Manual HLI-Interface

Notes on the documentation

Notes on the documentation Notes on the documentation This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning the components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards. Disclaimer The documentation has been prepared with care. The products described are, however, constantly under development. We reserve the right to revise and change the documentation at any time and without prior announcement. No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.

Trademarks Beckhoff ® , TwinCAT ® , TwinCAT/BSD ® , TC/BSD ® , EtherCAT ® , EtherCAT G ® , EtherCAT G10 ® , EtherCAT P ® , Safety over EtherCAT ® , TwinSAFE ® , XFC ® , XTS ® and XPlanar ® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners. Patent Pending The EtherCAT technology is patent protected, in particular by the following applications and patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding applications or registrations in various other countries.

EtherCAT ® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright © Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilisation of this document as well as the communication of its contents to others without express authorisation are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design. TF5200 | TwinCAT 3 CNC HLI-Interface 3 Version: 1.23

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General and safety instructions

General and safety instructions General and safety instructions Icons used and their meanings This documentation uses the following icons next to the safety instruction and the associated text. Please read the (safety) instructions carefully and comply with them at all times. Icons in explanatory text 1. Indicates an action. р Indicates an action statement. DANGER Acute danger to life! If you fail to comply with the safety instruction next to this icon, there is immediate danger to human life and health. CAUTION Personal injury and damage to machines! If you fail to comply with the safety instruction next to this icon, it may result in personal injury or damage to machines.

NOTICE Restriction or error This icon describes restrictions or warns of errors. Tips and other notes This icon indicates information to assist in general understanding or to provide additional informa- tion. General example Example that clarifies the text. NC programming example Programming example (complete NC program or program sequence) of the described function or NC com- mand. Specific version information Names a specific version number as of which a new or revised functionality is available. Availability is dependent on the exact version and, where applicable, the license. HLI-Interface 4 Version: 1.23 TF5200 | TwinCAT 3 CNC

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Table of contents

Table of contents Table of contents Notes on the documentation.................................................................................................................... 3 General and safety instructions .............................................................................................................. 4 1 Introduction ............................................................................................................................................. 10 1.1 Implementation by High-Level Interface (HLI).................................................................................

11 1.2 Organisation of the HLI ................................................................................................................... 12 1.2.1 Data of a channel\axis...................................................................................................... 14 1.3 Status and display information ........................................................................................................ 14 1.4 Control commands ..........................................................................................................................

15 1.5 Operation with and without PLC...................................................................................................... 16 1.4.1 Control unit with usage check .......................................................................................... 16 2 Axes.......................................................................................................................................................... 18 2.1 Definition of axes.............................................................................................................................

18 2.2 Definition of coordinate systems ..................................................................................................... 18 2.3 Description of the axis-specific interface......................................................................................... 20 2.3.1 Axis identification ............................................................................................................. 20 2.3.2 Velocities of an axis ......................................................................................................... 21 2.3.3 Axis positions ...................................................................................................................

21 2.3.4 Display data of tool centre point in MCS.......................................................................... 25 2.3.5 Status information of an axis............................................................................................ 26 2.3.6 Axis control commands.................................................................................................... 42 2.3.7 Control commands of a drive ........................................................................................... 61 2.3.8 External axis commanding...............................................................................................

63 2.3.9 Measuring with external measuring hardware ................................................................. 64 3 Spindle ..................................................................................................................................................... 68 3.1 Introduction ..................................................................................................................................... 68 3.2 Description of the spindle-specific interface....................................................................................

68 3.2.1 Speeds of a spindle.......................................................................................................... 68 3.2.2 Positions of a spindle ....................................................................................................... 68 3.2.3 Status information of a spindle......................................................................................... 69 3.2.4 Control commands of a spindle........................................................................................ 71 3.2.5 External spindle command...............................................................................................

73 4 Channel .................................................................................................................................................... 76 4.1 Introduction ..................................................................................................................................... 76 4.2 Description of the channel-specific interface................................................................................... 76 4.2.1 Status information of a channel........................................................................................

76 4.2.2 Control commands of a channel .................................................................................... 100 5 PLC ......................................................................................................................................................... 128 5.1 Control commands to PLC ............................................................................................................ 128 5.1.1 Reset..............................................................................................................................

128 5.1.2 Block search................................................................................................................... 129 6 Technology processes ......................................................................................................................... 131 6.1 Introduction ................................................................................................................................... 131 TF5200 | TwinCAT 3 CNC HLI-Interface 5 Version:

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Table of contents

Table of contents 6.2 Management of technology functions ........................................................................................... 131 6.3 Elements to manage axis-specific technology control units.......................................................... 132 6.3.1 Block-by-block synchronisation (default synchronisation).............................................. 132 6.3.2 Cross-block synchronisation .......................................................................................... 132 6.4 Elements for managing channel-specific technology control units................................................

132 6.4.1 Block-by-block synchronisation (default synchronisation).............................................. 132 6.4.2 Cross-block synchronisation .......................................................................................... 133 6.5 Data of a technology control unit................................................................................................... 133 6.5.1 Data of an axis-specific technology control unit............................................................. 133 6.5.2 Data of a channel-specific technology control unit.........................................................

134 6.6 Data of the technology functions................................................................................................... 135 6.6.1 Data of the M/H function ................................................................................................ 135 6.6.2 Data of the S function..................................................................................................... 137 6.6.3 Data of the T function..................................................................................................... 139 7 External variables / V.E variables ........................................................................................................

141 8 Processing types .................................................................................................................................. 142 8.1 State graph of operation modes.................................................................................................... 142 8.1.1 States of operation mode: Automatic mode................................................................... 144 8.1.2 States of operation mode: Manual block........................................................................ 144 8.1.3 States of operation mode: Manual operation mode .......................................................

144 8.2 Control commands/status information for operation modes.......................................................... 145 8.1.4 States of operation mode: Homing................................................................................. 144 8.2.1 Control Unit .................................................................................................................... 145 8.2.2 User data........................................................................................................................ 146 9 Manual operation mode........................................................................................................................

149 9.1 Status information of manual mode .............................................................................................. 150 9.2 Control commands of manual mode ............................................................................................. 152 9.2.1 Activating control elements for manual mode ................................................................ 152 9.2.2 Parametrising of manual mode ...................................................................................... 155 9.2.3 Control elements for manual mode................................................................................

161 10 Safety system ........................................................................................................................................ 167 10.1 Channel-specific interface............................................................................................................. 167 10.1.1 Watchdog mechanism.................................................................................................... 167 11 Management ..........................................................................................................................................

170 11.1 Channel-specific interface............................................................................................................. 170 11.2 Axis-specific interface ................................................................................................................... 173 12 Error messages ..................................................................................................................................... 175 12.1 Management data of an error message ........................................................................................

175 12.1.1 Error message CNC -> PLC .......................................................................................... 175 12.1.2 Error message PLC -> CNC .......................................................................................... 175 12.2 User data of an error message ..................................................................................................... 176 12.2.1 Error message content, body nc program...................................................................... 178 12.2.2 Error message content, body machine data ..................................................................

179 12.2.3 Error message content, body communication................................................................ 179 HLI-Interface 6 Version: TF5200 | TwinCAT 3 CNC

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