M functions
Bxx.048 of functional
group 5
M functions
Bxx.049 of functional
group 6
M functions
Bxx.050 of function
group 7
M functions
Bxx.051 of functional
group 8
M functions
Bxx.052 of functional
group 9
M functions
Bxx.053 of functional
group 10
M functions
Bxx.054 of functional
group 14
M functions
Bxx.055 of functional
group 15

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

Process Parameters

2.2 Default System of Units for Programming

Name Default system of units for programming

Number Bxx.001
Value range • G70 metric system [mm]
• G71 imperial system [inch]
Default value G71
Unit -
From version ≤ 4.10
Dependency -
Purpose The 'Default system of units for programming' parameter defines the units of the
entire process including G code group 8 (units). The NC employs the unit selected
here to interpret all distances of the process, such as
• the distance and velocity values in the NC program
• the zero offsets
• the tool offsets
• the target geometry data of the setup list
• the D corrections
• the variables (if they are used instead of a distance or a velocity value)

We recommend the following procedure to be used for machines that must be

commissioned in the metric system (units for programming = mm), and will be
used at the customer's site in the imperial system (units for programming = inch):
• Save the current data in the PC (tools list, D corrections, zero offsets, machine
data, variables).
• Change the units for programming and load them into the controller.
• Has an NC program been created under 'units for programming = mm', enter
'G71' at the beginning of the program and load it into the controller.
• Load the saved data into the controller (conversion is done automatically).
• Convert and edit variables that are used instead of a distance or velocity value,
and load them into the controller.

Explanation The selected unit for programming is active after the controller has been switched
on.
Inside an NC program, ‘G70’ or ‘G71’ may be used for toggling between units. The
NC converts all
• coordinate values,
• interpolation parameters,
• velocity values,
• programmable shifts (G50, G51 and G52; not G54 through G59), and
• variables that are used instead of a distance or velocity value
into the selected unit for programming.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-9

MT-CNC

2.3 Programmable Decimal Places for Distances

Name Programmable decimal places for distances

Number Bxx.002
Value range 4/5
Default value 4
Unit -
From version ≤ 4.10
Dependency -
Purpose The parameter 'Programmable decimal places for distances' defines the number of
fractional part digits and, consequently, the resolution that is used by the controller
for internally processing all distances.
Programmable decimal places for distances Resolution
4 0.0001
5 0.00001

Distances All dimensions that have the units 'mm' or 'inch' assigned are interpreted as
distances. This includes:
• coordinate values, interpolation parameters, velocity values, and programmable
shifts in the NC program;
• zero shifts,
• tool corrections,
• D corrections,
• variables (if they are used instead of a distance or velocity value)
The number of programmable integer part and fractional part digits in
• velocity programming (G94)
• feed per revolution (G95) and
• tapping (G63, G64, G65)
also depend on the 'Programmable decimal places for distances' parameter.
Process parameter
G code Format
‘Programmable
decimal places for Integer part Fractional part
No. Name
distances' digits digits
G94 Velocity 4 6 1
programming 5 5 2
G95 Feed per 4 4 4
revolution 5 3 5
G63 4 4 4
G64 Tapping 5 3 5
G65

Jog distances The parameter is also used for defining the jog distances in incremental jogging.
The table below shows the jog distances as a function of the PLC control signals
and the 'Programmable decimal places for distances' parameter.

2-10 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97• Parameter Description •

Process Parameters

Jog mode Control signals from PLC Jog distances Unit

prog. decimal prog. decimal
PxxCIOGM1 PxxCIOGM2 PxxCIOGM3 Linear axis Rotary axis Spindle
places = 4 places = 5
continuous 0 0 0 any any mm or units degrees
1 ru 0 0 1 0.0001 0.00001 inch units degrees
10 ru 0 1 0 0.001 0.0001 mm or units degrees
100 ru 0 1 1 0.01 0.001 inch units degrees
1000 ru 1 0 0 0.1 0.01 mm or units degrees
10 000 ru 1 0 1 1 0.1 inch units degrees
100 000 ru 1 1 0 10 1 mm or units degrees
variable jog 1 1 1 any any inch units degrees
distance mm or
inch
mm or
inch
mm or
inch
mm or
inch
ru: resolution unit

Changing the 'Programmable decimal places for distances' parameter in the

current parameter set changes the distances of NC programs, setup lists, tools
lists in the controller, D corrections, zero shifts, and machine data. This data must
be loaded again after such a procedure.

2.4 Displayed Decimal Places for Distances

Name Displayed decimal places for distances

Number Bxx.003
Value range 0 ... 4
Default value 3
Unit -
From version ≤ 4.10
Dependency -
Purpose This parameter specifies the number of fractional part digits that are used for displaying
distances (positions, tool data,...) on the screen of the MT-CNC user interface and on
the station operator terminal (SOT).

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-11

MT-CNC

2.5 Default Interpolation Plane

Name Default interpolation plane

Number Bxx.004
Value range • G17 XY plane
• G18 ZX plane
• G19 YZ plane
Default value G17
Unit -
From version ≤ 4.10
Dependency -
Purpose The 'Default interpolation plane' parameter defines the default state of G code group
2 (plane selection).
Explanation If axes of the process that are arranged in a cartesian coordinate system have the
meanings ‘X’, ‘Y’, ’Z’ allocated (see Cxx.053), the selection made here defines the
working plane that is active when the machine is switched on. The CNC employs
this plane to perform circular interpolation and tool radius compensation. Tool length
compensation takes effect in the axis that is perpendicular to it (the tool axis).

Example: As tool and main spindle are on the Z plane (horizontal milling machine), the XY plane
must be selected as the default interpolation plane for the milling machine shown in the
example of Fig. 2-1.

Fig. 2-1 Possible machining planes of a milling machine

• This parameter is irrelevant if the process does not possess a cartesian coordinate
system with at least two linear primary axes.
• Free plane selection (G20) makes it possible to allocate the significance of a linear
primary axis to a secondary linear or rotary axis in an NC program.

2-12 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97• Parameter Description •

Process Parameters

2.6 Maximum Path Velocity

Name Maximum path velocity

Number Bxx.005
Value range 10 ... 500 000
Default value 100
Unit mm/min
From version ≤ 4.10
Dependency -
Purpose This parameter is used for delimiting the maximum path velocity of the axes.
It enables the machining expert to limit the path velocity to a process-related maximum
value and the machine designer to protect the mechanical components of the machine
against overstressing.

V
programmed path
velocity

maximum path velocity

maximum path acceleration

maximum path velocity

change w/o ramp

Fig. 2-2 Maximum path velocity

Path velocity Path velocity is the resulting feed velocity of all linear primary axis that participate in the
motion and of the rotary primary axes (provided an effective radius has been specified).
Path velocity in linear movements
Computation
F= X'² + Y'² + Z'² + (A' ∗ RX)² + (B' ∗ RY) + (C' ∗ RZ)²
X’: Axis velocity of the axis designated X
Y’: Axis velocity of the axis designated Y
Z’: Axis velocity of the axis designated Z
A’: Axis velocity of the axis designated A
B’: Axis velocity of the axis designated B
C’: Axis velocity of the axis designated C
RX: Effective distance (from the axis designated A) to the axis designated X
RY: Effective distance (from the axis designated B) to the axis designated Y
RZ: Effective distance (from the axis designated C) to the axis designated Z

Path velocity in circular movements

F = (r ∗ y' )² + (§ ' )²
r: Radius
y’: Angle of circular arc from start point to end point
§’: Axis velocity of the axis that is perpendicular to the axis plane:
G17: §’ = Z’
G18: §’ = Y’
G19: §’ = X’

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-13

MT-CNC

Programming In an NC program, the path velocity can be programmed directly with the F word.
Spindles and linear or rotary secondary axes (axes designated ‘U’, ‘V’, ‘W’) are not
taken into account when the path velocity is computed. The NC entrains secondary axes
that shall participate in the interpolation.

Rapid feed Rapid feed is performed at maximum path velocity if the participating axes tolerate it,
and if there has not been a velocity specified for 'G0' in a machining program.

The maximum path velocity should be less than the maximum design-related path
Tip: velocity, and should not be greater than the maximum machining velocity that is
necessary for a particular process.
If there are no limitations with respect to the maximum path velocity, the following
rule-of-thumb formula can be used for computing the path velocity:
F= X' max² + Y' max² + Z' max²
X’max: maximum axis velocity of the axis designated X
Y’max: maximum axis velocity of the axis designated Y
Z’max: maximum axis velocity of the axis designated Z

2.7 Maximum Path Velocity Change Without Ramp

Name Maximum path velocity change without ramp

Number Bxx.006
Value range 0.1 ... 100 000
Default value 23
Unit mm/min
From version ≤ 4.10
Dependency -
Purpose This parameter permits the resulting velocity change of the axes that participate in a
movement to be limited.
Explanation The MT-CNC only processes the 'Maximum path velocity change without ramp'
parameter if 'Interpolation with position lag' (G7) is active.
In these cases, this parameter limits the maximum path velocity to the specified
value. This may be used for avoiding bumps of axes in swiftly moving manipulators.
With very small sudden path velocity changes (e.g. 0.1 mm/min), machining is still
performed along the contour. The axes, however, will stop at each block transition.
Larger path velocity changes without ramp, in contrast, result in smoother block
transitions and in roundings at the block transitions.

In interpolation without position lag (G6), the MT-CNC does not specify sudden
velocity changes. At the beginning of a block, the MT-CNC accelerates the
programmed axes from velocity zero to the specified feed rate. At the end of the
block, it brakes the axes down to velocity zero.

2-14 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97• Parameter Description •

Process Parameters

Tip:
Determine the maximum path velocity change without ramp in the same way as
the maximum path velocity (see Bxx.005).

2.8 Maximum Path Acceleration

Name Maximum path acceleration

Number Bxx.007
Value range 1 ... 100 000
Default value 100
Unit mm/s²
From version ≤ 4.10
Dependency -
Purpose The 'Maximum path acceleration' parameter enables the path velocity change to be
limited.

Tip:
Determine the maximum path velocity change without ramp in the same way as
the maximum path velocity (see Bxx.005).

2.9 Maximum Number of Offset Tables

Name Maximum number of offset tables

Number Bxx.012
Value range 0...9
Default value 0
Unit -
From version ≤ 4.10
Dependency -
Purpose The 'Maximum number of offset tables' parameter defines the number of offset
tables that are available in a process.
Explanation In addition to the six datum shifts (G54 - G59) the standard provides for, this
function permits additional offsets to be provided and invoked from the NC program.
The offset table is selected in the NC program via a preceding letter 'O', followed by
a figure between 0 and 9.
Entering '2', for example, means that, in addition to the six datum shifts of offset
table '0', there will be two more offset tables available.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-15

MT-CNC

2.10 Default for Radius/Diameter Programming Tables

Name Default for radius/diameter programming

Number Bxx.013
Value range • G15 Radius programming
• G16 Diameter programming
Default value G15
Unit -
From version ≤ 4.10
Dependency -
Purpose The 'Default for radius/diameter programming' parameter defines the default state
of G code group 5 (radius/diameter programming).

• Radius/diameter programming refers to the first linear primary axis (axis

designated X)
• Toggling between diameter programming (G16) and radius programming
(G15) is possible at any time during operation.
• Usually, diameter programming is used for turning and grinding machines.

2.11 Tool Management

Name Tool management

Number Bxx.014
Value range Yes/No
Default value No
Unit -
From version ≤ 4.10
Dependency This parameter appears only if the 'Tool management' system parameter (A00.052)
has been set to 'Yes'.
If the machine manufacturer sets the 'Tool management' process parameter to 'Yes',
further process parameters (Bxx.015 ... Bxx.028) will appear that are used for adapting
tool management to the existing tool storage and tool changing system.
Purpose If the locations of the tools that are used for the process must be administered inside the
machine, if the tool compensation values must be updated independently of the
process, and if life count and wear rate of the tools must be monitored, tool
management performs these tasks for the process concerned.

2-16 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97• Parameter Description •

Process Parameters

2.12 Type of Tool Storage

Name Type of tool storage

Number Bxx.015
Value range Magazine/turret
Default value Magazine
Unit -
From version ≤ 4.10
Dependency Appears only if the 'Tool management' system parameter (A00.052) and the 'Tool
management' process parameter (Bxx.014) have been set to 'Yes'.
Purpose The 'Type of tool storage' parameter defines whether a magazine or a turret is used
as the tool storage system.

Magazine Turret
A magazine requires a physical and a In a turret, the tools remain at their
logical tool transfer between the existing tool locations. For machining, solely the turret
spindles and the magazine (sometimes rotates to take the tools to their working
even via a gripper). position.

• This parameter is not considered if only one or more spindles are used, neither
a magazine nor a turret.
• Please refer to Chapter 4 'Setting Tool Storage Parameters' for details about
setting the parameters of a tool storage system.

2.13 Endless Rotating Tool Storage

Name Endless rotating tool storage

Number Bxx.016
Value range Yes/No
Default value Yes
Unit -
From version ≤ 4.10
Dependency Appears only if the 'Tool management' system parameter (A00.052) and the 'Tool
management' process parameter (Bxx.014) have been set to 'Yes'.
Purpose The machine manufacturer employs this parameter to define whether or not tool
management will be allowed to approach the tool storage locations from any direction.
Explanation Endless rotating tool storage systems include turrets and magazines if the last
location is followed by the first location at the same distance that exists between the
other locations.
If endless rotation is not possible due to the existing mechanical structure, this
process parameter is employed to indicate it.
Linear magazines and semi-disk magazines are typical tool storage systems that
are not endless turning.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-17

MT-CNC

2.14 Number 'n' of Tool Locations in Tool Storage

Name Number 'n' of tool locations in tool storage

Number Bxx.017
Value range 0 ...999
Default value 0
Unit -
From version ≤ 4.10
Dependency Appears only if the 'Tool management' system parameter (A00.052) and the 'Tool
management' process parameter (Bxx.014) have been set to 'Yes'.
Purpose The 'Number 'n' of tool locations in tool storage' parameter specifies the number of
locations in the existing tool storage system.

• The number of tool storage locations need only be specified if the process has
a tool storage system allocated.
In addition to the tools in the tool storage system, tool management permits
the administration of tools that are outside the tool storage system. For this
purpose, the tools list must be expanded using the 'Number 'n' of tool locations
in tool storage' parameter:
Number of tool storage locations = Tools in storage + external tools
In PLC- and NC-controlled tool storage systems, incorrect NC programming
must be compensated in the PLC. The PLC must issue an error message and
stop program execution immediately if, due to incorrect programming (calling
an external tool, for example), the NC transfers a location number (target
position ‘PxxSMGCP’) that goes beyond the number capacity of the tool
storage system.

2.15 Number of Spindles With Tool

Name Number of spindles with tool

Number Bxx.018
Value range 0 ... 4
Default value 0
Unit -
From version ≤ 4.10
Dependency Appears only if the 'Tool management' system parameter (A00.052) and the 'Tool
management' process parameter (Bxx.014) have been set to 'Yes'.
Purpose The 'Number of spindles with tool' process parameter informs tool management of
the number of tool spindles that are allocated to the process.
Explanation Tool spindles are locations that do not belong to the tool storage system, and
spindles that are equipped with tools either manually at the beginning of the
machining process or through tool transfer commands during machining. In proper
sense, tool spindles are used as locations into which tools are changed for
machining purposes.
During machining, only one tool per process and, consequently, one tool spindle
can be active for which tool management computes the tool compensation values,
and continually updates life count and wear rate. The SPT command is used in the
NC program for selecting the reference spindle for tool management.

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Process Parameters

Tool management creates internal data memories according to the specification

made here. The tool spindles entered here are considered in the interface to the
PLC and within the user interface.

• The number of tool spindles must not necessarily agree with the number of
spindles that physically exist.
• Driven tools in a turret count as turret locations, not as tool spindles.

2.16 Number of Grippers

Name Number of grippers

Number Bxx.019
Value range 0 ... 4
Default value 0
Unit -
From version ≤ 4.10
Dependency Appears only if the 'Tool management' system parameter (A00.052) and the 'Tool
management' process parameter (Bxx.014) have been set to 'Yes'.
Purpose The 'Number of grippers' process parameter notifies tool management of the
number of tool grippers that are allocated to the process.
Explanation The number of grippers must only be specified if the process has grippers allocated
that perform the necessary tool transfer between the associated magazine and the
associated spindles.
Tool management creates internal data memories according to the value specified
here. The tool grippers entered here are considered in the interface to the PLC and
within the user interface.

2.17 Axis Number of Tool Storage Axis

Name Axis number of the tool storage axis

Number Bxx.020
Value range 0 ... 20
Default value 0
Unit -
From version ≤ 4.10
Dependency Appears only if the 'Tool management' system parameter (A00.052) and the 'Tool
management' process parameter (Bxx.014) have been set to 'Yes'.
Purpose The 'Axis number of the tool storage axis' parameter specifies the axis number of
the tool storage axis.
Explanation An axis number need only be entered if the process has a tool storage system
allocated which is moved by the MT-CNC via a servo drive.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-19

MT-CNC

The axis number that has been entered for the tool storage axis in the system
parameters must also be entered here as the axis number.

'0' must be entered here if the process does not possess a tool storage unit or if
the tool storage system is controlled by the PLC.

2.18 Position 1 ... 4 (Offset 1 ... 4 to the Reference)

Name Position 1 ... 4 (offset 1 ... 4 to the reference)

Number Bxx.021 ... Bxx.024
Value range 0 ... n (number of tool storage locations - see Bxx.017)
Default value 0
Unit -
From version ≤ 4.10
Dependency Appears only if the 'Tool management' system parameter (A00.052) and the 'Tool
management' process parameter (Bxx.014) have been set to 'Yes'.
Purpose The 'Position 1 ... 4 (offset 1 ... 4 to the reference)' process parameters enable the
machine manufacturer to define up to four locations for each tool storage unit
(magazine or turret) that may be used either as tool change positions or as loading
positions.
Explanation The positions are specified as a position offset that is relative to a stationary reference.
The reference is the physical position that will be occupied by location '1' of the tool
storage unit after homing (MHP) has been completed.
Like the reference, the positions are stationary. Its offsets with respect to the reference
are counted in the direction of ascending location numbers.

The valid range of the position offsets is:

1 ≤ Position ≤ Number of tool storage locations

• With a PLC-controlled tool storage unit, the PLC tool management specifies the
target positions with respect to the reference. With 'non-endless rotating tool
storage units', tool management generates negative location numbers, too.
• The location in the current tools list that is at one of the positions 1 ... 4 is marked
with the corresponding position number.
• An entry '0' for position 1 means that the position and the reference sit on the
same point.
• An entry '0' for a position between 2 and 4 means that the position is not
considered (does not exist).
• Merely the highest position number is displayed if the same offset values are
entered for different positions.

Examples: 1) Endless rotating chain-type magazine

Position 1 (Offset to the reference): 1
Position 2 (Offset to the reference): 3
Position 3 (Offset to the reference): 4
Position 4 (Offset to the reference): 7

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Process Parameters

Reference
POS 1 POS 2
Position 1

POS 3

POS 4

Reference
POS 1 POS 2
Position 2

3 POS 3

POS 4

Fig. 2-3 Endless rotating chain-type magazine

In the upper drawing (Position 1), ‘MHP’ has been used for homing the magazine.
Location '1' is at the reference.
In the lower drawing (Position 2), ‘T1 MMP(4)’ for moving location '1' to POS 4.
Location 4 lies at the reference.
2) Non-endless rotating linear magazine
Position 1 (offset to the reference): 1
Position 2 (offset to the reference): 2
Position 3 (offset to the reference): 3
Position 4 (offset to the reference): 0

Reference
POS 1 POS 2 POS 3

Position 1 1 2 3 4 5

1 2 3 4 5 Position 2

Position 3
-2 -1 0 1 2 3 4 5

Fig. 2-4 Non-endless rotating linear magazine

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-21

MT-CNC

In the upper drawing (Position 1), the linear magazine is on its home position. Location
'1' sits at the reference.
In the middle drawing (Position 2), location '5' has been brought to POS 1. Location '4'
sits at the reference.
In the bottom drawing (Position 3), location '1' has been brought to POS 3. At least
theoretically, location '-2' sits at the reference.

2.19 Maximum Entry for Length/Radius Wear and Offset

Name Maximum entry for length wear

Maximum entry for radius wear
Maximum entry for length offset
Maximum entry for radius offset
Number Bxx.025 ... Bxx.028
Value range 0 ... 9999.99999
Default value 0.1
Unit -
From version ≤ 4.10
Dependency Appears only if the 'Tool management' system parameter (A00.052) and the 'Tool
management' process parameter (Bxx.014) have been set to 'Yes'.
Purpose The parameters
• maximum entry for length wear,
• maximum entry for radius wear,
• maximum entry for length offset, and
• maximum entry for radius offset
delimit the input values of wear and offset for tool length and tool radius.
Explanation In the tools list, the user interface checks each input for length and radius wear and
each input for length and radius offset against these parameter values. The user
interface generates an error message if length wear (L1, L2, L3), radius wear (R),
length offset (L1, L2, L3), or radius offset (R) exceed the above-mentioned values.

Wear L1 ≤ max. value entered for length wear

Wear L2 ≤ max. value entered for length wear
Wear L3 ≤ max. value entered for length wear
Wear R ≤ max. value entered for radius wear

Offset L1 ≤ max. value entered for length offset

Offset L2 ≤ max. value entered for length offset
Offset L3 ≤ max. value entered for length offset
Offset R ≤ max. value entered for radius offset

2-22 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97• Parameter Description •

Process Parameters

2.20 D Corrections

Name D corrections
Number Bxx.029
Value range Yes / No
Default value No
Unit -
From version ≤ 5.15
Dependency -
Purpose Besides tool corrections and zero shifts, D corrections are used for additional
compensation. They enable machine-related deviations and deficiencies or
machining-related dimensional deviations to be compensated.
Examples: Machining-related deviations:
• Dimensional deviations between specific machining processes (e.g. boring)
• Dimensional deviations of specific machining processes (e.g. turning a fit)
Machine-related deviations:
• load-dependent deflections
• wear-related deviations
Tool-related deviations:
• tool magazines into which different tools are changed
• additional tool tip compensation
• additive correction to an existing tool tip
Explanation The D corrections 'D01' through 'D99' are composed of the length compensation
values ‘L1’, ‘L2’, ‘L3’ and the radius compensation value 'R'. Together with the tool
compensation values, they only have an effect inside the cartesian coordinate system
that is made up of the axes designated ‘X’, ‘Y’ and ‘Z’. ‘L1’ works in the 1st axis that
opens the working plane; ‘L2’ works in the second and 'L3' in the axis that is
perpendicular to the machining plane. 'R' is active within the working plane.
As soon as ‘G48’ or ‘G49’ is active, the NC takes all length compensations of a
selected D correction into account. Likewise, the related radius compensation value
'R' is considered if ‘G41’ or ‘G42’ is active. 'D00' is default state and de-selects an
active D correction.
G17 /G20 G18 G19
Y Y Y
R

L2 L3 L1
R
L3 L2
L1
L1 X L2 X L3 X

Z Z Z

Fig. 2-5 Effect of tool compensation and of the D corrections ‘L1’, ‘L2’, ‘L3’ and ‘R’ as a function of the
selected machining plane

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-23

MT-CNC

Calculating the In length and tool radius path compensation, the MT-CNC takes the geometry, wear
compensation and offset registers of the active tool tip and the active D corrections into account as
values follows:

Length compensation L1 = length L1 + wear L1 + offset L1 + D correction L1

Length compensation L2 = length L2 + wear L2 + offset L2 + D correction L2
Length compensation L3 = length L3 + wear L3 + offset L3 + D correction L3
Radius compensation R = radius R + wear R + offset R + D correction R

If the machine manufacturer sets the 'D corrections' parameter to 'Yes', the user
interface displays the two parameters 'Maximum entry for length D correction'
(Bxx.030) and 'Maximum entry for radius D correction' (Bxx.031).

2.21 Maximum Entry for Length/Radius D correction

Name Maximum entry for length D correction

Maximum entry for radius D correction
Number Bxx.030
Bxx.031
Value range 0 ... 9999.99999
Default value 0.1
Unit mm
From version ≤ 5.15
Dependency Appears only if the 'D corrections' process parameter (Bxx.029) has been set to
'Yes'.
Purpose The process parameters:
• maximum entry for length D correction
• maximum entry for radius D correction
delimit the input of D corrections.
Explanation In the D correction table, the user interface checks each length input (L1, L2 and
L3) and radius input (R) against the 'Maximum entry for length D correction' and/or
the 'Maximum entry for radius D correction' parameter. The user interface
generates an error message if one of the length D corrections (L1, L2, L3) or the
radius D correction exceeds the above-mentioned values.

D correction L1 ≤ maximum entry for length D correction

D correction L2 ≤ maximum entry for length D correction
D correction L3 ≤ maximum entry for length D correction
D correction R ≤ maximum entry for radius D correction

2-24 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97• Parameter Description •

Process Parameters

2.22 Reverse Program Execution Required

Name Reverse program execution required

Number Bxx.032
Value range Yes / No
Default value Yes
Unit -
From version 4.11
Dependency -
Purpose If this parameter is set to 'Yes', the NC only permits a forward program to be started if
home exists for the process concerned. If the machine manufacturer sets the
parameter to 'No', the NC permits the forward program to be started in any situation.
If, in addition, the 'Reference required' parameter (see Bxx.034) is set to 'Yes', merely
a reference point return of the NC axes is required.
Explanation Home (and thus ready to start) exists if all NC axes of the process possess
reference and a HOME program or a forward program has completely been
executed.
The NC resets home when a (forward or reverse) program is started or an NC axis
is jogged. It only sets home if reference exists and a program has completely been
executed.

• The functions:
− manual scratching (moving the tool back to the contour after a program
interruption caused by jogging);
− sequence search, or
− re-positioning or NC block restart
require this parameter to be set to 'No'.
• In transfer applications in which the user employs axis jogging only as an
exception and does not need the above-mentioned functions, this parameter,
in conjunction with the process control commands, prevents machining of
scrap part to be repeated, and forces homing or tool recovery to be performed.
Thus, the risk of interferences and the resulting hazard to men, machine, tools
and workpiece can be reduced to a minimum
• The NC employs the 'Ready to start' state (PxxSREADY) interface signal to
inform the PLC of the 'home' or 'ready to start' state.
• The NC does not take PLC-controlled tool storage units into account when it
determines the 'home' state. This means that the NC does not reset the
'Ready to start' signal, and permits a program to be started if a PLC-controlled
tool storage is jogged after a program has been executed.

Tip:
The 'Reverse program execution required' parameter and the 'Manual axis
jogging causes reset' (Bxx.036) parameter should both be set to either 'Yes' or
'No'.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-25

MT-CNC

2.23 Reference Required

Name Reference required

Number Bxx.033
Value range Yes / No
Default value Yes
Unit -
From version 4.11
Dependency -
Purpose If the machine manufacturer has set this parameter to 'Yes', a forward program can only
be started if all NC axes of the process concerned possess a reference.
If the machine manufacturer has set this parameter to 'No', reference point return (with
G74 in program mode or by actuating the 'Axis reference point return' interface signal in
manual mode) is not necessary.

• Usually, the 'Reference point return required' parameter is set to 'No' only in
test mode without drives.
• In normal mode (no test mode), the 'Reference point return required'
parameter must be set to 'Yes'.

This parameter must also be set to 'Yes' if absolute position transducers are
used. In particular, this is necessary for diagnostic reasons in order to be able to
detect a defective absolute position transducer, for example. Reference point
return is not necessary for NC axes with absolute position transducers.

2.24 Acceleration Time Constant

Name Acceleration time constant

Number Bxx.034
Value range 0 ... 1000
Default value 0
Unit ms
From version 4.11
Dependency -
Purpose The 'Acceleration time constant' parameter specifies the time the NC takes to build
up or decay the acceleration.

2-26 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97• Parameter Description •

Process Parameters

Acceleration tB tB tB tB

Time

Velocity

Time

tB: Acceleration time constant

Fig. 2-6 Effect of the 'Acceleration time constant'

The NC considers this parameter (in the ‘G00’, ‘G01’, ‘G02’, ‘G03’, ‘G64’, ‘G65’
interpolations and in jogging) for all axes of a process which it processes in
position feedback control mode.

2.25 Cartesian-Polar Coordinate Transformation

Name Cartesian-polar coordinate transformation

Number Bxx.035
Value range Yes / No
Default value No
Unit -
From version 4.13
Dependency -
Purpose The end user can only utilize the transformation for facing (G31) if the machine
manufacturer has set this parameter to 'Yes'.
Explanation Facing turned parts on turning or grinding machines is the main application of
'Transformation of cartesian coordinates into polar coordinates'. Here, programming
employs fictitious cartesian coordinates, while machining uses the real axes (axes
designated ‘X’, and ‘C’, ‘A’, or ‘B’). (See function description 'Transformation function').

Proper functioning of the transformation function requires all axes that are involved in
the transformation to be on an axis processor module 04 (cf. 'Axis type' system
parameters A00.032 ... A00.051)

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-27

MT-CNC

2.26 Manual Axis Jogging Causes Reset

Name Manual axis jogging causes reset

Number Bxx.036
Value range Yes / No
Default value Yes
Unit -
From version 5.14
Dependency -
Purpose If the machine manufacturer has set this parameter to 'Yes', the NC performs a reset
when the first manual jogging of an axis takes place. It resets all functions, in particular
the G codes and the current block number.
If the parameter has been set to 'No', the NC does not perform a reset upon the first
manual jogging of an axis.

The functions:
− manual scratching (moving the tool back to the contour after a program
interruption caused by jogging);
− sequence search, or
− re-positioning and NC block restart
require this parameter to be set to 'No'.

Tip:
The 'Reverse program execution required' (Bxx.032) parameter and the 'Manual
axis jogging causes reset' (Bxx.036) parameter should both be set to either 'Yes'
or 'No'.

2.27 Linear Interpolation Type Default

Name Linear interpolation type default

Number Bxx.037
Value range • G00 Linear interpolation rapid traverse
• G01 Linear interpolation feed
Default value G01
Unit -
From version 5.14
Dependency -
Purpose The 'Linear interpolation type default' parameter defines the default state of G code
group 1 (interpolation functions).

2-28 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97• Parameter Description •

Process Parameters

2.28 Tool Length Correction Default

Name Tool length correction default

Number Bxx.038
Value range • G47 No tool length correction
• G48 Positive tool length correction
• G49 Negative tool length correction
Default value G47
Unit -
From version 5.14
Dependency -
Purpose The 'Tool length correction default' parameter defines the default state of G code
group 13 (tool length compensation).

2.29 Default Zero Offset

Name Default zero offset

Number Bxx.039
Value range • G53 Cancels zero offsets
• G54 ... G59 Selectable zero offsets
Default value G53
Unit -
From version 5.14
Dependency -
Purpose The 'Default zero offset' parameter defines the default state of G code group 4 (zero
offsets).

Work offset memory '0' is always active in the default state.

2.30 Feed Programming Default

Name Feed programming default

Number Bxx.040
Value range • G94 Velocity programming
• G95 Feed per revolution
Default value G94
Unit -
From version 5.14
Dependency -
Purpose The 'Feed programming default' parameter defines the default state of G code
group 7 (feed programming).

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-29

MT-CNC

2.31 Spindle Speed Programming Default

Name Spindle speed programming default

Number Bxx.041
Value range • G96 Constant cutting speed
• G97 Spindle speed in 1/min
Default value G97
Unit -
From version 5.14
Dependency -
Purpose The 'Spindle speed programming default' parameter defines the default state of G
code group 8 (spindle speed programming).

2.32 Trigonometric Arguments, Unit Default

Name Trigonometric arguments, unit default

Number Bxx.042
Value range • RAD Unit 'radiant'
• DEG Unit 'degree'
Default value RAD
Unit -
From version 5.14
Dependency -
Purpose The 'Trigonometric arguments, unit default' parameter defines the default state unit
that is used for all angle specifications (except zero distortions that are always
specified in degrees).

The ‘RAD’ and ‘DEG’ commands can be used during NC program operation for
toggling the units.

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Process Parameters

2.33 Activate Tool Correction

Name Activate tool correction

Number Bxx.043
Value range Immediately after stop / next activation / next block possible
Default value Immediately after stop
Unit -
From version 5.14
Dependency Appears only if the 'Tool management' system parameter (A00.052) and the 'Tool
management' process parameter (Bxx.014) have been set to 'Yes'.
Purpose Depending on the value of the parameter, the NC considers the compensation values of
an active tool as follows:
1. Validity of tool compensation = immediately after stop
The tool data can only be modified when stop is pending or after the tool has
been de-activated (deselection via E0 and T0 with tool turrets; or via E0 and T0
in conjunction with the tool changing program with tool magazines). Upon a
restart or after the tool has been activated again, the new compensation value
becomes effective during the next axis movement in the corresponding direction.
2. Validity of tool compensation = next activation
The tool data may be modified at any time. After the next activation of the tool,
the modified compensation data becomes effective upon the first movement of
the axis in the corresponding direction. The old compensation values are
retained until the tool is de-activated.
3. Validity of tool compensation = next block possible
The tool data may be modified at any time. The modified compensation values
are effective in the next block that is loaded into the preparation memory and
contains an axis movement into the corresponding direction.

2.34 Asynchronous Turret Movement

Name Asynchronous turret movement

Number Bxx.044
Value range Yes / No
Default value No
Unit -
From version 5.15
Dependency The user interface only displays the 'Activate tool correction for turret' process
parameter if the following parameters have been set to the following values:
• A00.052 Tool management = Yes
• Bxx.014 Tool management = Yes
• Bxx.015 Type of tool storage = Turret
Purpose This parameter enables NC- and PLC-controlled tool turrets to be used asynchronously
(like a magazine). The necessary movements can be initiated by the NC commands
‘MFP’, ‘MTP’, ‘MOP’, ‘MMP’, ‘MHP’ or ‘MRF’. The NC continues program execution while
the turret is swiveling.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-31

MT-CNC

The MRY command can be used to achieve synchronization between NC program

execution and the end of the turret swiveling movement. If the machine manufacturer
sets this parameter to 'No', the NC waits with program execution until the corresponding
tool storage command has been executed.

• Due to the dual function (spindle and turret axis), asynchronous turret
movements are not possible for 'combined spindle/turret axes'.
• The NC only considers this parameter where a tool turret is concerned
(Bxx.015: tool storage type = turret). The NC always moves tool magazines
asynchronously to program execution.
• If the machine manufacturer has set the 'Asynchronous turret movement'
parameter to 'Yes', activating the 'Synchronous turret movement' standard
function (REV_SYNC) from the PLC permits the swivel movement to be
synchronized with block execution if necessary.

2.35 Re-position Tool Storage Axis

Name Re-position tool storage axis

Number Bxx.045
Value range Yes / No
Default value No
Unit -
From version 5.15
Dependency -
Purpose This parameter enables the machine manufacturer to define whether or not the tool
storage axis must be adjusted upon re-positioning or NC block restart.
Explanation Irrespective of the tool storage being controlled by an NC or a PLC, setting the
parameter to 'Yes' causes the NC to consider the tool storage axis when the common
signal 'State before interruption restored' (PxxSREST) is generated.
'No' causes the NC not to consider the tool storage axis in re-positioning or NC block
restart.

With NC-controlled tool storage axes, the 'Window for re-positioning and NC
block restart' (Cxx.086) remains without effect.

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Process Parameters

2.36 Deviating M Functions / Deviating Q Functions

Name Deviating M functions

Deviating Q functions
Number Bxx.046
Bxx.047
Value range Output behavior: at the end, at the beginning, no output
Acknowledgment behavior: at the end, at the beginning, later
Default value Output behavior: at the end
Acknowledgment behavior: at the end
Unit -
From version 5.16
Dependency -
Purpose For each process, this parameter permits up to 40 M functions and 40 Q functions
to be defined whose output and acknowledgment behavior differs from the global
function behavior.

2.37 M Function Groups

Name M functions of functional group 5

.
.
M function of functional group 10
M function of functional group 14
M function of functional group 15
Number Bxx.048
.
.
Bxx.053
Bxx.054
Bxx.055
Value range 3 ... 999
Default value M function of functional group 5 7, 8, 9, 107, 108, 109
M function of functional group 6 207, 208, 209
M function of functional group 7 307, 308, 309
M function of functional group 8 10, 11, 110, 111
M function of functional group 9 210, 211
M function of functional group 10 310, 311
M function of functional group 14 46, 47
M function of functional group 15 48, 49
Unit -
From version 5.16
Dependency -
Purpose This parameter enables the machine manufacturer to define the M functions that
are allocated to the groups 5 ... 10 and 14 ... 15.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-33

MT-CNC

• A group can contain up to 12 M functions.

• An M function that belongs to the program control, spindle control or gear shift
commands may not be allocated to groups 5 through 10, 14 or 15.
• Multiple entries are not permitted.

Each NC block from each M function group may only contain one single M
function. This also applies to M function group 16 to which all M functions that are
not allocated to a group belong automatically.

2.38 Rotary Axes Mode Default

Name Rotary axes mode default

Number Bxx.056
Value range • G36: shortest way (with modulo calculation)
• G37: positive direction (with modulo calculation)
• G38: negative direction (with modulo calculation)
Default value G36
Unit -
From version 5.16
Dependency -
Purpose The parameter enables the default mode of the rotary axes start-up logic to be
stored.
Explanation 1. G36: Shortest way (with modulo calculation)
• In absolute programming (G90), the NC performs a modulo calculation and takes
the shortest way to approach the target position.
• Example:

actual position = 20°

target position = 380°

2. G37: Positive direction (with modulo calculation)

• In absolute programming (G90), the NC performs a modulo calculation and
approaches the target position in positive direction.
• Example:

actual position = 20°

target position = 380°

2-34 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97• Parameter Description •

Process Parameters

3. G38: Negative direction (with modulo calculation)

• In absolute programming (G90), the NC performs a modulo calculation and
approaches the target position in negative direction.
• Example:

actual position = 20°

target position = 380°

Independently of the selected rotary axes start-up logic, the NC moves the rotary
axis in incremental programming (G91) like a rolled-up linear axis without
performing modulo calculation for the target value.

2.39 Activate Tool Correction for Turret

Name Activating tool correction for turret

Number Bxx.057
Value range • At the end of the swivel movement
• At the beginning of the swivel movement
Default value At the end of the swivel movement
Unit -
From version 5.16
Dependency The user interface only displays the 'Activate tool correction for turret' process
parameter if the following parameters have been set to the following values:
• A00.052 Tool management = Yes
• Bxx.014 Tool management = Yes
• Bxx.015 Tool storage type = Turret
Purpose With NC- and PLC-controlled turrets that swivel asynchronously to NC program
execution (process parameter Bxx.044 'Asynchronous turret movement' = 'Yes', and
the related ‘REV_SYNC’ standard function is inactive), this parameter permits tool
compensation to be activated either at the beginning of the swivel movement (with
the first movement of the axis following a tool storage movement command ‘MTP’ or
‘MMP’) or at the end of the swivel movement (with the first movement of the axis
following 'MRY').

Due to the swivel movement of the tool axis that is synchronous with NC program
execution, this function remains without effect for combined spindle/turret axes
(dual function spindle and tool axis).

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 2-35

MT-CNC

2-36 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97• Parameter Description •

Axis Parameters

3 Axis Parameters

3.1 General

Digital axes In conjunction with digital drives that are equipped with a SERCOS interface, the
MT-CNC supports the following axis types:
• digital linear axes,
• digital rotary axes,
• digital primary spindles,
• digital primary spindles with rotary axis capability
• combined spindle/turret axes.

Different feedback and interface types are available for the digital drives with
SERCOS interface. The types depend on
• the location of position measurement (on the moved machine element/on the
drive);
• the method of position measurement (absolute/relative actual value
measurement); and
• the signal shape (~ / )

Please refer to the documents supplied with the digital drives for further information.
Analog axes In conjunction with analog drives, the MT-CNC supports the following axis types:
• analog linear axes,
• analog rotary axes, and
• analog primary spindles.

When analog drives are used, the MT-CNC d o e s n o t support the functions
∗ gear changes,
∗ C axis mode,
∗ primary spindle synchronization,
∗ transformation for face milling, and
∗ transformation for cylinder surface machining

Forms The forms on the following pages are used for defining the individual axis
parameters. They should be completed for the individual axes before
commissioning is started.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-1

MT-CNC

3-2 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 1
Axis parameters: Digital linear axes of 2

Parameter no. Description min max Value Unit

Cxx.000 Associated process(es) 0 6
Cxx.001 Axis designation 1 X, Y, Z, U, V, W, A, B, C with or w/o index 1, 2, 3

Cxx.075 Axis designation 2 X, Y, Z, U, V, W, A, B, C with or w/o index 1, 2, 3

Cxx.053 Axis defined as (axis functional.) X, Y, Z, U, V, W, A, B, C

Cxx.011 Positive software -100 000.000 0 100 000.000 0 mm

travel limit -10 000.000 00 10 000.000 00 inch
Cxx.012 Negative software -100 000.000 0 100 000.000 0 mm
travel limit -10 000.000 00 10 000.000 00 inch
Cxx.016 Max. feedrate 10.0 500 000.0 mm/min
1.00 50 000.00 inch/min
Cxx.017 Max. feedrate change 0.1 100 000.0 mm/min
w/o ramp 0.01 10 000.00 inch/min
Cxx.018 Max. acceleration rate 1 100 000 mm/sec²
0.1 10 000.0 inch/sec²
Cxx.020 Jogging speed 10.0 100 000.0 mm/min
1.00 10 000.00 inch/min
Cxx.021 Jogging speed - rapid 10.0 100 000.0 mm/min
1.00 10 000.00 inch/min
Cxx.022 Parametric 0.000 1 10 000.000 0 mm
jogging distance 0.000 01 1 000.000 00 inch
Cxx.023 In-position 0.000 0 10.000 0 mm
window 0.000 00 1.000 00 inch
Cxx.025 Waypoint 0 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.026 Waypoint 1 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.027 Waypoint 2 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.028 Waypoint 3 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.029 Waypoint 4 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.030 Waypoint 5 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.031 Waypoint 6 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.032 Waypoint 7 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.032 Waypoint 7 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 2
Axis parameters: Digital linear axes of 2

Parameter no. Description min max Value Unit

Cxx.044 Reduced torque at positive stop 0 100 %
Cxx.045 Max. feed to positive stop 10.0 500 000.0 mm/min
1.00 50 000.00 inch/min
Cxx.060 Position feedback locat. (dig. drives) motor sensor external sensor
Cxx.076 Direction f. polar coord. transform. 0 1
Cxx.077 Axis droop compensation Yes No

Cxx.078 Number of associated axis 0 20

Cxx.079 Number of droop compensat. pts. 0 500
Cxx.080 Distance betw. droop compens. pts. 0
Cxx.081 Start pos. of droop comp. -100 000.000 0 100 000.000 0 mm
inch
Cxx.082 Unit of droop compensation values mm inch

Cxx.083 List of droop comp. value -9.9999 9.9999 List

Cxx.085 S/w travel limits immed. active Yes No

Cxx.086 Window for re-positioning 0.000 1 20000 mm

and NC block restart inch

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 1
Axis parameters: Digital rotary axes of 1

Parameter no. Description min max Value Unit

Cxx.000 Associated process(es) 0 6
Cxx.001 Axis designation 1 X, Y, Z, U, V, W, A, B, C with or w/o index 1, 2, 3

Cxx.075 Axis designation 2 X, Y, Z, U, V, W, A, B, C with or w/o index 1, 2, 3

Cxx.053 Axis defined as (axis functional.) X, Y, Z, U, V, W, A, B, C

Cxx.006 Ball screw lead 0.010 0 1 000 000 units
Cxx.011 Pos. s/w travel limit -100 000.000 0 100 000.000 0 units
Cxx.012 Neg. s/w travel limit -100 000.000 0 100 000.000 0 units
Cxx.016 Max. feedrate 10.0 500 000.0 units/min
Cxx.017 Max. feedrate change w/o ramp 0.1 100 000.0 units/min
Cxx.018 Max. acceleration rate 1 100 000 units/sec
²
Cxx.020 Jogging speed 10.0 100 000.0 units/min
Cxx.021 Jogging speed - rapid 10.0 100 000.0 units/min
Cxx.022 Parametric jog. dist. 0.000 1 10 000.000 0 units
Cxx.023 In-position window 0.000 0 10.000 0 units
Cxx.025 Waypoint 0 -100 000.000 0 100 000.000 0 units
Cxx.026 Waypoint 1 -100 000.000 0 100 000.000 0 units
Cxx.027 Waypoint 2 -100 000.000 0 100 000.000 0 units
Cxx.028 Waypoint 3 -100 000.000 0 100 000.000 0 units
Cxx.029 Waypoint 4 -100 000.000 0 100 000.000 0 units
Cxx.030 Waypoint 5 -100 000.000 0 100 000.000 0 units
Cxx.031 Waypoint 6 -100 000.000 0 100 000.000 0 units
Cxx.032 Waypoint 7 -100 000.000 0 100 000.000 0 units
Cxx.044 Reduced torque at positive stop 0 100 %
Cxx.045 Max. feed to positive stop 10.0 500 000.0 units
1.00 50 000.00 units
Cxx.060 Position feedback locat. (dig. drives) motor sensor external sensor
Cxx.076 Direction f. polar coord. transform. 0 1
Cxx.085 S/w travel limits immed. active Yes No

Cxx.086 Window for re-positioning 0.000 1 20000 units

and NC block restart

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 1
Axis parameters: Digital primary spindles of 1

Parameter no. Description min max Value Unit

Cxx.000 Associated process(es) 0 6
Cxx.001 Axis designation S, S1, S2, S3
Cxx.057 Jogging speed 10.0 100 000.0 1/min
Cxx.058 Jogging speed - rapid 10.0 100 000.0 1/min
Cxx.059 Jogging spindle pos. 0.000 1 10 000.000 0 deg
Cxx.052 In-position window 0.000 1 10 000.000 0 deg
Cxx.049 Max. prog. spindle speed 10.0 500 000.0 1/min
Cxx.050 Max. spindle acceleration 1 100 000 rad/sec²
Cxx.056 Axis no. of assigned rotary axis
Cxx.060 Position feedback locat. (dig. drives) motor sensor external sensor
Cxx.074 Autom. spindle gear range selection Yes No

Cxx.061 Number of spindle gear ranges 1 4

Cxx.062 Min. spindle speed gear range 1 1 100 000 1/min
Cxx.063 Max. spindle speed gear range 1 1 100 000 1/min
Cxx.064 Max. spindle accel. gear range 1 0 100 000 rad/s²
Cxx.065 Min. spindle speed gear range 2 1 100 000 1/min
Cxx.066 Max. spindle speed gear range 2 1 100 000 1/min
Cxx.067 Max. spindle accel. gear range 2 0 100 000 rad/s²
Cxx.068 Min. spindle speed gear range 3 1 100 000 1/min
Cxx.069 Max. spindle speed gear range 3 1 100 000 1/min
Cxx.070 Max. spindle accel. gear range 3 0 100 000 rad/s²
Cxx.071 Min. spindle speed gear range 4 1 100 000 1/min
Cxx.072 Max. spindle speed gear range 4 1 100 000 1/min
Cxx.073 Max. spindle accel. gear range 4 0 100 000 rad/s²
Cxx.084 Spindle accel., position mode 0 100 000 rad/sec²

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 1
A x i s p a r a m e t e r s : Digital primary spindles with rotary axis of 2
capability

Parameter no. Description min max Value Unit

Cxx.000 Associated process(es) 0 6
Cxx.001 Axis design., MS mode S, S1, S2, S3
Cxx.054 Axis design., rotary axis mode X, Y, Z, U, V, W, A, B, C
Cxx.075 Axis designation 2 X, Y, Z, U, V, W, A, B, C with or w/o index 1, 2, 3

Cxx.053 Axis defined as (axis functional.) X, Y, Z, U, V, W, A, B, C

Cxx.060 Position feedback locat. (dig. drives) motor sensor external sensor
Cxx.057 Jogging speed, MS mode 10.0 100 000.0 1/min
Cxx.058 Jogging speed rapid, MS mode 10.0 100 000.0 1/min
Cxx.059 Jog. spindle position, MS mode 0.000 1 10 000.000 0 deg
Cxx.052 In-position window, MS mode 0.000 1 10 000.000 0 deg
Cxx.049 Max. program. spdl. speed, MS mode 10.0 500 000.0 1/min
Cxx.050 Max. spindle acceleration, MS mode 1 100 000 rad/sec²
Cxx.084 Spindle acceleration, position mode 0 100 000 rad/sec²
Cxx.086 Window for re-positioning 0.000 1 20000 units/min
and NC block restart
Cxx.016 Max. feedrate rotary mode 10.0 200.0 units/min
Cxx.017 Max. feedr. chg. w/o ramp, rot. mode 0.1 200.0 units/min
Cxx.018 Max. accelerat. rate, rotary mode 1 100 000 units/sec²
Cxx.020 Jogging speed, rotary mode 10.0 50.0 1/min
Cxx.021 Jog. speed - rapid, rotary mode 10.0 50.0 1/min
Cxx.022 Param. jog. dist., rot. mode 0.000 1 10.000 0 units
Cxx.023 In-pos. window, rot. mode 0.000 0 10.000 0 units
Cxx.025 Waypoint 0 -100 000.000 0 100 000.000 0 units
Cxx.026 Waypoint 1 -100 000.000 0 100 000.000 0 units
Cxx.027 Waypoint 2 -100 000.000 0 100 000.000 0 units
Cxx.028 Waypoint 3 -100 000.000 0 100 000.000 0 units
Cxx.029 Waypoint 4 -100 000.000 0 100 000.000 0 units
Cxx.030 Waypoint 5 -100 000.000 0 100 000.000 0 units
Cxx.031 Waypoint 6 -100 000.000 0 100 000.000 0 units
Cxx.032 Waypoint 7 -100 000.000 0 100 000.000 0 units
Cxx.055 Param. set in drive used f. rot. mode 0 7
Cxx.074 Autom. spindle gear range select. Yes No

Cxx.061 Number of spindle gear ranges 1 4

Cxx.062 Min. spindle speed, gear range 1 1 100 000 1/min
Cxx.063 Max. spindle speed, gear range 1 1 100 000 1/min
Cxx.064 Max. spindle accel., gear range 1 0 100 000 rad/s²

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 2
A x i s p a r a m e t e r s : Digital primary spindles with rotary axis of 2
capability

Parameter no. Description min max Value Unit

Cxx.065 Min. spindle speed, gear range 2 1 100 000 1/min
Cxx.066 Max. spindle speed, gear range 2 1 100 000 1/min
Cxx.067 Max. spindle acceler., gear range 2 0 100 000 rad/s²
Cxx.068 Min. spindle speed, gear range 3 1 100 000 1/min
Cxx.069 Max. spindle speed, gear range 3 1 100 000 1/min
Cxx.070 Max. spindle acceler., gear range 3 0 100 000 rad/s²
Cxx.071 Min. spindle speed, gear range 4 1 100 000 1/min
Cxx.072 Max. spindle speed, gear range 4 1 100 000 1/min
Cxx.073 Max. spindle acceler., gear range 4 0 100 000 rad/s²
Cxx.076 Direction f. polar coord. transform. 0 1

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 1
Axis parameters: Digital combined spindle/turret axis of 1

Parameter no. Description min max Value Unit

Cxx.000 Associated process(es) 0 6
Cxx.001 Axis designation X, Y, Z, U, V, W, A, B, C
Cxx.060 Position feedback locat. (dig. drives) motor sensor external sensor
Cxx.057 Jogging speed, MS mode 10.0 100 000.0 1/min
Cxx.058 Jogging speed rapid, MS mode 10.0 100 000.0 1/min
Cxx.059 Jog. spindle posit., MS mode 0.000 1 10 000.000 0 deg
Cxx.037 Motor direction 0/1, MS mode 0 1
Cxx.038 Zero point offset, MS -100 000.000 0 100 000.000 0 deg

Cxx.047 Spindle gearbox revolutions, input 1 1 000 000

Cxx.048 Spindle gearbox revolutions, output 1 1 000 000
Cxx.049 Max. programm. spindle speed 10.0 500 000.0 1/min
Cxx.050 Max. spindle acceleration, MS mode 1 100 000 rad/sec²
Cxx.051 Orient speed, MS mode -100 000 100 000 1/min

Cxx.052 In-position window, MS mode 0.000 1 10 000.000 0 deg

Cxx.006 Ball screw lead, rotary mode 0.010 0 1 000 000 units

Cxx.007 Gearbox revolutions, input, rot. mode 1 1 000 000

Cxx.008 Gearbox revolutions, output, rot. mode 1 1 000 000
Cxx.013 Reference pos. rotary mode -100 000 100 000 units
Cxx.014 Position polarity f. rotary mode 0 1
Cxx.016 Max. feedrate, rotary mode 10.0 500 000.0 units/min

Cxx.017 Max. feed. chg. w/o ramp, rot. mode 0.1 100 000.0 units/min

Cxx.018 Max. acceleration, rotary mode 1 100 000 units/sec²

Cxx.019 Homing speed for rotary mode 10.0 100 000.0 units/min

Cxx.022 Param. jog. distance, rot. mode 0.000 1 10 000.000 0 units

Cxx.023 In-position window, rot. mode 0.000 0 10.000 0 units

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 1
Axis parameters: Analog linear axes of 2

Parameter no. Description min max Value Unit

Cxx.000 Associated process(es) 0 6
Cxx.001 Axis designation 1 X, Y, Z, U, V, W, A, B, C with or w/o index 1, 2, 3

Cxx.075 Axis designation 2 X, Y, Z, U, V, W, A, B, C with or w/o index 1, 2, 3

Cxx.053 Axis defined as (axis functional.) X, Y, Z, U, V, W, A, B, C

Cxx.003 Position feedback location motor sensor gearbox output linear sensor

Cxx.004 Incremental encoder resolution 100 1 000 000 units

Cxx.005 Linear encoder resolution 0.000 1 0.1 mm

Cxx.006 Ball screw lead 0.010 0 1 000 000 mm

Cxx.007 Gearbox revolutions, input 1 1 000 000
Cxx.008 Gearbox revolutions, output 1 1 000 000
Cxx.009 Motor speed at 9 V command 100 100 000 1/min
Cxx.010 KV factor 0.1 10 1000/min
Cxx.011 Positive software -100 000.000 0 100 000.000 0 mm
travel limit -10 000.000 00 10 000.000 00 inch
Cxx.012 Negative software -100 000.000 0 100 000.000 0 mm
travel limit -10 000.000 00 10 000.000 00 inch
Cxx.013 Reference position -100 000 100 000 mm
Cxx.014 Position polarity 0/1 0 1
Cxx.015 Homing direction 0/1 0 1
Cxx.016 Max. feedrate 10.0 500 000.0 mm/min
1.00 50 000.00 inch/min
Cxx.017 Max. feedrate change w/o 0.1 100 000.0 mm/min
ramp 0.01 10 000.00 inch/min
Cxx.018 Max. acceleration rate 1 100 000 mm/sec²
0.1 10 000.0 inch/sec²
Cxx.019 Homing speed 10.0 100 000.0 mm/min
10.0 10 000.00 inch/min
Cxx.020 Jogging speed 10.0 100 000.0 units/min
Cxx.021 Jogging speed - rapid 10.0 100 000.0 units/min
Cxx.022 Parametric jog. distance 0.000 1 10 000.000 0 units
Cxx.023 In-position window 0.000 0 10.000 0 units
Cxx.024 Monitoring window 0 99 %

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 2
Axis parameters: Analog linear axes of 2

Parameter no. Description min max Value Unit

Cxx.025 Waypoint 0 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.026 Waypoint 1 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.027 Waypoint 2 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.028 Waypoint 3 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.029 Waypoint 4 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.030 Waypoint 5 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.031 Waypoint 6 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.032 Waypoint 7 -100 000.000 0 100 000.000 0 mm
-10 000.000 00 10 000.000 00 inch
Cxx.034 Automatic backlash 0.000 0 10.000 0 mm
compensation 0.000 00 1.000 00 inch
Cxx.040 Position feedback direction 0 1
Cxx.041 Tach voltage per 1000 rpm 0.100 9.000 V
Cxx.042 Voltage/current ratio 20 500 mV/A
Cxx.043 Current/torque constant 0.1 1.2 Nm/A
Cxx.044 Reduced torque at positive stop 0 100 %
Cxx.045 Max. feed to positive stop 10.0 500 000.0 mm/min
1.00 50 000.00 inch/min
Cxx.077 Axis droop compensation Yes No

Cxx.078 Number of associated axis 0 20

Cxx.079 Number of droop compensat. pts. 0 500
Cxx.080 Distance betw. droop compens. pts. 0
Cxx.081 Start pos. of droop comp. -100 000.000 0 100 000.000 0 mm
inch
Cxx.082 Unit of droop compensation values mm inch

Cxx.083 List of droop comp. value -9.9999 9.9999 List

Cxx.085 S/w travel limits immed. active Yes No

Cxx.086 Window for re-positioning 0.000 1 20000 mm

and NC block restart inch

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 1
Axis parameters: Analog rotary axes of 2

Parameter no. Description min max Value Unit

Cxx.000 Associated process(es) 0 6
Cxx.001 Axis designation 1 X, Y, Z, U, V, W, A, B, C with or w/o index 1, 2, 3

Cxx.075 Axis designation 2 X, Y, Z, U, V, W, A, B, C with or w/o index 1, 2, 3

Cxx.053 Axis defined as (axis functional.) X, Y, Z, U, V, W, A, B, C

Cxx.003 Position feedback location motor sensor gearbox output linear sensor

Cxx.004 Incremental encoder resolution 100 1 000 000 units

Cxx.006 Ball screw lead 0.010 0 1 000 000 units
Cxx.007 Gearbox revolutions, input 1 1 000 000
Cxx.008 Gearbox revolutions, output 1 1 000 000
Cxx.009 Motor speed at 9 V command 100 100 000 1/min
Cxx.010 KV factor 0.1 10 1000/min

Cxx.011 Pos. s/w travel limit -100 000.000 0 100 000.000 0 units

Cxx.012 Neg. s/w travel limit -100 000.000 0 100 000.000 0 units

Cxx.013 Reference position -100 000 100 000 mm

Cxx.014 Position polarity 0/1 0 1
Cxx.015 Homing direction 0/1 0 1
Cxx.016 Max. feedrate 10.0 500 000.0 units/min
Cxx.017 Max feedrate change w/o ramp 0.1 100 000.0 units/min
Cxx.018 Max. acceleration rate 1 100 000 units/sec²
Cxx.019 Homing speed 10.0 100 000.0 units/min
Cxx.020 Jogging speed 10.0 100 000.0 units/min
Cxx.021 Jogging speed - rapid 10.0 100 000.0 units/min
Cxx.022 Parametric jog. distance 0.000 1 10 000.000 0 units
Cxx.023 In-position window 0.000 0 10.000 0 units
Cxx.024 Monitoring window 0 99 %
Cxx.025 Waypoint 0 -100 000.000 0 100 000.000 0 units
Cxx.026 Waypoint 1 -100 000.000 0 100 000.000 0 units
Cxx.027 Waypoint 2 -100 000.000 0 100 000.000 0 units
Cxx.028 Waypoint 3 -100 000.000 0 100 000.000 0 units
Cxx.029 Waypoint 4 -100 000.000 0 100 000.000 0 units
Cxx.030 Waypoint 5 -100 000.000 0 100 000.000 0 units
Cxx.031 Waypoint 6 -100 000.000 0 100 000.000 0 units
Cxx.032 Waypoint 7 -100 000.000 0 100 000.000 0 units

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 2
Axis parameters: Analog rotary axes of 2

Parameter no. Description min max Value Unit

Cxx.034 Auto. backlash comp. 0.000 0 10.000 0 units
Cxx.040 Position feedback direction 0 1
Cxx.041 Tach voltage per 1000 rpm 0.100 9.000 V
Cxx.042 Voltage/current ratio 20 500 mV/A
Cxx.043 Current/torque constant 0.1 1.2 Nm/A
Cxx.044 Reduced torque at positive stop. 0 100 %
Cxx.045 Max. feed to positive stop 10.0 500 000.0 units/min

Cxx.085 S/w travel limits immed. active Yes No

Cxx.086 Window for re-positioning 0.000 1 20000 units

and NC block restart

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

MT-CNC Parameters

No. of parameter set: Created: Date: Name:

Name of section:
Log. axis no. Slot no. of Axis no. on
the APRB the APRB

Sheet 1
Axis parameters: Analog primary spindles of 1

Parameter no. Description min max Value Unit

Cxx.000 Associated process(es) 0 6
Cxx.001 Axis designation S, S1, S2, S3
Cxx.002 Mode of operation target speed positioning capability
Cxx.004 Spindle increment. encoder resol. 100 1 000 000 units
Cxx.009 Motor speed at 9 V command 100 100 000 1/min

Cxx.010 KV factor 0.1 100.0 1000/min

Cxx.057 Jogging speed 10.0 100 000.0 1/min

Cxx.058 Jogging speed - rapid 10.0 100 000.0 1/min
Cxx.059 Para. spindle jog. dist. 0.000 1 10 000.000 0 deg
Cxx.024 Monitoring window 0 99 %
Cxx.035 Min. open-loop speed 0.0 1 000.0 1/min
Cxx.036 KV factor for low speed operation 0.1 100 1000/min

Cxx.037 Motor direction 0/1 0 1

Cxx.038 Zero point offset -100 000.000 0 100 000.000 0 deg
Cxx.039 Max. op. speed of incr. encoder 0.0 10 000.0 1/min
Cxx.040 Position feedback direction 0 1
Cxx.041 Tach voltage per 1000 rpm 0.100 9.000 V
Cxx.047 Spindle gearbox rev., input 1 1 000 000
Cxx.048 Spindle gearbox rev., output 1 1 000 000
Cxx.049 Max. program. spindle speed 10.0 500 000.0 1/min
Cxx.050 Max. spindle acceleration rate 1 100 000 rad/sec²
Cxx.051 Orient speed -100 000 100 000 1/min

Cxx.052 In-position window 0.000 1 10 000.000 0 deg

Cxx.084 Spindle acceleration, pos. mode 0 100 000 rad/sec²

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

Axis Parameters

3.2 Associated Process(es)

Name Associated process(es)

Number Cxx.000
Value range 0 ... 6
Default value -
Unit -
From version ≤ 4.10
Dependency -
Axis param. for All axes
Purpose This parameter specifies the processes an axis may be associated with.
Explanation In addition to the mother process, to which an axis belongs after power up and after
Control-Reset, the machine manufacturer may specify up to three daughter
processes to which the axis may belong during operation.
The NC commands GAX (get axis) and FAX (free axis) are the sole commands that
can be used for transferring the axes from one process to another. Transfer is
possible if the requesting process issues the GAX command and the releasing one
processes the FAX command.
System reset is not required here (cf. 'NC Programming Instructions').
The processes to which an axis may belong during operation are specified here by
their process number (0 ... 6). The mother process must be entered first.

• The process numbers must be separated by commas.

• An axis may only be assigned to a process that has been defined in the
system parameters.

3.3 Axis Designation

Name • Axis designation

• Axis designation 1
• Axis designation for primary spindle operation
Number Cxx.001
Value range X,Y,Z,U,V,W,A,B,C with or without index 1, 2, 3
Default value -
Unit -
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindles with rotary axis capability
• Digital combined spindle/turret axis
Purpose This parameter defines the symbolic designation of the axis that is used for
programming and display of the axis.
Explanation Possible symbolic identifiers are the letters X, Y, Z, U, V, W, A, B and C with or
without index 1, 2, 3. Each axis designation may only be used once within a
process.
The axis must be identified according to DIN 66 025 T1.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-15

MT-CNC

Deviations from the DIN recommendation are possible within the scope of the
specified identifiers.

Tip:
Primary axes: X, Y, Z with or without index 1, 2, 3
Secondary axes: U, V, W with or without index 1, 2, 3
Rotary axes: A, B, C with or without index 1, 2 3

3.4 Mode of Operation

Name Mode of operation

Number Cxx.002
Value range Positioning capability (with rotary sensor ), or
Speed-controlled (without rotary sensor)
Default value Positioning capability
Unit -
From version 4.10
Dependency -
Axis param. for Analog primary spindles
Purpose This parameter is used to notify the NC of the mode of operation in which the
spindle shall be used.
Explanation Select 'speed-controlled' if speed control proves sufficient for primary spindle
operation.
In this case, position information need not be transferred to the MT-CNC. The
sensor connection of this axis remains free.

MT-CNC Primary spindle synchronization

master primary
axis drive spindle
speed target gearbox spindle
module module drive
value
(KDA)

positioning command
ReCo status feedback

Fig. 3-1 Typical connection of a speed-controlled analog primary spindle (KDA) to the MT-CNC

3-16 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

The spindle must be equipped with a sensor if the spindle is to be used in

'positioning capability' mode. The sensor provides the MT-CNC with the actual
position value and, consequently, with the actual speed value of the spindle.

MT-CNC Primary spindle synchronization

target speed
primary primary
axis drive spindle gearbox
target position spindle
module module motor
actual speed

sensor
actual position

ReCo status feedback

Fig. 3-2 Typical connection of an analog primary spindle with positioning capability to the MT-CNC

This mode of operation permits precision positioning (such as the exact cooperation
between primary spindle and feed axis in rigid tapping) to be performed.

3.5 Position Feedback Location

Name Position feedback location

Number Cxx.003
Value range 1. Rotary sensor on motor
2. Rotary sensor at gearbox output
3. Linear sensor
Default value Motor or linear sensor
Unit -
From version 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
Purpose: This parameter specifies the location of the sensor.
Analog linear The MT-CNC provides for the following options of measuring the position of analog
axes linear axes:
(1) rotary sensor on the motor,
(2) rotary sensor at the gearbox output, or
(3) linear sensor.

Fig. 3.3 on the next page shows the possible locations on a slide assembly whose
feed movement has been implemented using a ball screw and a preceding gearbox.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-17

MT-CNC

slide

(2)
ball screw (3)
drive

(1)

gearbox

Fig. 3-3 Possible sensor locations for analog linear axes

Besides the sensor position, the 'position feedback location' parameter defines
whether or not the sensor resolution parameter 'rotary sensor resolution' and the
sensor resolution parameter 'linear sensor resolution' will be displayed in the
course of the parameter setting.

Analog rotary The MT-CNC provides for the following two options of measuring the position of
axes rotary axes:
(1) rotary sensor on the motor, or
(2) rotary sensor at the gearbox output.
Fig. 3-4 below shows the sensor arrangement at a circular table with gearbox.

circular
table

gearbox

(2)

drive

(1)

Fig. 3-4 Possible sensor locations for analog rotary axes

If the sensor is attached to the motor, the gearbox transmission ratio of analog
rotary axes must be an integer value.

3-18 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.6 Incremental Encoder Resolution

Name Incremental encoder resolution

Number Cxx.004
Value range 100 ... 1 000 000
Default value 4000
Unit Pulses/revolution
From version 4.10
Dependency With analog linear axes, this parameter only appears if the 'position feedback
location' parameter (Cxx.003) has not been set to 'linear sensor'.
Axis param. for • Analog linear axes
• Analog rotary axes
• Analog primary spindles
Purpose The parameter specifies the number of pulses per revolution of the rotary sensor or
the spindle sensor.
Explanation The MT-CNC expects two square-wave signals that are out of phase by 90º. The
resolution of the rotary sensor, referring to one square-wave signal, is defined as
the number of pulses per sensor revolution.

Please refer to the application documents of the employed rotary sensor for the
value of this parameter.

A spindle sensor must be arranged such that it directly measures the spindle
position.

...

...

Number of pulses per sensor revolution

< >

Fig. 3-5 Resolution of a rotary sensor

Resolution of
the sensor

ROD 1424 1250 G12

ld.Nr.22894303 S.Nr.1963924B

Fig. 3-6 Rating plate of a rotary sensor

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-19

MT-CNC

Example: Given: Feed constant (gradient): 10 mm

Analog linear Motor speed
Transmission ratio: i= =1
axis Gearbox output revolutions
Minimum position accuracy: ∆S = 5 µm
Position feedback device: Rotary sensor on motor
Wanted: Resolution of rotary sensor: A=?

slide

∆S VK
drive
A=? i

gearbox

Fig. 3-7 Specifications required for determining the 'rotary sensor resolution'
parameter for analog linear axes

VK 10 [mm]
Solution: A> = = 500
∆S ∗ i ∗ 4 0.005 [mm] ∗ 1 ∗4
→ Select rotary sensor with the next higher resolution value

Example: Given: Graduation per table revolution: T = 360 units

Analog rotary Motor speed
Transmission ratio: i=
axis Gearbox output revolutions
Wanted: Minimum positioning accuracy: ∆U = 0,01 units
Position feedback device: Motor
Resolution of rotary sensor: A=?

∆U T

gearbox

drive

rotary sensor
A=?

Fig. 3-8 Specifications required for determining the 'rotary sensor resolution'
parameter for analog rotary axes

T 360 [mm]
Solution: A> = = 900
∆U ∗ i ∗ 4 0.01 [units] ∗ 10 ∗ 4
→ Select rotary sensor with the next higher resolution value.

3-20 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.7 Linear Encoder Resolution

Name Linear encoder resolution

Number Cxx.005
Value range 0.000 1 ... 0.1
Default value 0.01
Unit mm
From version 4.10
Dependency The parameter only appears if 'linear sensor' has been selected as position
feedback location (Cxx.003).
Axis param. for Analog linear axes
Purpose This parameter tells the NC the resolution of the linear sensor.
Explanation As with the rotary sensor, the MT-CNC expects two square-wave signals that are
out of phase by 90º. 'Linear encoder resolution' refers to one square-wave pulse
train.
Please refer to the application documents of the employed linear sensor for the
value of this parameter. Sometimes, this value is not specified directly in the
documents. Using the grating constant (scale graduation) and the pulse
multiplication of the digital electronics (Exe), the value may be computed as follows:

G [mm]
A[mm] = = < ∆s ∗ 4
I

A: linear encoder resolution

G: grating constant (scale graduation)
I: pulse multiplication
∆s : minimum positioning accuracy

grating constant of the linear encoder

T g ra t in g

...

...

T
> < digitizing electronics

Fig. 3-9 Specifications required for computing the 'linear encoder resolution' parameter

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-21

MT-CNC

Example Given: Impulse multiplication of digital electronics: I=5

Minimum positioning accuracy: ∆S = 2 µm
Position feedback location: Linear encoder
Wanted: Grating constant of linear encoder: G=?

slide

∆S
drive
linear scale

digitizing
electronics

gearbox

Fig. 3-10 Specifications required for determining the 'linear encoder resolution'
parameter

Solution: G < ∆S ∗ 4 ∗ I = 2 [ µm] ∗ 4 ∗ 5 = 40 [ µm]

→ Select the linear sensor with the next lower grating constant

3.8 Feed Constant / Graduation per Revolution

Name • Feed constant

• Graduation per revolution
• Graduation per revolution for rotary axis mode
Number Cxx.006
Value range 0.01 ... 1 000
Default value Linear axes: 2
Rotary axes: 360
Unit Linear axes: mm
Rotary axes: units
From version ≤ 4.10
Dependency -
Axis param. for • Analog linear drives
• Digital and analog rotary axes
• Digital combined spindle/turret axis
Purpose The feed constant describes the machine element that converts a rotary movement
into a linear movement. It specifies the path the feed element (not the drive) covers
in the feed direction during a full revolution.
In rotary-only movements in which the moving machine element also performs a
rotary movement, the Cxx.006 parameter is known as 'graduation per revolution'. In
this case, it describes the number of graduations (units) per revolution of the moved
machine part (e.g. a circular table). Usually, 360 degrees/revolution is used here.

3-22 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

Examples
1x
slide

drive
spindle pitch

gearbox

Fig. 3-11 Characteristics of a lead screw

With a lead screw, specify the spindle pitch as the feed constant.

Fig. 3-12 Characteristics of the gear rack of a chain or belt

With a gear rack, use the following formula to determine the feed constant:

VK = do ∗ π = z ∗ m ∗ π = z ∗ t
VK : feed constant
do : pitch circle diameter
z: number of teeth
m: module
t: graduation
π: 3,14159

To achieve a high positioning accuracy, the values ('π' in particular) must be

specified with at least four fractional part digits.

If the 'feed constant/graduation per revolution' parameter is modified later,

parameters such as positive and negative software travel limit, reference position,
waypoints, and backlash must be re-calculated with the new graduation, and be
entered again.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-23

MT-CNC

3.9 Gearbox Revolutions - Input / Output

Name • Gearbox revolutions - input

• Gearbox revolutions - output
• Gearbox input revolutions for primary spindle mode
• Gearbox revolutions for primary spindle mode
Number Cxx.007
Cxx.008
Value range 1 ... 1 000 000
Default value 1:1
Unit -
From version 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
• Digital combined spindle/turret axis
Purpose Both parameters define the transmission ratio of a second gearbox between motor
and feed element.
Explanation The transmission ratio of a gearbox is defined as the relation between the number
of revolutions at the input (motor speed) and the number of revolutions at the
output:

Motor speed
Transmission ratio i =
Number of revs at gearbox output

Here, you must enter integer values in order to avoid position errors that may be
caused by rounding inaccuracy.

Example 293 1000

i= = 10.85185185... =
27 92.150170
Enter '293' as the number of revolutions at the gearbox input, and '27' as the
number of revolutions at the gearbox output.
Entering, for example, ‘1000’ as the number of revolutions at the gearbox input, and
'92' as the number of revolutions at the gearbox output will cause rounding errors.

3.10 Motor Speed at 9 Volts Command

Name Motor speed at 9 volts command

Number Cxx.009
Value range 100 ... 100 000
Default value 1000
Unit 1/min (rpm)
From version 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
Purpose: This parameter calibrates the D/A converters in the MT-CNC for the related axis.

3-24 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

Explanation: The motor speed at 9 volts command of analog three-phase current drive systems
is specified in the data sheets and/or the label of the programming module..

INPUT rpm/V

E1 / E2 3500/ 9

MOD 5/1x026-185

Contr.: TDM 2.1-30-300-WO INPUT rpm/V

Motor: MAC 63A-.-RS-.-C E1 / E2 3500/9
Current (A).peak/cont.: 17/7 E3 3000/10
Operating rpm: 6000 MA =0,25V/A E4 1500/10

OPERATING PARAMETER: PROGRAMMING MODULE

ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED
ON THE MODULE MUST AGREE WITH
THE DEVICES IN USE.
OTHERWISE LACKOF PERFORMANCE
AND DANGER OF DAMAGE MAY OCCUR
Betriebsdaten - Programmierungsmodul
Achtung: Motor und Verstärkertypenangaben müssen mit der
Installation übereinstimmen, sonst Schädigungsgefahr

Fig. 3-13 Typical label on a programming module

In order to remain independent of the zero potential, analog INDRAMAT drives are
always connected to the 'E1/E2' differential input of the MT-CNC.

If the reference level of a programming module of an analog drive that connects to

the 'E1/E2' differential input is different from 9 V, the module must be replaced with
a matching one.

3.11 KV Factor

Name KV factor
Number Cxx.010
Value range 0.1 ... 10
Default value 1
Unit m/min / mm
From version 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
• Analog primary spindles
Purpose The 'KV factor' parameter determines the gain of the position control loop and thus
the rigidity of the drive.

Definition
velocity [m / min]
KV factor [1000 / min] =
position lag [mm]
velocity [m / min]
=
target position [mm] - actual position [mm]

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-25

MT-CNC

Explanation The higher the selected KV factor is, the 'harder' is the motion response of the axis.
The axis starts oscillating and tends to be unstable when too high a value is
selected. In addition, the stress on the machine elements will be unnecessarily high.
The maximum KV factor possible depends on the drive and on the mechanical
structure of the machine. The optimum KV factor can only be determined after the
servo drive has been optimized.

Machine type KV factor for

Tips for analog axes analog spindles
selecting the
KV factor

Transfer machines 1.0

Loader systems 0.5 - 1.0 1.0
Machine tools 1-5

To maintain the path accuracy, the same KV factor is required for all axis that are
involved in an interpolation process.

Analog primary With analog primary spindles, the 'KV factor' parameter is always employed during
spindles the positioning process when the spindle approaches a specific angle position. The
NC closes the position control loop during positioning in interpolation mode (tapping,
for example).

There is a separate KV factor for speed specifications below the minimum open-
loop speed: the 'KV factor for low speed operation' (Cxx.036).

Notes on commissioning
During commissioning, the optimum KV factor can be checked using the tacho signal at the servo
drive module of the associated axis.
For this purpose, an NC program should be created that moves the axis forward and backward at a
higher speed and with a waiting time at the reversal point.
During axis positioning, the tacho signal should approach the target value as fast as possible, but
without overshooting.

3-26 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.12 Positive and Negative Software Travel Limits

Name • Positive software travel limit

• Negative software travel limit
Number Cxx.011,
Cxx.012
Value range -100 000 ... 100 000
Default value 0
Unit Linear axes: mm
Rotary axes: units
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
Purpose Besides the hardware limits, the positive and negative software travel limits are
used to protect the travel limits of the machine.
Explanation The values of the positive and negative software travel limits can directly be read
from the machine coordinate system.
Both travel limits must lie inside the hardware limits. Even before a block is executed,
the travel limits prevent program execution if the next block would exceed a travel
limit.
Exceeding the travel limits is not possible during normal control operation. Any
attempt of exceeding the limits will stop program execution and cause an error
message to be issued. The controller does not perform a shutdown as it is done when
a hardware limit is overtraveled.
positive software travel limit

negative
software travel limit

machine
zero

Fig. 3-14 Positive and negative software travel limits of a drilling station

Endlessly Enter '0' for the positive and negative software travel limits of endlessly turning
turning rotary rotary axes that do not require travel limits to be monitored.
axes

If the value entered for the positive software travel limit is the same as the one for
the negative software travel limit, the rotary axis is also considered as an
'endlessly turning rotary axis'.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-27

MT-CNC

Non-endlessly As for linear axes, both travel limits of non-endlessly turning rotary axes must be set
turning rotary within existing hardware limits.
axes

negative software
travel limit

-90°

zero positive software

travel limit

+180°

Fig. 3-15 Example: Positive and negative software travel limits of a circular table

Positive and negative software travel limits are referenced to machine zero. They
only become effective after reference point return has been performed.

Notes on commissioning:
1. Manually perform reference point return
2. Travel to positive software travel limit. Read axis position in the machine coordinate system and
write it down.
3. Travel to negative software travel limit. Read axis position in the machine coordinate system
and write it down.
4. Enter these axis positions as software travel limits in the parameters.

3-28 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.13 Reference Position

Name • Reference position

• Reference position for rotary axis mode
Number Cxx.013
Value range -100 000 ... 100 000
Default value 0
Unit mm
From version ≤ 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
Purpose The 'reference position' parameter enables machine zero of the axis to be defined
with respect to the reference point.
After reference point return has been completed, the NC shifts the coordinate
system by this amount from the reference point to machine zero, and displays the
current axis position in the machine coordinate system.
Explanation Physically, the reference point is defined by a movable cam, a related switch and
the zero impulse of the sensor. In order to establish an exact measuring reference
(between incremental encoder and machine), the machine must be moved to the
reference point (home) whenever the controller is switched on. This is done with a
G74 block in automatic mode, or via 'single axis reference point return' in manual
mode.

zero impulse of
Tolerance for incremental encoder
actuating the
reference switch
1/4 1/4
1/2

signal of reference switch (AxxCHOMLS: 0 → 1)

approach direction reference position

Fig. 3-16 Determining the reference position of analog axes

The first zero impulse from the sensor the NC recognizes after the reference switch
has been actuated (AxxCHOMLS: 0 → 1 ) determines the reference position in
reference point return.

If digital drives with SERCOS interfaces are used, the reference switch signal
must be transferred to the drive amplifier of the digital drive (see User's Manual
'Digital Smart AC Servo Drives with SERCOS Interface').

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-29

MT-CNC

reference position

machine zero reference point

Fig. 3-17 Reference position of a drilling station (analog linear axis)

zero

reference position

reference point

Fig. 3-18 Reference position of a circular table (analog rotary axis)

It must be ensured that the reference cam of linear axes and non-endlessly
turning rotary axes goes to the end of the travel area without interruption.

Notes on commissioning:
The cam must be moved in the direction specified in the error message or (if a rotary sensor is
used where one motor revolution corresponds to one electrical revolution) the sensor must be
rotated by 180° if, during the first reference point return, the signal of the reference switch does not
come inside the tolerance area (shown in Fig. 3-16).

During first-time commissioning or after a drive has been replaced (depends on whether or not
machine zero is accessible), the reference position can be determined as follows:

1. Determine the 'position polarity' and 'homing direction' parameters (see Notes on commissioning
of the related parameters).
2. Define machine zero of the axis:
Select machine zero as a point on the machine that may not be changed later. All other
reference points (travel limits and waypoints) and all programs refer to this point.
With turning machines, this point is usually in the center of the spindle flange stop face. With
milling machines, it is usually at the edge of the working area.
3. Define the axis reference point:
Using the reference cam, the reference point in the machine must be positioned such that it can
rapidly be approached and safely be reached in a hazardous situation without interfering with
existing workpieces.
It must be ensured that the reference cam goes to the end of the travel area without interruption.
4. Enter '0' in the axis parameter for the reference position and load the parameters into the
MT-CNC.

3-30 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

5. Manually perform reference point return (the MT-CNC displays 0.000 as the current actual
position in the reference position).
6. Locating machine zero:
A. Axis machine zero can be approached:
A1. Move to machine zero in manual mode.
A2. Read the current axis position (the current position is not yet displayed in machine
coordinates).
A3. Determine the 'reference position' axis parameter:
Reference position [mm] = 0 - read actual position [mm]
A4. Enter the determined 'reference position' axis parameter and load the modified parameter
set into the MT-CNC
A5. Move to the reference position in manual mode (the MT-CNC displays the reference point
in machine coordinates)
A6. Verification:
Move axis to machine zero. 0.000 must be displayed as the actual position in the current
block display.

B. Axis machine zero cannot be approached:

safety limit safety limit

switch cam switch cam

reference cam
reference switch
signal

0 1

distance between
machine zero and
known reference
point read actual position

reference position

machine zero known reference point reference point

Fig. 3-19 Using a known reference point for determining the 'reference position' parameter

B1. Move to another known reference point of machine zero.

The distance between this point and machine zero can be determined using a gauge, for
example.
B2. Read the current axis position (the current position is not yet displayed in machine
coordinates).
B3. Determine the 'reference position' axis parameter:

Reference position [mm] = distance to known reference point [mm] - read actual position [mm]

The distance between machine zero and the known reference point must be
entered with a positive sign if the known reference point lies in the positive
direction off machine zero. Otherwise, the sign must be negative.

B4. Enter the determined 'reference position' axis parameter and load the modified parameter
set into the MT-CNC.
B5. Approach reference position in manual mode (the MT-CNC displays the reference point in
machine coordinates).
B6. Verification:
Move the axis to the known reference point. The value of the reference point must be
displayed as the actual position in the current block display.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-31

MT-CNC

3.14 Position Polarity

Name • Axis reversal

• Position polarity for rotary axis mode
Number Cxx.014
Value range 0/1
Default value 0
Unit -
From version ≤ 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
• Digital combined spindle/turret axis
Purpose The position polarity parameter influences the orientation (sign) of the axis and,
consequently, the direction of its movement.

position polarity = 0 position polarity = 1

M M
+ZM -ZM
150 200 150 200

Fig. 3-20 Changing the position polarity of a linear axis

position polarity = 0 position polarity = 1

+A -A

Fig. 3-21 Changing the position polarity of a rotary axis (example: circular table)

Notes on commissioning:
Always jog in manual mode at low speed to check the direction of the axis movement before
reference direction or reference position of the axis is determined. The direction of the axis
movement must agree with the position changes in the current position display.
Invert the 'position polarity' parameter to change direction if the axis moves in the wrong direction.
In the next step, verify the agreement between the actuated jog key and the direction of the
movement. Any changes can be performed in the PLC program.
If an INDRAMAT servo drive is used that has been connected according to the connection
diagrams and recommendations (see related System Description), position polarity '0' with a
positive target value specification causes the drive to rotate clockwise (looking onto the motor
shaft).
Any elements (such as gearbox, ball screw, rack and pinion drive, or chain drive) that reverse the
direction of rotation must be taken into account when the direction of the axis movement is
determined.

3-32 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

Fig. 3-22 Direction of rotation of an INDRAMAT servo drive that has been connected according to
the related connection diagrams and recommendations.

3.15 Homing Direction

Name Homing direction (for rotary axis mode)

Number Cxx.015
Value range 0/1
Default value 0
Unit -
From version 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
• Digital combined spindle/turret axes
Purpose In accordance with the reference switch signal, the homing direction parameter defines
the direction in which the MT-CNC looks for the cam during reference point return.

safety limit safety limit

switch cam switch cam

reference cam
reference switch
reference switch signal signal

0 1

reference point

+X

Homing direction Direction in which the NC

Reference switch signal parameter looks for the reference cam
0 0 → +
+
0 1 - ←
+
1 0 - ←
+
1 1 → +
+
Fig. 3-23 Reference point return behavior of the MT-CNC in accordance with the reference switch
signal (AxxCHOMLS for analog axes) and the 'homing direction' parameter

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-33

MT-CNC

• The length of the reference point cam must be such that it goes to the end of
the travel area without interruption.
• To compensate errors that result from backlash, the MT-CNC always
approaches the reference point cam from the same direction at low target
velocity after the reference switch has been actuated (cf. 'homing speed'
parameter). The reference switch signal changes from '0' to '1' in this process.
The first zero impulse from the sensor specifies the reference point of the axis
concerned.

Notes on commissioning:
• Perform, in manual mode and at reduced speed, single axis reference point return of the axis
concerned to check the direction in which an axis looks for the reference cam. First, the
position polarity of the axis must be checked (see Notes on commissioning of the parameter
concerned).
• The position of the reference point always changes if the signal from the reference switch is
inverted. The same applies if homing direction or position polarity is reversed.
The MT-CNC always employs the first zero impulse that comes from the sensor after the 0 →
1 transition of the reference signal (see the figures below).

A. Homing direction = 0 and reference switch signal from non-actuated switch = 0

zero impulse 1/2 1/4

1/4
< >< >< >

reference switch signal

0 1

reference point

>+X

B. Homing direction = 1 and reference switch signal from non-actuated switch = 1

zero impulse 1/2 1/4

1/4
< >< >< >

reference switch signal

1 0

reference point

> +X
Fig. 3-24 Changes of the reference point when the reference switch signal is inverted despite the
inversion of the 'homing direction' parameter

3-34 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.16 Maximum Feedrate

Name • Maximum feedrate

• Maximum feedrate for rotary axis mode
Number Cxx.016
Value range 10 ... 500 000
Default value 200
Unit Linear axes: mm/min
Rotary axes: units/min
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindles with rotary axis capability
• Digital combined spindle/turret axes
Purpose The parameter specifies the maximum speed the NC may employ to move the axis
(rotary/linear axis) concerned.
Explanation The NC limits the traveled velocity accordingly if the machining program specifies a
velocity value (F value) that exceeds the maximum axis velocity.
In positioning mode with 'G0', the NC always employs the maximum speed if a
velocity has not been programmed within a 'G0' block.

• Check before commissioning whether the maximum feedrate can be reached.

• The selected maximum feedrate must be less than or equal to the
(theoretically) possible axis velocity.
• Mechanical components frequently delimit the maximum velocity.

Theoretically possible axis velocity of analog linear axes:

Formulae
n9V [1 / min] ∗ VK [mm]
VT[mm / min] =
i
VT: theoretically possible axis velocity
n9V: motor speed at 9 volts command
VK: feed constant
nmotor
i: transmission ratio (i = )
ngearbox output
Theoretically possible axis velocity of analog rotary axes:

n9V [1 / min] ∗ T [units]

VT[units / min] =
i
VT: theoretically possible axis velocity
n9V: motor speed at 9 volts command
T: graduation per revolution
nmotor
i: transmission ratio (i = )
ngearbox output

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-35

MT-CNC

3.17 Maximum Feedrate Change Without Ramp

Name • Maximum feedrate change without ramp

• Maximum feedrate change without ramp for rotary axis mode
Number Cxx.017
Value range 0.1 ... 100 000
Default value 200
Unit Linear axes: mm/min
Rotary axes: units/min
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindles with rotary axis capability
• Digital combined spindle/turret axis
Purpose The parameter specifies the maximum feedrate change without ramp the MT-CNC
may output during the acceleration or deceleration phase as a target feedrate
change without ramp for the related axis control loop.
Explanation The maximum feedrate change without ramp must be selected such that
• the acceleration capability of the drive is not exceeded, and
• the axes do not jerk.
The following formulae may be used as a rule of thumb for determining a first initial
value.
Formulae
Maximum feedrate change without ramp for linear axes:
7,2 ∗ rapid traverse velocity [mm / min]
max. feedrate change w / o ramp [mm / min] =
KV factor [m / min / mm] ∗ acceleration time [ms]

Maximum feedrate change without ramp for rotary axes:

7,2 ∗ rapid traverse velocity [units / min]

max. feedrate change w / o ramp [units / min] =
KV factor [1000 1 / min] ∗ acceleration time [ms]

Machine type Acceleration time

highly dynamic machine 60 ms

normal machine 120 ms
heavy machine 300 ms

3-36 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.18 Maximum Acceleration Rate

Name • Maximum acceleration rate

• Maximum acceleration rate for rotary axis mode
Number Cxx.018
Value range 1 ... 100 000
Default value 100
Unit Linear axes: mm/s²
Rotary axes: units/s²
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindles with rotary axis capability
• Digital combined spindle/turret axes
Purpose The 'maximum acceleration rate' parameter permits a limitation of the axis
acceleration rate the controller specifies for the drive..
Explanation The value of this parameter specifies the acceleration rate at which the axis (motor,
slide, circular table, spindle) is to be accelerated, unless the value of this parameter is
limited by the programmed path, the programmed tool path velocity (F value), the
programmed tool path acceleration (ACC), or the acceleration capability (maximum
acceleration rate) of the other axes that are involved in the movement.
The value to be entered here is the acceleration rate the drive is able to deliver in any
case, within the required velocity range (0 ... maximum feedrate), and taking the given
mass conditions and the existing load type into account.

3.19 Homing Speed

Name • Homing speed

• Homing speed for rotary axis mode
Number Cxx.019
Value range 10 ... 100 000
Default value 200
Unit mm/min
From version 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
• Digital combined spindle/turret axis
Purpose The 'homing speed' parameter defines the speed at which the MT-CNC looks for
the cam that is related to the axis concerned.
Explanation If there is no reference yet, the MT-CNC performs reference point return with the
value specified here. If there is reference, the MT-CNC employs the velocity specified
in the NC block for traveling to the reference cam.
If there is no velocity specified next to the 'G74' homing command in the NC block, the
MT-CNC always travels at the parameter value specified here.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-37

MT-CNC

The MT-CNC also employs the value entered here for 'single axis reference point
return' in manual mode (PLC input: AxxCHOME).
The reference point return routine of an axis consists of several movements. The
movements are such that the cam is always approached at the same system speed
and from the same direction.
V
[mm/min] R

reference point return routine

- if there is no reference, or
- if there is no velocity specification, or
- in single-axis reference point return in
manual mode

VS

S [mm]

V F
[mm/min]

VS reference point return routine if there is reference

S [mm]

VS: system velocity

zero impulse of the signal from F: programmed velocity
incremental encoder reference switch R: reference point return velocity

Fig. 3-25 Diagram of the sequence of the reference point return routine of analog drives

3.20 Jogging Speed

Name • Jogging speed

• Jogging speed for rotary axis mode
Number Cxx.020
Value range 10 ... 100
Default value 50
Unit Linear axes: mm/min
Rotary axes: units/min
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindles with rotary axis capability
Purpose The MT-CNC employs the jogging speed for incremental jogging (1 AE, 10 AE, ... 100
000 AE) and for continuous jogging in manual mode to move the axis if the process-
related control signals ‘AxxCJGPOS’, ‘AxxCJGNEG’ are set.

From version 5.16 onwards, the NC only considers these values if a value '0' has
been entered for the 'jogging speed' data element on the 'setup register for feed
axes' page in the machine data (cf. 'Setup register for spindles and feed axes'
function description).

3-38 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.21 Jogging Speed - Rapid

Name • Jogging speed - rapid

• Jogging speed - rapid for rotary axis mode
Number Cxx.021
Value range 10 ... 100 000
Default value 50
Unit Linear axes: mm/min
Rotary axes: units/min
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindles with rotary axis capability
Purpose The parameter 'jogging speed - rapid' enables the user to store, in addition to 'jogging
speed', another velocity value in the parameters. This value is used by the MT-CNC
for rapid traverse in jogging mode.
Explanation In manual mode, the rapid key (process-related control signal: PxxCRAPID) enables
an axis to be moved at an increased speed in incremental jogging or in continuous
jogging (axis-related control signals: AxxCJGPOS, AxxCJGNEG).

• The rapid jogging speed is only effective if the axis has reference.
• From version 5.16 onwards, the NC only considers these values if a value '0'
has been entered for the 'jogging speed - rapid' data element on the 'setup
register for feed axes' page in the machine data ( cf. 'Setup register for spindles
and feed axes' function description).

3.22 Parametric Jogging Distance

Name • Parametric jogging distance

• Parametric jogging distance for rotary axis mode
Number Cxx.022
Value range 0.000 1 ... 10 000
Default value 5
Unit Linear axes: mm
Rotary axes: units
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindle drives with rotary axis capability
• Digital combined spindle/turret axis
Purpose In addition to the fixed jogging distances (1 AE ... 100 000 AE) that are selected from
the PLC via the process-related control signals ‘PxxCJOGM0’, ‘PxxCJOGM1’ and
‘PxxCJOGM2’, the 'parametric jogging distance' parameter enables the user to store
another distance (any value) in the parameters.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-39

MT-CNC

Explanation In manual mode, when the associated distance is selected (setting the three
process-related control signals ‘PxxCJOGM0’, ‘PxxCJOGM1’, ‘PxxCJOGM2’) and
the corresponding jog key (axis-related control signals ‘AxxCJGPOS’,
‘AxxCJGNEG’) is pressed, the MT-CNC moves the axis from the current position by
the distance specified here.

• Tool magazines, in particular, employ the parametric jogging distance for

jogging from one magazine location to the next one (see Chapter 4, 'Setting
the Tool Storage Parameters').
• From version 5.16 onwards, the NC only considers these values if a value '0'
has been entered for the 'parametric jogging distance' data element on the
'setup register for feed axes' page in the machine data (cf. 'Setup register for
spindles and feed axes' function description).

3.23 In-position Window

Name • In-position window

• In-position window for rotary axis mode
Number Cxx.023
Value range 0.000 1 ... 10
Default value 0.01
Unit Linear axes: mm
Rotary axes: units
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindle drives with rotary axis capability
• Digital combined spindle/turret axis
Purpose The in-position window marks the maximum deviation that, at the end of a block,
may exist between the actual position and the target position in order to allow the
NC to go to the next block of a positioning process.
Explanation Before the MT-CNC starts processing the next block, it checks the following
condition whenever it employs 'G00' for positioning:

 target position - actual position  < in-position window

In all other movement types, this positioning criterion is only used if this is required
through 'exact stop' (G61).

Within the MT-CNC, the in-position window is automatically set to the specified
axis resolution if the entry is too small.

During the initialization phase, the NC overwrites the drive-related 'in-position

window' SERCOS parameter (S-0-0057) with the value stored in the 'in-position
window' axis parameter (Cxx.023).

3-40 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

Example Sollposition = 25 mm

0.01 mm 0.01 mm

in-position window

If the in-position window has been entered as 0.01 mm, and if the target position
is 25 mm, the axis is in position at an actual position between 24.99 and 25.01.

3.24 Monitoring Window

Name Monitoring window

Number Cxx.024
Value range 0 ... 99
Default value 1
Unit %
From version 4.10
Axis param. for • Analog linear axes
• Analog rotary axes
• Analog primary spindles
Purpose The MT-CNC employs the monitoring window for monitoring the axis movements.
Explanation Using the existing sensors, the NC continually controls the current axis positions.
Using the tacho signals, it controls their velocities. The 'monitoring window'
parameter specifies the maximum permissible deviations (the severity of the
monitoring process).
1. Position monitoring:
Chiefly, monitoring is based on a comparison between the current actual position
of the axes and the current actual position of a model that possesses the same
features as the existing machine.

MT-CNC

NC program CNC
- NC position
- velocity position
actual position deviation
- -
real position control loop

model's actual
Parameters
position
model's position control loop
- max. feedrate-
chg. w/o ramp
- max. spindle
acceleration
- max. feedrate

permissible position deviation (monitoring window)

Fig. 3-26 Basic method of operation of analog drive position monitoring (control side)

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-41

MT-CNC

If the difference between the two actual positions exceeds the value specified by
the selected monitoring window, the MT-CNC immediately stops the axis and the
associated process and shuts down power.
The MT-CNC determines the permissible position deviation as a function of the
target velocity. Decreasing the monitoring window principally reduces the
permissible position deviation, thus increasing the severity of model monitoring.
2. Velocity monitoring:
To monitor axis velocity, the MT-CNC cyclically checks whether or not the
velocity value lies inside the associated velocity window. The MT-CNC
determines the permissible velocity deviation as a function of the target velocity.

target velocity

velocity window

Fig. 3-27 Basic method of operation of velocity monitoring

60%
permissible permissible
position deviation ^ velocity deviation

40% ^
monitoring window

20%
<
^

> target velocity

20%

40%

80%

Fig. 3-28 Determining the permissible position deviations and the permissible velocity deviations as a
function of the current target velocities

Usually, if model monitoring responds during commissioning, too high a value was
entered for a parameter of the axis concerned (in particular: maximum feedrate
change, maximum acceleration, maximum feedrate) that cannot be satisfied by the
drive.

3-42 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

Tip Machine type Monitoring window

highly dynamic low-mass machine
hardly any backlash, low machining force 10 - 20
very good command properties
for selecting the normal machine (e.g. machine tool),
monitoring little backlash, normal machining force 20 - 40
window good command properties
very heavy high-inertia machine
backlash, very high machining force 40 - 90
poor command properties

Enter 0% to deactivate model monitoring. This may only be done as an exception.

For safety reasons, model monitoring should always be active during normal
operation.

3.25 Waypoints

Name Waypoints 0 ... 7

Number Cxx.025 ... 032
Value range -100 000 ... 100 000
Default value 0
Unit Linear axes: mm
Rotary axes: units
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindles with rotary axis capability
Purpose Waypoints can be specified to define software cams within the travel area that are
able to inform about the current actual position of the axis at any time and
independently of the PLC's NC program.
Explanation The signal states of the waypoints (axis-related status signals: AxxSWP0 -
AxxSWP7) can be used for interpreting the current position in the PLC program.
This may be used for various purposes (implementing a collision protection area, for
example).
While the movement is performed, the MT-CNC updates the signal states of the
waypoints. The MT-CNC sets the signal state to '1' if the axis passes a waypoint in
positive direction. It sets the signal state to '0' if the axis passes a waypoint in
negative direction.

current actual position > = waypoint position : signal state = 1

current actual position < waypoint position : signal state = 0

The waypoints always refer to machine zero.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-43

MT-CNC

Waypoints are only valid if there is reference for the axis concerned. This is
particularly important when the system is switched on after the axis concerned
has been moved.

Examples current actual position >= waypoint position: signal state = 1

current actual position < waypoint position: signal state = 0

5
current actual position: 90°

waypoint signal
position state
1
2
4
0 518° 0
1 325° 0
6
zero
2 211,3° 0
3 45° 1
A+
0 4 -382° 1
5 -95° 1
6 -175° 1
3
7 -288,2° 1

Fig. 3-29 Waypoints of an endlessly turning rotary axis

current actual position >= waypoint position: signal state = 1

current actual position < waypoint position: signal state = 0

4
5 current actual position: 90°
0
waypoint signal
position state

0 202,5° 0
1 30° 1
zero
2 100° 0
3 122° 0
A+ 1
4 270° 0
5 300° 0

3 6 0° 1
7 0° 1
2

Fig. 3-30 Waypoints of a non-endlessly turning rotary axis

3.26 Automatic Backlash Compensation

Name Automatic backlash compensation

Number Cxx.034
Value range 0.000 0 ... 10
Default value 0
Unit Linear axes: mm
Rotary axes: units
From version ≤ 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes

3-44 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

Purpose With indirect position measurement, the 'automatic backlash compensation'

parameter can be used for compensating the existing backlash (with analog axes,
caused by a gearbox, for example).
Explanation The NC processes the 'automatic backlash compensation' parameter already in the
target value specification, taking the direction of the axis movement into account.
Enter '0' if a linear encoder is used.

3.27 Minimum Open-Loop Speed

Name Minimum open-loop speed

Number Cxx.035
Value range 0 ... 10 000
Default value 20
Unit 1/min
From version 4.10
Dependency -
Axis param. for Analog primary spindles
Purpose When the speed falls below the value specified in the 'minimum open-loop speed'
parameter, the MT-CNC switches over to position control when a speed is specified.
This provides a better way of maintaining the specified speed.
Explanation In 'position control' mode, the NC is able to maintain the specified speed down to and
including speed '0' within the possibility of the existing control options, even at varying
loads. In this process, the NC computes position specifications for the position control
loop that ensure that the required speed is maintained.

n
speed specification (e.g. M3 S120)

spindle stop (e.g. M5)

300
speed specification
(e.g. M3 S200)
minimum open-
loop speed

speed specification t
(e.g. M3 S300)

speed-controlled position-controlled speed-controlled positioning

mode with sensor mode (using the KV mode with mode
interpretation factor for low speed) interpretation

Fig. 3-31 Speed specification for an analog primary spindle with positioning capability

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-45

MT-CNC

3.28 KV Factor for Low-Speed Operation

Name KV factor for low-speed operation

Number Cxx.036
Value range 0,1 ... 100
Default value 1
Unit 1000/min
From version 4.10
Dependency -
Axis param. for Analog primary spindles
Purpose The 'KV factor for low-speed operation' parameter determines the gain of the
position control loop and thus the rigidity of the primary spindle if the specified
speed lies below the minimum open-loop speed.
Explanation If a speed specification is below the minimum open-loop speed, the NC switches
over from speed-controlled mode to position control, and employs the KV factor for
low-speed operation. As with the KV factor (for speed control), the following applies
to the KV factor for low-speed operation:
The higher the selected KV factor for low-speed operation' is, the 'harder' is the
motion response of the primary spindle. The axis starts oscillating and tends to be
unstable when too high a value is selected.
Low values, in contrast, reduce the speed variations caused by changing loads.

Tip

less than or equal to 1.0

3.29 Motor Direction (for Primary Spindle Mode)

Name Motor direction (for primary spindle mode)

Number Cxx.037
Value range 0/1
Default value 0
Unit -
From version 4.10
Dependency -
Axis param. for • Analog primary spindles
• Digital combined spindle/turret axis
Purpose The 'motor direction' parameter can be used for reversing the direction of rotation of
the primary spindle.

3-46 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

motor direction = 0 motor direction = 1

+ +

Fig. 3-32 Changing the direction of rotation of an analog primary spindle

Notes on commissioning:
The direction of motion of the primary spindle must be checked using the 'M03' and 'M04' auxiliary
functions. Reverse the motor's direction of rotation if the primary spindle moves in the wrong direction.
With an INDRAMAT primary spindle motor, that is controlled by the MT-CNC via the existing input
(which is only required for analog drives) of an INDRAMAT drive module (see related system
description), the main spindle motor will turn clockwise if a motor direction of rotation of '0' has been
selected.
Additional reversing elements (such as a gearbox) must also be taken into account.

Fig. 3-33 Direction of rotation of an INDRAMAT primary spindle drive that has been connected according
to the connecting diagrams and recommendations

3.30 Zero Point Offset (for primary spindle mode))

Name Zero point offset (for primary spindle mode)

Number Cxx.038
Value range -100 000 ... 100 000
Default value 0
Unit °
From version 4.10
Dependency -
Axis param. for • Analog primary spindles
• Digital combined spindle/turret axes
Purpose The 'zero point offset (for primary spindle mode)' parameter enables the spindle's
machine zero to be defined with respect to the reference point. Following reference
point return (positioning with 'M19'), the NC shifts machine zero by the amount
specified in this parameter.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-47

MT-CNC

Explanation The reference point is a position of the primary spindle that is physically defined by
the zero impulse of the spindle sensor. The reference point cannot be modified by
the user; it is used for establishing the measurement reference.
The NC performs reference point return (overtraveling the zero impulse at the
specified reference point return feed rate, and positioning to '0') if this is triggered in
manual mode by the ‘AxxCHOME’ PLC reference point return signal. Likewise, the
MT-CNC automatically establishes reference (if reference has not yet been
established or was lost by exceeding the maximum measuring speed of the sensor)
by overtraveling the zero impulse at the specified reference point return feed rate in
program-controlled positioning processes (with block ‘M19 S20’ for example).

Notes on commissioning
Use the following procedure to determine the reference position upon first-time commissioning or after
replacement of a drive:
1. Determine position polarity (see axis parameter Cxx.014 ‘Position polarity').
2. Define spindle zero.
3. Set the primary spindle parameter 'zero point offset' to '0' and load parameters into the MT-CNC.
4. In manual mode, use the 'axis reference' button to put primary spindle in reference (the MT-CNC
displays the reference point as the current position 0.00000).

actual position: 0.00000°

Fig. 3-34 Primary spindle in reference (primary spindle parameter 'zero point offset = 0’)
5. In manual mode, travel to the required zero point of the primary spindle.
actual position: 41.051

Fig. 3-35 Primary spindle on the new reference point

6. Read the actual position of the primary spindle (in our example: 41.051).
7. Determine the 'zero point offset' primary spindle parameter:
zero point offset [ ° ] = 0 - read actual position [ ° ]
8. Enter the value of the 'zero point offset' primary spindle parameter (in our example: -41.051) and
load the modified parameter set into the MT-CNC.
9. In manual mode, use the 'axis reference' button to put primary spindle in reference (the MT-CNC
displays the reference point in machine coordinates).
actual position: -41.051

Fig. 3-36 Primary spindle in reference (primary spindle parameter 'zero point offset = -41.051’)
10. Verification:
Use the 'M19 S0' command to position the primary spindle. The actual position 0.000 must appear
in the current block display.

3-48 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.31 Maximum Operating Speed of Incremental Encoder

Name Maximum operating speed of incremental encoder

Number Cxx.039
Value range 0 ... 100 000
Default value 3000
Unit 1/min
From version 4.10
Dependency -
Axis param. for Analog primary spindles
Purpose The parameter 'maximum operating speed of incremental encoder' specifies the
speed limit from which onwards the position values from the spindle encoder are no
longer reliable.
Explanation Provided that the required speed lies below the maximum spindle speed, the
MT-CNC runs the primary spindle in speed-controlled mode if the required spindle
speed exceeds the 'maximum operating speed of incremental encoder' value.
Reference is lost if the 'maximum operating speed of incremental encoder' value is
exceeded. It will automatically be re-established during the next positioning process
when the zero impulse is overtraveled at the speed specified in the 'orient speed'
parameter (Cxx.051). The 'maximum operating speed of incremental encoder' value
is specified in the documents that come with the spindle sensor employed.

speed specification (e.g. M3 S10 000)

n

15000
positioning command (e.g. M19 S25)
max. operating
speed of incr.
encoder
speed specification
10000
(e.g. M3 S15 000)

zero impluse
5000
reference point
return speed

speed specification
(e.g. M3 S5 000)

speed-controlled speed- speed-controlled mode with sensor positioning mode

mode with sensor controlled interpretation
interpretation mode w/o
sensor
interpretation

Fig. 3-37 First positioning after the 'maximum operating speed of incremental encoder' value has
been exceeded

The maximum sensor frequency must not exceed the cutoff frequency (500 kHz)
of the incremental position measuring module.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-49

MT-CNC

3.32 Position Feedback Direction

Name Position feedback direction

Number Cxx.040
Value range 0.000 0 ... 10
Default value 0
Unit mm
From version 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
• Analog primary spindles
Purpose The 'position feedback direction' parameter enables the actual position value from
the position encoder to be subtracted from or added to the target position.

MT-CNC drive package

target position
> > position controller > drive amplifier > drive
^ +/-
position encoder

actual position value

<

Fig. 3-38 Method of operation of the 'position feedback direction' parameter

Explanation Enter '0' for the normal situation where the position encoder sits directly on the
drive. Thus, the actual position value is subtracted from the target position in the
position control loop.
If, due to its installation position, the position encoder measures the actual position
value in inverse direction, entering '1' compensates this without any modifications of
the existing hardware. The actual position value will then be added to the target
position.

3-50 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

Example Different possibilities of installing a position encoder:

circular
table

(2)

gearbox

(3)

drive

(1) sense of the

sensor position encoder

1 0
2 1

3 1

Fig. 3-39 Different possibilities of installing a position encoder, and the necessary parameter values

Notes on commissioning
Check the sense of rotation of the sensor if a primary spindle starts up in an uncontrolled way after
power has been switched on and controller release activated.
The primary spindle or the slide should possibly be moved manually, and the increasing position
value be monitored on the position display.
Clockwise rotation of the motor shaft must yield positive position increments. Invert the 'position
feedback direction' parameter if the position increment is negative.
Check the sensor signal to the controller, the sensor, and the sensor signal lines if the position
increment is too large or too small.

3.33 Tach Voltage per 1000 RPM

Name Tach voltage per 1000 rpm

Number Cxx.041
Value range 0 ... 9
Default value 3
Unit Volt
From version 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
• Analog primary spindles
Purpose With analog drives, the tachometer voltage is interpreted in the controller for
diagnosis purposes. Usually, it is shown on the motor rating plate (see description
of the drive).

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-51

MT-CNC

Explanation In their standard configuration, analog INDRAMAT drives supply the following
tachometer voltages that depend on the rated speed of the drive (INDRAMAT drive
tachometer voltages vs. motor speed):

Motor speed up to Spec. on rating plate Tachometer voltage

3000 rpm 0,0286 Vs/rad 3 Vmin/1000
6000 rpm 0,0143 Vs/rad 1,5 Vmin/1000
12000 rpm 0,00715 Vs/rad 0,75 Vmin/1000

Tacho - EMK 0.0286 VS/rad

37
Permanentmagnet-
GmbH Drehstromservomotor
Lohr/Main 89

MAC: 112B-0-PD-2C/130-A-0/SO5

Serien Nr.: 38 449 R1 Kom.-Nr.: 50 11 25

Dauer-Md 18.2 Nm Md Konst. 0.91 Nm/A

Dauerstrom 21.0 A Spitzenstrom 97 A

Motor-EMK VS/rad Isolationsklasse F

n max 1500 min -1 Schutzart: IP 65 IP24 1

Tacho-EMK 0.0286

Bremse: Md 14 Nm UN 24 V I 0.75A
N

Fig. 3-40 Typical rating plate of a motor

: Notes on commissioning
Use the following procedure to check the tachometer voltage:
1. Set the 'tach voltage per 1000 rpm' parameter to '0' and load the parameters into the MT-CNC.
2. Create an NC program that moves the axes forward and backward at a speed (F value) that
causes the drive to run at a speed of 1000 rpm.
The speed follows the equation:
F = n M [1 / min] ∗ VK [mm] ∗ i
F = speed (F value n the NC program)
n = motor speed (select nM = 1000 1/min)
M

VK = feed constant
i = transmission ratio

3. Use volt meter to measure the tachometer voltage.

4. Enter the measured value as 'tach voltage per 1000 rpm', and load the parameters into the
MT-CNC.

Analog primary Set this parameter to '0' for INDRAMAT primary spindle drives (such as KDA or
spindles RAC). If the existing actual speed value of a primary spindle drive is to be provided
to the MT-CNC in order to improve diagnosis and to monitor the speed, its valuation
must be entered here. If an analog feed drive is used instead of a primary spindle
drive, the tachometer signal should be supplied to the MT-CNC for diagnosis
purposes; and the output tachometer voltage per 1000 rpm should be entered here.
Usually, the tachometer voltage per 1000 rpm is shown on the motor rating plate
(see description of the drive).

The tachometer signal is n o t monitored if '0' is entered here.

3-52 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.34 Voltage to Current Ratio

Name Voltage to current ratio

Number Cxx.042
Value range 20 ... 500
Default value 50
Unit mV/A
From version 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
Purpose The parameter 'voltage to current ratio' specifies the conversion factor between the
voltage at the MA output of the drive and the expected current that corresponds
approximately to the actual current (see description of the drive).The value of this
parameter is shown on the programming module of the drive amplifier.

Example
MA = 0,25 V/A

MOD 5/1x026-185

Contr.: TDM 2.1-30-300-WO INPUT rpm/V

Motor: MAC 63A-.-RS-.-C E1 / E2 3500/9
Current (A).peak/cont.: 17/7 E3 3000/10
Operating rpm: 6000 MA =0,25V/A E4 1500/10

OPERATING PARAMETER: PROGRAMMING MODULE

ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED
ON THE MODULE MUST AGREE WITH
THE DEVICES IN USE.
OTHERWISE LACKOF PERFORMANCE
AND DANGER OF DAMAGE MAY OCCUR
Betriebsdaten - Programmierungsmodul
Achtung: Motor und Verstärkertypenangaben müssen mit der
Installation übereinstimmen, sonst Schädigungsgefahr

Fig. 3-41 Typical label on a programming module

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-53

MT-CNC

3.35 Current to Torque Constant

Name Current to torque constant

Number Cxx.043
Value range 0.1 ... 1.2
Default value 0.6
Unit Nm/A
From version 4.10
Dependency -
Axis param. for • Analog linear axes
• Analog rotary axes
Purpose The parameter 'current to torque constant' specifies the conversion factor from
motor current to driving torque. Its value is shown on the motor rating plate (see
description of the drive).

Example
Md Konst. 0.91 Nm/A

37
Permanentmagnet-
GmbH Drehstromservomotor
Lohr/Main 89

MAC: 112B-0-PD-2C/130-A-0/SO5

Serien Nr.: 38 449 R1 Kom.-Nr.: 50 11 25

Dauer-Md 18.2 Nm Md Konst. 0.91 Nm/A

Dauerstrom 21.0 A Spitzenstrom 97 A

Motor-EMK VS/rad Isolationsklasse F

n max 1500 min -1 Schutzart: IP 65 IP24 1

Tacho-EMK 0.0286

Bremse: Md 14 Nm UN 24 V I 0.75A
N

Fig. 3-42 Typical inscription on a motor rating plate

3.36 Reduced Torque at Positive Stop

Name Reduced torque at positive stop

Number Cxx.044
Value range 0 ... 100
Default value 25
Unit %
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
Purpose The 'reduced torque at positive stop' parameter specifies the pretension (the
reduced torque) with respect to the drive's peak torque with which the axis presses
against the stop after the stop has been reached.

3-54 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

Driving into hard stop permits a workpiece to be clamped, for example, or the
position at the stop to be used as a reference position for further machining.
Explanation The torque is limited to the value of this parameter and no longer increased if the
stop is found inside the distance that is defined by the start position and the
programmed end position. The NC no longer specifies new position values. It clears
the remaining path and ensures that the torque pretension is maintained.
If the stop yields or if a counterforce moves the axis from its position, an error
message is issued when the block start value or the end value is exceeded.
The following methods of recognizing the hard stop are used for analog and digital
drives:
Analog drive Digital drive
The axis is no longer able to follow the target The hard stop is considered as detected if:
value when the hard stop is reached. The  Md  > =  Mdlimit  and
hard stop is considered as detected when the
actual value difference between the current  nact  > =  nstandstill 
actual position of the axis and of an internally
updated model exceeds a speed-dependent
value that has been defined by the Both limits can be specified by SERCOS
'monitoring window' parameter. parameters:
• The torque limit may also be set via ID no.
82, 83 or 84
• The standstill window may also be set via
ID no. 124 (see ‘SERCOS Parameter
Description).

3.37 Maximum Feed to Positive Stop

Name Maximum feed to positive stop

Number Cxx.045
Value range 10 ... 100 000
Default value 200
Unit mm/min
From version ≤ 4.10
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
Purpose The 'maximum feed to positive stop' parameter delimits the speed value (F value)
that has been programmed in the NC block 'G75' (moving against hard stop) to the
value specified here.
If there is no F value, the value specified here is used automatically for traveling in
the direction of the programmed end position.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-55

MT-CNC

3.38 Spindle Gearbox Revolutions - Input/Output

(for Primary Spindle Mode)

Name Spindle gearbox revolutions - input (for primary spindle mode)

Spindle gearbox revolutions - output (for primary spindle mode)
Number Cxx.047
Cxx.048
Value range 1 ... 1 000 000
Default value 1:1
Unit -
From version 4.13
Dependency -
Axis param. • Analog primary spindles
for • Digital combined spindle/turret axes
Purpose Both parameters define the transmission ratio of a gearbox that is located between
motor and spindle.
Explanation The transmission ratio of a gearbox is defined as the relation between input
revolutions (motor revolutions) and output revolutions:

motor revolutions
transmission ratio i =
gearbox output revolutions

Here, integer values must be entered in order to avoid position errors that may be
caused by rounding inaccuracy.

Example 293 1000

i= = 10.85185185... =
27 92.150170
Enter '293' as the number of revolutions at the gearbox input, and '27' as the
number of revolutions at the gearbox output.
Entering, for example, ‘1000’ as the number of revolutions at the gearbox input, and
'92' as the number of revolutions at the gearbox output causes rounding errors.

Multi-stage transmission gears are only possible in conjunction with digital primary
spindle drives with SERCOS interface or with smart digital AC servo drives with
SERCOS interface and primary spindle functionality (DDS2.2).

3-56 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.39 Maximum Programmable Spindle Speed

Name Maximum programmable spindle speed

Number Cxx.049
Value range 10 ... 500 000
Default value 200
Unit 1/min
From version 4.13
Dependency -
Axis param. • Digital and analog primary spindles
for • Digital primary spindles with rotary axis capability
• Digital combined spindle/turret axes
Purpose The 'maximum programmable spindle speed' parameter specifies the maximum
speed the NC may employ for turning the primary spindle.
Explanation If a speed value (S value) is used in a machining program that is higher than the
maximum programmable spindle speed, the NC delimits the speed automatically to
the value specified here.

Prior to commissioning it must be checked whether the existing primary spindle is

able to attain the maximum programmable spindle speed. Besides the primary
spindle drive, components such as sensors or the application-related permissible
machining speed values frequently delimit the maximum programmable spindle
speed.

3.40 Maximum Spindle Acceleration Rate

Name Maximum spindle acceleration rate (for primary spindle mode)

Number Cxx.050
Value range 1 ... 100 000
Default value 100
Unit rad/s²
From version 4.13
Dependency -
Axis param. • Digital and analog primary spindles
for • Digital primary axis with rotary axis capability
• Digital combined spindle/turret axes
Purpose The 'maximum spindle acceleration rate' enables the acceleration rate from the
controller to the drive to be limited.
Explanation Enter the acceleration rate which the drive is always able to supply inside the
required speed range (0 - maximum spindle speed), considering the existing mass
conditions and the existing load type.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-57

MT-CNC

3.41 Orient Speed

Name Orient speed (for primary spindle mode)

Number Cxx.051
Value range 10 ... 100 000
Default value 200
Unit 1/min
From version 4.13
Dependency -
Axis param. • Analog primary spindles
for • Digital combined spindle/turret axes
Purpose The orient speed defines the speed at which the NC looks for zero.
Explanation If reference does not exist, the NC employs the value specified here for positioning
the spindle with 'M19'. It overtravels the zero impulse from the spindle sensor at the
speed specified here.

n positioning command (e.g. M 19 S200)

zero impulse
reference
point return
speed

t
speed-controlled mode with sensor positioning mode
interpretation

Fig. 3-43 First positioning after power-up

positioning command (e.g. M 19 S30)

reference
point return
speed

t
speed-controlled mode with sensor positioning mode
interpretation

Fig. 3-44 Positioning process if reference exists for the primary spindle

Tip
Reference speed [rpm] = 1/10 * maximum spindle speed [rpm]

3-58 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.42 In-Position Window (for Primary Spindle Mode)

Name In-position window (for primary spindle mode)

Number Cxx.052
Value range 0.000 1 ... 10
Default value 0.01
Unit °
From version
Dependency -
Axis param. for • Analog primary spindles
• Digital primary spindles with rotary axis capability
• Digital combined spindle/turret axes
Purpose The in-position window marks the maximum deviation that, at the end of a block,
may exist between the actual position and the target position in order to allow the
NC to go to the next block of a positioning process.
Explanation Before the MT-CNC starts processing the next block, it checks the following
condition whenever it performs a positioning movement:
target position - actual position ≤ in - position window

Example target position = 30°

0.1° 0.1°
< >< >

in-position window
< >

If the in-position window has been entered as 0.01°, and if the target position is
30°, the axis is in position at an actual position between 29.9° and 30.1°.

• Within the MT-CNC, the in-position window is automatically set to the specified
axis resolution if the entry is too small.
• The MT-CNC only interprets the ‘in-position window for primary spindle mode’
if 'positioning capability' spindle mode has been selected.

During the initialization phase, the NC overwrites the drive-related 'in-position

window' SERCOS parameter (S-0-0057) with the value stored in the 'in-position
window (for primary spindle mode)' axis parameter (Cxx.052).

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-59

MT-CNC

3.43 Axis Defined in RIGHT HAND COORD. System as (Axis Functionality)

Name Axis defined in RIGHT HAND COORD. system as (axis functionality)

Number Cxx.053
Value range X, Y, Z, U, V, W, A, B, C, S (S1), S2, S3
Default value -
Unit -
From version 4.11
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindles with rotary axis capability
Purpose The 'axis defined in RIGHT HAND COORD. system as (axis functionality)' axis
parameter enables the machine manufacturer to assign each axis a specific axis
functionality.
Explanation The 'axis defined in RIGHT HAND COORD. system as (axis functionality)' axis
parameter characterizes the functionality of an axis. The following table summarizes
the individual axis functionalities the MT-CNC possesses in each of its seven
processes:

3-60 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

Axis definition Sym- No. Axis position Axis function

bol

Feed axes (linear and rotary X 1 Abscissa Functions of all feed axes:
primary and secondary axes) Y 2 Ordinate ♦ Absolute or incremental programming
Z 3 Applicate ♦ Unit specification
U 4 ♦ Reference point return
V 5 ♦ Zero shifts
W 6 ♦ Mirroring and scaling
A 7 ♦ Driving against hard stop
B 8
♦ Low-lag Interpolation
C 9
♦ Speed-optimized block transition
♦ Exact stop
♦ Programmable path acceleration
♦ Linear interpolation
♦ Time programming
♦ Speed programming
♦ Feed per revolution
♦ Slave and Gantry axes
1. linear primary axis X 1 Abscissa Functions of all linear primary axes:
2. linear primary axis Y 2 Ordinate ♦ Plane selection
3. linear primary axis Z 3 Applicate ♦ Thread cutting
♦ Tapping
Functions within the working plane:
♦ Circular interpolation
♦ Tool radius compensation (Rtotal)
♦ Tool length compensation (L1/L2total)
♦ Twists
♦ Transformation functions for facing and
cylinder surface machining
Functions of the axis that is
perpendicular to the machining plane:
♦ Tool length compensation (L3total )
Functions of the first linear primary axis:
♦ Radius/diameter programming
♦ Constant cutting speed
1. linear or rotary secondary axis U 4 any position and -
2. linear or rotary secondary axis orientation
3. linear or rotary secondary axis V 5

W 6
1. rotary primary axis A 7 turns around Functions of the rotary primary axes:
2. rotary primary axis B 8 abscissa ♦ Effective radii
3. rotary primary axis C 9 turns around
ordinate
turns around
applicate
1. spindle S1 10 parallel to the Functions of the spindles:
2. spindle S2 11 primary axes ♦ Speed specification
3. spindle S3 12 ♦ Position specification
♦ Constant cutting speed
♦ Speed limitation
♦ Selecting the reference spindle
♦ Thread cutting
♦ Tapping
♦ Feed per revolution
♦ Gear shifting
♦ Primary spindle synchronization

'G20' (free plane selection) permits the functionality of an axis to be changed

during operation.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-61

MT-CNC

3.44 Axis Designation For Rotary Axis Mode

Name Axis designation for rotary axis mode

Number Cxx.054
Value range X, Y, Z, U, V, W, A, B, C with or without index 1, 2, 3
Default value -
Unit -
From version 4.12
Dependency -
Axis param. for Digital primary spindles with rotary axis capability
Purpose This parameter defines the symbolic designation of the primary spindle with rotary
axis capability that is used for programming and display in rotary axis mode.
Explanation The 'axis designation for rotary axis mode' parameter tells the NC that the primary
spindle with rotary axis capability must be switched over from spindle mode to rotary
axis mode when the axis designation that has been selected here appears in the
program or when the corresponding interface signals are triggered via the PLC (cf.
C axis function description). After changeover, the user interface shows the rotary
axis designation in the position display and the related axis data instead of spindle
designation and spindle data.

Primary spindle drives with rotary axis capability (such as assembly kit spindle
drives) and the related controllers are used in applications that do not need a
gearbox between primary spindle drive and spindle. Thus, the primary spindle's
line of drive shafts possesses a minimum rigidity and may be used for
interpolation operation.

Fig. 3-45 Primary spindle with rotary axis capability (assembly kit spindle motor)

3-62 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.45 Parameter Set in Drive Used for Rotary Mode

Name Parameter set in drive used for rotary mode

Number Cxx.055
Value range 0 ... 7
Default value 0
Unit -
From version 4.12
Dependency -
Axis param. for Digital primary spindles with rotary axis capability
Purpose The 'parameter set in drive used for rotary mode' parameter defines the parameter
set on the drive the NC activates in rotary axis mode. The NC always employs
parameter set '0' for spindle mode.

• Entering '0' does not cause any change. The drive continues with the
parameter set '0' that is used for primary spindle mode.
• Digital INDRAMAT primary spindles with SERCOS interface possess four
parameter sets (parameter set 0 ... 3).

3.46 Axis Number of Assigned Rotary Axis

Name Axis number of assigned rotary axis

Number Cxx.056
Value range 0 ... 20
Default value 0
Unit -
From version 4.12
Dependency -
Axis param. for Digital primary spindles
Purpose The 'axis number of assigned rotary axis' axis parameter enables a rotary axis to be
assigned to a digital primary spindle.
Explanation An assigned rotary axis (separate servo drive) is used in cases where the required
speed and torque ranges necessitate a multi-stage gearbox and the resulting rigidity
of the line of drive shafts proves insufficient.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-63

MT-CNC

DDS ditial servo feedback

dual sensor

servo drive

gearbox spindle

gear sensor
RAC

primary spindle drive

Fig. 3-46 Primary spindle with assigned rotary axis for C axis mode
The NC automatically switches over to the assigned rotary axis if this is triggered by
the specification of the related rotary axis designation or the corresponding jogging
signals (cf. 'C axis' function description).
Normally, the primary spindle does not have a rotary axis assigned. This is shown by
the default setting with axis number '0'.

3.47 Jogging Speed (for Primary Spindle Mode)

Name • Jogging speed
• Jogging speed for primary spindle mode
Number Cxx.057
Value range 10 ... 10 000
Default value 50
Unit 1/min
From version 4.10
Dependency -
Axis param. for • Digital and analog primary spindles
• Digital primary spindles with rotary axis capability
• Digital combined spindle/turret axis
Purpose The MT-CNC employs the jogging speed in manual mode as the speed in continuous
turning mode (AxxCM3 / AxxCM4 : 0 → 1 and AxxCRAPID = 0), and for continuous
and incremental jogging.

From version 5.16 onwards, the NC only considers these values if '0' is entered for
the 'jogging speed' data element on the 'setup register for feed axes' page in the
machine data (cf. 'Setup register for spindles and feed axes' function description ).

3-64 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.48 Jogging Speed - Rapid (for Primary Spindle Mode)

Name • Jogging speed - rapid

• Jogging speed - rapid for primary spindle mode
Number Cxx.058
Value range 10 ... 10 000
Default value 50
Unit 1/min
From version 4.10
Dependency -
Axis param. for • Digital and analog primary spindles
• Digital primary spindles with rotary axis capability
• Digital combined spindle/turret axis
Purpose In manual mode, 'jogging speed - rapid' is used as rapid traverse speed in
continuous turning mode (AxxCM3 / AxxCM4 : 0 → 1 and AxxCRAPID = 1,) and for
continuous and incremental jogging.
Explanation If the process-related RAPID input is set (rapid key pressed), the MT-CNC employs
the velocity stored here to move the axes in manual mode in continuous or
incremental jogging (provided it is a primary spindle with positioning capability).

• In continuous jogging, the rapid jogging speed is only effective if the axis has
reference (i.e. positioning has been performed).
• From version 5.16 onwards, the NC only considers these values if a value '0'
has been entered for the 'jogging speed - rapid' data element on the 'setup
register for feed axes' page in the machine data ( cf. 'Setup register for spindles
and feed axes' function description).

3.49 Parametric Spindle Jogging Distance

Name Parametric spindle jogging distance

Number Cxx.059
Value range 0.000 1 ... 10 000
Default value 50
Unit °
From version 4.10
Dependency -
Axis param. for • Digital and analog primary spindles
• Digital primary spindles with rotary axis capability
• Digital combined spindle/turret axis
Purpose In manual mode, 'parametric spindle jogging distance' is used for positioning the
spindle (AxxCM19 : 0 → 1). Where spindles with positioning capability are
concerned, this parameter permits absolute (not incremental) approach to two
positions in jogging mode if this is selected by setting the three PLC control signals
(PxxCIOGM0, PxxCIOGM1, PxxCIOGM2).
Explanation 'Positive jogging' (AxxCJGPOS) causes the MT-CNC to approach the positive value
that is specified by this parameter. With 'negative jogging' (AxxCJGNEG), it
approaches the negative value.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-65

MT-CNC

• Positioning of analog spindles employs the 'orient speed' (Cxx.051) that is stored
in the axis parameters.
• With digital spindles, the drive automatically performs positioning, taking the
positioning speed stored in the SERCOS parameter 'spindle positioning speed'
(S-0-0222) into account.
• From version 5.16 onwards, the NC only considers these values if a value '0'
has been entered for the 'jogging speed - rapid' and 'jogging speed' data
elements on the 'setup register for feed axes' page in the machine data (cf.
'Setup register for spindles and feed axes' function description).

Only in spindle mode 'with positioning capability'

Example: 'Parametric spindle jogging distance' = 90°

zero point
+

+90° -90°

Fig. 3-47 Absolute spindle positions that may be approached in jogging mode

The MT-CNC converts entries > 360° into values between 0° and 360°.

The positions specified by the 'parametric spindle jogging distance' parameter

cannot be approached as long as there is no reference for the spindle.

3-66 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.50 Position feedback location (for digital drives)

Name Position feedback location (for digital drives)

Number Cxx.060
Value range Motor sensor / external sensor
Default value Motor sensor
Unit -
From version 4.12
Dependency -
Axis param. for • Digital linear axes
• Digital rotary axes
• Digital primary spindles
• Digital primary spindles with rotary axis capability
• Digital combined spindle/turret axes
Purpose The 'position feedback location' parameter specifies whether or not there is an
external measuring system for the digital drive concerned.

During the initialization phase, the NC automatically sets the associated drive-
related SERCOS parameters 'reference point return' (S-0-0147) and 'primary and
secondary mode 1/2/3’ (S-0-0032 through S-0-0035), depending on the 'position
feedback location' (for digital drives) axis parameter.

3.51 Number of Spindle Gear Ranges

Name Number of spindle gear ranges

Number Cxx.061
Value range 1 ... 4
Default value 1
Unit -
From version 4.13
Dependency -
Axis param. for • Digital primary spindles
• Digital primary spindles with rotary axis capability
Purpose The NC takes a switched gearbox into account if a value >1 has been entered for
the 'number of spindle gear ranges' parameter.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-67

MT-CNC

3.52 Minimum / Maximum Spindle Speed, Gear Range 1 ... 4

Name Minimum spindle speed of gear range 1

Maximum spindle speed of gear range 1
Minimum spindle speed of gear range 2
Maximum spindle speed of gear range 2
Minimum spindle speed of gear range 3
Maximum spindle speed of gear range 3
Minimum spindle speed of gear range 4
Maximum spindle speed of gear range 4
Number Cxx.062, Cxx.063,
Cxx.065, Cxx.066,
Cxx.068, Cxx.069,
Cxx.071, Cxx.072
Value range 0 ... 100000
Default value Minimum spindle speed of gear range 1/2/3/4: 0
Maximum spindle speed of gear range 1/2/3/4: 200
Unit 1/min (rpm)
From version 4.13
Dependency The user interface only displays the minimum and maximum spindle speed of gear
range i (i ∈ {1, 2, 3, 4}) if a value >1 has been entered for the 'number of spindle gear
ranges' axis parameter (Cxx.061).
Axis param. for • Digital primary spindles
• Digital primary spindles with rotary axis capability
Purpose The NC employs the maximum and minimum spindle speed of the individual gear
ranges as a database for automatic gear shifting and for the speed monitoring
function (cf. 'Gear shifting' function description).

3.53 Maximum Spindle Acceleration, Gear Range 1 ... 4

Name Maximum spindle acceleration of gear range 1

Maximum spindle acceleration of gear range 2
Maximum spindle acceleration of gear range 3
Maximum spindle acceleration of gear range 4
Number Cxx.064
Cxx.067
Cxx.070
Cxx.073
Value range 0 ... 100000
Default value 100
Unit rad/s²
From version 4.13
Dependency The user interface only displays the maximum spindle acceleration of gear range i (i ∈
{1, 2, 3, 4}) if a value >1 has been entered for the 'number of spindle gear ranges' axis
parameter (Cxx.061).
Axis param. for • Digital primary spindles
• Digital primary spindles with rotary axis capability
Purpose In each gear range, the NC takes the maximum acceleration of the currently active
gear range into account.

3-68 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Axis Parameters

3.54 Automatic Spindle Gear Range Selection

Name Automatic spindle gear range selection

Number Cxx.074
Value range Yes / No
Default value No
Unit -
From version 4.13
Dependency The user interface only displays the axis parameter if a value >1 has been entered for
the 'number of spindle gear ranges' axis parameter (Cxx.061).
Axis param. for • Digital primary spindles
• Digital primary spindles with rotary axis capability
Purpose 'Automatic spindle gear range selection' enables the machine manufacturer to
activate automatic gear range selection in the default state.
Explanation With automatic gear range selection (Mj40 j ∈ {‘ ‘, ‘1’, ‘2’, ‘3’}), the NC automatically
selects the required gear range of the 'Sj' spindle according to the specified speed
values.
If the 'automatic spindle gear range selection' axis parameter is set to 'Yes', the NC
activates automatic gear range selection (Mj40 j ∈ {‘ ‘, ‘1’, ‘2’, ‘3’}) in the default
state. If the parameter is set to 'No', the NC activates direct gear range selection
(Mj41 through Mj44 j ∈ {‘ ‘, ‘1’, ‘2’, ‘3’}) by setting the M function that is related to
the active gear range in the default state.

3.55 Axis Designation 2

Name Axis designation 2

Number Cxx.075
Value range X, Y, Z, U, V, W, A, B, C, with or without index 1, 2, 3
Default value -
Unit -
From version 4.13
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindles with rotary axis capability
Purpose Axis designation 2 defines the symbolic identifier of the fictitious axis in the
transformation functions 'facing' (G31) and 'cylinder machining' (G32) .
Explanation The identifier stored here must be used for the fictitious axis in the transformation
functions 'G31' and 'G32'. This identifier is also used for displaying the fictitious axis.
As for axis designation 1, the letters X, Y, Z, U, V, W, A, B, C with or without index
1, 2, 3 are available as symbolic identifiers.

Each axis designation may only be used once within a process.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-69

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3.56 Direction for Polar Coordinate Transformation

Name Direction for polar coordinate transformation

Number Cxx.076
Value range 0/1
Default value 0
Unit -
From version 4.13
Dependency -
Axis param. for • Digital linear axes
• Digital rotary axes
• Digital primary spindles with rotary axis capability
Purpose A 'direction for polar coordinate transformation' parameter that is allocated to rotary
axes or primary spindles with rotary axis capability. enables the machine
manufacturer to reverse the sense of rotation of the C axis in 'facing' (G31) or
'cylinder machining' (G32).
A 'direction for polar coordinate transformation' parameter that is allocated to linear
axes designated 'X' enables facing (G31) to be performed before the rotation center
(0: in the positive range) or behind the rotation center (1: in the negative range).

3.57 Axis Droop Compensation

Name Axis droop compensation

Number Cxx.077
Value range Yes / No
Default value No
Unit -
From version 5.14
Dependency -
Axis param. for Digital and analog linear axes
Purpose Axis droop compensation can be used for error compensation with drooping axes or
in oblique-angled coordinate systems.
Setting this parameter to 'Yes' activates this compensation method. The user
interface displays the related parameters.

Z axis sagging in Y
direction

Fig. 3-48 Z axis sagging in Y direction

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Axis Parameters

Effect Depending on the position of the axis that is to be compensated (the Z axis in our
example) , the compensation axis (the Y axis in our example) moves interpolatorily
by the value stored in the compensation table.
Activation Various functions (such as tool change) require axis droop compensation to be
activated and de-activated. Using APR-SERCOS parameters, the function is
activated/de-activated via the AXD command:
Ident number 65034 (P-7-3594) [Read/Write]
Bit 0: 1: de-activate axis droop compensation
0: activate axis droop compensation

• The NC does not consider the compensation values in monitoring the travel
limits or in monitoring the working space.
• Axis droop compensation becomes effective (with incremental measuring
system) after the participating axes have been referenced.
• The axis that is to be compensated and the compensation axis must be on an
axis processor module (APRB).

3.58 Number of Associated Axis (Droop Comp.)

Name Number of associated axis (droop comp.)

Number Cxx.078
Value range 0 ... 20
Default value 0
Unit -
From version 5.14
Dependency The user interface only displays the 'number of associated axis (droop comp.)'
parameter if the 'axis droop compensation' parameter (Cxx.077) has been set to
'Yes'.
Axis param. for Digital and analog linear axes
Purpose The 'number of associated axis (droop comp.)' parameter specifies the axis number
of the axis that is to be compensated (Z axis in out example). The sagging axis (for
which a measuring report has been established) is the axis that is to be
compensated.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-71

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3.59 Number of Droop Compensation Points

Name Number of droop compensation points

Number Cxx.079
Value range 1 ... 500
Default value 500
Unit -
From version 5.14
Dependency The user interface only displays the 'number of droop compensation points' parameter
if the 'axis droop compensation' parameter (Cxx.077) has been set to 'Yes'.
Axis param. for Digital and analog linear axes
Purpose The 'number of droop compensation points' parameter defines the size of the
compensation table.

3.60 Distance Between Droop Compensation Points

Name Distance between droop compensation points

Number Cxx.080
Value range -100 000.0000 ... +100 000.0000 or.
-10 000.00000 ... +10 000.00000
Default value 0
Unit mm
From version 5.14
Dependency The user interface only displays the 'distance between droop compensation points'
parameter if the 'axis droop compensation' parameter (Cxx.077) has been set to 'Yes'.
Axis param. for Digital and analog linear axes
Purpose The distance between droop compensation points defines the distance between two
neighboring table values (see Fig. 3-49 below). The distance between droop
compensation points is constant for the entire compensation range.

axis to be compensated

Sp

Sa Sa ...

MNP compensation axis

Kw Kw

Sp: Start position of table (Cxx.081)

Sa: Distance between droop compensation points (Cxx.080)
Kw: Compensation values (Cxx.083) [1 ... 500]
Fig. 3-49 Distance between droop compensation points

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Axis Parameters

With a negative sign of 'distance between droop compensation points', the NC

sets the compensation points in the negative axis direction (beginning at the start
position).

3.61 Start Position of Droop Compensation

Name Start position of droop compensation

Number Cxx.081
Value range -100000.0000 ... 100000.0000
Default value 0
Unit mm
From version 5.14
Dependency The user interface only displays the 'start position of droop compensation' parameter if
the 'axis droop compensation' parameter (Cxx.077) has been set to 'Yes'.
Axis param. for Digital and analog linear axes
Purpose This axis parameter defines the distance between the first compensation point and
machine zero (see figure above). The table start position can be selected as
required within the travel range of the axis that is to be compensated.

3.62 Unit of Droop Compensation Values

Name Unit of droop compensation values

Number Cxx.082
Value range mm / inch
Default value mm
Unit -
From version 5.14
Dependency The user interface only displays the 'unit of droop compensation values' parameter if
the 'axis droop compensation' parameter (Cxx.077) has been set to 'Yes'.
Axis param. for Digital and analog linear axes
Purpose The 'unit of droop compensation values' parameter defines the unit of the
compensation values in the table.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-73

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3.63 List of Droop Compensation Values

Name List of droop compensation values

Number Cxx.083
Value range -9.9999 ... 9.9999
Default value mm
Unit As defined in the 'unit of droop compensation values' axis parameter (Cxx.082).
From version 5.14
Dependency The user interface only displays the 'list of droop compensation values' parameter if
the 'axis droop compensation' parameter (Cxx.077) has been set to 'Yes'.
Axis param. for Digital and analog linear axes
Purpose The 'list of droop compensation values' parameter enables the compensation values
to be entered in the table, and modified.

If the first or the last compensation point contains a value ≠ 0, the NC considers
these values even if they are outside the value range of the table.

3.64 Spindle Acceleration, Position Mode

Name Spindle acceleration, position mode

Number Cxx.084
Value range 0 ... 100000
Default value 100
Unit rad/s²
From version 5.14
Dependency -
Axis param. for • Digital and analog primary spindles
• Digital primary spindles with rotary axis capability
Purpose The NC employs the 'spindle acceleration, position mode' parameter if it uses the
spindle in position control mode. This is the case in rigid tapping (G63 and G64) and
in primary spindle synchronization.

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Axis Parameters

3.65 Software Travel Limits Immediately Active

Name Software travel limits immediately active

Number Cxx.085
Value range Yes / No
Default value No
Unit -
From version 5.14
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
Purpose If the 'software travel limits immediately active' parameter has been set to 'Yes', the
NC activates the software travel limits immediately after the control voltage has
been switched on.

Immediate activation of the software travel limits is only expedient in an

application that possesses an absolute measuring system.

Example The feed drives are equipped with multi-turn sensors. In addition, each feed axis
features a linear measuring scale.
Each digital drive transfers its actual position value 1 (motor sensor) to actual
position value 2 (external sensor) when the drive control voltage is activated.
If the 'software travel limits immediately active' parameter has been set to 'Yes', the
controller activates the software travel limits when the control voltage is switched
on. Up to reference point return, all position values and the software travel limits
refer to the start position supplied by the multi-turn sensor. Only after reference
point return has been completed, the position values and the software travel limits
refer to the exact actual position of the linear measuring scale.

3.66 Window for Re-Positioning and NC Block Restart

Name Window for re-positioning and NC block restart

Number Cxx.086
Value range 0.0001 ... 20000
Default value 0.02
Unit mm or units
From version 5.14
Dependency -
Axis param. for • Digital and analog linear axes
• Digital and analog rotary axes
• Digital primary spindles with rotary axis capability
Purpose The 'window for re-positioning and NC block restart' parameter enables the machine
manufacturer to define for each feed axis (X, Y, Z, U, V, W, A, B, C) when the axis
is considered as adjusted in the process of re-positioning or NC block restart.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 3-75

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window

X
actual target position = interruption point
position or block start point

| target position - actual position | ≤ window

Fig. 3-50 Window for re-positioning and NC block restart

A value of '0' specifies that the axis concerned will not be considered in re-
positioning and NC block restart. Any other value will cause the NC to monitor the
difference between target position and actual position during the process of re-
positioning or NC block restart.

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APR-SERCOS Parameters

4 APR-SERCOS Parameters

4.1 General

Task of the Within the MT-CNC, the APR-SERCOS parameters are used for setting parameter
APR-SERCOS values and for activating specific functions on the axis processor modules APRB-02,
parameter APRB-03 and APRB-04. With certain restrictions, they are also used for the APRB-01 axis
processor module (to control analog drives).

Requirement The SERCOS ident number range from 65000 (P-7-3560) onwards is reserved for
data parameters on the 'APR'. These parameters can only be addressed from PLC or NC
via the requirement data channel or the AXD command.
Requirement data requests in this ident number range are directly processed by the
'ARP'. The SERCOS requirement data channel to the digital drives is not affected.
This means that requirement data requests from the user interface or the NC for
special functions (e.g. reference point return) can execute simultaneously.

4.2 List of APR-SERCOS Parameters

SCARA robots Function Ident number Significance Drive

Specifying the arm position of 65000 (P-7-3560) 0: left-armed D
the SCARA robot Read / write 1: right-armed
(drive: X axis)
Interpolation mode of the 65001 (P-7-3561) 0: cartesian interpolation D
SCARA robot Read / write 1: point-to-point operation with
(drive: X axis) filter on drive
2: point-to-point operation w/o
filter
Velocity of the SCARA robot in 65002 (P-7-3562) Evaluation: D
point-to-point mode Read / write in per cent (100% corresponds to
(drive: X axis) the maximum velocity possible)
Retrieving the current arm 65003 (P-7-3563) 0: left-armed D
position of the SCARA robot Read only 1: right-armed
(drive: X axis)
Retrieving the selected mode 65004 (P-7-3564) 0: cartesian interpolation D
of the SCARA robot Read only 1: point-to-point operation with
(drive: X axis) filter on drive
2: point-to-point operation
without filter
Activating the SCARA vertical 65006 (P-7-3566) Bit 0: D
turning axis Read / write 0: Z axis and manual axis are
(drive: X axis) mechanically decoupled
1: vertical turning axis
Bit 1:
0: pos. correction direction when
vertical turning axis is used
1: neg. correction direction when
vertical turning axis is used
Arm length of the SCARA 65007 (P-7-3567) Evaluation: in 0,1 µm D
gripper arm (drive: X axis) Read / write

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SCARA robot Function Ident number Significance Drive

SCARA arm length 65019 (P-7-3579) Evaluation: in 0,1 µm D
Read / write If DDS 2 is used, the APR takes
the SCARA arm length from the
drives. The arm lengths are
defined in the SERCOS
parameters P-0-0102. The arm
length of a drive that does not
support the P-0-0102 parameter
can be defined via ident no.
65019.
The drives have the following
SCARA arm lengths allocated:
X axis (1st APR axis):
1st SCARA arm
Y axis (2nd APR axis):
2nd SCARA arm
Z axis (3rd APR axis):
SCARA gripper arm
W axis (4th APR axis):
SCARA gripper arm
T parameter values of the SCARA
gripper arm may also be defined
via ident no. 65007.
Velocity of the SCARA drive in 65020 (P-7-3580) Evaluation: D
point-to-point mode Read / write X,Y and W axis:
Speed in 0.0001 rpm
Z axis:
speed in 0.001 mm/min
Acceleration of the SCARA 65021 (P-7-3581) Evaluation: D
drive in point-to-point mode Read / write X,Y and W axis:
acceleration in 0.001 rad/s²
Z axis:
acceleration in 0.001 mm/s²
Reference path velocity for 65039 (P-7-3599) Evaluation: 1 mm/min D
applying sealing material with a Read / write The specified spindle speed is
SCARA robot output to the pump motor when
the cartesian axes move at
reference path velocity (drive: X
axis):
2 2 2
Vpath = Vx + Vy + Vz
Case a) Vpath < Vpath reference:
 Vpath   SOverride 
Npump = Svalue ×   ×
 Vpath reference   100 

Case b) Vpath ≥ Vpath reference:

Npump = Svalue × 
 SOverride 
 100 
NPump : pump motor speed
Vpath : current path velocity
Vpath reference: reference path velocity
Vx : velocity in X direction
Vy : velocity in Y direction
Vz : velocity in Z direction
SWert : programmed S speed
SOverride : spindle override

4-2 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

APR-SERCOS Parameters

DDS as spindle Function Ident number Significance Drive

drive
Drive selection 65008 (P-7-3568) 0: KDA as spindle drive D
Read / write 1: DDS as spindle drive
Reference angle position of the 65009 (P-7-3569) Evaluation: 0.0001° D
DDS axis type as primary Read / write The parameter is only active if
spindle (is interpreted as shift ident no. 65000 is set to '1'.
in M19 S0).

Gear changes Function Ident number Significance Drive

Spindle function during gear 65012 (P-7-3572) Bit 0: D
changing Read / write 0: no function
1: specification spindle hunting
(KDA only)
Bit 1:
0: no function
1: spec. spindle positioning
(KDA only, spindle angle in
Ident no. 65015)
Bit 2:
0: no function
1: spec. spindle speed, drifting
(KDA only, spindle angle in
Ident no. 65014)
Bit 8:
0: no hunting active
1: spindle hunting acknowledg-
ment is activated
Bit 9:
0: no spindle positioning active
1: spindle positioning acknow-
ledgment performed
Bit 10:
0: no spindle speed spec.
performed
1: spindle speed spec.
acknowledgment performed

Gear changes Function Ident number Significance Drive

Spindle speed for spindle 65013 (P-7-3573) Evaluation: 0.0001 1/min D
speed specification function Read / write The value may also be modified
while the spindle function is
activated.
The maximum speed specification
is limited to 1000 rpm.
Spindle acceleration for spindle 65014 (P-7-3574) Evaluation: rad/s² D
speed specification function Read / write
Spindle angle for spindle 65015 (P-7-3575) Evaluation: 0.0001°
positioning function Read / write

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Torque Function Ident number Significance Drive

reduction
Reduced motor torque of the 65016 (P-7-3576) Evaluation: in per cent D
digital drive Read / write 100% corresponds to the
maximum peak torque.
Reduced motor torque of the 65017 (P-7-3577) Evaluation: in per cent D
digital drive when traveling Read / write 100% corresponds to the
against hard stop maximum peak torque.
Reduced motor torque of the 65018 (P-7-3578) Evaluation: in per cent D
digital drive at the hard stop Read / write 100% corresponds to the
maximum peak torque.
This value is only effective if it is
smaller than the value entered in
the 'reduced torque at positive
stop' axis parameter, and less
than 25%.

Function Ident number Significance Drive

Filter
Filter depth for jerk limitation 65010 (P-7-3570) 0: Jerk limitation inactive D/A
filter (preliminary) Read / write 1-512: Filter depth, jerk limitation
active.
The same filter depth (AXD
command) must be transferred to
all axes of a process before a
motion block is started.
Filter depth ∗ 2ms = time const. f. accel. ramp

Activating a master filter to filter 65022 (P-7-3582) Bit 0: D/A

the target position values of the Read / write 0: Filter inactive
axis concerned. 1: Filter active
NOTE: Bit 1:
This filter is automatically 0: Filter 1 selected.
activated in handwheel mode. Filter output position =
filter input position, if max.
CAUTION speed and acceleration are
Using the filter causes path not exceeded.
deviations. 1: Filter 2 selected.
Filter with lag. At constant
speed, the filter output position
lags behind the filter input
position.
This master filter delimits speed
and acceleration of the target
position values that are fed to the
filter input. Jerk limitation may
additionally be activated.
Filter depth for jerk limitation 65023 (P-7-3583) 0: Jerk limitation inactive D/A
upon activation of the master Read / write 1-512: Filter depth; jerk limitation
filter (ident no.: 65022). active.
NOTE: The value is only accepted if the
Should also be used for filter is inactive and jerk limitation
smoothing the handwheel. has not been activated in the
process parameters (except for
handwheel).
Filter depth ∗ 2ms = time const. f. accel. ramp

4-4 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

APR-SERCOS Parameters

Function Ident number Significance Drive

Filter
Acceleration override for 65024 (P-7-3584) Evaluation: D/A
master filter Read / write in per cent
The acceleration value of the
master filter may be reduced in
per cent. 100% corresponds to the
maximum axis acceleration.
The value is only accepted if the
filter is inactive.

Synchronous Function Ident number Significance Drive

axes
Offset angle of a slave spindle 65029 (P-7-3589) Evaluation: D
in synchro mode Read / write 0.0001° range: 0..359,9999
The offset angle defines the angle
offset between the master spindle
and the slave spindle concerned.
The offset angle may be modified
during synchro operation. The new
offset angle will then be
approached at the shortest way
possible.
If, prior to changing over to
synchro mode, the offset angle is
set to -1, the current angle offset
between master and slave spindle
will be maintained during
changeover.
P factor for spindle synchroni- 65042 (P-7-3602) Evaluation: 0.000001°/% D
zation compensation controller Read / write (angle offset per torque difference
between the spindles)

Measuring Function Ident number Significance Drive

function
torque/
lag error Activate measuring function 65035 (P-7-3595) Bit 0: D
Read / write 0: Torque measurement inactive
1: Torque measurement active
Bit 1:
0: Torque measurement w/o
acceleration phase
1: Torque measurement with
acceleration phase
Bit 2:
0: Measuring torque mean value
1: Measuring torque maximum
Bit 3:
0: Tool breakage monitoring
inactive
1: Tool break. monitoring active
Bit 4:
0: Torque distribution measure
ment inactive
1: Torque distribution measure
ment active

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 4-5

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Measuring Function Ident number Significance Drive

function
torque/
lag error Bit 5:
0: Lag error measuremt. inactive
1: Lag error measurement active
This function can be used for
measuring torque mean value,
torque maximum, torque peak,
torque distribution and lag error.
Tool breakage monitoring
(exceeding the maximum torque
peak) may additionally be
activated.
Measured torque value 65036 (P-7-3596) Evaluation: 0.1 % D
Read / write Starting and ending measurement
with ident no. 65035 (bit 0).
Measuring mean value or
maximum (bit 2) with or without
acceleration phase.
Specification of maximum 65037 (P-7-3597) Evaluation: 0.1 % D
torque peak for tool breakage Read / write With tool breakage monitoring,
monitoring ident no. 65035 (bit 3), being
active, an error is signaled if the
specified maximum torque peak is
exceeded.
Maximum measured torque 65038 (P-7-3598) Evaluation: 0.1 % D
peak Read / write Torque peak is only measured if
breakage monitoring, ident no.
65035 (bit 3), is active,
Measured torque distribution 65040 (P-7-3600) Evaluation: 0.1 % D
NOTE: Read / write This measurement is only
Performing more than one expedient with milling applications
measurement of the torque (measurement with primary
distribution of different axes at spindles only, ident no. 65035, bit
the same time on an APR is 4). The measurement requires a
not possible. cyclic actual torque value that is
measured every 2 ms. This is not
the case with the existing KDA.
The torque distribution permits
uniform machining to be
controlled. The torque distribution
value decreases with increasing
uniformity of machining.
Measured maximum lag error 65041 (P-7-3601) Evaluation: D
NOTE: Read / write 0.0001 mm for linear axes
Starting more than one 0.0001° for rotary axes
measurement of the lag error Ident no. 65035 (bit 5) is used to
of different axes at the same start or end measurement.
time on an APR is not
possible.

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APR-SERCOS Parameters

Combined Function Ident number Significance Drive

spindle/
turret axis Shifting the reference cam of a 65032 (P-7-3592) Evaluation: 0.0001° referring to D
Sauter turret. Read / write one turret revolution.
A mechanical shift of the
reference cam is not necessary if
this parameter is used.
Number of turret locations in 65043 (P-7-3603) D
the combined spindle/turret Read / write
axis
Reference point return of 65044 (P-7-3604) Bit 0: D
spindle/turret axis required? Read / write 0: Reference point return not
required
1: Reference point return
required

General Function Ident number Significance Drive

Actual current or torque value 65005 (P-7-3565) Evaluation: D
of the drive Read only analog drive: 32767 ($7FFFF)
corresponds to
10V at the input
for actual current
measurement.
digital drive: Actual torque in
0.1 %.
Spindle parameters 65011 (P-7-3571) Bit 0: D
(preliminary) Read / write 0: Spindle with motor sensor
1: Spindle with external sensor
Bit 1:
0: Drive message frame with:
actual position value
actual speed value
actual torque
1: Drive message frame with
actual position value
actual speed value
actual torque, and
signal status word.
Changeover to polygon mode 65025 (P-7-3585) 0: polygon mode inactive D
NOTE: Read / write 1: polygon mode active
Peculiarities of polygon mode: This mode must either be active or
- minimum block cycle time up inactive for all axes of a process. It
to 2 ms is only effective in G1, G2 or G3
- the look-ahead function is blocks. In addition, the G codes
switched off G8 and G62 must be active. Then,
a polygon that consists of several
blocks may be traveled along in
polygon mode. G9 should be pre-
selected in the last block of a
polygon sequence. Polygon mode
should be de-activated afterwards.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 4-7

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General Function Ident number Significance Drive

Static monitoring window for 65031 (P-7-3591) Evaluation: D
controller-internal drive Read / write Linear axis:
monitoring function for digital monit. window in 0.0001 mm
drives Rotary axis/spindle:
monitoring window in 0.0001°
Usually, the controller sets this
parameter to a sensible value. If
the controller-internal drive
monitoring function shows an
excessive sensitivity, this
parameter can be used for
reducing the monitoring sensitivity.
Axis simulation mode 65033 (P-7-3593) Bit 0: A/D
Read / write 0: normal operation mode
1: simulation mode
Simulation mode permits the
MT-CNC to be used without
drives. The actual values of the
drives are simulated.
Axis droop compensation 65034 (P-7-3594) Bit 0: D
Read / write 0: Axis droop comp. inactive
1: Axis droop comp. active
Actual position of axis 65045 (P-7-3605) Evaluation: D
Read only Linear axis: 0.0001 mm
Rotary axis: 0.0001°
Target position of axis 65051 (P-7-3611) Evaluation: D
Read only Linear axis: 0.0001 mm
Rotary axis: 0.0001°
Current position of 2nd sensor 65046 (P-7-3606) Evaluation: D
system Read only Linear axis: 0.0001 mm or
0.0001°
NOTE:
Rotary axis is not supported at
the moment
Active sensor system 65047 (P-7-3607) Bit 0: D
Read only 0: sensor system 1 active
1: sensor system 2 active
Filter time constant of 2nd 65050 (P-7-3610) Evaluation: D
sensor system Read / write in milliseconds
Default value: 50 ms
This time constant defines the
coupling between the 2nd sensor
system and the motor sensor.
Positive limit of the dynamic 65048 (P-7-3608) Evaluation: D
limit monitoring function Read / write Linear axis: 0.0001 mm
NOTE:
For linear axes only
Negative limit of the dynamic 65049 (P-7-3609) Evaluation: D
limit monitoring function Read / write Linear axis: 0.0001 mm
NOTE:
For linear axes only

4-8 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Setting Tool Storage Parameter

5 Setting Tool Storage Parameters

5.1 Sequence of Parameter Setting

Sequence The following diagram shows the steps that are required to set up the parameters of
diagram a tool magazine:

Setting tool
storage parameters

Common • Create separate process

First management of with tool management.
tool storage of a No the tool locations No • Standard blocks in the PLC
machining process of this and the using tool spindles perform
? first tool storage the logic tool transfer
unit (one tool list) between the processes.
?

Yes Yes
• Set up tool storage as PLC-
controlled turret.
More than 4 • Physical and logical tool
Are tool changes transfer is not required here.
Movable tool No locations (incl. Yes No
required in
storage unit ? tool spindles) program • Compensate distances
that may contain between machine zero and
operation?
tools ? arbor as offset or as D
correction..

Yes Yes
• Set up tool storage as tool
spindles.
No • No programming required in
the PLC.
• Compensate distances
between machine zero and
arbor as offset or as D
correction.
Does tool
storage or tool Are tool changes
changing unit No No
required in the Enter tool storage as PLC-
have one or program controlled tool storage.
more NC- operation?
controlled axes ?

Yes

• Enter tool storage as PLC-

Must tool controlled tool storage.
Yes changes be • Initiate tool transfers in the
performed Yes PLC user program using
asynchronously the 'X_FERCHK' standard
(parallel) to function.
machining?

• Enter tool storage as PLC-

controlled tool storage.
No • Initiate tool transfers in the
NC tool change subroutine
using 'TCH' or 'TSM' and
'TMS'.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 5-1

MT-CNC

Yes

Are tool changes

No required in
program
operation ?

Ja
• Enter tool storage as PLC-
controlled tool storage.
• Create separate process to
Must tool accommodate the NC axes.
transfers be Yes • Initiate tool transfers in the
performed PLC user program using
asynchronously the 'X_FERCHK' standard
(parallel) to function.
machining ?

No

Initiate tool transfers from

the NC tool change
subroutine using 'TCH' or
'TSM' and 'TMS'.

• Enter tool storage as PLC-

controlled tool storage.
• The location that is related
Unbalanced to the programmed tool
Yes
subdivision of tool number is determined in the
storage ? NC tool change program;
the associated position is
approached.

NC-controlled tool storage

Define axis type in the system

parameters: analog rotary axis,
analog linear axis, digital rotary
axis, digital linear axis, combined PLC-controlled tool storage
digital spindle/turret axis.

Enter process parameters:

− tool storage type
− endlessly turning tool
Enter process parameters: storage
− tool storage type − number of tool storage
− endlessly turning tool locations
storage − number of tool spindles
− number of tool storage − number of tool grippers
locations − axios number of tool
− number of tool spindles storage axis = 0
− number of tool grippers − Position 1 (offset to the
− axis number of the tool reference)
storage axis − Position 2 (offset to the
− Position 1 (offset to the reference)
reference) − Position 3 (offset to the
− Position 2 (offset to the reference)
reference) − Position 4 (offset to the
− Position 3 (offset to the reference)
reference)
− Position 4 (offset to the
reference

END

Fig. 5-1 Steps required for setting up the parameters of a tool storage unit

5-2 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Setting Tool Storage Parameter

5.2 NC-Controlled Tool Storage

5.2.1 Benefits of NC-Controlled Tool Storage

Benefits of Compared with the usual PLC control, using a servo drive for controlling an NC-
NC-controlled controlled tool storage unit via the MT-CNC yields various benefits:
tool storage • The PLC programming effort required for adaptation and the commissioning time
are significantly reduced.
• Compared with PLC-controlled systems, NC axes are more reliable, service-
friendlier and less subject to wear.
• For numerically controlled servo axes, reliable monitoring functions and fault
diagnostics exist in the firmware. The MT-CNC monitors and controls all states of
the NC axes, even the ways between the tool storage locations.

5.2.2 Example: Setting up the Parameters of a Disk Magazine

Tool storage The tool storage to be set up consists of a full disk with 24 locations. A digital servo
drive provides for direct positioning via a reduction gearbox.
The spindle retrieves the tools directly from the tool storage and puts them back
there. There are no grippers for tool transfer.
.
.
.
System • Tool management Yes
parameters • Axis type Digital rotary axis
.
.
.
.
.
.
Process • Tool management Yes
parameters • Type of tool storage Magazine
• Endless rotating tool storage Yes
• Number of tool locations in tool storage 24
• Number of spindles with tool 1
• Number of grippers 0
• Axis number of tool storage axis 4
• Position 1 (offset to the reference) 3
If the magazine is in its home position such that a magazine location is in a changing
position, the 'tool change position' parameter can be determined as the number of
locations between the changing position and location 1. The count direction is the
direction in which the magazine locations are numbered (= positive direction of
movement).
• Position 2 (offset to the reference) 0
• Position 3 (offset to the reference) 0
• Position 4 (offset to the reference) 0
.
.
.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 5-3

MT-CNC

magazine in reference position (MRF) magazine in home position (MHP)

tool tool
changing changing
position position

Fig. 5-2 Determining position 1 (offset to the reference) of a disk magazine

Axis The axis parameters of the NC-controlled tool storage axis must be set up in the
parameters same manner as the axis parameters of any other rotary axis. Merely the
'parametric jogging distance' parameter requires particular attention. This parameter
is used for telling the MT-CNC the distance between the tool locations.

parametric jogging distancelinear axis = distance between magazine locations [mm]

graduation per revolution [units]

paramteric jogging distancerotary axis =
number of locations [ ]

The second formula is valid for turret, disk, drum-type and chain-type magazines.

• If tool storage units are used in which certain sectors do not possess tool
pockets (such as a semi-disk magazine), the number of locations required for
determining the 'parametric jogging distance' parameter must be extrapolated
to the full circle, using the same graduation.
• The 'parametric jogging distance' parameter enables the individual magazine
locations to be approached in jogging mode if 'parametric jogging distance'
(PxxCJOGM0 = 1, PxxCJOGM1 = 1, PxxCJOGM2 = 1) has been preselected
in the PLC for the jog keys.

5-4 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Setting Tool Storage Parameter

5.3 PLC-Controlled Tool Storage

5.3.1 General

Components PLC-controlled tool storage systems are actuated by asynchronous drives, hydraulic
or pneumatic elements. Usually, sensors (such as reference point or count cams)
provide the necessary position information.
Home position Note that there will be a pocket at the tool changing position if the tool storage unit is
at its home position (MHP).
If there is no separate cam with an associated switch for the home position, the
reference point cam must mechanically be adjusted such that there is a magazine
location at the tool changing position when the magazine is in reference position.
Software adjustment between reference position and home position is not possible.

5.3.2 Example: Setting up the Parameters of a Disk Magazine

Tool storage As in the previous example (Chapter 5.2.2), the tool storage to be set up consists of
a full disk with 24 locations. There is a cam for reference point return and homing.
The spindle retrieves the tools directly from the tool storage and puts them back
there. There are no grippers for tool transfer.
.
.
.
System • Tool management Yes
parameters • Axis type -
.
.
.
.
.
.
Process • Tool management Yes
parameters • Type of tool storage Magazine
• Endless rotating tool storage Yes
• Number of tool locations in tool storage 24
• Number of spindles with tool 1
• Number of grippers 0
• Axis number of tool storage axis 0
The 'axis number of tool storage axis' must be set to '0'. This tells the MT-CNC that a
PLC-controlled changer is used.
• Position 1 (offset to the reference) 3
If the tool storage unit is in reference position or in home position, location 22 is in
change position (position 1).
• Position 2 (offset to the reference)
• Position 3 (offset to the reference)
• Position 4 (offset to the reference)
.
.
.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 5-5

MT-CNC

5.4 Commissioning Instructions for Combined Spindle/Turret Axes with

Digital Servo Drive with SERCOS Interface

5.4.1 Parameter Setting

Process The following process parameters must be set to the specified values when a
parameters combined spindle/turret axis is used:
Bxx.014 Tool management Yes
Bxx.015 Type of tool storage Turret
Bxx.016 Endless rotating tool storage Yes
Bxx.017 Number of tool locations in tool storage
Bxx.020 Axis number of tool storage axis Axis number(1 ... 20)

Axis Set the velocity and acceleration parameters in primary spindle and rotary axis mode
parameters to the required values. Particularly important are the following axis parameters:
Bxx.060 Position feedback location Motor
Bxx.037 Motor direction (PS mode) 0 (initial value)
Bxx.038 Zero point offset (PS mode) 0 deg (initial value)
Bxx.047 Spindle gearbox revs., input (PS mode) only N:1 poss., N = 1,2,3...
Bxx.048 Spindle gearbox revs., output (PS mode)
Bxx.051 Orient speed (PS mode) 200 ... 2000 rpm
Bxx.007 Spindle gearbox revs., input (RA mode) only N:1 poss., N = 1,2,3...
Bxx.008 Spindle gearbox revs., output (RA mode)
Bxx.005 Linear encoder resolution (RA mode) 0 units (initial value)
Bxx.014 Position polarity (RA mode) 0 (initial value)
Bxx.019 Homing speed (RA mode)
Bxx.022 Parametric jogging distance (RA mode) 360 units/ no. of tool locs.

The relation [Spindle gearbox revs., output for rotary axes / number of tool
locations] may only assume values of 1/N or N/1, N = 1,2,3...

5.4.2 Primary Spindle Mode

Determining First, the mechanical spindle turret system is used in spindle mode. Use M3 S100 via
spindle sense NC program or MDI to specify a spindle speed. Check the spindle's sense of rotation.
of rotation Set the Cxx.037 'motor direction' axis parameter to '1' if the spindle rotates in the
wrong direction.

Spindle Trigger spindle positioning 'M19 S0' via NC block or MDI. If the spindle turns endlessly
reference point for several revolutions, the reference switch signal is not transferred to the reference
return switch input of the PLC. The spindle reference switch must be shifted if spindle
(required with reference point return is aborted and the error message 'Zero switch distance
spindle gear 1 too small' or 'Zero switch distance too large' is issued. The angle by
: 1) which the reference switch must be shifted can be determined by requesting the
additional text of the error message (press , within the textual user interface).

5-6 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Setting Tool Storage Parameter

The angle refers to a full spindle revolution. The switch must be shifted in the positive
direction if the zero switch distance is too small. It must be shifted in the negative
direction if the zero switch distance is too large.
- 0 10 20 30 40 50 X
positive direction

Spindle The spindle reference position is used for defining the spindle's 0° position.
reference Changeover between spindle and turret mode is performed at the 0° position.
position Determining the reference position:
Position spindle with M19 S0 ('zero point offset for primary spindle mode' axis
parameter = 0). Hit EMERGENCY STOP to switch off the power and turn spindle
manually in the changeover position; or leave power on, modify the S value, and
use M19 to position the spindle in the changeover position. Read the current
spindle position from the position display ( , on the textual user interface).
Spindle reference position = (360° - Spindel position)
The reference position must be entered in the Cxx.038 'zero point offset for primary
spindle mode' axis parameter.
Example: Spindle target position = 153,4°
Spindle reference position = 360° - 153,4° = 206,6°

5.4.3 Turret Mode

Determining Start reference point return via MRF in the NC program or via the MDI. The
turret sense of mechanical system changes over from spindle mode to turret mode. Next, the turret
rotation start turning. The turret must turn in the positive direction (location 1 → location 2 →
location 3 ...) if the reference switch has not been actuated. The Cxx.014 'position
polarity for rotary axis mode' parameter must be set to '1' if this is not the case. The
reference switch may temporarily be disconnected for this verification.
Reference Start reference point return via MRF in the NC program or via the MDI. Reference
point return of point return is either faultlessly performed with subsequent changeover to spindle
turret mode, or performed without error message from the NC in an intermediate position
from which switching back to spindle mode is not possible, or terminated with an error
message.
If reference point return is terminated in an intermediate position, the number of motor
revolutions must be determined that would be required to move the motor forward to a
changeover position to spindle mode. Subsequently, the Cxx.005 ‘linear encoder
position (RA mode)' axis parameter must be corrected.
linear encoder position for RA = ( number of motor revolutions / gearbox revolutions, input for RA) * 360

Example: number of motor revolutions = 1

gearbox input revolutions for rotary axes = 24
linear encoder position for rotary axes = (1/24) ∗ 360= 15
The turret reference switch must be shifted if reference point return is aborted and the
error message 'Zero switch distance too small' or 'Zero switch
distance too large' issued. The angle by which the reference switch must be
shifted can be determined by requesting the additional text of the error message
(press , within the textual user interface). The angle refers to a full turret
revolution.

• Parameter Description • DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 5-7

MT-CNC

The switch must be shifted in the positive direction if the zero switch distance is too
small. It must be shifted in the negative direction if the zero switch distance is too
large. If the switch cannot be shifted mechanically, the reference switch distance may
also be corrected by an AXD command (in the NC program or in the initialization step
of the PLC). For this purpose, the read angle value (with sign) must be transferred via
the AXD channel to the ident number P-7-3592 (65032). Four fractional part digits
must be included (-3.453° corresponds to -34530). This procedure can only be used if
the P-7-3592 parameter has not yet been set (default value = 0) or after it has been
set to '0'.

- 0 10 20 30 40 50 X
positive direction

If an error message 'zero switch defective' is issued, the reference switch

signal is not transferred to the reference switch input of the PLC.
Turret After turret reference point return has been completed, the turret must be positioned
reference at the last tool location. If this is not the case, the Cxx.005 'linear encoder resolution
position for rotary axis mode' axis parameter must be corrected.

lin. encoder position for RA = ( lin. encoder pos. for RA + 360 - (curr. tool loc./no. of tool locs. ) ∗ 360) Mod 360

Example: current linear encoder position for rotary axes = 15

current tool location = 5
number of tool locations = 12
linear encoder pos. for rotary axes = (15 + 360 - (5/12) ∗ 360) Mod 360 = 225

Notes on modulo calculation:

The value must be between 0 and 360 (0 <= value < 360)
value >= 360? → value = value - 360
value < 0? → value = value + 360

Only multiples of one motor revolution (i.e. values of N * [gearbox revolutions,

input, for rotary axes], N = 0,1,2,3... ) may be entered for the 'linear encoder
position for rotary axes' parameter. This parameter cannot be used for influencing the
changeover position between spindle and turret mode; it only affects the target position
after MRF (last tool location). The changeover position can only be modified via the 'linear
encoder position for primary spindle mode' parameter.

5-8 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Index

S Index
A

A00.000...........................................................................................................................................1-13
A00.001 ... A00.006.........................................................................................................................1-13
A00.007 ... A00.031.........................................................................................................................1-14
A00.032 ... A00.051............................................................................................................................17
A00.052..............................................................................................................................................21
A00.053..............................................................................................................................................23
A00.054..............................................................................................................................................24
A00.055..............................................................................................................................................25
A00.056..............................................................................................................................................25
A00.057..............................................................................................................................................26
A00.058..............................................................................................................................................27
A00.059..............................................................................................................................................29
A00.060..............................................................................................................................................29
A00.061 ... A00.069............................................................................................................................30
A00.070 ... A00.074............................................................................................................................31
A00.075 ... A00.082............................................................................................................................31
A00.083 ... A00.086............................................................................................................................32
A00.087..............................................................................................................................................33
A00.088..............................................................................................................................................34
A00.089..............................................................................................................................................35
A00.090..............................................................................................................................................35
A00.092 ... 096...................................................................................................................................36
Acceleration time constant - process parameter..............................................................................2-26
Activate tool correction ....................................................................................................................2-31
Activating tool correction for turret...................................................................................................2-35
Analog axes ......................................................................................................................................3-2
Analog axis parameters.....................................................................................................................0-2
APR-SERCOS parameter .................................................................................................................4-1
APR-SERCOS parameters................................................................................................................0-2
Associated process(es) ...................................................................................................................3-15
Asynchronous turret movement.......................................................................................................2-31
Automatic backlash compensation ..................................................................................................3-45
Automatic spindle gear range selection...........................................................................................3-71
Axis defined in RIGHT HAND COORD. system as (axis functionality).............................................3-62
Axis designation ..............................................................................................................................3-15
Axis designation 2 ...........................................................................................................................3-71
Transformation function ‘Cylinder machining' (G32) ...................................................................3-71
Transformation function ‘Facing' (G31).......................................................................................3-71
Axis designation for rotary axis mode..............................................................................................3-64
Axis droop compensation ................................................................................................................3-72
Axis modules - system parameters.....................................................................................................19
Axis number of assigned rotary axis................................................................................................3-65
Axis number of tool storage axis .....................................................................................................2-19
Axis parameters ................................................................................................................................3-1
Axis reversal....................................................................................................................................3-33

Bxx.001 .............................................................................................................................................2-9
Bxx.002 ...........................................................................................................................................2-10
Bxx.003 ...........................................................................................................................................2-11
Bxx.004 ...........................................................................................................................................2-12
Bxx.005 ...........................................................................................................................................2-13

• Parameter Description •DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 •01

MT-CNC

Bxx.006........................................................................................................................................... 2-14
Bxx.007........................................................................................................................................... 2-15
Bxx.012........................................................................................................................................... 2-15
Bxx.013........................................................................................................................................... 2-16
Bxx.014........................................................................................................................................... 2-16
Bxx.015........................................................................................................................................... 2-17
Bxx.016........................................................................................................................................... 2-17
Bxx.017........................................................................................................................................... 2-18
Bxx.018........................................................................................................................................... 2-18
Bxx.019........................................................................................................................................... 2-19
Bxx.020........................................................................................................................................... 2-19
Bxx.021 ... Bxx.024......................................................................................................................... 2-20
Bxx.025 ... Bxx.028......................................................................................................................... 2-22
Bxx.029........................................................................................................................................... 2-23
Bxx.030........................................................................................................................................... 2-24
Bxx.031........................................................................................................................................... 2-24
Bxx.032........................................................................................................................................... 2-25
Bxx.033........................................................................................................................................... 2-26
Bxx.034........................................................................................................................................... 2-26
Bxx.035........................................................................................................................................... 2-27
Bxx.036........................................................................................................................................... 2-28
Bxx.037........................................................................................................................................... 2-28
Bxx.038........................................................................................................................................... 2-29
Bxx.039........................................................................................................................................... 2-29
Bxx.040........................................................................................................................................... 2-29
Bxx.041........................................................................................................................................... 2-30
Bxx.042........................................................................................................................................... 2-30
Bxx.043........................................................................................................................................... 2-31
Bxx.044........................................................................................................................................... 2-31
Bxx.045........................................................................................................................................... 2-32
Bxx.046........................................................................................................................................... 2-33
Bxx.047........................................................................................................................................... 2-33
Bxx.048........................................................................................................................................... 2-33
Bxx.053........................................................................................................................................... 2-33
Bxx.054........................................................................................................................................... 2-33
Bxx.055........................................................................................................................................... 2-33
Bxx.056........................................................................................................................................... 2-34
Bxx.057........................................................................................................................................... 2-35

Cartesian-polar coordinate transformation ...................................................................................... 2-27

Combined spindle/turret axis ............................................................................................................ 4-8
Comment ........................................................................................................................................... 26
Commissioning instructions for combined spindle/turret axes with digital servo drive with SERCOS
interface............................................................................................................................................ 5-7
Parameter setting......................................................................................................................... 5-7
Axis parameters....................................................................................................................... 5-7
Process parameters ................................................................................................................ 5-7
Primary spindle mode................................................................................................................... 5-7
Determining spindle sense of rotation...................................................................................... 5-7
Spindle reference point return.................................................................................................. 5-7
Spindle reference position ....................................................................................................... 5-8
Turret mode ................................................................................................................................. 5-8
Determining turret sense of rotation......................................................................................... 5-8
Reference point return of turret................................................................................................ 5-8
Turret reference position.......................................................................................................... 5-9
Current to torque constant .............................................................................................................. 3-56

S-2 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • arameter Description •

Index

Cxx.000 ...........................................................................................................................................3-15
Cxx.001 ...........................................................................................................................................3-15
Cxx.002 ...........................................................................................................................................3-16
Cxx.003 ...........................................................................................................................................3-17
Cxx.004 ...........................................................................................................................................3-19
Cxx.005 ...........................................................................................................................................3-21
Cxx.006 ...........................................................................................................................................3-22
Cxx.007 ...........................................................................................................................................3-24
Cxx.008 ...........................................................................................................................................3-24
Cxx.009 ...........................................................................................................................................3-24
Cxx.010 ...........................................................................................................................................3-25
Cxx.011 ...........................................................................................................................................3-27
Cxx.012 ...........................................................................................................................................3-27
Cxx.013 ...........................................................................................................................................3-29
Cxx.014 ...........................................................................................................................................3-33
Cxx.015 ...........................................................................................................................................3-34
Cxx.016 ...........................................................................................................................................3-36
Cxx.017 ...........................................................................................................................................3-37
Cxx.018 ...........................................................................................................................................3-38
Cxx.019 ...........................................................................................................................................3-38
Cxx.020 ...........................................................................................................................................3-39
Cxx.021 ...........................................................................................................................................3-40
Cxx.022 ...........................................................................................................................................3-40
Cxx.023 ...........................................................................................................................................3-41
Cxx.024 ...........................................................................................................................................3-42
Cxx.025 ... 032 ................................................................................................................................3-44
Cxx.034 ...........................................................................................................................................3-45
Cxx.035 ...........................................................................................................................................3-46
Cxx.036 ...........................................................................................................................................3-47
Cxx.037 ...........................................................................................................................................3-47
Cxx.038 ...........................................................................................................................................3-48
Cxx.039 ...........................................................................................................................................3-50
Cxx.040 ...........................................................................................................................................3-51
Cxx.041 ...........................................................................................................................................3-52
Cxx.042 ...........................................................................................................................................3-55
Cxx.043 ...........................................................................................................................................3-56
Cxx.044 ...........................................................................................................................................3-56
Cxx.045 ...........................................................................................................................................3-57
Cxx.047 ...........................................................................................................................................3-58
Cxx.048 ...........................................................................................................................................3-58
Cxx.049 ...........................................................................................................................................3-59
Cxx.050 ...........................................................................................................................................3-59
Cxx.051 ...........................................................................................................................................3-60
Cxx.052 ...........................................................................................................................................3-61
Cxx.053 ...........................................................................................................................................3-62
Cxx.054 ...........................................................................................................................................3-64
Cxx.055 ...........................................................................................................................................3-65
Cxx.056 ...........................................................................................................................................3-65
Cxx.057 ...........................................................................................................................................3-66
Cxx.058 ...........................................................................................................................................3-67
Cxx.059 ...........................................................................................................................................3-67
Cxx.060 ...........................................................................................................................................3-69
Cxx.061 ...........................................................................................................................................3-69
Cxx.062 ...........................................................................................................................................3-70
Cxx.063 ...........................................................................................................................................3-70
Cxx.064 ...........................................................................................................................................3-70
Cxx.065 ...........................................................................................................................................3-70
Cxx.066 ...........................................................................................................................................3-70
Cxx.067 ...........................................................................................................................................3-70
• Parameter Description •DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 •01
MT-CNC

Cxx.068 .......................................................................................................................................... 3-70

Cxx.069 .......................................................................................................................................... 3-70
Cxx.070 .......................................................................................................................................... 3-70
Cxx.071 .......................................................................................................................................... 3-70
Cxx.072 .......................................................................................................................................... 3-70
Cxx.073 .......................................................................................................................................... 3-70
Cxx.074 .......................................................................................................................................... 3-71
Cxx.075 .......................................................................................................................................... 3-71
Cxx.076 .......................................................................................................................................... 3-72
Cxx.077 .......................................................................................................................................... 3-72
Cxx.078 .......................................................................................................................................... 3-73
Cxx.079 .......................................................................................................................................... 3-74
Cxx.080 .......................................................................................................................................... 3-74
Cxx.081 .......................................................................................................................................... 3-75
Cxx.082 .......................................................................................................................................... 3-75
Cxx.083 .......................................................................................................................................... 3-76
Cxx.084 .......................................................................................................................................... 3-76
Cxx.085 .......................................................................................................................................... 3-77
Cxx.086 .......................................................................................................................................... 3-77

D corrections .................................................................................................................................. 2-23

machine-related deviations......................................................................................................... 2-23
machining-related deviations...................................................................................................... 2-23
tool-related deviations ................................................................................................................ 2-23
DDS as spindle drive ........................................................................................................................ 4-4
Default for diameter programming .................................................................................................. 2-16
Default for radius programming ...................................................................................................... 2-16
Default for radius/diameter programming........................................................................................ 2-16
Default interpolation plane .............................................................................................................. 2-12
Default system of units for programming .......................................................................................... 2-9
Default zero offset .......................................................................................................................... 2-29
Description of user tool data... 9 ........................................................................................................ 30
Description of user tool edge data 1 ... 5 ........................................................................................... 31
Description of user tool edge data 6 ... 10 ......................................................................................... 36
Deviating M functions ..................................................................................................................... 2-33
Deviating Q functions...................................................................................................................... 2-33
Digital axes ....................................................................................................................................... 3-2
Digital axis parameters ..................................................................................................................... 0-1
Direction for polar coordinate transformation .................................................................................. 3-72
Displayed decimal places for distances .......................................................................................... 2-11
Distance between droop compensation points................................................................................ 3-74

Endless rotating tool storage .......................................................................................................... 2-17

External mechanism ....................................................................................................................... 1-14

Feed constant................................................................................................................................. 3-22

Feed programming default.............................................................................................................. 2-29
Filter ................................................................................................................................................. 4-5

Gear changes ................................................................................................................................... 4-4

Gearbox input revolutions for primary spindle mode ....................................................................... 3-24
S-4 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • arameter Description •
Index

Gearbox output revolutions for primary spindle mode .....................................................................3-24

Gearbox revolutions - output ...........................................................................................................3-24
Gearbox revolutions - input .............................................................................................................3-24
Transmission ratio of a gearbox.........................................................................................3-24; 3-58
General APR-SERCOS parameters ..................................................................................................4-8
Global M function mode .....................................................................................................................33
Global Q function mode......................................................................................................................34
Graduation per revolution ................................................................................................................3-22
Graduation per revolution for rotary axis mode................................................................................3-22

Homing direction .............................................................................................................................3-34

Homing speed .................................................................................................................................3-38
Homing speed for rotary axis mode.................................................................................................3-38

In-position window...........................................................................................................................3-41
In-position window (for primary spindle mode).................................................................................3-61
Incremental encoder resolution .......................................................................................................3-19

Jog distances ..................................................................................................................................2-10

Jogging speed.................................................................................................................................3-39
Jogging speed (for primary spindle mode) ......................................................................................3-66
Jogging speed - rapid......................................................................................................................3-40
Jogging speed - rapid (for primary spindle mode) ...........................................................................3-67
Jogging speed - rapid for primary spindle mode..............................................................................3-67
Jogging speed - rapid for rotary axis mode .....................................................................................3-40
Jogging speed for primary spindle mode.........................................................................................3-66
Jogging speed for rotary axis mode ................................................................................................3-39

KV factor .........................................................................................................................................3-25
KV factor for low-speed operation ...................................................................................................3-47

Linear encoder resolution ................................................................................................................3-21

Linear interpolation type default ......................................................................................................2-28
List of droop compensation values ..................................................................................................3-76

M function groups............................................................................................................................2-33
Manual axis jogging causes reset....................................................................................................2-28
Maximum.........................................................................................................................................2-22
Maximum acceleration rate .............................................................................................................3-38
Maximum acceleration rate for rotary axis mode .............................................................................3-38
Maximum entry for length D correction............................................................................................2-24
Maximum entry for length wear .......................................................................................................2-22
Maximum entry for length/radius wear and offset ............................................................................2-22
Maximum entry for radius D correction............................................................................................2-24
Maximum feed to positive stop ........................................................................................................3-57
Maximum feedrate...........................................................................................................................3-36
Maximum feedrate change without ramp.........................................................................................3-37
• Parameter Description •DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 •01
MT-CNC

Maximum feedrate change without ramp for rotary axis mode........................................................ 3-37
Maximum number of offset tables................................................................................................... 2-15
Maximum number of tool edges......................................................................................................... 24
Maximum operating speed of incremental encoder......................................................................... 3-50
Maximum path acceleration ............................................................................................................ 2-15
Maximum path velocity ................................................................................................................... 2-13
Maximum path velocity change without ramp.................................................................................. 2-14
Maximum path velocity: Path velocity in circular movements .......................................................... 2-13
Maximum path velocity: Path velocity in linear movements............................................................. 2-13
Maximum path velocity: Rapid feed ................................................................................................ 2-14
Maximum programmable spindle speed ......................................................................................... 3-59
Maximum spindle acceleration of gear range 1............................................................................... 3-70
Maximum spindle acceleration of gear range 2............................................................................... 3-70
Maximum spindle acceleration of gear range 3............................................................................... 3-70
Maximum spindle acceleration of gear range 4............................................................................... 3-70
Maximum spindle acceleration rate................................................................................................. 3-59
Maximum spindle speed of gear range 1 ........................................................................................ 3-70
Maximum spindle speed of gear range 2 ........................................................................................ 3-70
Maximum spindle speed of gear range 3 ........................................................................................ 3-70
Maximum spindle speed of gear range 4 ........................................................................................ 3-70
Measuring function torque/lag error .................................................................................................. 4-6
Minimum open-loop speed.............................................................................................................. 3-46
Minimum spindle speed of gear range ............................................................................................ 3-70
Minimum spindle speed of gear range 1 ......................................................................................... 3-70
Minimum spindle speed of gear range 3 ......................................................................................... 3-70
Minimum spindle speed of gear range 4 ......................................................................................... 3-70
Mode direction (for primary spindle mode)...................................................................................... 3-47
Mode of operation........................................................................................................................... 3-16
Monitoring window .......................................................................................................................... 3-42
machine type.............................................................................................................................. 3-44
Position monitoring..................................................................................................................... 3-42
Velocity monitoring..................................................................................................................... 3-43
Motor speed at 9 volts command .................................................................................................... 3-24

Name of process 1 ... 6................................................................................................................... 1-13

Name of the management process................................................................................................. 1-13
Negative software travel limit .......................................................................................................... 3-27
NC-controlled tool storage ................................................................................................................ 5-4
Setting up the parameters of a disk magazine ............................................................................. 5-4
Number 'n' of tool locations in tool storage ..................................................................................... 2-18
Number of associated axis (droop comp.) ...................................................................................... 3- 73
Number of droop compensation points ........................................................................................... 3-74
Number of grippers......................................................................................................................... 2-19
Number of spindle gear ranges....................................................................................................... 3-69
Number of spindles with tool........................................................................................................... 2-18

Organization of the setup list ............................................................................................................. 23

Program-related organization........................................................................................................ 23
Station-related organization .......................................................................................................... 23
Orient speed (for primary spindle mode)......................................................................................... 3-60

Parameter handling .......................................................................................................................... 0-3

S-6 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • arameter Description •

Index

Parameter set in drive used for rotary mode ...................................................................................3-65

Parameter sets..................................................................................................................................0-3
Parametric jogging distance ............................................................................................................3-40
Parametric jogging distance for rotary axis mode............................................................................3-40
Parametric spindle jogging distance ................................................................................................3-67
PLC-controlled tool storage
Setting up the parameters of a disk magazine ..............................................................................5-6
Position 1 ... 4 (offset 1 ... 4 to the reference) .................................................................................2-20
Position 1 ... 4 (offset 1 ... 4 to reference)
stationary reference ....................................................................................................................2-20
Position feedback direction..............................................................................................................3-51
Position feedback location...............................................................................................................3-17
Integer gearbox transmission ratio..............................................................................................3-18
Position measurement on analog linear axes..............................................................................3-17
Sensor resolution parameter.......................................................................................................3-18
Position feedback location (for digital drives)................................................................................ ...3-69
Position polarity for rotary axis mode...............................................................................................3-33
Positive software travel limit ............................................................................................................3-27
Process parameters ..........................................................................................................................0-1
Process parameters ..........................................................................................................................2-2
Programmable decimal places for distances ...................................................................................2-10

Re-position tool storage axis ...........................................................................................................2-32

Reduced torque at positive stop ......................................................................................................3-56
Analog drive................................................................................................................................3-57
Digital drive.................................................................................................................................3-57
Reference position ..........................................................................................................................3-29
Reference position for rotary axis mode ..........................................................................................3-29
Reference required .........................................................................................................................2-26
Requirement data..............................................................................................................................4-1
Reverse program execution required ..............................................................................................2-25
Rotary .............................................................................................................................................2-34
Rotary axes mode default................................................................................................................2-34
Negative direction (with modulo calculation) ...............................................................................2-35
Shortest way (with modulo calculation) .......................................................................................2-34

S function mode .................................................................................................................................35

SCARA robots...................................................................................................................................4-1
Setting tool storage parameters ........................................................................................................5-1
Software travel limits immediately active .........................................................................................3-77
Spindle acceleration, position mode ................................................................................................3-76
Spindle gearbox revolutions - input (for primary spindle mode) .......................................................3-58
Spindle gearbox revolutions - output (for primary spindle mode) .....................................................3-58
Spindle speed programming default ................................................................................................2-30
SPS-controlled tool storage...............................................................................................................5-6
Start position of droop compensation ..............................................................................................3-75
Synchronous axes.............................................................................................................................4-6
System parameters ...........................................................................................................................0-1
System parameters ...........................................................................................................................1-1

T/E function mode ..............................................................................................................................35

Tach voltage per 1000 rpm .............................................................................................................3-52

• Parameter Description •DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 •01

MT-CNC

Tool geometry limits........................................................................................................................... 29

Tool length correction default.......................................................................................................... 2-29
Tool life data ...................................................................................................................................... 29
Tool management........................................................................................................................... 2-16
Tool management.............................................................................................................................. 21
Tool spindles .................................................................................................................................. 2-18
Tool technology ................................................................................................................................. 35
Torque reduction .............................................................................................................................. 4-5
Trigonometric arguments, unit default ............................................................................................ 2-30
Type of tool storage........................................................................................................................ 2-17
Magazine ................................................................................................................................... 2-17
Turret ......................................................................................................................................... 2-17

Unit of droop compensation values................................................................................................. 3-75

User tool data 1 ... 9 .......................................................................................................................... 30

Voltage to current ratio ................................................................................................................... 3-55

Waypoints....................................................................................................................................... 3-44
Waypoints 0 ... 7............................................................................................................................. 3-44
Wear factor register ........................................................................................................................... 25
Wear factors ...................................................................................................................................... 26
Wear factors ...................................................................................................................................... 27
Length wear compensation ........................................................................................................... 27
Radius wear compensation ........................................................................................................... 27
Window for re-positioning and NC block restart.............................................................................. 3-77

Zero point offset (for primary spindle mode) ................................................................................... 3-48

Reference point.......................................................................................................................... 3-49

S-8 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • arameter Description •

Figures

A Figures

Fig. 1-1 Slot numbers, axis processor numbers and axis numbers of MT-CNC 02 ......1-18
Fig. 1-2 Slot numbers, axis processor numbers and axis numbers of MT-CNC 03 ......1-18
Fig. 1-3 Allocating the drive numbers of the APRM-V03 axis processor module
to the axes of a SCARAS................................................................................1-19
Fig. 1-4 Face milling using the transformation function ................................................1-20
Fig. 1-5 Station-related organization of the setup lists..................................................1-23
Fig. 1-6 Program-related organization of the setup lists ...............................................1-24
Fig. 1-7 Typical tools with different number of edges ...................................................1-25

Fig. 2-1 Possible machining planes of a milling machine .............................................2-12

Fig. 2-2 Maximum path velocity....................................................................................2-13
Fig. 2-3 Endless rotating chain-type magazine.............................................................2-21
Fig. 2-4 Non-endless rotating linear magazine .............................................................2-21
Fig. 2-5 Effect of tool compensation and of the D corrections ‘L1’, ‘L2’, ‘L3’ and ‘R’
as a function of the selected machining plane.................................................2-23
Fig. 2-6 Effect of the 'Acceleration time constant'.........................................................2-27

Fig. 3-1 Typical connection of a speed-controlled analog primary spindle (KDA)

to the MT-CNC................................................................................................3-16
Fig. 3-2 Typical connection of an analog primary spindle with positioning capability
to the MT-CNC................................................................................................3-17
Fig. 3-3 Possible sensor locations for analog linear axes.............................................3-18
Fig. 3-4 Possible sensor locations for analog rotary axes ............................................3-18
Fig. 3-5 Resolution of a rotary sensor ..........................................................................3-19
Fig. 3-6 Rating plate of a rotary sensor ........................................................................3-19
Fig. 3-7 Specifications required for determining the 'rotary sensor resolution'
parameter for analog linear axes.....................................................................3-20
Fig. 3-8 Specifications required for determining the 'rotary sensor resolution'
parameter for analog rotary axes ....................................................................3-20
Fig. 3-9 Specifications required for computing the 'linear encoder resolution'
parameter .......................................................................................................3-21
Fig. 3-10 Specifications required for determining the 'linear encoder resolution'
parameter .......................................................................................................3-22
Fig. 3-11 Characteristics of a lead screw .......................................................................3-23
Fig. 3-12 Characteristics of the gear rack of a chain or belt ...........................................3-23
Fig. 3-13 Typical label on a programming module..........................................................3-25
Fig. 3-14 Positive and negative software travel limits of a drilling station .......................3-27
Fig. 3-15 Example: Positive and negative software travel limits of a circular table .........3-28
Fig. 3-16 Determining the reference position of analog axes .........................................3-29
Fig. 3-17 Reference position of a drilling station (analog linear axis)..............................3-30
Fig. 3-18 Reference position of a circular table (analog rotary axis)...............................3-30
Fig. 3-19 Using a known reference point for determining the 'reference position'
parameter .......................................................................................................3-31
Fig. 3-20 Changing the position polarity of a linear axis .................................................3-32
Fig. 3-21 Changing the position polarity of a rotary axis (example: circular table) ..........3-32
Fig. 3-22 Direction of rotation of an INDRAMAT servo drive that has been connected
according to the related connection diagrams and recommendations .............3-33
Fig. 3-23 Reference point return behavior of the MT-CNC in accordance with
the reference switch signal (AxxCHOMLS for analog axes) and the
'homing direction' parameter ...........................................................................3-33
Fig. 3-24 Changes of the reference point when the reference switch signal is
inverted despite the inversion of the 'homing direction' parameter ..................3-34
Fig. 3-25 Diagram of the sequence of the reference point return routine of
analog drives...................................................................................................3-38
• Parameter Description DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 A-1
MT-CNC

Fig. 3-26 Basic method of operation of analog drive position monitoring (control side) .... 3-41
Fig. 3-27 Basic method of operation of velocity monitoring ............................................. 3-42
Fig. 3-28 Determining the permissible position deviations and the permissible
velocity deviations as a function of the current target velocities...................... 3-42
Fig. 3-29 Waypoints of an endlessly turning rotary axis................................................. 3-44
Fig. 3-30 Waypoints of a non-endlessly turning rotary axis............................................ 3-44
Fig. 3-31 Speed specification for an analog primary spindle with positioning
capability ........................................................................................................ 3-45
Fig. 3-32 Changing the direction of rotation of an analog primary spindle ..................... 3-47
Fig. 3-33 Direction of rotation of an INDRAMAT primary spindle drive that has been
connected according to the connecting diagrams and recommendations ......... 3-47
Fig. 3-34 Primary spindle in reference (primary spindle parameter 'zero point offset = 0’) 3-48
Fig. 3-35 Primary spindle on the new reference point ..................................................... 3-48
Fig. 3-36 Primary spindle in reference (primary spindle parameter
'zero point offset = -41.051’) ............................................................................ 3-48
Fig. 3-37 First positioning after the 'maximum operating speed of incremental
encoder' value has been exceeded. ............................................................... 3-49
Fig. 3-38 Method of operation of the 'position feedback direction' parameter ................ 3-50
Fig. 3-39 Different possibilities of installing a position encoder, and the necessary
parameter values............................................................................................ 3-51
Fig. 3-40 Typical rating plate of a motor ........................................................................ 3-52
Fig. 3-41 Typical label on a programming module ......................................................... 3-53
Fig. 3-42 Typical inscription on a motor rating plate ...................................................... 3-54
Fig. 3-43 First positioning after power-up ...................................................................... 3-58
Fig. 3-44 Positioning process if reference exists for the primary spindle ....................... 3-58
Fig. 3-45 Primary spindle with rotary axis capability (assembly kit spindle motor) ......... 3-62
Fig. 3-46 Primary spindle with assigned rotary axis for C axis mode ............................. 3-64
Fig. 3-47 Absolute spindle positions that may be approached in jogging mode ............. 3-66
Fig. 3-48 Z axis sagging in Y direction........................................................................... 3-70
Fig. 3-49 Distance between droop compensation point.................................................. 3-72
Fig. 3-50 Window for re-positioning and NC block restart.............................................. 3-76

Fig. 5-1 Steps required for setting up the parameters of a tool storage unit .................. 5-2
Fig. 5-2 Determining position 1 (offset to the reference) of a disk magazine ................. 5-4

A-2 DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 • Parameter Description •

Parameter Description

Customer Service
Germany
Vertriebsgebiet Mitte Vertriebsgebiet Ost Vertriebsgebiet West Vertriebsgebiet Nord

INDRAMAT GmbH INDRAMAT GmbH INDRAMAT GmbH INDRAMAT GmbH

D-97816 Lohr am Main D-09120 Chemnitz D-40849 Ratingen D-22085 Hamburg
Bgm.-Dr.-Nebel-Str. 2 Beckerstraße 31 Hansastraße 25 Fährhausstraße 11
Telefon: 09352/40-0 Telefon: 0371/3555-0 Telefon: 02102/4318-0 Telefon: 040/227126-16
Telefax: 09352/40-4885 Telefax: 0371/3555-230 Telefax: 02102/41315 Telefax: 040/227126-15

Vertriebsgebiet Süd Vertriebsgebiet Südwest INDRAMAT Service-Hotline

INDRAMAT GmbH INDRAMAT GmbH INDRAMAT GmbH

D-80339 München D-71229 Leonberg Telefon: D-0172/660 040 6
Ridlerstraße 75 Böblinger Straße 25
-oder-
Telefon: 089/540138-30 Telefon: 07152/972-6
Telefon: D-0171/333 882 6
Telefax: 089/540138-10 Telefax: 07152/972-727
Customer Servive in Germany

Europe
Austria Austria Belgium Denmark

G.L.Rexroth Ges.m.b.H. G.L.Rexroth Ges.m.b.H. Mannesmann Rexroth N.V.-S.A. BEC Elektronik AS

Geschäftsbereich INDRAMAT Geschäftsbereich INDRAMAT Geschäftsbereich INDRAMAT DK-8900 Randers
A-1140 Wien A-4061 Pasching B-1740 Ternat Zinkvej 6
Hägelingasse 3 Randlstraße 14 Industrielaan 8
Telefon: 086/447866
Telefon: 1/9852540-400 Telefon: 07229/4401-36 Telefon: 02/5823180 Telefax: 086/447160
Telefax:1/9852540-93 Telefax: 07229/4401-80 Telefax: 02/5824310

England Finnland France France

Mannesmann Rexroth Ltd. Rexroth Mecman OY Rexroth - Sigma S.A. Rexroth - Sigma S.A.
INDRAMAT Division SF-01720 Vantaa Division INDRAMAT Division INDRAMAT
Cirencester, Glos GL7 1YG Riihimiehentie 3 F-92632 Gennevilliers Cedex F-69634 Venissieux - Cx
4 Esland Place, Love Lane Parc des Barbanniers 4, 91, Bd 1 Joliot Curie
Telefon: 0/848511
Place du Village
Telefon: 01285/658671 Telefax: 0/846387 Telefon: 78785256
Telefax: 01285/654991 Telefon: 1/41475430 Telefax: 78785231
Telefax: 1/47946941

France Italy Italy Netherlands

Rexroth - Sigma S.A. Rexroth S.p.A. Rexroth S.p.A. Divisione Hydraudyne Hydrauliek B.V.
Division INDRAMAT Divisione INDRAMAT INDRAMAT Kruisbroeksestraat 1a
F-31100 Toulouse I-20063 Cernusco S/N.MI Via Borgomanero, 11 P.O. Box 32
270, Avenue de lardenne Via G. Di Vittoria, 1 I-10145 Torino NL-5280 AA Boxtel
Telefon: 61499519 Telefon: 02/92365-270 Telefon: 011/7712230 Telefon: 04116/51951
Telefax: 61310041 Telefax: 02/92108069 Telefax: 011/7710190 Telefax: 04116/51483

Spain Spain Sweden Switzerland

Rexroth S.A. Goimendi S.A. AB Rexroth Mecman Rexroth SA

Centro Industrial Santiago División Indramat INDRAMAT Division Département INDRAMAT
Obradors s/n Jolastokieta (Herrera) Varuvägen 7 Chemin de l`Ecole 6
E-08130 Santa Perpetua de Apartado 11 37 S-125 81 Stockholm CH-1036 Sullens
Mogoda (Barcelona) San Sebastion, 20017
Telefon: 08/727 92 00 Telefon: 021/731 43 77
Telefon: 03/718 68 51 Telefon: 043/40 01 63 Telefax: 08/64 73 277 Telefax: 021/731 46 78
Telex: 591 81 Telex: 361 72
Telefax: 03/718 98 62 Telefax: 043/39 93 95

Switzerland Russia

Rexroth AG Tschudnenko E.B.

Geeschäftsbereich INDRAMAT Arsenia 22
Gewerbestraße 3 153000 Ivanovo
CH-8500 Frauenfeld Rußland
Telefon: 052/720 21 00 Telefon: 093/22 39 633
Telefax: 052/720 21 11
Customer Service in Europe

DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97 Customer service

Parameter Description

Outside of Europe
Argentina Argentina Australia Brazil

Mannesmann Rexroth S.A.I.C. Nakase Australian Industrial Machenery Mannesmann Rexroth Automação
Division INDRAMAT Asesoramiento Tecnico Services Pty. Ltd. Ltda.
Acassusso 48 41/7 Diaz Velez 2929 Unit 3/45 Horne ST Divisão INDRAMAT
1605 Munro (Buenos Aires) 1636 Olivos Campbellfield VIC 2061 Rua Georg Rexroth, 609
Argentina (Provincia de Buenos Aires) Australia Vila Padre Anchieta
Argentina BR-09.951-250 Diadema-SP
Telefon: 01/756 01 40 Telefon: 03/93 59 0228
Argentina Caixa Postal 377
01/756 02 40 Telefax: 03/93 59 02886
BR-09.901-970 Diadema-SP
Telex: 262 66 rexro ar Telefon 01/790 52 30
Telefax: 01/756 01 36 Telefon: 011/745 90 65
011/745 90 70
Telefax: 011/745 90 50

Canada China China China

Basic Technologies Corporation Rexroth (China) Ldt. Rexroth (China) Ldt. Rexroth (China) Ldt.
Burlington Division Shanghai Office Shanghai Parts & Service Centre 1430 China World Trade Centre
3426 Mainway Drive Room 206 199 Wu Cao Road, Hua Cao 1, Jianguomenwai Avenue
Burlington, Ontario Shanghai Intern. Trade Centre Minhang District Beijing 100004
Canada L7M 1A8 2200 Yanan Xi Lu Shanghai 201 103 P.R. China
Shanghai 200335 P.R. China
Telefon: 905/335-55 11 Telefon: 010/50 50 380
P.R. China
Telefax: 905/335-41 84 Telefon: 021/622 00 058 Telefax: 010/50 50 379
Telefon: 021/627 55 333 Telefax: 021/622 00 068
Telefax: 021/627 55 666

China Honkong India Japan

Rexroth (China) Ldt. Rexroth (China) Ldt. Mannesmann Rexroth (India) Ltd. Rexroth Co., Ltd.
A-5F., 123 Lian Shan Street 19 Cheung Shun Street INDRAMAT Division INDRAMAT Division
Sha He Kou District 1st Floor, Cheung Sha Wan, Plot. 96, Phase III I.R. Building
Dalian 116 023 Kowloon, Honkong Peenya Industrial Area Nakamachidai 4-26-44
P.R. China Bangalore - 560058 Tsuzuki-ku, Yokohama 226
Telefon: 741 13 51/-54 und
Japan
Telefon: 0411/46 78 930 741 14 30 Telefon: 80/839 21 01
Telefax: 0411/46 78 932 Telex: 3346 17 GL REX HX 80/839 73 74 Telefon: 045/942-72 10
Telefax: 786 40 19 Telex: 845 5028 RexB Telefax: 045/942-03 41
786 07 33 Telefax: 80/839 43 45

Korea Korea Mexico

Rexroth-Seki Co Ltd. Seo Chang Corporation Ltd. Motorización y

1500-12 Da-Dae-Dong Room 903, Jeail Building Diseño de Controles, S.A. de C.V.
Saha-Gu, Pusan, 604-050 44-35 Yoido-Dong Av. Dr. Gustavo Baz No. 288
Youngdeungpo-Ku Col. Parque Industrial la Ioma
Telefon: 051/264 90 01
Seoul, Korea Apartado Postal No. 318
Telefax: 051/264 90 10
54060 Tlalnepantla
Telefon: 02/780-82 07 ~9
Estado de Mexico
Telefax: 02/784-54 08
Telefon: 5/397 86 44
Telefax: 5/398 98 88

USA USA

Rexroth Corporation Rexroth Corporation

INDRAMAT Division INDRAMAT Division
5150 Prairie Stone Parkway 2110 Austin Avenue
Hoffman Estates, Illinois 60192 Rochester Hills, Michigan 48309
Telefon: 847/645-36 00 Telefon: 810/853-82 90
Telefax: 857/645-62 01 Telefax: 810/853-82 90
Customer Service outside of Europe

Customer Service DOK-MT*CNC-PAR*DES*V15-ANW1-EN-E1,44• 06.97

Indramat