实例PLc倍福编程

【实例截图】

【核心代码】

Table of contents
Preface........................................................................................................................................................ 3
Notes on the documentation.............................................................................................................. 3
General and safety instructions............................................................................................................... 4
1 Brief description...................................................................................................................................... 21
2 Basic principles of programming........................................................................................................... 22
2.1 Typographical representation of syntax........................................................................................... 22
2.2 Character and number formats........................................................................................................ 22
2.2.1 Character set and file format ...........................................................................................  22
2.2.2 Numerical input................................................................................................................  23
2.3 Structure of NC control data: NC programs..................................................................................... 25
2.4 NC block structure........................................................................................................................... 26
2.4.1 Skipping NC blocks '/' ......................................................................................................  28
2.4.2 Block-specific comments .................................................................................................  28
2.4.3 Line break in NC block '\' .................................................................................................  30
2.5 Word structure................................................................................................................................. 32
2.5.1 Mathematical expressions ...............................................................................................  32
2.5.2 Operations for character strings ......................................................................................  38
2.5.3 Assigned address characters ..........................................................................................  42
2.5.4 Programming examples...................................................................................................  44
3 Path information ..................................................................................................................................... 45
3.1 Axis commands ............................................................................................................................... 45
3.2 Measuring systems, input and precision ranges ............................................................................. 47
3.3 Coordinate systems......................................................................................................................... 48
4 G functions............................................................................................................................................... 53
4.1 Path preparatory functions .............................................................................................................. 54
4.1.1 Rapid traverse (G00) .......................................................................................................  54
4.1.2 Linear interpolation (G01)................................................................................................  55
4.1.3 Circular interpolation (G02/G03)......................................................................................  56
4.1.4 Helical interpolation (G02 Z.. K../G03 Z.. K..)..................................................................  60
4.1.5 Arc in space (G303).........................................................................................................  67
4.1.6 Contour line programming (#ANG)..................................................................................  69
4.1.7 Dwell time (G04), (#TIME)...............................................................................................  81
4.1.8 Programmable homing (G74) ..........................................................................................  82
4.1.9 Reference point offset (G92) ...........................................................................................  83
4.1.10 Set negative software limit switch (G98)..........................................................................  84
4.1.11 Set the positive software limit switch (G99).....................................................................  85
4.1.12 Extensions to G98 and G99.............................................................................................  86
4.1.13 Measuring functions.........................................................................................................  86
4.2 Determining acceleration/deceleration (G08/G09/G900/G901)..................................................... 104
4.3 Path/time-related feed interpolation (G193/G293)......................................................................... 107
4.4 Selection of planes (G17/G18/G19) .............................................................................................. 109
4.5 Mirroring in the plane (G21/G22/G23/G20) ................................................................................... 110
4.6 Mirroring with axis specification (G351)......................................................................................... 115
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TF5200 | TwinCAT 3 CNC
Programming manual
6 Version: 1.215
4.7 Units (G70/G71) ............................................................................................................................ 118
4.8 Implicit subroutine calls (G80–G89/G800-G819)........................................................................... 118
4.9 Dimension systems (absolute dimension/incremental dimension) (G90/G91).............................. 119
4.9.1 Exclusive programming .................................................................................................  119
4.9.2 Combined programming ................................................................................................  120
4.10 Exact stop (G60/G360/G359)........................................................................................................ 121
4.11 Polynomial contouring (G61/G261/G260) ..................................................................................... 122
4.12 Corner deceleration....................................................................................................................... 123
4.12.1 Parameterising corner deceleration (#CORNER PARAM)............................................  124
4.12.2 Selecting/deselecting corner deceleration (G12/G13)...................................................  124
4.13 Zero offsets (G53/G54/...G59)....................................................................................................... 126
4.13.1 Enhanced zero offset variables .....................................................................................  127
4.13.2 Adding and subtracting offsets ......................................................................................  128
4.13.3 Access to the current zero offset...................................................................................  129
4.13.4 Default zero offset..........................................................................................................  129
4.13.5 Creating zero offset groups ...........................................................................................  130
4.13.6 Extended zero offset (G159)..........................................................................................  131
4.13.7 Enable/disable zero offsets axis-specific (G160)...........................................................  132
4.14 Specifying centre point for circle definition (G161/G162) .............................................................. 133
4.15 Radius programming (R/G163) ..................................................................................................... 134
4.16 Controlling centre point offset in circle (G164/G165)..................................................................... 137
4.16.1 Special function: circle radius compensation in combination with G164 .......................  139
4.17 Feedforward control (G135/G136/G137)....................................................................................... 141
4.18 Weighting of maximum velocity (G127/ G128).............................................................................. 142
4.19 Weighting of rapid traverse velocity (G129) .................................................................................. 142
4.20 Parameterising the acceleration profile ......................................................................................... 143
4.20.1 Acceleration weighting (G130/G131/G231)...................................................................  143
4.20.2 Weighting ramp times (G132/G133/G134/G233) ..........................................................  145
4.21 Machining time or feedrate (G93/G94/G95/G194) ........................................................................ 148
4.22 Inserting chamfers and roundings (G301/G302) (#FRC/#CHR/#CHF/#RND) .............................. 149
4.22.1 Insert chamfers using G301 as example.......................................................................  154
4.22.2 Inserting roundings using G302 as example .................................................................  156
4.23 Manual mode................................................................................................................................. 158
4.23.1 Selecting/deselecting manual mode with parallel interpolation (G201/G202). ..............  159
4.23.2 Selecting manual mode without parallel interpolation (G200) .......................................  161
4.23.3 Reaction at program end (M02, M30)............................................................................  161
4.23.4 Parameterising operating modes...................................................................................  161
4.23.5 Specify offset limits (#MANUAL LIMITS).......................................................................  164
4.23.6 Example of parameterising an axis in manual mode.....................................................  166
4.24 Requesting offset, command and actual values............................................................................ 167
4.24.1 Request current manual mode offsets and file to "V.A.MANUAL_OFFSETS[ ]" (#GET
MANUAL OFFSETS).....................................................................................................  168
4.24.2 Request current command positions and file to "V.A.ABS[ ]” (#CHANNEL INIT)..........  169
4.24.3 Request current actual positions and file to "V.A.ABS[ ]” (#CHANNEL INIT)................  170
4.24.4 Request current command positions of axes and file to variables or parameters (#GET
CMDPOS)...................................................................................................................... 170
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TF5200 | TwinCAT 3 CNC
Programming manual
7 Version: 1.215
4.24.5 Request current actual positions of axes and file to variables or parameters (#GET ACT-
POS).............................................................................................................................. 172
4.25 Gear change (G112)...................................................................................................................... 173
4.26 Influence on the look-ahead functionality (G115/G116/G117) ...................................................... 174
4.27 Override (G166)............................................................................................................................. 176
4.28 Cycle synchronisation at block end (G66)..................................................................................... 177
5 Switching and supplementary functions (M/H/T) ............................................................................... 178
5.1 User-specific M/H functions........................................................................................................... 178
5.1.1 Programmed stop (M00)................................................................................................  179
5.1.2 Optional stop (M01) .......................................................................................................  179
5.1.3 Program end (M02/M30)................................................................................................  179
5.1.4 Subroutine end (M17/M29)............................................................................................  179
5.1.5 Call a tool change program (M06).................................................................................  180
5.2 Axis-specific M/H functions............................................................................................................ 180
5.3 M/H functions with optional additional information ........................................................................ 182
5.4 Tool position selection (T ) ............................................................................................................ 182
6 Velocities (F/E)....................................................................................................................................... 184
7 NC block numbers (N)........................................................................................................................... 187
8 Subroutine techniques.......................................................................................................................... 188
8.1 Local subroutines (Call LL <string>) <string>)............................................................................... 189
8.2 Global sub-routines (Call L <string>)............................................................................................. 190
8.3 Parametric subroutine call (LL / L V.E. or macro).......................................................................... 191
8.4 Implicit global subroutine call at program start .............................................................................. 193
8.5 Implicit global subroutine call at program end ............................................................................... 193
8.6 Cycles as global or local subroutines (Call L | LL CYCLE)............................................................ 193
8.7 Calling block sequences (L SEQUENCE) ..................................................................................... 198
9 Parameters and parameter calculation (P).......................................................................................... 206
9.1 Programming of coordinates by parameters ................................................................................. 209
9.2 Indirect parameters........................................................................................................................ 210
10 Statements for influencing NC program flow ..................................................................................... 212
10.1 Conditional jumps.......................................................................................................................... 214
10.1.1 The IF - ELSE branch....................................................................................................  214
10.1.2 Switch branching ($SWITCH ).......................................................................................  217
10.1.3 The $GOTO statement..................................................................................................  217
10.2 Counting loop ($FOR) ................................................................................................................... 222
10.3 Loops with running condition......................................................................................................... 224
10.3.1 Verification of running condition at loop start ($WHILE)................................................  224
10.3.2 Verification of running condition at loop end ($DO), ($REPEAT)..................................  224
10.4 Influencing loop flow sequences.................................................................................................... 226
10.4.1 The $BREAK statement.................................................................................................  226
10.4.2 The $CONTINUE statement..........................................................................................  227
11 Smoothing methods.............................................................................................................................. 228
11.1 Programs with several short blocks............................................................................................... 228
11.1.1 Trim a contour (#HSC ON/OFF)....................................................................................  231
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TF5200 | TwinCAT 3 CNC
Programming manual
8 Version: 1.215
11.1.2 Surface machining with Surface Optimiser (method 3) .................................................  234
11.1.3 FIR filter (#FILTER) .......................................................................................................  237
11.2 Polynomial contouring for long blocks (G61/G261/G260) ............................................................. 238
11.2.1 Definition of terms..........................................................................................................  239
11.2.2 General properties.........................................................................................................  241
11.2.3 Parameterising contouring modes in the NC program (#CONTOUR MODE) ...............  248
11.2.4 Activating contouring modes in the NC program...........................................................  249
11.2.5 Example......................................................................................................................... 264
11.2.6 Remarks ........................................................................................................................ 269
11.3 Other processes ............................................................................................................................ 270
11.3.1 Akima spline interpolation..............................................................................................  270
11.3.2 B spline interpolation .....................................................................................................  276
11.3.3 PSC programming with OP1 and OP2 ..........................................................................  279
12 Additional functions.............................................................................................................................. 284
12.1 Restoring axis configurations and axis couplings.......................................................................... 284
12.1.1 Saving a current configuration (#SAVE CONFIG) ........................................................  284
12.1.2 Loading or restoring a saved configuration (#LOAD CONFIG) .....................................  286
12.1.3 Clearing a current configuration (#CLEAR CONFIG) ....................................................  288
12.2 Axis exchange commands............................................................................................................. 289
12.2.1 Standard syntax.............................................................................................................  290
12.2.2 Extended syntax............................................................................................................  298
12.3 Dwell time...................................................................................................................................... 311
12.4 Flushing NC channel (#FLUSH, #FLUSH CONTINUE, #FLUSH WAIT)....................................... 311
12.5 Cross-block comments (#COMMENT BEGIN/END) ..................................................................... 314
12.6 Waiting for event (#WAIT FOR)..................................................................................................... 315
12.7 Adapting minimum radius for tangential feed ((#TANGFEED))..................................................... 316
12.8 Suppressing offsets (#SUPPRESS OFFSETS) ............................................................................ 318
12.9 Settings for measurement ............................................................................................................. 319
12.9.1 Switching measurement type (#MEAS MODE) .............................................................  319
12.9.2 Extended programming (#MEAS, #MEAS DEFAULT) .................................................  320
12.10 Selecting position preset (#PSET)................................................................................................. 323
12.10.1 Deselecting position preset (#PRESET)........................................................................  323
12.11 Synchronous operation.................................................................................................................. 325
12.11.1 Programming axis couplings (#SET AX LINK, #AX LINK).............................................  325
12.11.2 Extended programming of axis couplings (“SOFT-GANTRY“) (#SET AX LINK, #AX LINK)
....................................................................................................................................... 327
12.11.3 Enabling/disabling axis couplings (#ENABLE AX LINK, #DISABLE AX LINK)..............  331
12.11.4 Inquiring coupling state and coupling number via variables..........................................  333
12.12 Messages from the NC program ................................................................................................... 334
12.12.1 Programming a message (#MSG).................................................................................  334
12.12.2 Programming message information #MSG INFO).........................................................  336
12.12.3 Including the ‘Macro’ functionality..................................................................................  337
12.12.4 Writing messages to a file (#MSG SAVE) .....................................................................  337
12.12.5 Outputting additional informations at block end (#ADD)................................................  338
12.13 Jerk limiting slope.......................................................................................................................... 339
12.13.1 Selecting operating mode (#SLOPE, #SLOPE DEFAULT)...........................................  340
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TF5200 | TwinCAT 3 CNC
Programming manual
9 Version: 1.215
12.14 Writing and reading SERCOS parameters and commands .......................................................... 341
12.14.1 SERCOS parameters (#IDENT) ....................................................................................  341
12.14.2 SERCOS commands (COMMAND)...............................................................................  344
12.15 Channel synchronisation ............................................................................................................... 349
12.15.1 Sending signals (# SIGNAL)..........................................................................................  351
12.15.2 Removing (broadcast) signals (#SIGNAL REMOVE)....................................................  353
12.15.3 Waiting for signals (#WAIT)...........................................................................................  354
12.15.4 RESET handling ............................................................................................................  356
12.15.5 Synchronisation scenarios.............................................................................................  356
12.16 Rotation in the plane (contour rotation) (#ROTATION ON/OFF)................................................... 361
12.17 Automatic axis tracking (C axis tracking) (#CAXTRACK).............................................................. 374
12.18 User-defined error output (#ERROR)............................................................................................ 379
12.19 Time measurement (#TIMER)....................................................................................................... 382
12.20 Definition of feed axes (#FGROUP, #FGROUP ROT, #FGROUP WAXIS) .................................. 384
12.21 Adapt path dynamic limit values (#VECTOR LIMIT ON/OFF)....................................................... 387
12.22 Defining a minimum block transition velocity (#TRANSVELMIN ON/OFF) ................................... 390
12.23 Writing machine data (#MACHINE DATA) .................................................................................... 391
12.24 File operations............................................................................................................................... 394
12.24.1 Definition of file names (#FILE NAME)..........................................................................  394
12.24.2 Renaming a file (#FILE RENAME) ................................................................................  396
12.24.3 Deleting a file (#FILE DELETE).....................................................................................  397
12.24.4 Checking existence of a file (#FILE EXIST)...................................................................  398
12.24.5 Create and manage backup files...................................................................................  399
12.25 Monitoring the work space and protection space .......................................................................... 402
12.25.1 Defining a control area (#CONTROL AREA BEGIN/END)............................................  403
12.25.2 Selecting/deselecting control areas (#CONTROL AREA ON/OFF)...............................  406
12.25.3 Clearing control areas (#CONTROL AREA CLEAR).....................................................  407
12.25.4 Monitor additional axes..................................................................................................  408
12.25.5 Special features in manual mode ..................................................................................  408
12.26 Influence forward/backward motion on path.................................................................................. 409
12.26.1 Skipping program sequences (#OPTIONAL EXECUTION)...........................................  409
12.26.2 Clearing backward storage (#BACKWARD STORAGE CLEAR) ..................................  410
12.27 Tool change with active synchronous mode (#FREE TOOL CHANGE) ....................................... 411
12.28 Locking program areas for single-step mode (#SINGLE STEP) ................................................... 412
12.29 Programmable path override (#OVERRIDE)................................................................................. 414
12.30 Drive-independent switching of drive functions ............................................................................. 415
12.30.1 Synchronised write (#DRIVE WR SYN).........................................................................  415
12.30.2 Synchronous waiting for acknowledgement (#DRIVE WAIT SYN)................................  416
12.31 Velocity-optimised motion control by segmentation (#SEGMENTATION) .................................... 417
12.32 Enlarging/reducing contours (#SCALE ON/OFF).......................................................................... 419
12.33 Punching and nibbling ................................................................................................................... 427
12.33.1 Splitting up motion path and programming (#STROKE DEF, #PUNCH ON/OFF, #NIBBLE
ON/OFF)........................................................................................................................ 427
12.33.2 Further functions............................................................................................................  431
12.33.3 Restrictions.................................................................................................................... 432
12.34 Controlling edge machining (#EDGE MACHINING)...................................................................... 433
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TF5200 | TwinCAT 3 CNC
Programming manual
10 Version: 1.215
12.35 Switching dynamic weighting (#DYNAMIC WEIGHT) ................................................................... 435
12.36 Weighting of external feedrate (# FF)............................................................................................ 436
12.37 Axis clamping and monitoring........................................................................................................ 436
12.38 Gantry start-up............................................................................................................................... 438
12.39 Position controller-based axis couplings (#GEAR LINK)............................................................... 439
13 Tool geometry compensation (D)......................................................................................................... 442
13.1 Tool length compensation ............................................................................................................. 443
13.1.1 Axis-specific assignment of tool length compensation (#TLAX, #TLAX DEFAULT)......  445
13.2 Tool radius compensation (TRC)................................................................................................... 447
13.2.1 Direct/indirect deselection of TRC .................................................................................  455
13.2.2 Direct/indirect deselection of TRC .................................................................................  462
13.2.3 Perpendicular selection/deselection of TRC (G237)......................................................  469
13.2.4 Selecting inside corner of TRC (G238)..........................................................................  475
13.2.5 Direct selection/deselection of TRC without block (G239).............................................  478
13.2.6 Direct selection/deselection of TRC on the path (G236) ...............................................  483
13.2.7 Generate compensation blocks.....................................................................................  489
13.2.8 Reaction on contour change..........................................................................................  494
13.2.9 Reaction to change in tool radius ..................................................................................  495
13.2.10 Tangential selection/deselection of TRC (G05).............................................................  497
13.2.11 Adapting feed of TRC (G10/G11)..................................................................................  500
13.2.12 Selecting/deselecting TRC contour masking (G140/G141)...........................................  501
13.2.13 Limits of TRC................................................................................................................. 502
13.2.14 Programmable additional options of TRC (#TRC).........................................................  504
13.2.15 Exception list of commands with active TRC/SRK ........................................................  512
14 Variables and calculation of variables ................................................................................................ 515
14.1 Axis-specific variables (V.A.)......................................................................................................... 518
14.2 Spindle-specific variables (V.SPDL., V.SPDL_PROG.) ................................................................ 520
14.3 Global variables (V.G.) .................................................................................................................. 521
14.3.1 Versioning of NC programs ...........................................................................................  535
14.4 Self-defined variables (#VAR, #ENDVAR, #DELETE) .................................................................. 536
14.4.1 Global variable not valid after (main) program end (V.P.) .............................................  538
14.4.2 Global, valid (main) program global (V.S.).....................................................................  539
14.4.3 Local not valid program global (V.L.).............................................................................  540
14.4.4 Cycle variables (V.CYC.) ..............................................................................................  542
14.5 External variables (V.E) (#INIT V.E.)............................................................................................. 546
15 Spindle programming............................................................................................................................ 548
15.1 Parameterising spindles ................................................................................................................ 550
15.1.1 Axis parameters.............................................................................................................  550
15.1.2 Channel parameter........................................................................................................  550
15.2 Programming in DIN syntax........................................................................................................... 555
15.2.1 The spindle M functions.................................................................................................  555
15.2.2 Spindle speed (S) ..........................................................................................................  558
15.2.3 Spindle gear change (M40 - M45).................................................................................  560
15.2.4 Turning functions ...........................................................................................................  563
15.2.5 Tapping (G63)................................................................................................................ 575
Table of contents
TF5200 | TwinCAT 3 CNC
Programming manual
11 Version: 1.215
15.2.6 Tapping (G331/ G332)...................................................................................................  577
15.2.7 C axis machining ...........................................................................................................  580
15.2.8 Gear change (G112)......................................................................................................  592
15.2.9 Homing in DIN syntax( G74)..........................................................................................  593
15.2.10 Spindle override in DIN syntax (G167)..........................................................................  594
15.3 Programming in spindle-specific syntax ........................................................................................ 595
15.3.1 The spindle M functions.................................................................................................  596
15.3.2 Spindle speed (REV) .....................................................................................................  599
15.3.3 User-specific M/H function in spindle-specific syntax....................................................  600
15.3.4 Homing in spindle-specific syntax (G74) .......................................................................  600
15.3.5 Spindle override in spindle-specific syntax (G167)........................................................  601
15.3.6 Releasing/requesting spindle axes (PUTAX/CALLAX)..................................................  602
15.3.7 Adopt tool dynamic data (GET_DYNAMIC_DATA/ DEFAULT_DYNAMIC_DATA).......  603
15.3.8 Commanding spindle feedforward control (G135/G136/G137) .....................................  604
15.3.9 Spindle feed link (FEED_LINK) .....................................................................................  605
15.3.10 Programmable spindle override.....................................................................................  607
15.3.11 Acceleration weighting (G130).......................................................................................  607
15.4 Changing the main spindle (#MAIN SPINDLE) ............................................................................. 608
15.5 Synchronous spindle operation ..................................................................................................... 610
15.6 Cross-block synchronisation (Late Sync) ...................................................................................... 612
15.6.1 Implicit synchronisation..................................................................................................  612
15.6.2 Explicit synchronisation (#EXPL SYN) ..........................................................................  613
15.7 Synchronisation of spindle M functions ......................................................................................... 614
15.8 PLCopen programming ................................................................................................................. 615
15.8.1 MC_Home command.....................................................................................................  619
15.8.2 MC_MoveAbsolute command........................................................................................  620
15.8.3 MC_MoveAdditive command.........................................................................................  621
15.8.4 MC_MoveRelative command.........................................................................................  622
15.8.5 MC_MoveSuperImposed command ..............................................................................  623
15.8.6 MC_MoveVelocity command.........................................................................................  624
15.8.7 MC_Stop command.......................................................................................................  625
15.8.8 MC_GearIn command ...................................................................................................  626
15.8.9 MC_GearOut command.................................................................................................  628
15.8.10 MC_Phasing command .................................................................................................  629
15.8.11 MC_TouchProbe command...........................................................................................  629
16 Macroprogramming (# INIT MACRO TAB)........................................................................................... 631
16.1 Nesting macros.............................................................................................................................. 632
16.2 Use in mathematical expressions.................................................................................................. 633
16.3 Separating address letter and mathematical expression............................................................... 633
16.4 Restrictions.................................................................................................................................... 634
17 5-Axis functionality................................................................................................................................ 635
17.1 Rotation Tool Centre Point (RTCP)(# TRAFO OFF) ..................................................................... 635
17.2 Tool Length Compensation (#TLC ON/OFF)................................................................................. 636
17.3 Orienting tool (#TOOL ORI CS)..................................................................................................... 639
17.4 Machine kinematics (#KIN ID)....................................................................................................... 640
Table of contents
TF5200 | TwinCAT 3 CNC
Programming manual
12 Version: 1.215
17.5 Positioning without compensation motion (#PTP ON/OFF, #AX LOCK ALL, #AX UNLOCK ALL)
....................................................................................................................................................... 641
17.6 Coordinate systems....................................................................................................................... 645
17.6.1 Defining a machining coordinate system (#CS DEF, #CS ON/OFF, #CS MODE ON/OFF)
....................................................................................................................................... 645
17.6.2 Defining/activating a coordinate system for fixture adaptation (#ACS)..........................  650
17.6.3 Linkage of coordinate systems......................................................................................  653
17.6.4 Effector coordinate system (#ECS ON/OFF).................................................................  657
17.6.5 Temporary transition to the machine coordinate system (#MCS ON/OFF)...................  659
17.7 Auxiliary functions for coordinate transformation (#WCS TO MCS, #MCS TO WCS) .................. 660
17.8 Auxiliary function to calculate motion limits in the workpiece coordinate system (#GET WCS
POSLIMIT)..................................................................................................................................... 661
17.9 Orientation programming............................................................................................................... 665
17.9.1 Programming and configuration of 5-axis kinematics (#ORI MODE) ............................  667
17.9.2 Programming and configuration of 6-axis kinematics (robot) (#ORI MODE).................  669
18 Programming modulo axes .................................................................................................................. 673
18.1 Positioning on the shortest way..................................................................................................... 679
19 Extended tool programming................................................................................................................. 680
19.1 Description of function................................................................................................................... 680
19.1.1 Tool ID ........................................................................................................................... 680
19.1.2 Tool life data recording..................................................................................................  680
19.2 Programming commands and variables (V.TOOL.) (#TOOL DATA, #TOOL PREP).................... 681
19.2.1 Weighting factors for tool life and tool life distance ((V.TLM) ........................................  681
19.2.2 Reading/removing tool life values (#TOOL LIFE READ/REMOVE) ..............................  683
19.2.3 Refreshing tool data (#TOOL REFRESH).....................................................................  684
20 Positioning axes.................................................................................................................................... 685
20.1 Independent axes (INDP_SYN, INDP_ASYN) (#WAIT INDP, #WAIT INDP ALL) ........................ 685
20.2 Oscillating axes (OSC) .................................................................................................................. 689
20.3 Cartesian/kinematic transformation and positioning axes ............................................................. 692
20.3.1 Positioning and shifts.....................................................................................................  692
20.3.2 Restrictions.................................................................................................................... 692
21 Axis-specific programming .................................................................................................................. 694
21.1 Selecting/deselecting axis compensations in the NC program (COMP) ....................................... 694
21.2 Distance control (sensed spindles) (DIST_CTRL)......................................................................... 696
21.3 Programmable axis override (OVERRIDE) ................................................................................... 698
21.4 Programmable acceleration overload (DYNAMIC)........................................................................ 699
21.5 Synchronising an axis in coordinated motion (SYNC IN / OUT).................................................... 700
21.6 Programming an axis polynomial (POLY) ..................................................................................... 702
21.7 Set an axis position in the channel................................................................................................ 705
21.8 Lifting/lowering an axis (LIFT) ....................................................................................................... 705
21.9 Moving to fixed stop....................................................................................................................... 707
22 References ............................................................................................................................................. 709
23 Appendix ................................................................................................................................................ 710
23.1 Overview of commands................................................................................................................. 710
23.1.1 G functions (G..) ............................................................................................................  710
Table of contents
TF5200 | TwinCAT 3 CNC
Programming manual
13 Version: 1.215
23.1.2 M functions (M..)............................................................................................................  715
23.1.3 Functions reserved according to DIN and ISG extensions............................................  716
23.1.4 Control block statements ($..)........................................................................................  717
23.1.5 Additional functions (#..)................................................................................................  718
23.1.6 Additional axis-specific functions (<X>[..]).....................................................................  723
23.1.7 PLC-Open functions (<X>[MC_..]).................................................................................  723
23.1.8 Variable programming (V.).............................................................................................  723
23.1.9 Miscellaneous functions.................................................................................................  723
23.1.10 Migrated NC commands................................................................................................  724
24 Support and Service.............................................................................................................................. 725
Index ....................................................................................................................................................... 726