752 PM 1 GB

OEM Environment
Machine Parameters Description

(PM)
OEM Documentation
Valid for:
Product: Kvara SW 162

from version 3.14.4
Edition: March 2003

Code: 91752.PM.1.GB
Esa/Gv s.r.l.
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ii 91752.PM.1.GB Esa/Gv
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29/0672000 91752.PM.0.GB 0 New document
03/03/2003 91752.PM.1.GB 1 Revision
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Esa/Gv 91752.PM.1.GB iii

iv 91752.PM.1.GB Esa/Gv
PM Machine Parameters Description
Machine Parameters Description
Notes for the reader ....................................................................................................... i

Explanation of the symbols.................................................................................................................. ii
Printer’s conventions .......................................................................................................................... iii
Glossary ............................................................................................................................................. iv
1 Introduction ............................................................................................................. 1.1

1.1 Units of measurement ................................................................................................................1.1
1.2 Outline of the parameters used to describe and configure the axes ..........................................1.2
1.3 Default configuration...................................................................................................................1.8
2 General Parameters ................................................................................................ 2.1

Number of channels, CN_NUMCHAN ...................................................................................2.1
Number of axes, CN_NUMAX ...............................................................................................2.1
Number of first slave board, CN_FIRSTSLAVE.....................................................................2.1
Default setting, CN_MMINCI..................................................................................................2.2
NC scanning delay, CN_DELAY ............................................................................................2.2
Slave loading code, CN_CALCREG ......................................................................................2.3
Commands per calculation interval , CN_COMMTICALC .....................................................2.3
Priority to other processes, CN_DLY_PATTERN ..................................................................2.3
Timeout per channel, CN_CNCTIMOT ..................................................................................2.4
Length of user extensions, CN_USREXTLEN .......................................................................2.4
Memory for through execution, CN_PTKB.............................................................................2.4
Blocks for all slave queues, CN_SLVBLOCKS ......................................................................2.5
Length of user extensions, CN_USREXTLEN .......................................................................2.5
Parameter set version, CN_PARMSVER...............................................................................2.6
3 NC Option Parameters............................................................................................ 3.1

Follow error display enabling, CN_MON (bit 0)......................................................................3.1
Machine reference axes target display enabling, CN_MON (bit 1) ........................................3.1
Enabling of display in phase with interpreter, CN_MON (bit 2) ..............................................3.2
Enabling of display in phase with parameters, CN_MON (bit 3) ............................................3.2
Display of fixed cycles in ROM enabling, CN_MON (bit 4) ....................................................3.2
Enabling of overlapped M functions, CN_MON (bit 8) ...........................................................3.3
Disab.look-ahead S Ramps, CN_MON (bit 8) .......................................................................3.5
Enab.auxiliary axes G16 control, CN_MON (bit 17)...............................................................3.5
Esa/Gv 91752.PM.1.GB i
Machine Parameters Description PM
Enabling of Heap consistency RunTime monitoring, ISO_OPTS (bit 4) ................................3.5

File search path debugging enabling, ISO_OPTS (bit 5) .......................................................3.6
Display more debug information, ISO_OPT (bit 6).................................................................3.6
Report generation, ISO_OPTS (bit 8) ....................................................................................3.6
Detailed registration of events on disk, ISO_OPTS (bit 9) .....................................................3.7
Plotting enabling, ISO_OPTS (bit 10).....................................................................................3.7
Error Information Mask display, ISO_OPTS (bit 14) ..............................................................3.7
Detailed Information Mask display, ISO_OPT (bit 15) ...........................................................3.8
Dynamic/kinematics parameter debugger enabling, ISO_OPTS (bit 16)...............................3.8
4 PLC Option parameters .......................................................................................... 4.1

PLC scanning time, CN_SCNPLCLEN ..................................................................................4.1
Fast PLC scanning time, CN_SCNPLCVEL ..........................................................................4.1
PLC scanning timeout, CN_TMOPLCLEN.............................................................................4.2
Fast PLC scan timeout, CN_TMOPLCVEL............................................................................4.2
5 Channel configuration parameters........................................................................ 5.1

Channel name , CC_CHNAME ..............................................................................................5.1
Channel processing board number, CC_NUMBOARD..........................................................5.1
Channel axes mask, CC_MASKAXES...................................................................................5.2
Number of axis X, Y, Z, U, V, W, A, B, C, CC_NX, CC_NY, CC_NZ, CC_NU, CC_NV,
CC_NW, CC_NA, CC_NB, CC_NC .......................................................................................5.2
S axis (spindle) number, CC_NM...........................................................................................5.3
Main process number, CC_MAINPROC ................................................................................5.3
Channel execution priority, CC_PRIORITY............................................................................5.3
Basic Spindle Table Index, CC_TWIBASE ............................................................................5.4
Number of Spindles/Mechanisms, CC_TWIAMOUNT ..........................................................5.4
Basic Toolholder Table Index, CC_THDBASE ......................................................................5.4
Number of Toolholders, CC_THDAMOUNT ..........................................................................5.5
Basic Tool Table Index, CC_CEDBASE ................................................................................5.5
Number of Tools, CC_CEDAMOUNT ....................................................................................5.5
Local variables per subroutine level, CC_VARSPERLEVEL .................................................5.6
Memory for through execution, CC_CHANPTKB...................................................................5.6
Type of Tool Magazine, CC_MAG .........................................................................................5.6
Magazine Number, CC_RV....................................................................................................5.7
6 Channel parameters ............................................................................................... 6.1

Number of exec queue commands, CP_CMDA ....................................................................6.1
Number of slave queue commands, CP_CMDB....................................................................6.1
Number of continuous slave queue commands, CP_CMDC .................................................6.2

Type of M functions, CP_MTYPE ..........................................................................................6.2
Type of S functions, CP_STYPE............................................................................................6.3
Type of T functions, CP_TTYPE ............................................................................................6.3
Acceleration time on the trajectory, CP_ACCTIME................................................................6.3
Maximum trajectory acceleration, CP_ACCEL ......................................................................6.4
Deceleration time on the trajectory, CP_DECTIME ...............................................................6.4
Maximum trajectory deceleration, CP_DECEL ......................................................................6.5
Maximum channel speed, CP_VELMAX................................................................................6.5
S ramp time on the trajectory, CP_DELAYS ..........................................................................6.6
S ramp time on the trajectory, CP_DELAYS ..........................................................................6.6
Maximum jerk trajectory, CP_JERK.......................................................................................6.7
Default spindle positioning target, CP_MANDTAR ................................................................6.7
Num. of Blocks with command processed, CP_BLOCKA .....................................................6.8
Num. Blocks without command processed, CP_BLOCKB ....................................................6.8
Max. num. Max. of slave commands queued in a scan, CP_BLOCKC .................................6.9
F speed for dry run cycle, CP_VELDRY ................................................................................6.9
Options: hydraulic tapping enabling, CP_OPZIONI (bit 0) .....................................................6.9
Options: speed lookahead enabling, CP_OPZIONI (bit 1)...................................................6.10
Options: display/selection disabling, CP_OPZIONI (bit 2) ...................................................6.10
Options: Fast with independent axes, CP_OPZIONI (bit 3) .................................................6.10
Options: explicit axes movements, CP_OPZIONI (bit4) ......................................................6.11
Opt: motion block synchronism, CP_OPZIONI (bit8)...........................................................6.11
Options: inhibit real execution, CP_OPZIONI (bit 24) ..........................................................6.11
Options: Graphic display enabling, CP_OPZIONI (bit 25)....................................................6.12
Graphic output via pipe, CP_OPZIONI (bit12, bit13) ...........................................................6.12
Opt: Through execution, CP_OPZIONI (bit27).....................................................................6.13
Proprietary File System, CP_OPZIONI (bit14, bit15) ...........................................................6.13
Radius Monitoring tolerance, CP_TOLLRAD.......................................................................6.14
Nesting 0 level monitoring, CP_LINENO_RFSHO...............................................................6.14
Nesting 1 level monitoring, CP_LINENO_RFSH1................................................................6.14
7 Speed Monitoring Data parameters....................................................................... 7.1

Deceleration monitoring enabling, FDC_DLE ........................................................................7.1
Deceleration monitoring mode, FDC_DLM ............................................................................7.1
Number of look-ahead steps, FDC_DLE ...............................................................................7.1
Arc radius tolerance, FDC_ARC ............................................................................................7.2
Speed monitoring enabling, FDC_FCE..................................................................................7.2

Reference speed 0, FDC_FC0...............................................................................................7.2

Discontinuity monitoring enabling, FDC_TCE ........................................................................7.4
Discontinuity change speed 0, FDC_TC0 ..............................................................................7.4
8 Channel geometry................................................................................................... 8.1

8.1 Introduction.................................................................................................................................8.1
8.2 Parameters .................................................................................................................................8.2
Type of Geometry, GC_GEOTYPE........................................................................................8.2
Mode, GC_MODE ..................................................................................................................8.2
Ang(B) reversal, GC_X_ANG_SGN.......................................................................................8.3
X axis angle (B), GC_X_ANG ................................................................................................8.3
(X)Axis reversal, GC_X_DST_SGN.......................................................................................8.3
Distance X from CM, GC_X_DST..........................................................................................8.4
Ang(A) reversal, GC_Y_ANG_SGN.......................................................................................8.4
Y axis angle (A), GC_Y_ANG ................................................................................................8.4
(Y)Axis reversal, GC_Y_DST_SGN .......................................................................................8.5
Distance Y from CM, GC_Y_DST ..........................................................................................8.5
Ang(EA) reversal, GC_EA_DEF_SGN...................................................................................8.5
Tool Angle (EA), GC_EA_DEF ..............................................................................................8.6
Ang(EB) reversal, GC_EB_DEF_SGN...................................................................................8.6
Tool Angle (EB), GC_EB_DEF ..............................................................................................8.7
9 Proportional Axes parameters............................................................................... 9.1

9.1 Introduction.................................................................................................................................9.1
Type AP_AXTYPE .................................................................................................................9.2
Type of Drive, AP_DRVTYPE ................................................................................................9.2
Acceleration time, AP_ACCTIME...........................................................................................9.3
Maximum acceleration, CP_ACCEL ......................................................................................9.3
Deceleration time, AP_DECTIME ..........................................................................................9.4
Maximum deceleration, AP_DECEL ......................................................................................9.4
Options: sizing direction reversal, AP_OPZIONI (bit 0) .........................................................9.5
Options: counting direction reversal, AP_OPZIONI (bit 1) .....................................................9.5
Options: analog direction reversal, AP_OPZIONI (bit 2)........................................................9.5

Options: marker level monitoring disabling, AP_OPZIONI (bit 3) ..........................................9.6
Options: marker level monitoring disabling, AP_OPZIONI (bit 4) ..........................................9.6
Options: disabling of VOUT monitoring on SLV commands, AP_OPZIONI (bit 5) ................9.6
Options: hardware limit enabling, AP_OPZIONI (bit 6) ..........................................................9.7
Options: diametrical programming enabling, AP_OPZIONI (bit 8).........................................9.7
Options: play adjustment direction reversal, AP_OPZIONI (bit 9) .........................................9.8
Options: ABSOLUTE sizing enabling, AP_OPZIONI (bit 10) .................................................9.8
Options: DAC_POS +/- 0/10V management enabling, AP_OPZIONI (bit 11) .......................9.9
Options: DAC_POS sign bit reversal, AP_OPZIONI (bit 12)..................................................9.9
Options: Slave Brake Timing Management enabling, AP_OPZIONI (bit 13) .......................9.10
Options: Bumper management via Input enabling, AP_OPZIONI (bit 14) ...........................9.10
Options: OnMotor Management via PLC enabling, AP_OPZIONI (bit 15)...........................9.11
Options: Close-loop Management enabling, AP_OPZIONI (bit 16) .....................................9.12
Options: Forward/Backward mode DAC_POS Management enabling, AP_OPZIONI (bit 17)9.12
Options: HW limit sign reversal, AP_OPZIONI (bit 18) ........................................................9.13
Options: axes enabling in simulated mode, AP_OPZIONI (bit 31) ......................................9.13
Limit speed for proportional follow error, AP_FWERRVLIM ................................................9.14
Maximum follow error, AP_FWERR.....................................................................................9.14
Maximum follow error, AP_SSERR......................................................................................9.15
Rough tolerance target, AP_TOLLERG ...............................................................................9.16
Fine tolerance target, AP_TOLLERF ...................................................................................9.16
Tolerance monitoring wait time, AP_TOLLER .....................................................................9.16
Maximum speed, AP_VELMAX ...........................................................................................9.17
P Gain, AP_GAINP ..............................................................................................................9.17
Gain Kp, AP_KPGAIN ..........................................................................................................9.18
D Gain, AP_GAIND ..............................................................................................................9.19
Gain Kd, AP_KDGAIN..........................................................................................................9.20
Feed forward, AP_GAINFWD ..............................................................................................9.20
Gain Kvff, AP_KVFFGAIN....................................................................................................9.21
Voltage with maximum speed, DC_DACREF ......................................................................9.22
Positive insensitivity voltage, AP_INSPOS...........................................................................9.22
Number of encoder/mm pulses (numerator), AP_FATTCONV ...........................................9.23
Number of encoder pulses/mm (numerator), AP_QFATTCONV.........................................9.23
Number of encoder pulses/mm (denominator), AP_FATTCONVDIV..................................9.24
Number of encoder pulses/mm (denominator), AP_QFATTCONVDIV ...............................9.24
Type of sizing, AP_TARTYPE..............................................................................................9.25
Negative insensitivity voltage, AP_INSNEG.........................................................................9.25
Esa/Gv 91752.PM.1.GB v
Sizing target, AP_TARQUOTA ............................................................................................9.26

Micro search speed during sizing, AP_VELMICRO .............................................................9.26
Marker search speed during sizing, AP_VELTACCA ..........................................................9.26
Minimum target, AP_MINQUOTA ........................................................................................9.27
Maximum target, AP_MAXQUOTA......................................................................................9.27
Autolearning speed, AP_24..................................................................................................9.27
Manual speed, AP_VELMAN ...............................................................................................9.28
S Ramp time, AP_DELAYS .................................................................................................9.28
Maximum jerk, AP_JERK.....................................................................................................9.29
Sizing alarm target, AP_QCHKTARA ..................................................................................9.29
Encoder test, AP_TYPETSTENC ........................................................................................9.30
Maximum offset recovery voltage, AP_OFFSET .................................................................9.30
Offset recovery time, AP_TIMEOFF ....................................................................................9.30
Play adjustment on reversal target, AP_RECQTA...............................................................9.31
Parking target, AP_PARKQTA.............................................................................................9.32
Emergency Ramp time, AP_EMERTIME.............................................................................9.32
Emergency deceleration, AP_EMERDEC............................................................................9.32
Polar Axes module, AP_AXMOD .........................................................................................9.33
Play Adjustment target, AP_QTARECG ..............................................................................9.33
Check --- Type of Play Adjustment, AP_TYPERECG..........................................................9.33
Direction Change Timer, AP_TIMCOMDIR .........................................................................9.34
Forward Inertia target, AP_INERZAV...................................................................................9.34
Backward Inertia target, AP_INERZIND ..............................................................................9.34
Timer Brake Management, AP_TIMERFRENO...................................................................9.35
Zoned compensation table index, AP_AXNZONE ...............................................................9.35
Opt: Correction by center distance zones, AP_OPZIONI (bit21) .........................................9.35
Master axis for center distance correction, AP_CZMASTER...............................................9.36
Regulation Multiple, AP_TIMEREG......................................................................................9.36
10 N_VEL axes parameters ..................................................................................... 10.1

Options: sizing direction reversal, NV_OPTIONS (bit 0)......................................................10.1
Options: counting direction reversal, NV_OPTIONS (bit 1) .................................................10.1
Options: tolerance alarm disabling, NV_OPTIONS (bit 3) ...................................................10.2
Options: mark level monitoring disabling, NV_OPTIONS (bit 4)..........................................10.2
Options: hardware limit enabling, NV_OPTIONS (bit 6) ......................................................10.2
Options: ABSOLUTE sizing enabling, NV_OPTIONS (bit 10) .............................................10.3
Options: Slave Brake Timing Management enabling, NV_OPTIONS (bit 13) .....................10.3
Options: Bumper Management via Input enabling, NV_OPTIONS (bit 14) .........................10.4
vi 91752.PM.1.GB Esa/Gv
Options: HW limit sign reversal, NV_OPTIONS (bit 18) ......................................................10.4

Options: axes enabling in simulated mode, NV_OPTIONS (bit 31).....................................10.5
Rough tolerance target, NV_TOLLERG...............................................................................10.5
Tolerance monitoring delay time, NV_TOLLER ...................................................................10.6
Maximum speed, NV_VELMAX ...........................................................................................10.6
Number of encoder pulses/mm (numerator), AP_FATTCONV ...........................................10.7
Sizing type, NV_TARTYPE ..................................................................................................10.9
Sizing target, NV_TARQUOTA ............................................................................................10.9
Micro search speed during sizing, NV_VELMICRO.............................................................10.9
Mark search speed during sizing .......................................................................................10.10
Minimum target, NV_MINQUOTA......................................................................................10.10
Maximum target, NV_MAXQUOTA....................................................................................10.10
Manual speed, NV_VELMAN .............................................................................................10.11
Sizing alarm target, NV_QCHKTARA ................................................................................10.11
Encoder test time, NV_TIMETSTENC ...............................................................................10.11
Parking target, NV_PARKQTA...........................................................................................10.12
Change target from V2 to V1 forwards, NV_DECV1AVA ..................................................10.12
Change target from V3 to V2 forwards, NV_DECV2AVA ..................................................10.12
Change target from V2 to V1 backwards, NV_DECV1IND................................................10.13
Change target from V3 to V2 backwards, NV_DECV2IND................................................10.13
Change limit input target, from V2 to V1, NV_DECSOGV1 ...............................................10.13
Change limit input target, from V3 to V2, NV_DECSOGV2 ...............................................10.14
Play Adjustment Target, NV_QTARECG ...........................................................................10.14
Type of Play Adjustment, NV_TYPERECG........................................................................10.14
Direction Change Timer, NV_TIMCOMDIR .......................................................................10.15
Speed Change Timer, NV_TIMCOMVEL...........................................................................10.15
Forward Inertia target, NV_INERZAV ................................................................................10.15
Backward Inertia target, NV_INERZIND ............................................................................10.16
Timer for Brake Management, NV_TIMERFRENO ...........................................................10.16
11 Spindle Axes parameters ................................................................................... 11.1

Acceleration time, SP_ACCTIME.........................................................................................11.1
Maximum acceleration, SP_ACCEL ....................................................................................11.1
Sizing alarm target, SP_QCHKTARA ..................................................................................11.2
Type of encoder test, AP_TIPOTSTENC.............................................................................11.2
Esa/Gv 91752.PM.1.GB vii

Deceleration time, SP_DECTIME ........................................................................................11.2

Maximum deceleration, SP_DECEL ....................................................................................11.3
Options: sizing direction reversal, SP_OPZIONI (bit 0) .......................................................11.3
Options: counting direction reversal, SP_OPZIONI (bit 1) ...................................................11.4
Options: analog direction reversal, SP_OPZIONI (bit 2)......................................................11.4
Options: tolerance alarm disabling, SP_OPZIONI (bit 3) .....................................................11.4
Options: marker level monitoring disabling, SP_OPZIONI (bit 4) ........................................11.5
Options: double gain board enabling, SP_OPZIONI (bit 7)..................................................11.5
Options: ABSOLUTE sizing enabling, SP_OPZIONI (bit 10) ...............................................11.5
Options: DAC_POS +/- 0/10V Management enabling, SP_OPZIONI (bit 11) .....................11.6
Options: DAC_POS sign bit reversal, SP_OPZIONI (bit 12)................................................11.6
Options: OnMotor Management via PLC enabling, SP_OPZIONI (bit 15)...........................11.6
Options: DAC_POS management enabling for Forward/Backward movement, SP_OPZIONI
(bit 17) ..................................................................................................................................11.7
Options: axes enabling in simulated mode, SP_OPZIONI (bit 31) ......................................11.7
Speed limit for proportional follow error, SP_FWERRVLIM.................................................11.8
Maximum follow error, SP_FWERR.....................................................................................11.8
Maximum follow error, SP_SSERR......................................................................................11.9
Rough tolerance target, SP_TOLLERG .............................................................................11.10
Fine tolerance target, SP_TOLLERF .................................................................................11.10
Tolerance monitoring wait time, SP_TOLLER ...................................................................11.10
Maximum speed, SP_VELMAX .........................................................................................11.11
P Gain, SP_GAINP ............................................................................................................11.11
Gain Kp, SP_KPGAIN ........................................................................................................11.12
D Gain, SP_GAIN...............................................................................................................11.13
Gain Kd, SP_KDGAIN........................................................................................................11.14
Forward feed, SP_GAINFWD ............................................................................................11.14
Gain Kvff, SP_KVFFGAIN..................................................................................................11.14
Voltage with maximum speed, DC_DACREF ....................................................................11.15
Negative insensitivity voltage, SP_INSNEG.......................................................................11.15
Number of encoder pulses/turn, SP_FATTCONV .............................................................11.16
Type of sizing, SP_TARTYPE............................................................................................11.16
Positive insensitivity voltage, SP_INSPOS.........................................................................11.17
Sizing target, SP_TARQUOTA ..........................................................................................11.17
Sizing micro search speed , SP_VELMICRO ....................................................................11.17
Sizing marker search speed, SP_VELTACCA...................................................................11.18
10 Volt motor speed, SP_VEL10V .....................................................................................11.18
Maximum jerk, SP_JERK...................................................................................................11.19
viii 91752.PM.1.GB Esa/Gv

Encoder position, SP_ENCTYPE.......................................................................................11.19

1, 2, 3, 4, range transmission ratio SP_N1, SP_N2, SP_N3, SP_N4 ................................11.20
Hunting speed, SP_VELND ...............................................................................................11.20
1,2,3,4, range limit speed SP_VELLIM1, SP_VELLIM2, SP_VELLIM3, SP_VELLIM4......11.20
Full speed rate percentage tolerance, SP_VELLTOL ........................................................11.21
Maximum speed fluctuation, SP_FLT ................................................................................11.21
Minimum fluctuation monitoring speed, SP_VELMIN ........................................................11.21
Spindle stationary speed tolerance, SP_VELSTOP...........................................................11.22
Spindle speed in JOG, SP_VELJOG .................................................................................11.22
Spindle speed during positioning, SP_VELM19.................................................................11.22
Emergency Ramp time, SP_EMERTIME...........................................................................11.23
12 Measuring circuit parameters ............................................................................ 12.1

12.1 Introduction.............................................................................................................................12.1
12.2 Parameters .............................................................................................................................12.1
Type, AP_AXTYPE ..............................................................................................................12.1
Options: Count direction reversal, AP_OPZIONI (bit1) ........................................................12.2
Options: enables ABSOLUTE sizing, AP_OPZIONI (bit10) .................................................12.2
Number of encoder pulses/mm (numerator), AP_FATTCONV ...........................................12.3
Type of encoder test, AP_TIPOTSTENC.............................................................................12.5
13 Proportional Axes Configuration parameters .................................................. 13.1

Motor ON Output register, AP_REGONM............................................................................13.1
Number of Motor On output bit, AP_BITONM......................................................................13.1
Analog sign output register, AP_REGDACPOS...................................................................13.2
Analog sign output register, AP_BITDACPOS.....................................................................13.2
Brake output register, AP_REGFRENO...............................................................................13.2
Brake output bit, AP_BITFRENO .........................................................................................13.3
Forward HW limit input register, AP_REGFCHWAV ...........................................................13.3
Forward HW limit input bit, AP_BITFCHWAV......................................................................13.3
Backward HW limit input register, AP_REGCHWIND .........................................................13.4
Backward HW limit input bit, AP_BITFCHWIND..................................................................13.4
Number of encoder associated with axis, AP_NUMENC.....................................................13.4
Encoder position, AP_ENCTYPE.........................................................................................13.5
Number of DAC associated with axis, AP_NUMDAC ..........................................................13.5
Esa/Gv 91752.PM.1.GB ix
DAC position, AP_DACTYPE...............................................................................................13.5

Analog backward movement output register, AP_REGDACPOSIND..................................13.6
Sign bit for backward movement analog , AP_BITDACPOSIND .........................................13.6
Analog forward movement output register, AP_REGDACPOSAVA ....................................13.6
Sign bit for forward movement analog, AP_BITDACPOSAVA.............................................13.7
Type of Drive, AP_DRVTYPE ..............................................................................................13.7
Ring Number, AP_NRING....................................................................................................13.7
Ring Number, AP_DRIVE ....................................................................................................13.8
14 N_VEL Axes Configuration parameters ............................................................ 14.1

Forward Output registers: NV_VELAV1, NV_VELAV2, NV_VELAV3..................................14.1
Backward Output registers: NV_VELIND1, NV_VELIND2, NV_VELIND3...........................14.1
Forward Output bit numbers: NV_BITAV1, NV_BITAV2, NV_BITAV3 ................................14.1
Backward Output bit numbers: NV_BITIND1, NV_BITIND2, NV_BITIND3 .........................14.1
Brake output register, NV_REGFRENO ..............................................................................14.1
Brake output bit, NV_BITFRENO.........................................................................................14.2
Forward limit input register, NV_REGFCHWAV ..................................................................14.2
Forward limit input bit, NV_BITFCHWAV.............................................................................14.2
Backward limit input register, NV_REGFCHWIND ..............................................................14.3
Backward limit input bit, NV_BITFCHWIND.........................................................................14.3
Number of encoder associated with the axis, NV_NUMENC ..............................................14.3
Encoder position, NV_ENCTYPE.........................................................................................14.4
15 Spindle Axes Configuration Parameters........................................................... 15.1

Motor On Output Register, SP_REGONM ...........................................................................15.1
Number of Motor On output bit, SP_BITONM......................................................................15.1
Analog sign output register, SP_REGDACPOS...................................................................15.2
Analog sign output register, SP_BITDACPOS.....................................................................15.2
Number of encoder associated with axis, SP_NUMENC.....................................................15.2
Encoder position, SP_ENCTYPE.........................................................................................15.3
Number of DAC associated with axis, SP_NUMDAC ..........................................................15.3
DAC position, SP_DACTYPE...............................................................................................15.3
Analog backward movement output register, SP_REGDACPOSIND..................................15.4
Sign bit for backward movement analog, SP_BITDACPOSIND ..........................................15.4
Analog forward movement output register, SP_REGDACPOSIND .....................................15.4
Sign bit for forward movement analog, SP_BITDACPOSIND .............................................15.5
16 Servolink data ..................................................................................................... 16.1

16.1 Introduction.............................................................................................................................16.1
x 91752.PM.1.GB Esa/Gv
16.2 Table that defines the number of digital axes.........................................................................16.2

Number of Digital Axes ........................................................................................................16.2
16.3 Axes mapping in ring ..............................................................................................................16.3
Sys Wide axis.......................................................................................................................16.3
Servo Dip Switch ..................................................................................................................16.3
16.4 Servo data ..............................................................................................................................16.4
Request Servo Data Update ................................................................................................16.4
Servo mode..........................................................................................................................16.5
17 Origin Data parameters ...................................................................................... 17.1

Origins 1,2,3,4: X Origin coordinate, OG_X .........................................................................17.1
Origins 1,2,3,4: Y origin coordinate, OG_Y ..........................................................................17.1
Origins 1,2,3,4: Z origin coordinate, OG_Z ..........................................................................17.1
18 Tool Parameters.................................................................................................. 18.1

18.1 Spindle Data ...........................................................................................................................18.1
Type of mechanism, TWI_KINE ..........................................................................................18.1
Minimum rpm rate, TWI_MINRPM.......................................................................................18.1
Maximum rpm rate, TWI_MAXRPM ....................................................................................18.2
Normal rotation direction to the left, TWI_CCW...................................................................18.2
First pivot X coordinate, FRH_X0.........................................................................................18.2
First pivot Y coordinate, FRH_Y0.........................................................................................18.3
First pivot Z coordinate, FRH_Z0 .........................................................................................18.4
Z axis head positioning, FRH_ORIENT ...............................................................................18.4
Rotation around Z axis, FRH_EC.........................................................................................18.5
Reversal of rotation around Z axis, FRH_ECREV ...............................................................18.5
Actuator of rotation around Z axis, FRH_ECAX...................................................................18.6
Second pivot X coordinate, FRH_X1 ...................................................................................18.6
Second pivot Y coordinate, FRH_Y1....................................................................................18.7
Rotation around Y axis, FRH_EB.........................................................................................18.8
Reversal towards rotation actuator, RH_EBREV .................................................................18.9
Actuator of rotation around Y axis, RH_EBAX .....................................................................18.9
Toolholder X coordinate, FRH_X2 .....................................................................................18.10
Toolholder Z coordinate, FRH_Z2......................................................................................18.11
18.1.1 Rotary Head ............................................................................................................18.12
First pivot X coordinate, RH_X0...............................................................................18.12
First pivot Y coordinate, RH_Y0...............................................................................18.13
First pivot Z coordinate, RH_Z0 ...............................................................................18.13
Z axis head positioning, RH_ORIENT .....................................................................18.14
Esa/Gv 91752.PM.1.GB xi
Rotation around Z axis, RH_EC...............................................................................18.15

Reversal towards rotation actuator, RH_ECREV.....................................................18.16
Actuator of rotation around Z axis, RH_ECAX.........................................................18.16
18.2 Toolholder data.....................................................................................................................18.17
Pivot coordinates added to Z, THD_Z0..............................................................................18.17
Rotation around Z axis, THD_C .........................................................................................18.18
Conversion Type flag, THD_FLG.......................................................................................18.19
X coordinate of the pivot, THD_X1.....................................................................................18.20
Y coordinate of the pivot, THD_Y1.....................................................................................18.21
Rotation around Y axis, THD_B .........................................................................................18.22
X coordinate of the tool base, THD_X2..............................................................................18.23
Y coordinate of the tool base, THD_Y2..............................................................................18.24
Maximum rpm rate, THD_MAXRPM..................................................................................18.24
Transmission with reversal without rotation, THD_REV ....................................................18.24
Tool descriptor index, THD_IDX ........................................................................................18.25
Cone identifier for tool change, THD_CONE .....................................................................18.25
18.3 Tool Data ..............................................................................................................................18.26
Tool radius, CED_RAD ......................................................................................................18.26
Theoretic mill union radius, CED_TRAD............................................................................18.27
Tool Z length, CED_LENZ .................................................................................................18.27
Disk tool thickness, CED_THICK.......................................................................................18.28
X turning tool length , CED_LENX .....................................................................................18.29
Y turning tool length, CED_LENY ......................................................................................18.30
Extension index for wear management, CED_WEAIDX....................................................18.30
Minimum rpm rate, CED_MINRPM....................................................................................18.30
Maximum rpm rate, CED_MAXRPM..................................................................................18.31
Rpm rate, CED_STDRPM..................................................................................................18.31
Left-hand tool, CED_CCW .................................................................................................18.31
Maximum linear advancement speed, CED_MAXFEED ...................................................18.32
Default linear advancement speed, CED_STDFEED ........................................................18.32
Cutting direction monitoring enabling, CED_DIR ...............................................................18.32
Tool tangency to path monitoring enabling, CED_TG........................................................18.33
Maximum tolerated deviation Angle, CED_TGTHRE ........................................................18.33
Events that involve the tool, CED_STATUS.......................................................................18.33
19 Zoned Compensation Data parameters ............................................................ 19.1

Initial compensation target, CZ_QTMIN...............................................................................19.1
Final compensation target, CZ_QTMAX ..............................................................................19.1
xii 91752.PM.1.GB Esa/Gv

Number of zones for compensation, CZ_QTMAX ...............................................................19.1

Compensation for the esimal zone, CZ_SAMPLE ...............................................................19.2
20 Tool Magazine data ............................................................................................. 20.1

20.1 Introduction.............................................................................................................................20.1
20.2 Revolver configuration............................................................................................................20.2
Number of revolver turrets ...................................................................................................20.2
Spindle revolutions ...............................................................................................................20.2
Revolver revolutions.............................................................................................................20.3
Revolver limit speed (rpm) ...................................................................................................20.3
Acceleration time..................................................................................................................20.3
Deceleration time .................................................................................................................20.4
S ramp time..........................................................................................................................20.4
P Gain ..................................................................................................................................20.4
Max Follow Err. ....................................................................................................................20.5
Fine tolerance target (degrees)............................................................................................20.5
Sizing target .........................................................................................................................20.5
Parking target.......................................................................................................................20.6
Positioning speed .................................................................................................................20.6
JOG speed ...........................................................................................................................20.6
Speed in SINGLE CYCLE ....................................................................................................20.7
20.3 Tool-Pocket association .........................................................................................................20.8
Pocket number (T1 – T12) ...................................................................................................20.8
Dynamic type........................................................................................................................20.8
20.4 Kinematic Revolver data.........................................................................................................20.9
X mechanical compensation ................................................................................................20.9
Y mechanical compensation ................................................................................................20.9
Z mechanical compensation ..............................................................................................20.10
20.5 Dynamic Spindle Data ..........................................................................................................20.11
Limit speed.........................................................................................................................20.11
Acceleration time................................................................................................................20.11
Deceleration time ...............................................................................................................20.12
S ramp time........................................................................................................................20.12
P Gain ................................................................................................................................20.12
Maximum follow error.........................................................................................................20.13
Fine tolerance target (degrees)..........................................................................................20.13
Positioning speed (rpm) .....................................................................................................20.13
Esa/Gv 91752.PM.1.GB xiii

END OF SUMMARY
xiv 91752.PM.1.GB Esa/Gv

PM Notes for the reader
Notes for the reader
General information The information in this manual only applies to the software versions indicated on the
frontispiece.
Not all the available functions may be described in this manual. In these cases, Esa/Gv
shall be obliged to neither guarantee these functions nor include them in future versions.
Purpose The purpose of this document is to help the Installer/test technician when the machine
parameters are defined.
Users This document contains information for:

ù the specialized installer/test technician with a good working knowledge of the
numeric control of the machine and the processing technology.
Use of the document The document is divided into chapters listing and describing the machine parameters.
Notification of Please contact Esa/Gv if any difficulties should arise when this manual is used.
difficulties
Esa/Gv 91752.PM.1.GB i
Notes for the reader PM
Explanation of the symbols
Graphic symbols may appear beside the text. These are used to emphasize information
of particular importance.
Attention
This symbol is used when failure to take the appropriate precautions could cause slight
damage to persons and property.
Danger
This symbol appears when failure to take the appropriate precautions or
accomplishment of incorrect manoeuvres could cause serious damage to persons
and/or property.
Important
This symbol appears in the manual to indicate information of particular importance. It
is essential to read these sections in order to fully understand the manual.
Option
This symbol indicates sections of the manual that describe optional functions or parts.
Use of optional performances must be established with the machine manufacturer.
Manufacturer
This symbol indicates those sections of the manual reserved to the machine
manufacturer.
Password
This symbol indicates sections of the manual that describe functions access to which is
safeguarded by software passwords.
CN
This symbol indicates sections of the manual that describe functions only available in
CN and not in the PC.
PC
This symbol indicates sections of the manual that describe functions only available in
the PC and not in CN.
PM Notes for the reader
Printer’s conventions
Particular printer’s conventions are used to make it easier to identify the information in
this manual. These conventions are illustrated below.
Keyboard and video The following conventions are used.

ù The names of the screen-printed keys are indicated in boldface and are enclosed
within square brackets. If the name of the key is preceded by “button”, reference is
being made to a key on the push button panel.
− [ENTER]. Identifies the key that bears the word ENTER.
− [+] indicates the + key of the keyboard, while button [+] indicates the + key of
the push button panel.
ù The names of the function keys are indicated in boldface italics and are enclosed
within square brackets.
− [Plc Menu]. Identifies the function key that bears the words Plc Menu.
ù References to fields and/or messages on the video are written in boldface italics.
ù The specific text to be digitized by the user is underlined.
− If the manual indicates “digitize ok, the user must digitize exactly “ok”.
ù DIRECTION or DIRECTIONAL keys is the collective name used to indicate the
UP, DOWN, LEFT and RIGHT keys.
ù Pressure, in sequence, on a series of keys is written by separating the identifiers of
the required keys with the “>“ character.
− [Manual] > [START]. Describes pressure, in sequence, on the [Manual] and
[START] keys.
ù Pressure on several keys at the same time is indicated by separating the identifiers of
the keys themselves with the “+” character.
− à] Describes contemporaneous pressure on the [SHIFT] and [à
[SHIFT] + [à à]
keys.
Text The following conventions are used.

ù Italics are used to identify specialistic terms.
ù Boldface is used to emphasize words of particular importance.

Notes for the reader PM
Glossary
CNC This is an abbreviation of Computerized Numerical Control and indicates the instrument
that governs the machine, i.e. the electronic device through which the machining cycles
are programmed, the axes moved, etc..
It corresponds to one of the devices whose operation is described in this manual.
END OF PREFACE
PM Introduction
1 Introduction
1.1 Units of measurement
The machine parameters reside in a Real Time Data Base and can be accessed straight
from the PLC, from a Part Program or by means of the user interface.
If they are accessed via the user interface, the unit of measurement of the read parameter
will not correspond to the one with which it is memorized (see Table). In other words,
conversion factors are used to bring the integers in the database to floating point values
that use units of measurement that are more suitable for display purposes.
Magnitude GUI Memory

Linear spaces mm µm= 0.001mm
Angular spaces of the axes degrees mdegree=0.001degree
Angular spaces of the spindles degrees ddegree= 0.1degree
Linear speeds mm/min mm /min
Angular speeds rpm rpm
Times seconds = s ms = 0.001s
Gains (units) (thousandths)
Transmission ratios (units) (thousandths)
Percentages % (units) % (thousandths)
Encoder conversion factors 1/mm 0.0001/mm
Voltage ratings Volt = V mV 0.001V
Esa/Gv 91752.PM.1.GB 1.1

Introduction PM
1.2 Outline of the parameters used to describe and configure the axes
Type of Axis
Prop Poor Polar Round Ram Meas.circuit
Type of Axis X X X X X X
Options X X X X X X
Acc. time X X X X X
Dec. time X X X X X
S Ramp time X X X X X
Emergen. time X X X X X
Max speed X X X X X
Prop. Gain X X X X X
Deriv. Gain X X X X X
FF Gain X X X X X
Conversion factor X X X X X X
Positive insens. X X X X X
Negative insens. X X X X X
Max Rec Offset X X X X X
Rec Offset Timer X X X X X
Minimum Target X X X X
Maximum Target X X X X
Brake Timer X X X X
Enc. Test Time X X X X
BACK Play Adj. Target X X X X
Error Lim. speed X X X X X
Max Follow Err. X X X X X
Rough tolerance X X X X X
Fine tolerance X X X X X
Tolerance Timer X X X X X
Type of Sizing X X X X X
Sizing Target X X X X X
Parking Target X X X X X
Sizing Al. Speed X X X X
Micro Speed X X X X X
Marker Speed X X X X X
1.2 91752.PM.1.GB Esa/Gv

PM Introduction
Type of Axis
Prop Poor Polar Round Ram Meas. circuit
Manual Speed X X X X X
Tol. Alarm Target X X X X X
Pol. Axes Module X
Play Adj. Target X
Type of Play Adj. X
Dir. Change Timer X
Fwd Inertia Target X
Back Inertia Target X
OnMotor Out Reg. X X X X X
OnMotor Out bit X X X X X
Sign Bit Out Reg. X X X X X
Sign Bit Out bit X X X X X
Brake Out Reg. X X X X
Brake Out bit X X X X
Fwd HW LS In Reg. X X X X
Fwd HW LS bit X X X X
In. HW LS Reg. X X X X
In. HW LS bit X X X X
Encoder number X X X X X X
Encoder pos. X X X X X X
DAC number X X X X X
DAC position X X X X X
In. Movement Out Reg. X X X X
In. Movement Out bit X X X X
Fwd Movement Out Reg. X X X X
Fwd Movement Out bit X X X X
Esa/Gv 91752.PM.1.GB 1.3

Introduction PM
Spindle
with ENC without
ENC
Type of Axis X X
Options X X
Acc. time X X
Dec. time X X
Emergen. time X X
Max speed X X
10V mot. speed X X
Prop. Gain X
Deriv. Gain X
FF Gain X
Pulses/rev. X
Positive insens. X
Negative insens. X
Encoder pos. X
Error lim. speed X
Max Follow error X
Rough tolerance X
Fine tolerance X
Tolerance Timer X
Type of Sizing X
Sizing target X
Micro speed X
Marker speed X
Manual speed X
RTS Range 1-4 X X
Vlim Range 1-4 X X
Hunting speed X X
Positioning speed X
Rate tol. % X
Standstill tol. % X
Max. fluct. % X
Fluct. Ctrl Min. speed X
1.4 91752.PM.1.GB Esa/Gv

PM Introduction
Spindle
with ENC without
ENC
OnMotor Out Reg. X X
OnMotor Out bit X X
Sign bit Out Reg. X X
Sign bit Out bit X X
Encoder number X
Encoder pos. X
DAC number X X
DAC position X X
Fwd Move. Out Reg. X X
Fwd Move. Out bit X X
Backward Move. Out Reg. X X
Backward Move. Out bit X X
Esa/Gv 91752.PM.1.GB 1.5

Introduction PM
Type of axis
Std 3- SP Std 2- SP Std 1- SP Inv 2- SP One Speed
Type of Axis X X X
Options X X X
Max. speed X X X
Conv. factor X X X
Type of Sizing X X X
Sizing Alarm target X X X
Sizing target X X X
Parking target X X X
Micro speed X X X
Marker speed X X X
Min. target X X X
Max. target X X X
Manual speed X X X
Enc test time X X X
Fwd V2->V1 target X X
Fwd V3->V2 target X
Backward V2->V1 target X X
Backward V3->V2 target X
V2-V1 limit X X
V3-V2 limit X
Speed Change timer X X
Dir Change timer X X X
Play Adj. target X X X
Type of Play Adj. X X X
Fwd Inertia target X X X
Backward Inertia target X X X
Brake timer X X X
OnMotor Out Reg.
OnMotor Out bit
Fwd Vel1 Out Reg. X X X
Fwd Vel1 Out bit X X X
Backward Vel1 Out Reg. X X X
1.6 91752.PM.1.GB Esa/Gv

PM Introduction
Type of axis
Std 3- SP Std 2- SP Std 1- SP Inv 2- SP One Speed
Backward Vel1 Out bit X X X
Fwd Vel2 Out Reg. X X
Fwd Vel2 Out bit X X
Backward Vel2 Out Reg. X X
Backward Vel2 Out bit X X
Fwd Vel3 Out Reg. X
Fwd Vel3 Out bit X
Backward Vel3 Out Reg. X
Backward Vel3 Out bit X
Brake Out Reg. X X X
Brake Out bit X X X
Fwd HW LS In Reg. X X X
Fwd HW LS In bit X X X
Backward HW LS In Reg. X X X
Backward HW LS In bit X X X
Encoder number X X X
Encoder pos. X X X
DAC number X X X
DAC position X X X
Esa/Gv 91752.PM.1.GB 1.7

Introduction PM
1.3 Default configuration
When the product is distributed, it is supplied with the default configuration machine
parameter file which is the one described in the following document and which refers to
a numeric control with 3 proportional axes and spindle.
END OF CHAPTER
1.8 91752.PM.1.GB Esa/Gv

PM General Parameters
2 General Parameters
Number of channels, CN_NUMCHAN

Minimum value: 1 Maximum value: 32
Default value: 1 Meas. unit: pure number
Type of data: integer Protection level: password
Available from SW version 0.0 Change activated on CNC reset
Description: Number of NC channels in the machine.
Correlated with:
Particular cases, errors,
restrictions, ..
Number of axes, CN_NUMAX

Description: Number of axes present.
Correlated with:
restrictions, ..
Number of first slave board, CN_FIRSTSLAVE

Minimum value: Maximum value:
Default value: Meas. unit:
Available from SW version 0.0 Change activated on NC reset
Description: Identifier of the first axes board for distributed systems. Not used.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 2.1

General Parameters PM
Default setting, CN_MMINCI

Description: Unit of measurement used by default by the numeric control when the part program is
executed.
Can only take on the following values:
ù 0 = millimeters
ù 1 = inches.
Can be modified within the part program with the G70 and G71 functions.
Correlated with: G70,G71
restrictions, ..
NC scanning delay, CN_DELAY

Default value: 0.050 Meas. unit: s
Type of data: numeric Protection level: password
Description: Processing time left free by the CNC whenever the processing time (depending on the
priority) has been assigned to the various channels. Must be more than zero if the CNC
board must deal with requests for a user interface in order to allow this latter to
accomplish the necessary processing operations.
This value is considered with ms precision.
Correlated with:
restrictions, ..
2.2 91752.PM.1.GB Esa/Gv

Slave loading code, CN_CALCREG

Description: Number indicating the processing load of the slave board.
Correlated with:
restrictions, ..
Commands per calculation interval , CN_COMMTICALC

Minimum value: 0 Maximum value: 10 (approximate limit)
Description: Number of commands taken from the queue of commands transmitted to the slave per
calculation interval. Use of excessively high values in relation to the actual
configuration will penalize the reactivity of the system and, thus, should be avoided.
Correlated with:
restrictions, ..
Priority to other processes, CN_DLY_PATTERN

Minimum value: 0 Maximum value:
Type of data: Protection level: password
Available from SW version Change activated on CNC reset
Description: The activities are dedicated an interval of time programmed in "NC Scanning Delay"
with a frequency determined by the priority.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 2.3

Timeout per channel, CN_CNCTIMOT

Description: The maximum time that can elapse between the beginning of the execution of one
channel and that of the next. It must be certainly greater than the time set in the
parameter. NC Scanning Delay (s).
Correlated with:
restrictions, ..
Length of user extensions, CN_USREXTLEN

Description: Length of the user extensions of the ISO blocks (bytes). The available extensions are
shared by the various channels and by the machines at the statuses of each channel, thus
this dimension must take the largest structure managed into account.
Correlated with:
restrictions, ..
Memory for through execution, CN_PTKB

Default value: 32 Meas. unit: KiloByte
Description: Memory for through execution shared by all channels. To ensure that each channel has
the effective memory it needs (configured by means of the relative channel
configuration parameter), this parameter must be the same as the memory required by
the various combinations of channels that can simultaneously execute a program in this
operating mode, or more.
Correlated with: Memory for through execution in the channel configuration.
Particular cases, errors, Undersizing of this parameter can erode memory from other processes and, although
restrictions, .. guaranteeing through execution, could cause other malfunctions.
2.4 91752.PM.1.GB Esa/Gv

Blocks for all slave queues, CN_SLVBLOCKS

Default value: 800 Meas. unit:
Description: Number of blocks to use for the slave queues, shared by all the channels. To ensure
that each channel has the effective number of slave blocks it needs (configured by
means of the channel configuration parameters), this parameter must be the same as the
blocks required by the various combinations of channels that can simultaneously
execute a program in this operating mode, or more.
Correlated with:
restrictions, ..
Length of user extensions, CN_USREXTLEN

Description: Length of user extensions of the ISO blocks (bytes). The available extensions are
shared by the various channels and by the machines at statuses of each channel, thus
this entity must take the largest structure to handle into account.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 2.5

Parameter set version, CN_PARMSVER

Description: Parameter set version:
ù version 1 or superior indicates the expression of parameters pertaining to the axes
drive according to engineering units;
ù indicates compatibility with the SW versions that, for example, require the
accelerations to be set in s.
Movement parameters concerning:

Correlated with:
ù Conversion factor;
ù Maximum follow error;
ù Accelerations, jerk, constants for emergency ramps;
ù Gains.
restrictions, ..
END OF CHAPTER
2.6 91752.PM.1.GB Esa/Gv

PM NC Option Parameters
3 NC Option Parameters
Follow error display enabling, CN_MON (bit 0)

Type of data: Boolean Protection level: password
Available from SW version 0.0 Change activated
Description: Follow error display enabling: (0) absolute target and differential target (1) of follow
error.
Not used.
Correlated with:
restrictions, ..
Machine reference axes target display enabling, CN_MON (bit 1)

Description: Machine reference axes target display enabling: (0) workpiece origin reference system
(1) machine origin reference system.
Not used.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 3.1

NC Option Parameters PM
Enabling of display in phase with interpreter, CN_MON (bit 2)

Available from SW version 0.0 Change activated Start of program
Description: This option activated in the part program display shows the block currently processed
by the interpreter. This selection improves the processing times and should thus be
activated for particularly critical machines. The currently executed block is shown if
this option is not activated.
Correlated with:
restrictions, ..
Enabling of display in phase with parameters, CN_MON (bit 3)

Default value: 1 Meas. unit: Pure number
Description: Not used.
Correlated with:
restrictions, ..
Display of fixed cycles in ROM enabling, CN_MON (bit 4)

Description: When this option is enabled, the contents of the fixed cycle are shown, displaying the
currently executed code line during execution.
Correlated with:
restrictions, ..
3.2 91752.PM.1.GB Esa/Gv

Enabling of overlapped M functions, CN_MON (bit 8)

Description: Selects the mode in which hand-shake messages are exchanged with the PLC.
Tolerated values:
0 the default mode is activated.
1 overlapped mode is activated.
Correlated with:
restrictions, ..
default mode This mode produces the following timing sequence:
CNC <Axes>
MCOD MCOD
MCODE
CNC->PLC
MSTB
PLC->CNC MACK
a b c
t
Figure 3.1 - The PLC scanning time is identified with T
In this mode, time (a) varies from 0 to T. Time (b) is always equivalent to T. Time (c) is
negligible. A time varying from T to 2T is therefore obtained from the request for an M
function to axes departure.
Esa/Gv 91752.PM.1.GB 3.3

overlapped mode This mode speeds up the M functions synchronized with the PLC in the conditions in
which movements, for example, are accomplished between one M function and the next.
The operations are speeded up because the recognition phase of the low status of
Acknowledge occurs at the same time as the movement:
CNC <Axes>
MCOD MCOD
MCODE
CNC->PLC
MSTB
PLC->CNC MACK
c
t
a b d
Figure 3.2 - the PLC scanning time is identified with T
In this mode, time (a) varies from 0 to T. Time (b) is negligible. A time varying from 0
to T (sum of a and b) is therefore obtained from the request of the M function to axes
departure. Note that in any case, the minimum time that must elapse from recognition of
the M function before a new one is requested is (c), always equivalent to T. This ensures
that Acknowledge is low, a condition that is essential for a new M function to be
requested. If movement is very short or absent (i.e. an M function immediately follows),
the time (b+d) will be less than.
3.4 91752.PM.1.GB Esa/Gv

Disab.look-ahead S Ramps, CN_MON (bit 8)

Available from SW version Change activated Immediately
Description: Disables S Ramp look-ahead: when S ramps are used, the jerk in the angle passages is
considered by the look-ahead procedure if this parameter is null. If 1 is set, the look-
ahead is disabled.
Correlated with:
restrictions, ..
Enab.auxiliary axes G16 control, CN_MON (bit 17)

Available from SW version Change activated Immediately
Description: Enables G16 control with auxiliary axes (e.g. G16 ZUU+)
Correlated with:
restrictions, ..
Enabling of Heap consistency RunTime monitoring, ISO_OPTS (bit 4)

Available from SW version 0.0 Change activated Immediate
Description: If 1 is selected, enables consistency monitoring of the user extension heap (freecells).
Must be enabled during the architecture customizing DLL testing phases.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 3.5

File search path debugging enabling, ISO_OPTS (bit 5)

Description: Enables the file search paths to be displayed.
Correlated with:
restrictions, ..
Display more debug information, ISO_OPT (bit 6)

Description: Displays a greater amount of debug information, e.g. concerning use of ISO
information by fixed cycles C for instance.
Correlated with:
restrictions, ..
Report generation, ISO_OPTS (bit 8)

Description: Generated the report .deb file if enabled.
Correlated with:
restrictions, ..
3.6 91752.PM.1.GB Esa/Gv

Detailed registration of events on disk, ISO_OPTS (bit 9)

Default value: 0 Meas. unit: 1
Available from SW version Change activated NC reset
Description: Detailed registration of the events.
Correlated with:
restrictions, ..
Plotting enabling, ISO_OPTS (bit 10)

Available from SW version 0.0 Change activated NC reset
Description: Plotting enabling:: 0-disables 1-monitors the channel activities without creating files.
If enabled, monitors the activities without creating files.
Correlated with:
restrictions, ..
Error Information Mask display, ISO_OPTS (bit 14)

Description: Displays the mask with information about the error.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 3.7

Detailed Information Mask display, ISO_OPT (bit 15)

Description: Displays a mask containing detailed information about the error.
Correlated with:
restrictions, ..
Dynamic/kinematics parameter debugger enabling, ISO_OPTS (bit 16)

Available from SW version 0.0 Change activated Start program
Description: Enables the debugger of the dynamic/kinematics parameters of the sections.
Correlated with:
restrictions, ..
END OF CHAPTER
3.8 91752.PM.1.GB Esa/Gv

PM PLC Option parameters
4 PLC Option parameters
PLC scanning time, CN_SCNPLCLEN

Minimum value: 0 Maximum value: 0.500 (recommended)
Description: Period of time that elapses from the beginning of one PLC scan to the next. Use of
excessively high values in relation to the configuration in question will penalize the
performances of the system and should therefore be avoided.
Correlated with:
restrictions, ..
Fast PLC scanning time, CN_SCNPLCVEL

Minimum value: 0 Maximum value: 0.050 (recommended)
Description: The same as for PLC scanning time, but with reference to fast PLC.
Correlated with:
restrictions, ..
PLC scanning timeout, CN_TMOPLCLEN

Minimum value: 0 Maximum value: Multiple of the (suggested)
scanning time
Description: Maximum time that can elapse between the beginning of a PLC scan to its end. This
allows excessively complicated processes or infinite loops in the PLC to be diagnosed
in order to prevent situations in which the performances of the system would be
excessively penalized. The PLC is terminated if this limit is exceeded.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 4.1

PLC Option parameters PM
Fast PLC scan timeout, CN_TMOPLCVEL

Minimum value: 0 Maximum value: Multiple of the (suggested) scan
time
Description: The same as PLC scan timeout, but with reference to the fast PLC.
Correlated with:
restrictions, ..
END OF CHAPTER
4.2 91752.PM.1.GB Esa/Gv

PM Channel configuration parameters
5 Channel configuration parameters
Channel name , CC_CHNAME

Type of data: string Protection level: password
Available from SW version 3.9 Change activated Following working Channel
monitor
Description: Name associated with the channel. Used for display by the Channel monitor. The
channel can be selected by name as well as by number.
Correlated with:
restrictions, ..
Channel processing board number, CC_NUMBOARD

Description: Number of the board that processes the logic channel in distributed systems.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 5.1

Channel configuration parameters PM
Channel axes mask, CC_MASKAXES

Minimum value: 0 Maximum value: xxxxxxxxxx
Default value: 1000000111 Meas. unit: Bit
Type of data: binary Protection level: password
Description: This parameter consists of 10 bits that must be marked 1 if the relative axis is present:
ù X axis present
ù Y axis present
ù Z axis present
ù U axis present
ù V axis present
ù W axis present
ù A axis present
ù B axis present
ù C axis present
ù spindle axis present
Correlated with:
restrictions, ..
Number of axis X, Y, Z, U, V, W, A, B, C, CC_NX, CC_NY, CC_NZ, CC_NU, CC_NV, CC_NW,

CC_NA, CC_NB, CC_NC
Description: Indicates the number of the monitoring and regulating process associated with the axis.
The number set for axes that are not present in the axes mask is ignored.
Correlated with:
restrictions, ..
5.2 91752.PM.1.GB Esa/Gv

S axis (spindle) number, CC_NM

Description: Indicates the number of the monitoring and regulating process associated with the
spindle. The number set for axes that are not present in the axes mask is ignored.
Correlated with:
restrictions, ..
Main process number, CC_MAINPROC

Description: Number of the process to which monitoring of channel interpolation is associated.
Correlated with:
restrictions, ..
Channel execution priority, CC_PRIORITY

Description: Allows the execution priority of a channel to be established. The lower the value, the
higher is the priority. Value 10 means that the channel is disabled. One or more
channels can be cut out, beginning from a rough configuration, without discontinuity in
the numbering and mapping of the logic registers.
NOTE: Priorities between 4 and 9 are not handled.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 5.3

Basic Spindle Table Index, CC_TWIBASE

Available from SW version 2.0 Change activated Start of the program
Description: Index of the First spindle used by the channel in the table that contains all the spindles.
Correlated with:
restrictions, ..
Number of Spindles/Mechanisms, CC_TWIAMOUNT

Description: Number of spindles used by the channel.
Correlated with:
restrictions, ..
Basic Toolholder Table Index, CC_THDBASE

Description: Index of the First toolholder used by the channel in the table that contains all the
toolholders.
Correlated with:
restrictions, ..
5.4 91752.PM.1.GB Esa/Gv

Number of Toolholders, CC_THDAMOUNT

Description: Number of Toolholders used by the channel.
Correlated with:
restrictions, ..
Basic Tool Table Index, CC_CEDBASE

Description: Index of the first Tool used by the channel in the table that contains all the tools.
Correlated with:
restrictions, ..
Number of Tools, CC_CEDAMOUNT

Description: Number of tools used by the channel.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 5.5

Local variables per subroutine level, CC_VARSPERLEVEL

Description: Determines the number of stand-by variables for each subroutine level in the channel.
Correlated with:
restrictions, ..
Memory for through execution, CC_CHANPTKB

Default value: 16 Meas. unit: KiloByte
Available from SW version 3.4 Change activated On next execution of a
program
Description: Memory used during through execution as transmission buffer between client and
server.
Correlated with: Memory for through execution in the Machine Configuration table.
Particular cases, errors, The sum of all the values of this parameter on the different channels that use the
restrictions, .. through mode must not exceed the NC configuration parameter of the same name.
Malfunctions could occur if this happened.
Type of Tool Magazine, CC_MAG

program
Description: Type of tool magazine:
0) no magazine
1) Revolver
Correlated with: Magazine configuration table
restrictions, ..
5.6 91752.PM.1.GB Esa/Gv

Magazine Number, CC_RV

program
Description: Index to the Tool Magazine Data structure: enter 0 to associate the Revolver (0).
Correlated with:
restrictions, ..
END OF CHAPTER
Esa/Gv 91752.PM.1.GB 5.7

5.8 91752.PM.1.GB Esa/Gv

PM Channel parameters
6 Channel parameters
Number of exec queue commands, CP_CMDA

Description: Parameter that indicates the maximum number of commands that can be processed in
advance of their real execution. In actual fact, further commands are maintained in the
axes board for a faster access. Can be increased to improve the efficiency of the
channel. The maximum acceptable value depends on the memory available.
Correlated with:
restrictions, ..
Number of slave queue commands, CP_CMDB

Description: Indicates the maximum number of commands maintained in the axes board for a faster
access if a machining section in continuous mode is not enabled. Can be increased to
improve the response times of the channel when movement commands that are not in
continuous cycle are executed.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 6.1

Channel parameters PM
Number of continuous slave queue commands, CP_CMDC

Description: Indicates the maximum number of commands maintained in the axes board for a faster
access if a machining section in continuous mode is enabled. Can be increased to
improve the response times of the channel when movement commands that are not in
continuous cycle are executed.
Correlated with:
restrictions, ..
Type of M functions, CP_MTYPE

Description: If 0 value is assumed, issue of an M function will be synchronized with the interpreter
and does not suspend the interpretation of the successive blocks. If value 1 is assumed,
issue of an M function is synchronized with the execution, this termination of the
handshake of the synchronism signals is awaited before passing on to interpretation of
the next block.
Correlated with:
restrictions, ..
6.2 91752.PM.1.GB Esa/Gv

Type of S functions, CP_STYPE

Type of data: integer Protection level:
Description: If issue of an S function is synchronized, it interrupts the continuity of the cycle.
If value 1 is assumed, issue of an S function is synchronized with the PLC cycle.
If value 0 is assumed, issue of an S function is not synchronized with the PLC cycle.
Correlated with:
restrictions, ..
Type of T functions, CP_TTYPE

Correlated with:
restrictions, ..
Acceleration time on the trajectory, CP_ACCTIME

Available from SW version Change activated Start of the program
Description: Acceleration time, with reference to the maximum speed of the channel.
Correlated with:
Particular cases, errors, Not used with version 1 sets of parameters or superior (see Parameter set version,
restrictions, .. CN_PARMSVER).
Esa/Gv 91752.PM.1.GB 6.3

Maximum trajectory acceleration, CP_ACCEL

Minimum value: 0 Maximum value: n
Default value: 1000 Meas. unit: mm/s²
Description: Maximum acceleration on the trajectory. This is the maximum speed in mm/s divided
by the time s used to stop, beginning from that speed.
In the absence of jerk limitation, the ramp time can be calculated with the following
formula.
V MAX [ mm/ min]

t RAMP[ s ] =
A MAX [ mm/ s2 ] ⋅ 60
...where AMAX is the maximum acceleration.

Correlated with: Maximum jerk trajectory, CP_JERK
Particular cases, errors, Available with version 1 sets of parameters or superior (see Parameter set version,
Deceleration time on the trajectory, CP_DECTIME

Description: Deceleration time, with reference to the maximum speed of the channel.
Correlated with:
Available from SW version 3.8

Description: Maximum deceleration on the trajectory. This is the maximum speed in mm/s divided
formula.
...where AMAX is the maximum deceleration.

6.4 91752.PM.1.GB Esa/Gv

Maximum trajectory deceleration, CP_DECEL

Default value. 1000 Meas. unit: mm/s²
Type of data: numeric Protection level password
Available from SW version. 3.8 Change activated Start of the program
formula.
V MAX [ mm/ min]

t RAMP[ s ] =
A MAX [ mm/ s2 ] ⋅ 60

Maximum channel speed, CP_VELMAX

Default value: 10000 Meas. unit: mm/min
Description: Maximum speed reached by the channel. This parameter is used to calculate the
channel acceleration and deceleration.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 6.5

S ramp time on the trajectory, CP_DELAYS

Minimum value: 0 Maximum value: acceleration/2
Description: Duration of the non-linear section of the acceleration ramp on the trajectory (0 = linear
acceleration). If a non-linear section of the acceleration ramp is programmed, stress on
the mechanical components can be reduced while maintaining short axes response
times.
Correlated with:
S ramp time on the trajectory, CP_DELAYS

Description: Duration of the non-linear section of the acceleration ramp on the trajectory (0 = linear
acceleration). If a non-linear section of the acceleration ramp is programmed, stress on
the mechanical components can be reduced while maintaining short axes response
times.
Correlated with:
6.6 91752.PM.1.GB Esa/Gv

Maximum jerk trajectory, CP_JERK

Default value: 16000 Meas. unit: mm/s³
Description: Maximum trajectory jerk. This is the maximum acceleration/deceleration (the lesser of
the two) in mm/s² divided by the time in s used to reached it or to reach a uniform
motion, beginning from that acceleration/deceleration.
Beginning from acceleration, use of jerk limitation on the trajectory allows more
accurate machining processes to be carried out, acceleration being equal, or that greater
accelerations can be used while maintaining an acceptable machining accuracy,
Acceleration being equal, minor jerk values on the trajectory correspond to longer
cycle times and greater machining accuracy.
In the presence of jerk limitation, the ramp time can be calculated with the following
formula.
V MAX [ mm/ min] A MAX [ mm / s2 ]

t RAMP[ s ] = +
AMAX [ mm/ s2 ] ⋅ 60 J[ mm / s3 ]
...where AMAX is the maximum acceleration (or deceleration) and J is the jerk.
Correlated with: Maximum trajectory speed, CP_VELMAX
Maximum trajectory acceleration, CP_ACCEL
Maximum trajectory deceleration, CP_DECEL
Particular cases, errors, 0 value selects use of a trapezoidal ramp (infinite jerk).
restrictions, ..
Available with version 1 sets of parameters or superior (see Parameter set version,
CN_PARMSVER).
Default spindle positioning target, CP_MANDTAR

Minimum value: 0 Maximum value: 360.0
Default value: 0.0 Meas. unit: degree
Description: Spindle positioning target used by M19 if the target has not been specified.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 6.7

Num. of Blocks with command processed, CP_BLOCKA

Description: Indicates the maximum number of blocks with command consecutively processed by
the interpreter (NOTE: a block can generate more than one command and can therefore
influence the Number of Exec Queue commands in a considerable way). Can be
increased to improve the channel processing times (to the detriment of the other
channels).
Correlated with:
restrictions, ..
Num. Blocks without command processed, CP_BLOCKB

Description: Indicates the maximum number of blocks without command consecutively processed
by the interpreter (NOTE: a block can generate more than one command and can
therefore influence the Number of Exec Queue commands in a considerable way). Can
be increased to improve the channel processing times (to the detriment of the other
channels).
Correlated with:
restrictions, ..
6.8 91752.PM.1.GB Esa/Gv

Max. num. Max. of slave commands queued in a scan, CP_BLOCKC

Description: Indicates the maximum number of commands queued on to the slave for the channel.
Can be increased to improve the channel processing times (to the detriment of the other
channels).
Correlated with:
restrictions, ..
F speed for dry run cycle, CP_VELDRY

Default value: 10000 Meas. unit: mm/min
Description: Speed used to accomplish interpolated trajectories during DRY RUN execution
regardless of the FEED set in the program.
Correlated with:
restrictions, ..
Options: hydraulic tapping enabling, CP_OPZIONI (bit 0)

Description: Hydraulic tapping enabling. If hydraulic tapping is not used, it is advisable to disable
this option in order to optimize memory occupation.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 6.9

Options: speed lookahead enabling, CP_OPZIONI (bit 1)

Description: Speed lookahead enabling to allow the axes to adapt to sharp speed changes in
advance. When a continuous cycle is programmed, it allows the output speed of the
previous block to be forced to the maximum speed value tolerated by the next block.
Correlated with:
restrictions, ..
Options: display/selection disabling, CP_OPZIONI (bit 2)

Correlated with:
restrictions, ..
Options: Fast with independent axes, CP_OPZIONI (bit 3)

Description: Establishes the mode in which programmed fast sections are executed (GO):
1 - a section in fast mode is accomplished by independent movements for each axis
involved;
0 - a section in fast mode is accomplished by an interpolation of all axes involved,
carried out at maximum channel speed.
Correlated with:
restrictions, ..
6.10 91752.PM.1.GB Esa/Gv

Options: explicit axes movements, CP_OPZIONI (bit4)

Description: Only the axes programmed in the ISO block are moved in G0 and G1 (if the rapid
mode with interpolated axes is enabled).
Correlated with: Options: Rapid mode with independent axes; this parameter must be set to 1 when
work is carried out in RAPID MODE WITH INTERPOLATED AXES.
restrictions, ..
Opt: motion block synchronism, CP_OPZIONI (bit8)

Description: enables motion block synchronism:
0) no synchronism
1) execution of each motion block is synchronized with the PLC
It is the same as raising bit 30 of the channel command register (M_STEP_MOTION).
Correlated with:
restrictions, ..
Options: inhibit real execution, CP_OPZIONI (bit 24)

Description: execution occurs without any movement, merely allowing the part-program to be
checked. Used, for example, along with the Graphic display enabling function.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 6.11

Options: Graphic display enabling, CP_OPZIONI (bit 25)

Description: The output towards an application able to graphically represent the path of the axes, the
tool and so forth, is produced.
Correlated with:
restrictions, ..
Graphic output via pipe, CP_OPZIONI (bit12, bit13)

Default value: 0 Meas. unit: pair of bits
Description: Graphic output:
0) on CNC disk
1) Macpipe remote protocol
2) User Extension local
Establishes the data transmission mode from the NC to the PC for plotting the graph on
this latter.
Correlated with:
restrictions, ..
6.12 91752.PM.1.GB Esa/Gv

Opt: Through execution, CP_OPZIONI (bit27)

Description: Options: selects execution
0) via random access to the Part Program that resides on the CNC disks or
1) in through mode via sequential reception of the Part-Program from a remote
machine.
Correlated with:
restrictions, ..
Proprietary File System, CP_OPZIONI (bit14, bit15)

Default value: 0 Meas. unit: pair of bits
Available from SW version Change activated Start of program
Description: Proprietary File System:
0) Default
1) MacPipe
2) User Extension
Correlated with:
restrictions, ..
Radius Monitoring tolerance, CP_TOLLRAD

Default value: 0.100 Meas. unit: mm
Description: Maximum tolerance permitted on the radius in the final point of a circle arc (in relation
to the radius in the initial point).
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 6.13

Nesting 0 level monitoring, CP_LINENO_RFSHO

Type of data: Protection level:
Available from SW version Change activated
Description: Nesting 0 level monitoring.
Correlated with:
restrictions, ..
Nesting 1 level monitoring, CP_LINENO_RFSH1

Description: Nesting 1 level monitoring.
Correlated with:
restrictions, ..
END OF CHAPTER
6.14 91752.PM.1.GB Esa/Gv

PM Speed Monitoring Data parameters
7 Speed Monitoring Data parameters
Deceleration monitoring enabling, FDC_DLE

Description: Enables monitoring (which also takes into account the dynamics of the axes) of the
speeds of the sections of the mechanisms used and of the machining properties within a
certain number of steps.
Correlated with:
restrictions, ..
Deceleration monitoring mode, FDC_DLM

Default value: Meas. unit: units
Correlated with:
restrictions, ..
Number of look-ahead steps, FDC_DLE

Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 7.1

Speed Monitoring Data parameters PM
Arc radius tolerance, FDC_ARC

Default value: 0 Meas. unit: mm
Description: Arc radius tolerance for automatic speed limitation. The speed is limited according to
the radius and gains in order to contain the error on the radius within the set limit.
Correlated with:
Particular cases, errors, Enter 0 to disable speed limitation.
restrictions, ..
CN_PARMSVER)
Speed monitoring enabling, FDC_FCE

Correlated with:
restrictions, ..
Reference speed 0, FDC_FC0

Default value: Meas. unit: mm/min
Description: Reference speed to cover arcs at 90 with radius of 1m.
Correlated with:
restrictions, ..
7.2 91752.PM.1.GB Esa/Gv


Description: Reference speed to cover arcs at 90 with radius of 0.01m.
Correlated with:
restrictions, ..

Type of data: numeric Protection level:
Description: Reference speed to cover arcs with 1 m radius and angle near to 0.
Correlated with:
restrictions, ..

Description: Reference speed to cover arcs with 0.01 m radius and angle near to 0.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 7.3

Discontinuity monitoring enabling, FDC_TCE

Correlated with:
restrictions, ..
Discontinuity change speed 0, FDC_TC0

Description: Discontinuity change with angle at 90.
Correlated with:
restrictions, ..

Default value: Meas. unit: degrees/min
Description: Arc-line discontinuity change.
Correlated with:
restrictions, ..
7.4 91752.PM.1.GB Esa/Gv


Description: Discontinuity change for angle tending towards 0.
Correlated with:
restrictions, ..

Default value: Meas. unit: degrees/min
Description: Line-arc discontinuity change.
Correlated with:
restrictions, ..
END OF CHAPTER
Esa/Gv 91752.PM.1.GB 7.5

7.6 91752.PM.1.GB Esa/Gv

PM Channel geometry
8 Channel geometry
8.1 Introduction
The purpose of this table is to resolve the problem about programming with non-paraxial
axes. It therefore defines the tilt of one or both contouring axes in relation to the
workpiece.
The parametrizing system accepts the tilt of both X, Y and both.
The following parameters must be defined:
ù Axis tilt in relation to a paraxial reference system (b)
ù Distance (d) of the axis in relation to the reference point of the workpiece (CM)
ù Tilt of the axis square to the surface in relation to the paraxial reference system (a).
X- b
X+
d
io n
t
ta
ien
a
or
OL
TO
CM
Figure 8.1 -
Parametrizing of this table allows programs planned for paraxial systems to be used
even in non-paraxial systems without modifying the programming itself.
Movement in JOG mode takes place on paraxial directrixes. It is therefore automatically
reduced on the components determined by the axes tilt.
Esa/Gv 91752.PM.1.GB 8.1

Channel geometry PM
8.2 Parameters
Type of Geometry, GC_GEOTYPE

Description: Indicates the type of geometric conversion applied to axes X and Y
ù 0: No conversion
ù 1: Conversion of X axis
ù 2: Conversion of Y axis
ù 3: Conversion of both axes X and Y.
Correlated with:
restrictions, ..
Mode, GC_MODE
Description: Enables (1) or disables (0) the programmed conversion.
Correlated with:
restrictions, ..
Ang(B) reversal, GC_X_ANG_SGN

Description: If 1, inverts the sign of angle B, or the tilt of X axis in relation to the paraxial reference.
Correlated with: Axis angle (B).
Particular cases, errors, Only valid for conversions type 1 and 3.
restrictions, ..
8.2 91752.PM.1.GB Esa/Gv

PM Channel geometry
X axis angle (B), GC_X_ANG

Default value: 0 Meas. unit: degrees
Description: Indicates the X axis tilt in relation to the paraxial reference. The flag of the sign
indicated by the Ang(B) reversal parameter must be used to obtain negative values (0 –
90).
Correlated with: Ang(B) reversal parameter
Particular cases, errors, Programming of a value equal to 90° makes converted X axis coincide with the Y axis
restrictions, .. of the paraxial system. This situation must be avoided since breakdown of motion along
converted X axis with a 90° tilt generates an infinite modulus vector with possible CNC
malfunctions.
Only valid for conversions type 1 and 3.
(X)Axis reversal, GC_X_DST_SGN

Description: If enabled (1), indicates reversal of the reference system of X axis in relation to the
paraxial X axis, i.e. the axis origin mirrors that of the standard reference system and the
targets increase in the opposite direction.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 8.3

Channel geometry PM
Distance X from CM, GC_X_DST

Default value: Meas. unit: millimeters / inches
Description: Indicates the distance between the reference point on the workpiece fixing system
(programming origin of the workpiece machining process) with reference to the
projection of the same point on X axis.
Correlated with:
Particular cases, errors, The reference to consider is that of X axis, i.e. tilted in relation to the paraxial reference
restrictions, .. system.
Ang(A) reversal, GC_Y_ANG_SGN

Description: If 1, inverts the sign of angle A, or Y axis tilt in relation to the paraxial reference.
Correlated with: Axis angle (A) parameter
restrictions, ..
Y axis angle (A), GC_Y_ANG

Description: Indicates the Y axis tilt in relation to the paraxial reference. The flag of the sign
indicated by the Ang(A) reversal parameter must be used in order to obtain negative
values (0 –90).
Correlated with: Ang(A) reversal parameter
Particular cases, errors, Programming of a value equal to 90° makes converted Y axis coincide with the X axis
restrictions, .. of the paraxial system. This situation must be avoided since breakdown of motion along
converted Y axis with a 90° tilt generates an infinite modulus vector with possible CNC
malfunctions.
8.4 91752.PM.1.GB Esa/Gv

PM Channel geometry
(Y)Axis reversal, GC_Y_DST_SGN

Description: If enabled (1), indicates reversal of the reference system of Y axis in relation to the
paraxial Y axis, i.e. the axis origin mirrors that of the standard reference system and the
targets increase in the opposite direction.
Correlated with:
restrictions, ..
Distance Y from CM, GC_Y_DST

Default value: Meas. unit: millimeters / inches
Description: Indicates the distance between the reference point on the workpiece fixing system
(programming origin of the workpiece machining process) with reference to the
projection of the same point on Y axis.
Correlated with:
Particular cases, errors, The reference to consider is that of Y axis, i.e. tilted in relation to the paraxial reference
restrictions, .. system.
Ang(EA) reversal, GC_EA_DEF_SGN

Description: If activated (1), indicates a reversal of the sign of the Tool Angle (EA) parameter which
must therefore be read as negative angle.
Correlated with: Tool Angle (EA) parameter
restrictions, ..
Esa/Gv 91752.PM.1.GB 8.5

Channel geometry PM
Tool Angle (EA), GC_EA_DEF

Description: Indicates the tool tilt in relation to Y axis of the paraxial system.
Correlated with: Ang(EA) reversal parameter
Particular cases, errors, Attention: this parameter must not be referred to Y axis (tilted in relation to the paraxial
restrictions, .. system), but to the reference system.
If an axis is tilted 30° to the reference system and the tool is normally positioned in
relation to the axis, this parameter must be set to 30° as for the axis. value 0 indicates a
–30° tilt in relation to the axis, i.e. normally positioned in relation to the reference
system.
A value of 90° indicates that the tool is parallel to Y axis, improbable configuration
that could create malfunctions in the CNC.
Ang(EB) reversal, GC_EB_DEF_SGN

Description: If activated (1), indicates a reversal of the sign of the Tool Angle (EB) parameter which
must therefore be read as negative angle.
Correlated with: Tool Angle (EB) parameter.
restrictions, ..
8.6 91752.PM.1.GB Esa/Gv

PM Channel geometry
Tool Angle (EB), GC_EB_DEF

Description: Indicates the tool tilt in relation to the Y axis of the paraxial system.
Correlated with: Ang(EB) reversal parameter
Particular cases, errors, Attention: this parameter must not be referred to X axis (tilted in relation to the paraxial
restrictions, .. system), but to the reference system.
If an axis is tilted 30° to the reference system and the tool is normally positioned in
relation to the axis, this parameter must be set to 30° as for the axis. value 0 indicates a
–30° tilt in relation to the axis, i.e. normally positioned in relation to the reference
system.
A value of 90° indicates that the tool is parallel to X axis, improbable configuration
that could create malfunctions in the CNC.
END OF CHAPTER
Esa/Gv 91752.PM.1.GB 8.7

Channel geometry PM
8.8 91752.PM.1.GB Esa/Gv

PM Proportional Axes parameters
9 Proportional Axes parameters
9.1 Introduction
This chapter described the parameters of the following types of axes

ù Standard proportional axis
ù Raw axis
ù Polar axis
ù Round axis
ù Ram axis
Standard proportional axes

These are the common axes used for interpolation or positioning. They can have an
analog (voltage reference to the drives) or digital interface.
Raw axes
These are similar to the standard proportional axes but with mechanical characteristics
that provide lower performances, or there are mechanical play and inertia values to
compensate.
This is why they are not enabled on interpolation.
Polar axes
When it comes to the dynamic behaviour of the axis, these are standard proportional
axes and are therefore enabled on interpolation. They differ in that the movement is
measured in degrees instead of millimeters, i.e. they are rotating axes.
If configured in the right way, they can follow the trajectory of the main axes in
tangency.
The parameters of these types of axes are more of less the same as those of the standard
proportional axes, the difference being that the units of measurement refer to degrees
instead of linear spaces. This the speed is given in degrees/sec, acceleration in
degrees/sec2 and so forth.
Round axes
These axes are similar to polar axes but unlike the former, they have no travel limitation,
thus programming of the minimum and maximum axis value is not required. For this
reason, they use optimizing algorithms of the movement in order to reach the target
within the shortest possible time, using the characteristic by which they are axes without
mechanical limitations to rotation (e.g. tool change carousel).
Ram axis
These are standard proportional axes but they differ from these in their behaviour. They
are used for press-bending machines in order to control the ram. They can be controlled
in pairs in synchronized mode with balancing constants. Their use requires programming
with commands that are not part of the normal ISO programming language.
Esa/Gv 91752.PM.1.GB 9.1

Proportional Axes parameters PM
Type AP_AXTYPE
Default value: 1 Unit of meas.: Pure number
Description: Can take on the following values:
1 Proportional axis
2 Polar axis
3 Round axis
4 Poor axis
10 Spindle with encoder
11 Spindle without encoder (but with analog output)
30 Ram axis
40 Measuring circuit
Correlated with:
restrictions, ..
Type of Drive, AP_DRVTYPE

Minimum value: 0 (Analog) Maximum value: 1 (digital)
Default value: 0. Unit of meas.:
Available from SW version 3.11 Change activated CNC reset
0 Axis with analog interface
1 Axis with digital interface.
Correlated with:
restrictions, ..
9.2 91752.PM.1.GB Esa/Gv

Acceleration time, AP_ACCTIME

Default value: 0.200 Unit of meas.: s
Available from SW version 0.0 Change activated Start of any operating mode
Description: Programs the time the axis takes to reach the maximum speed.
Correlated with:
restrictions, .. CN_PARMSVER.
Maximum acceleration, CP_ACCEL

Description: Maximum acceleration on the trajectory. This is the maximum speed in mm/s divided
formula.
VMAX [ mm / min]
t RAMP [ s ] =
AMAX [ mm / s 2 ] ⋅ 60

Correlated with: Maximum jerk, AP_JERK
Deceleration time, AP_DECTIME

Description: Programs the time the axis takes to reach null speed beginning from maximum speed.
Correlated with:
Esa/Gv 91752.PM.1.GB 9.3

Maximum deceleration, AP_DECEL

formula.
VMAX [ mm / min]
t RAMP [ s ] =
AMAX [ mm / s 2 ] ⋅ 60

Correlated with: Maximum jerk, AP_JERK
Options: sizing direction reversal, AP_OPZIONI (bit 0)

Default value: 0 Unit of meas.: Bit
Description: If this bit is at 0 (default), the sizing direction is FORWARDS:
the NC searches for the covering limit switch towards decreasing targets. Once the
slowing micro has been released, it searches for the zero mark of the encoder in the
forward direction.
If this bit is at 1, the sizing direction is BACKWARDS:
the NC searches for the covering limit switch towards increasing targets. Once the
slowing micro has been released, it searches for the zero mark of the encoder
backwards.
Correlated with:
restrictions, ..
9.4 91752.PM.1.GB Esa/Gv

Options: counting direction reversal, AP_OPZIONI (bit 1)

Description: This can be set during the setting up phase to avoid the encoder channels.
Correlated with:
restrictions, ..
Options: analog direction reversal, AP_OPZIONI (bit 2)

Description: This can be set during the setting up phase to avoid inverting the motor and tachymetric
connections.
Correlated with:
restrictions, ..
Options: marker level monitoring disabling, AP_OPZIONI (bit 3)

Description: If the value of this bit is one, it cuts out the alarm should the axis terminate its
positioning without entering the set tolerance limit.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 9.5

Options: marker level monitoring disabling, AP_OPZIONI (bit 4)

Correlated with:
restrictions, ..
Options: disabling of VOUT monitoring on SLV commands, AP_OPZIONI (bit 5)

Description: Output speed monitoring can be disabled. This option is advisable if checks have been
made to see that the machining speed set in the program does not exceed the dynamic
limits of the axes. Enter value 1 to do this.
Correlated with:
restrictions, ..
Options: hardware limit enabling, AP_OPZIONI (bit 6)

Description: Enables monitoring of the Hardware limit switches, which are disabled by default.
Should be set if the signals of the limit switches supplied by the PLC are used to set the
axis to the block status.
Correlated with: Bumper Management via Input enabling, AP_OPZIONI (bit 14).
HW limit sign reversal, AP_OPZIONI (bit 18).
restrictions, ..
9.6 91752.PM.1.GB Esa/Gv

Options: diametrical programming enabling, AP_OPZIONI (bit 8)

Available from SW version 0.0 Change activated Program Start
Description: This option is of use if the problems concerning a lathe must be faced. When
diametrical programming is enabled, the axis in question is allocated as diametrical axis
of the lathe. Consequently, the targets entered in the part program must be considered
as being diametrical.
Correlated with:
restrictions, ..
Options: play adjustment direction reversal, AP_OPZIONI (bit 9)

Description: When enabled, this option inverts the play adjustment direction on reversal.
0 play adjustment backwards
1 play adjustment forwards
Correlated with: Play adjustment on reversal target, (AP_RECQTA).
restrictions, ..
Esa/Gv 91752.PM.1.GB 9.7

Options: ABSOLUTE sizing enabling, AP_OPZIONI (bit 10)

Description: If enabled, “absolute” sizing allows the axis to have a sizing target that coincides with
the last target sampled. Thus when the NC is reset, the axis target is retentive, i.e. it
takes on the same value it had prior to the reset.
This option can be of use when the stop-return of B-T units (Boring-Tapping) is
managed if the unit had been switched off with a workpiece still inside. Once the tool
has been extracted it will, however, be necessary to carry out a sizing cycle.
Correlated with:
restrictions, ..
Options: DAC_POS +/- 0/10V management enabling, AP_OPZIONI (bit 11)

Description: Enables management of the drives that require a 0 to 10V range (instead of 10V to
+10V) accompanied by a sign bit. The positive sign is 0 and the negative one 1 by
default. Use the DAC POS sign bit reversal” field to invert this convention.
Correlated with: DAC_POS sign reversal, AP_OPZIONI (bit 12).
restrictions, ..
9.8 91752.PM.1.GB Esa/Gv

Options: DAC_POS sign bit reversal, AP_OPZIONI (bit 12)

Description: If the sign bit is set, it must be interpreted with the following meaning:
0 forward running
1 reverse running
otherwise the sign bit will be interpreted as follows:
0 forward running
1 reverse running
Correlated with: DAC_POS management enabling, AP_OPZIONI (bit 11).
restrictions, ..
Options: Slave Brake Timing Management enabling, AP_OPZIONI (bit 13)

Available from SW version 1,1 Change activated on CNC reset
Description: 0 Default: management is entirely carried out by the PLC
1 Management is carried out by the slave
Correlated with: Brake output register, AP_REGFRENO.
restrictions, ..
Esa/Gv 91752.PM.1.GB 9.9

Options: Bumper management via Input enabling, AP_OPZIONI (bit 14)

Description: 0 Default: hardware bumper management is carried out by the PLC.
1 Hardware bumper management is carried out by the slave.
Correlated with: Hardware limit enabling, AP_OPZIONI (bit 6).
Forward HW limit switch input register, AP_REGFCHWAV.
Backward HW limit switch input register, AP_REGFCHWIND.
Forward HW limit switch input bit, AP_BITFCHWAV.
Backward HW limit switch input bit, AP_BITFCHWIND
restrictions, ..
9.10 91752.PM.1.GB Esa/Gv

Options: OnMotor Management via PLC enabling, AP_OPZIONI (bit 15)

Description: If the option is set up, management of the movement enabling signal (OnMotor signal)
is entirely carried out by the PLC.
Correlated with: Close-loop Management enabling, AP_OPZIONI (bit 16).
restrictions, ..
Drive enabling management via PLC

Loop closing
M_ORDM
driving order
(Slave-> PLC)
M_CHAN
loop closing request
(PLC->Slave)
M_ONMT
closed loop
activated
(Slave -> PLC)
OnMotore
(PLC)
Loop opening
M_CHAN
( PLC-> Slave)
M_ONMT
(Slave->PLC)
OnMotore
(PLC)
Figure 9.1 - Drive enabling management via PLC
Esa/Gv 91752.PM.1.GB 9.11

Options: Close-loop Management enabling, AP_OPZIONI (bit 16)

Default value: 0 Unit of meas.: 1
Description: If set, close-loop bit management is entrusted to the Slave which does not wait to
receive the close-loop request from the PLC in order to torque the axis. The following
management modes can be obtained, depending on the status of the two option bits 15
and 16.
Correlated with: On motor via PLC, AP_OPZIONI (bit 15).
restrictions, ..
BIT 15 BIT 16
On motor managed by slave with HS on Close-Loop bit 0 0
On motor managed by slave without HS on Close-Loop 0 0
On motor and Close Loop managed by PLC 1 X
Table 9.1 - “Close loop” management modes
Options: Forward/Backward mode DAC_POS Management enabling, AP_OPZIONI (bit 17)

Description: To set for drives that require 2 direction bits: Forward Mode and Backward Mode. Do
not configure the on_motor.
Correlated with: DAC_POS management enabling, AP_OPZIONI (bit 11).
Forward mode output for analog register, AP_REGDACPOSAVA.
Backward mode output for analog register, AP_REGDACPOSIND.
Sign bit for backward mode analog, AP_BITDACPOSIND.
Sign bit for forward mode analog, AP_BITDACPOSAVA.
restrictions, ..
9.12 91752.PM.1.GB Esa/Gv

Options: HW limit sign reversal, AP_OPZIONI (bit 18)

Description: 0 normally open
1 normally closed
Bumper Management via Input enabling, AP_OPZIONI (bit 14).
Forward HW limit switch input register, AP_REGFCHWAV.
Backward HW limit switch input register, AP_REGFCHWIND.
restrictions, ..
BIT 6 BIT 14 BIT 18

HW bumpers disabled 0 x x
HW bumpers managed by PLC (N.C. level) 1 0 x
HW bumpers managed by Slave (N.O. level) 1 1 0
HW bumpers managed by Slave (N.C. level) 1 1 1
Table 9.2 - HW bumper enabling
Options: axes enabling in simulated mode, AP_OPZIONI (bit 31)

Description: If set, allows the operation of the axes to be simulated without actually moving them.
This is useful during the set-up phase.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 9.13

Limit speed for proportional follow error, AP_FWERRVLIM

Default value: 0.000 Unit of meas.: mm/min
Description: Maximum reference speed to calculate the proportional follow error alarm. If the value
of this parameter is 0, follow error monitoring is absolute, i.e. the follow error limit is
constant and not proportional to the speed of the axis.
Correlated with: Maximum follow error, AP_FWERR.
Maximum follow error, AP_FWERR

Default value: 10000 Unit of meas.: encoder pulses
Description: Expresses the maximum tolerated follow error beyond which error is generated. The
maximum value tolerated is given by the ratio between the number of DAC units of the
axis and P gain.
Correlated with: P gain, AP_GAINP.
9.14 91752.PM.1.GB Esa/Gv

Maximum follow error, AP_SSERR

Default value: Meas. unit: mm
Description: Maximum difference between the theoretic position and the real one after which, when
exceeded, an emergency stop is made.
The maximum follow error depends on the maximum speed and Kp gain. Assuming a
9V reference voltage corresponding to the maximum speed and null feed-forward gain,
the following formula can be used to calculate:
V[ mm / min]
ε SMAX [ mm] = ⋅ 11
.
60 ⋅ Kp[ s −1 ]
Factor 1.1 provides a certain tolerance (10%) on the theoretic valve. This is also useful
for taking slight speed overshoots into account.
If a reference voltage, corresponding to the maximum speed, exceeding 9V must be
used, the maximum tolerance is calculated with the following formula:
10
TolRatio MAX =
E MAX [V ]
...where Emax is the voltage reference corresponding to the maximum speed. Tolerance
values exceeding those calculated mean that there is no immediate emergency stop in
the case of saturation (voltage reference limited to 10V in absolute value) caused by
excessive overshoot. For example: an Emax of 9.5V, obtains a TolRatiomax of about
1.05, equal to 5% of maximum overshoot. It will therefore be advisable to substitute
1.1 with that value in order to obtain an emergency stop in saturation conditions.
Correlated with: Maximum speed, AP_VELMAX
Gain Kp, AP_KPGAIN
Gain Kvff, AP_KVFFGAIN
Voltage with maximum speed, DC_DACREF
Esa/Gv 91752.PM.1.GB 9.15

Rough tolerance target, AP_TOLLERG

Default value: 0.100 Unit of meas.: mm
Description: This is the tolerance required at the end of positioning in fast mode (GO).
Correlated with:
restrictions, ..
Fine tolerance target, AP_TOLLERF

Description: This is the tolerance required at the end of positioning in feed mode (G1, G2-G3, ....).
Correlated with:
restrictions, ..
Tolerance monitoring wait time, AP_TOLLER

Description: This is the time the axis has to recover the follow error at the end of positioning. It is
always advisable to set a few seconds for this time in order to ensure that the axis
always ends up within the tolerance limit.
Correlated with:
restrictions, ..
9.16 91752.PM.1.GB Esa/Gv

Maximum speed, AP_VELMAX

Default value: 10000 Unit of meas.: mm/min
Description: This is the maximum speed the axis can reach. It is used during fast movements (GO)
and as a limit for movements during the machining phase (G1-G2, etc.).
Maximum follow error, AP_SSERR (*)
Correlated with:
Voltage with maximum speed, DC_DACREF (*)
(*) with version 1 sets of parameters or superior (see Parameter set version,
CN_PARMSVER).
restrictions, ..
P Gain, AP_GAINP
Default value: 8.000 Unit of meas.: Decimal number
Description: Proportional Gain Kp of the axis regulator. Expresses the promptness with which it is
controlled.
If the gain value is increased, the promptness with which the axis responds increases
but the stability decreases.
Correlated with:
Esa/Gv 91752.PM.1.GB 9.17

Gain Kp, AP_KPGAIN

Default value: 16.666 Meas. unit: s-1
Description: Proportional Gain Kp. Establishes the relation between the speed and follow error.
Infeed speed being equal, the promptness of the response increases and the follow error
decreases.
Considering a null feed-forward gain, the Kp is defined by the following:
V[ m / s ]
Kp[ s −1 ] =
ε S[m ]
...where ε S is the follow error that corresponds to V speed. Using a more convenient
unit of measurement, one obtains:
V[ mm / min]
Kp[ s −1 ] =
ε S [ mm ] ⋅ 60
Or, with infeed speed V, one obtains a follow error given by the following:
V[ mm / min]
ε S [ mm ] =
60 ⋅ Kp[ s −1 ]
In some cases, a value denominated Kv is sized during the planning phase of the
mechanical part: this is defined as:
V[ m / min]
Kv =
ε S [ mm ]
If this value is available, one can easily calculate Kp with the following formula:
1000
Kp[ s −1 ] = Kv ⋅
60
Parameters such as maximum speed, voltage with maximum speed and number of
encoder pulses/mm (numerator/denominator) are considered because the relation
between infeed speed and follow error will be complied with this, for that reason, it is
essential for the correct values to be set for these parameters.
Axes with equal gain values have an equal follow error, infeed speed being equal.
Thus, the same gains will be set for axes that take part in interpolated processes. This
condition is essential in order to prevent (for example) scale errors between axes in
circular interpolation processes.
The instantaneous follow error in mm can be verified by means of the operator
interface.
9.18 91752.PM.1.GB Esa/Gv

Number of encoder pulses/mm (numerator), AP_QFATTCONV

Number of encoder pulses/mm (denominator), AP_QFATTCONV
restrictions, .. CN_PARMSVER)
Considering a DAC of 15 bits + sign with a +/- 10V output, achievement of the
maximum resolution allowed by the encoder is not guaranteed unless the following
formula is complied with:
FC MUL ⋅ VMAX [ mm / min]

Kp[ s −1 ] ≥
FC DIV ⋅ E MAX [V ] ⋅ 49150.5
...where Emax is the voltage with maximum speed, FCMUL are FCDIV the number of
encoder pulses/mm (numerator) and (denominator) respectively. Value 49150.5 is
obtained by the following formula, which takes into account the DAC resolution that
generates the speed reference:
(NDAC - 1) ⋅ 60
DACFS ⋅ SCAL
...where:
NDAC is the number of voltage values obtainable on the speed reference (number of
DAC points), equal to 32768;
SCAL is the multiplier of the encoder, equal to 4;
DACFS is the maximum voltage in V of the speed reference (DAC full scale voltage),
equal to 10.
Some hardware solutions envisage a different DAC resolution. In that case, the constant
will have a different value.
D Gain, AP_GAIND
Description: Derivative gain.
Correlated with:
Esa/Gv 91752.PM.1.GB 9.19

Gain Kd, AP_KDGAIN

Description: Kd Derivative Gain. Establishes the ratio between the speed contribution in mm/s and
the derivative of the follow error expressed in the same unit of measurement. The
overshoot diminishes as the set value increases.
Correlated with:
Feed forward, AP_GAINFWD

Description: Feed Forward gain.
Correlated with:
Gain Kvff, AP_KVFFGAIN

Description: Speed Feed-Forward Gain Kvff. Establishes the ratio between the speed contribution
supplied to the axis and the theoretic speed, without taking the follow error into
account.
The follow error diminishes as the set value increases. Theoretically, it is completely
eliminated with a value of 1.
Correlated with: Maximum follow error, AP_SSERR
Particular cases, errors, Values exceeding 1 are brought back to 1.
restrictions, ..
CN_PARMSVER).
9.20 91752.PM.1.GB Esa/Gv


Default value: 9 Meas. unit: V
Description: Voltage that must be supplied to the drive in order to obtain the maximum speed set for
the relative parameter.
It is usually set at 9.
Incorrect setting of this parameter causes a different follow error from the one that
would be expected considering the infeed speed and gain values set, while there are NO
errors in the speeds of the axes.
With an analog reference, there will still be a slight voltage drop in the cables that will
cause a different follow error from the one expected: both the drive speed gain and the
gain of this value can be used to correct this difference. In the latter case, the output
voltage can be read (it can be displayed by means of the operator interface) while the
axis is moved at top speed, thus set the value measured for this parameter.
If there are changes in the maximum speed, particularly towards lower values, it is
advisable to adapt the drive speed gain so as to continue to have the maximum possible
resolution. If this change is not made, remember to modify the value set for this
parameter in proportion.
Gain Kp, AP_KPGAIN
Positive insensitivity voltage, AP_INSPOS

Default value: 0.000 Unit of meas.: V
Description: Expresses the positive insensitivity value, i.e. the minimum positive voltage required to
move the axis, identified in the characteristic curve of the actuator as a non-linearity
near to the 0 voltage value.
Typical positive insensitivity voltage value: 0.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 9.21

Number of encoder/mm pulses (numerator), AP_FATTCONV

Default value: 200.000 Unit of meas.: pulses/mm
Description: Conversion factor: numerator of the q=n/d fraction where q is the number of encoder
pulses produced within the space of a mm.
For example: in the case of a motor/rotary encoder and worm screw, this will
preferably take on the meaning of number of encoder pulses/turn (unit of measurement:
P/R).
Correlated with: Number of encoder/mm pulses (denominator), AP_FATTCONVDIV
NOTE
In relation to the parameter of the same name in successive parameter set versions, only
the mnemonic (AP_...) and the internal representation accuracy differ. These aspects
concern how the machine software is customized, while the criterion with which this
parameter is set-up with the supplied operator interface tools does not change.

Minimum value: >0 Maximum value: n
Default value: Meas. unit: see text
P/R).
Correlated with: Number of encoder pulses/mm (denominator), AP_QFATTCONVDIV
9.22 91752.PM.1.GB Esa/Gv

Number of encoder pulses/mm (denominator), AP_FATTCONVDIV

Description: Conversion factor: denominator of the q=n/d fraction where q is the number of encoder
For example: in the case of a rotary encoder and worm screw, this will preferably take
on the meaning of advancement/turn (unit of measurement: mm/R) and will take the
possible reduction between motor/rotary encoder and worm screw into account.
Correlated with: Number of encoder pulses/mm (numerator), AP_FATTCONV
Particular cases, errors, For the sake of compatibility, a null value is assumed as 1.
restrictions, ..
NOTE
Number of encoder pulses/mm (denominator), AP_QFATTCONVDIV

Correlated with: Number of encoder pulses/mm (numerator), AP_QFATTCONV
Particular cases, errors, A null value is assumed as 1.
restrictions, ..
CN_PARMSVER).
Esa/Gv 91752.PM.1.GB 9.23

Type of sizing, AP_TARTYPE

Default value: 0 Unit of meas.: Integer
Description: Type of sizing.
Can take on the following values:
0 (TARA_0) Sizing on limit switch and then on zero marker
1 (TARA_0_PARK) Sizing on zero marker and then on parking target
2 (TARA_IMM) Immediate sizing
3 (TARA_FC) Sizing on limit switch
4 (TARA_PESTONE) Ram axis sizing
Correlated with: ABSOLUTE sizing enabling, AP_OPZIONI (bit 10).
Micro search speed during sizing, AP_VELMICRO.
Marker search speed during sizing, AP_VELTACCA.
Sizing target, AP_TARQUOTA.
Parking target, AP_PARKQTA.
Sizing alarm target, AP_QCHKTARA.
restrictions, ..
Negative insensitivity voltage, AP_INSNEG

Description: Expresses the negative insensitivity value, i.e. the minimum negative voltage required
to move the axis, identified in the characteristic curve of the actuator as a non-linearity
near to the 0 voltage value.
Typical negative insensitivity voltage value: 0
Correlated with:
restrictions, ..
9.24 91752.PM.1.GB Esa/Gv

Sizing target, AP_TARQUOTA

Minimum value: Minimum target Maximum value: Maximum target
Description: Absolute position in which the zero reference of the axis is to be found.
Correlated with:
restrictions, ..
Micro search speed during sizing, AP_VELMICRO

Description: Speed at which the axes searches for the sizing micro.
Correlated with:
restrictions, ..
Marker search speed during sizing, AP_VELTACCA

Description: Speed at which the axis releases the sizing micro and searches for the zero marker.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 9.25

Minimum target, AP_MINQUOTA

Minimum value: -n Maximum value: n
Default value: 0 Unit of meas.: mm
Description: Minimum limit the axis can reach.
Correlated with:
restrictions, ..
Maximum target, AP_MAXQUOTA

Description: Maximum limit the axis can reach.
Correlated with:
restrictions, ..
Autolearning speed, AP_24

Default value: Unit of meas.:
Correlated with:
restrictions, ..
9.26 91752.PM.1.GB Esa/Gv

Manual speed, AP_VELMAN

Description: Speed at which the axis moves in manual mode.
Correlated with:
restrictions, ..
S Ramp time, AP_DELAYS

Description: Duration of the non-linear section of the acceleration ramp (0 = linear acceleration). If
a non-linear acceleration ramp section is programmed, stress on the mechanical parts
can be reduced while preserving short response times for the axes.
Correlated with:
Esa/Gv 91752.PM.1.GB 9.27

Maximum jerk, AP_JERK

Description: Maximum jerk. This is the maximum acceleration/deceleration (the lesser of the two) in
mm/s² divided by the time in s used to reached it or to reach a uniform motion,
beginning from that acceleration/deceleration.
Acceleration being equal, use of jerk limitation on the trajectory allows the stress on the
mechanical parts to be contained during rapid axes movements, or greater accelerations
to be used while maintaining acceptable stress on the mechanical parts.
Acceleration being equal, minor jerk values on the correspond to longer cycle times
and less stress on the mechanical parts.
formula.
VMAX [ mm / min] AMAX [ mm / s 2 ]

t RAMP [ s ] = +
AMAX [ mm / s 2 ] ⋅ 60 J [ mm / s 3 ]
Maximum acceleration, AP_ACCEL
Maximum deceleration, AP_DECEL
restrictions, ..
CN_PARMSVER).
Sizing alarm target, AP_QCHKTARA

Description: Maximum distance the axis can cover after having left the sizing micro and before
encountering the zero marker. It normally equals the length of an encoder turn. If 0,
target monitoring is disabled.
Correlated with:
restrictions, ..
9.28 91752.PM.1.GB Esa/Gv

Encoder test, AP_TYPETSTENC

Description: Enables (1) or disables (0) the control on the functioning encoder. This function makes
the following checks:
ù ENCODER FAULT signal check
ù Encoder phase check
ù Axes board presence check
Correlated with:
restrictions, ..
Maximum offset recovery voltage, AP_OFFSET

Description: Maximum voltage that can be reached with the automatic offset recovery logic. An
alarm occurs if this limit is exceeded. If 0, automatic offset recovery is disabled.
Correlated with: Offset recovery time, AP_TIMEOFF.
restrictions, ..
Offset recovery time, AP_TIMEOFF

Description: Maximum time for real axis stationary verification.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 9.29

Play adjustment on reversal target, AP_RECQTA

Description: Value with which the current axis position value is corrected whenever the axis changes
direction.
Correlated with: Play adjustment direction reversal, AP_OPZIONI (bit 9).
restrictions, ..
Play Adjustment on The adjustment target must be negative if the encoder is on the axis.
Negative reversal
Axis
Motor
Enc
Play Adjustment
on reversal
Figure 9.2 - Play adjustment on negative reversal
If the encoder is mounted on the axis, counting will be delayed in relation to the real
position of the axis itself. Movements in the direction opposite to that of sizing must
make a negative correction to the calculated targets forwards and a positive one
backwards.
Play Adjustment on The play adjustment target must be positive if the encoder is on the motor.
Positive reversal
Axis
Play Adj.
on reversal
Motor Enc
Figure 9.3 - Play adjustment on positive reversal
9.30 91752.PM.1.GB Esa/Gv

If the encoder is mounted on the motor, counting will be in advance of the real position
of the axis. Movements in the direction opposite to that of sizing must make a positive
correction to the calculated targets forwards and a negative one backwards.
Parking target, AP_PARKQTA

Description: Target the axis reaches at the end of the sizing procedure.
Correlated with:
restrictions, ..
Emergency Ramp time, AP_EMERTIME

Description: Duration of the emergency ramp, i.e. the time required to stop the axis if an emergency
occurs.
Correlated with:
Emergency deceleration, AP_EMERDEC

Description: Emergency deceleration. This is the maximum speed in mm/s divided by the time s
used to stop, beginning from that speed in emergency conditions.
Correlated with:
Esa/Gv 91752.PM.1.GB 9.31

Polar Axes module, AP_AXMOD

Default value: Unit of meas.: degrees
Description: Counting module for the management of polar axes. Set 360.0 to reset the count on
each turn.
Correlated with: For POLAR axes only
restrictions, ..
Play Adjustment target, AP_QTARECG

Default value: Unit of meas.: mm
Description: Absolute target for axis play adjustment. Play adjustment is carried out in the inertia
zone, or if the driving direction is opposite to the programmed type of adjustment.
Correlated with: Type of Play Adjustment, AP_TYPERECG.
restrictions, ..
Check --- Type of Play Adjustment, AP_TYPERECG

Description: Type of play adjustment:
0 disabled
1 adjustment forwards
2 adjustment backwards
Correlated with: Play adjustment target, AP_QTARECG.
restrictions, ..
9.32 91752.PM.1.GB Esa/Gv

Direction Change Timer, AP_TIMCOMDIR

Default value: Unit of meas.: s
Description: Time that must be waited when the direction must be changed as part of a positioning
command.
Correlated with:
restrictions, ..
Forward Inertia target, AP_INERZAV

Description: This is the distance, in absolute value, between the target and the point at which the
axis can be considered to have arrived. Value with dimensions on the increase.
Correlated with:
restrictions, ..
Backward Inertia target, AP_INERZIND

Description: This is the distance, in absolute value, between the target and the point at which the
axis can be considered to have arrived. Value with dimensions on the decrease.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 9.33

Timer Brake Management, AP_TIMERFRENO

Description: Indicates the time required to activate and deactivate the brake at the beginning and end
of a positioning.
Correlated with:
restrictions, ..
Zoned compensation table index, AP_AXNZONE

Description: If 0, zoned compensation is not used.
Correlated with:
restrictions, ..
Opt: Correction by center distance zones, AP_OPZIONI (bit21)

Default value: 0 Meas. unit: Integer
Description: If 0, compensation by center distance zones is not used.
Correlated with: Master Axis for correction by center distance zones.
restrictions, ..
9.34 91752.PM.1.GB Esa/Gv

Master axis for center distance correction, AP_CZMASTER

Description: Indicates the number of the axis that must be considered as a reference in order to apply
the center distance zone correction. This compensation leads to a correction of the
current axis target depending on the position of the master axis.
Correlated with: Opt. Correction by center distance zones
restrictions, ..
Regulation Multiple, AP_TIMEREG

Description: Regulation Multiple (0: disabled 1: low 2: medium 4: high).
Correlated with:
restrictions, ..
END OF CHAPTER
Esa/Gv 91752.PM.1.GB 9.35

9.36 91752.PM.1.GB Esa/Gv

PM N_VEL axes parameters
10 N_VEL axes parameters
Options: sizing direction reversal, NV_OPTIONS (bit 0)

Available from SW version 1.1 Change activated when CNC is reset
the NC searches for the covering limit towards decreasing targets. Once the slowing
micro has been released, the NC searches for the covering limit towards decreasing
targets. Once the slowing micro has been released, the zero mark of the encoder is
searched for forwards.
the NC searches for the covering limit towards increasing targets. Once the slowing
micro has been released, the zero mark of the encoder is searched for backwards.
Correlated with:
restrictions, ..
Options: counting direction reversal, NV_OPTIONS (bit 1)

Description: This can be set during the configuration phase if necessary, in order to prevent the
encoder channels from being inverted.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 10.1

N_VEL axes parameters PM
Options: tolerance alarm disabling, NV_OPTIONS (bit 3)

Description: If the value of this bit is 1, it cuts out the alarm if the axis terminates its positioning
without entering the set tolerance limit.
Correlated with:
restrictions, ..
Options: mark level monitoring disabling, NV_OPTIONS (bit 4)

Description: Not used
Correlated with:
restrictions, ..
Options: hardware limit enabling, NV_OPTIONS (bit 6)

Description: Enables Hardware limit monitoring. Disabled by default.
Correlated with: Bumper management via Input enabling, NV_OPTIONS (bit 14).
HW limit sign reversal, NV_OPTIONS (bit 18).
restrictions, ..
10.2 91752.PM.1.GB Esa/Gv

Options: ABSOLUTE sizing enabling, NV_OPTIONS (bit 10)

the last target sampled. When the NC is reset, the axis target is retentive, i.e. it assumes
the same value it had prior to the reset.
This option can be of use when managing the stop - return operation in B-T units
(Boring - Tapping) if the unit had been switched off with the workpiece still in it. Once
the tool has been extracted it will, however, be necessary to carry out a sizing cycle.
Correlated with:
restrictions, ..
Options: Slave Brake Timing Management enabling, NV_OPTIONS (bit 13)

Description: 0 Default: the option is entirely managed by the PLC
1 Management is carried out by the SLAVE
Correlated with: Brake output register, NV_REGFRENO.
restrictions, ..
Esa/Gv 91752.PM.1.GB 10.3

Options: Bumper Management via Input enabling, NV_OPTIONS (bit 14)

Description: 0 Default: the bumpers are managed by the PLC
1 The bumpers are managed by the slave
Correlated with: Hardware limit enabling, NV_OPTIONS (bit 6).
HW limit sign reversal, NV_OPTIONS (bit 18).
Forward limit input register, NV_REGFCHWAV.
Backward limit input register, NV_REGFCHWIND.
Forward limit input bit, NV_BITFCHWAV.
Backward limit input bit, NV_BITFCHWIND.
restrictions, ..
Options: HW limit sign reversal, NV_OPTIONS (bit 18)

Description: 0 normally open
1 normally closed
Correlated with: Hardware limit enabling, NV_OPTIONS (bit6).
Bumper management via Input enabling, NV_OPTIONS (bit14).
Forward limit input register, NV_REGFCHWAV.
Backward limit input register, NV_REGFCHWIND.
Forward limit input bit, NV_BITFCHWAV.
Backward limit input bit, NV_BITFCHWIND.
restrictions, ..
10.4 91752.PM.1.GB Esa/Gv

BIT 6 BIT 14 BIT 18

Bumper HW disabled 0 x x
Bumper HW managed by PLC (N.C. level) 1 0 x
Bumper HW managed by Slave (N.O. level) 1 1 0
Bumper HW managed by Slave (N.C. level) 1 1 1
Options: axes enabling in simulated mode, NV_OPTIONS (bit 31)

Available from SW version 0.0 Change activated when channel is reset
Description: When activated, allows the axes movements to be simulated without actually moving
the axes themselves. This option is useful during the set-up phase.
Correlated with:
restrictions, ..
Rough tolerance target, NV_TOLLERG

Description: This is the tolerance required at the end of positioning.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 10.5

Tolerance monitoring delay time, NV_TOLLER

Default value: Meas. unit: s
Description: This is the time the axis has to recover the follow error at the end of positioning. A few
seconds should always be set to ensure that the axis always ends up within the tolerance
limit.
Correlated with:
restrictions, ..
Maximum speed, NV_VELMAX

Description: Indicates the speed number for an axis at N speed (example:: “2” means that the axis
has two speeds).
Correlated with:
restrictions, ..
10.6 91752.PM.1.GB Esa/Gv

Number of encoder pulses/mm (numerator), AP_FATTCONV

P/R).
Correlated with: Number of encoder pulses/mm (denominator), AP_FATTCONVDIV
NOTE

P/R).
Correlated with: Number of encoder pulses/mm (denominator), AP_QFATTCONVDIV
Esa/Gv 91752.PM.1.GB 10.7


Correlated with: Number of encoder pulses/mm (numerator), AP_FATTCONV
restrictions, ..
NOTE

Correlated with: Number of encoder pulses/mm (numerator), AP_QFATTCONV
restrictions, ..
CN_PARMSVER).
10.8 91752.PM.1.GB Esa/Gv

Sizing type, NV_TARTYPE

Description: Type of sizing:
0 (TARA_0) sizing on limit switch and then on zero mark
1 (TARA_0_PARK) Sizing on zero mark and then on parking target
Correlated with:
restrictions, ..
Sizing target, NV_TARQUOTA

Description: Absolute position in which the zero reference of the axis is to be found.
Correlated with:
restrictions, ..
Micro search speed during sizing, NV_VELMICRO

Description: Speed with which the axis searches for the sizing micro.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 10.9

Mark search speed during sizing

Description: Speed with which the axis leaves the sizing micro and searches for the zero mark.
Correlated with:
restrictions, ..
Minimum target, NV_MINQUOTA

Description: Minimum limit the axis can reach.
Correlated with:
restrictions, ..
Maximum target, NV_MAXQUOTA

Available from SW version 1,1 Change activated Start of any operating mode
Description: Maximum limit the axis can reach.
Correlated with:
restrictions, ..
10.10 91752.PM.1.GB Esa/Gv

Manual speed, NV_VELMAN

Description: Speed at which the axis moves in manual mode.
Correlated with:
restrictions, ..
Sizing alarm target, NV_QCHKTARA

Description: Maximum distance the axis can cover after having left the sizing micro and before
encountering the zero mark. Normally the same as the length of an encoder turn.
If 0, the target monitoring option is disabled.
Correlated with:
restrictions, ..
Encoder test time, NV_TIMETSTENC

Description: Interval of time within which a non-ideal count (e.g. owing to inertia) is allowed. An
alarm is generated if a non-ideal count still remains after this time.
If 0, the test option is disabled.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 10.11

Parking target, NV_PARKQTA

Correlated with:
restrictions, ..
Change target from V2 to V1 forwards, NV_DECV1AVA

Description: Distance from the target (in absolute value) at which the speed of the axis, n-vel,
changes from V1 to V2 in a forward movement.
Correlated with:
restrictions, ..
Change target from V3 to V2 forwards, NV_DECV2AVA

changes from V3 to V2 in a forward movement.
Correlated with:
restrictions, ..
10.12 91752.PM.1.GB Esa/Gv

Change target from V2 to V1 backwards, NV_DECV1IND

changes from V2 to V1 in a backward movement.
Correlated with:
restrictions, ..
Change target from V3 to V2 backwards, NV_DECV2IND

changes from V3 to V2 in a backward movement.
Correlated with:
restrictions, ..
Change limit input target, from V2 to V1, NV_DECSOGV1

Description: Indicates the minimum target, in absolute value, that must be covered at V2 speed
before changing to V1 speed. This target prevents certain speeds from being set within
an excessively small space.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 10.13

Change limit input target, from V3 to V2, NV_DECSOGV2

Description: Indicates the minimum distance, in absolute value, that must be covered at speed V3
before changing to speed V2. This target prevents certain speeds from being set within
an excessively small space.
Correlated with:
restrictions, ..
Play Adjustment Target, NV_QTARECG

Description: Absolute target for axis play adjustment. Play adjustment takes place in the inertia
zone, or if the movement takes place in the opposite direction to that of programmed
take-up.
Correlated with: Type of play adjustment, NV_TYPERECG.
restrictions, ..
Type of Play Adjustment, NV_TYPERECG

Description: Type of play adjustment:
0 disabled
1 play adjustment forwards
2 play adjustment backwards
Correlated with: Play Adjustment target, NV_QTARECG.
restrictions, ..
10.14 91752.PM.1.GB Esa/Gv

Direction Change Timer, NV_TIMCOMDIR

Available from SW version Change activated Start of any operating mode
Description: Time that must be waited when the direction must be changed during a positioning.
Correlated with:
restrictions, ..
Speed Change Timer, NV_TIMCOMVEL

Description: For the standard n-vel axis, indicates the time that must be waited when the speed must
be changed without changing direction.
For the n-vel axis of the inverter type, indicates the time that must be waited between
speed selection and enabling.
Correlated with:
restrictions, ..
Forward Inertia target, NV_INERZAV

Description: Inertia target, i.e. the distance, in absolute value, between the target and the
measurement at which the axis is considered to have arrived in a movement towards
increasing targets.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 10.15

Backward Inertia target, NV_INERZIND

Description: Inertia target, i.e. the distance, in absolute value, between the target and the
measurement at which the axis is considered to have arrived in a movement towards
decreasing targets.
Correlated with:
restrictions, ..
Timer for Brake Management, NV_TIMERFRENO

Description: Indicates the time required to activate and deactivate the brake at the beginning and end
of a positioning.
Correlated with:
restrictions, ..
END OF CHAPTER
10.16 91752.PM.1.GB Esa/Gv

PM Spindle Axes parameters
11 Spindle Axes parameters
Acceleration time, SP_ACCTIME

Available from SW version 0.0 Change activated Start of any operating status
Description: Time the spindle must take to reach maximum speed.
Correlated with:
Maximum acceleration, SP_ACCEL

Default value: 2000 Meas. unit: rev/s²
Description: Maximum acceleration f the spindle. This is the maximum speed in RPM/60 divided by
the time s required to reach it.
formula.
VMAX [ rpm ]
t RAMP [ s ] =
AMAX [ rev / s 2 ] ⋅ 60

Correlated with: Maximum jerk, SP_JERK
Esa/Gv 91752.PM.1.GB 11.1

Spindle Axes parameters PM
Sizing alarm target, SP_QCHKTARA

Default value: 0.000 Meas. unit: degrees
Description: Maximum distance the spindle can cover after having left the sizing limit switch and
before encounter zero mark. It normally equals the length of one encoder turn. If 0,
target monitoring is disabled.
Correlated with:
restrictions, ..
Type of encoder test, AP_TIPOTSTENC

Correlated with:
restrictions, ..
Deceleration time, SP_DECTIME

Description: Time the spindle must take to reach null speed beginning from maximum speed.
Correlated with:
11.2 91752.PM.1.GB Esa/Gv

Maximum deceleration, SP_DECEL

Default value: 2000 Meas. unit: rev/s²
formula.
VMAX [ rpm ]
t RAMP [ s ] =
AMAX [ rev / s 2 ] ⋅ 60

Correlated with: Maximum jerk, SP_JERK
Options: sizing direction reversal, SP_OPZIONI (bit 0)

Available from SW version Change activated Start of any operating status
on CNC reset
the NC searches for the covering limit switch towards decreasing targets. Once the
slowing micro has been released, it searches for the zero mark of the encoder forwards.
the NC searches for the covering limit switch towards increasing targets. Once the
slowing micro has been released, it searches for the zero mark of the encoder
backwards..
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 11.3

Options: counting direction reversal, SP_OPZIONI (bit 1)

Description: This can be selected during the set-up phase to prevent the encoder channels from
being inverted.
Correlated with:
restrictions, ..
Options: analog direction reversal, SP_OPZIONI (bit 2)

Description: This can be selected during the set-up phase to prevent the motor and tachymetric
connections from being inverted.
Correlated with:
restrictions, ..
Options: tolerance alarm disabling, SP_OPZIONI (bit 3)

Description: If the value of this bit is one, it cuts out the alarm if the axis ends its positioning beyond
the set tolerance limit.
Correlated with:
restrictions, ..
11.4 91752.PM.1.GB Esa/Gv

Options: marker level monitoring disabling, SP_OPZIONI (bit 4)

Available from SW version 0.0 Change activated Start of any operating mode on
channel reset
This can be selected if the zero marker lasts less than 0.5 milliseconds.
Correlated with:
restrictions, ..
Options: double gain board enabling, SP_OPZIONI (bit 7)

Available from SW version 0.0 Change activated on channel reset
Correlated with:
restrictions, ..
Options: ABSOLUTE sizing enabling, SP_OPZIONI (bit 10)

on CNC reset
the last target sampled. In fact, when the CNC resets, the axis target is retentive, i.e. it
assumes the same value it had prior to the reset.
This Options may be useful when the stop - return of B - T (Boring - Tapping) units is
managed if the unit has been turned off with the workpiece still inside. However, a
sizing cycle must be carried out once the tool has been extracted.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 11.5

Options: DAC_POS +/- 0/10V Management enabling, SP_OPZIONI (bit 11)

Description: Enables management of drives that require a 0 to 10V range (instead of -10V to +10V)
accompanied by a sign bit. The positive sign is 0 and the negative one 1 by default. Use
the DAC_POS sign bit reversal” field to invert this convention.
Correlated with: DAC_POS sign bit reversal, AP_OPZIONI (bit 12).
restrictions, ..
Options: DAC_POS sign bit reversal, SP_OPZIONI (bit 12)

Description: If selected, inverts the default convention, thus the positive sign is represented by a 0
and the negative one by a 1.
Correlated with: DAC_POS +/- 0/10V Management enabling, AP_OPZIONI (bit 11).
restrictions, ..
Options: OnMotor Management via PLC enabling, SP_OPZIONI (bit 15)

Description: The signal enabling signal (OnMotor) is entirely managed by the PLC (see
AP_OPZIONI timing Diagram bit 15). See the status and command registers of the axis
for further explanations.
Correlated with:
restrictions, ..
11.6 91752.PM.1.GB Esa/Gv

Options: DAC_POS management enabling for Forward/Backward movement, SP_OPZIONI (bit

17)
Description: To set for drives that require 2 direction bits: Forward Movement and Backward
Movement. Do not configure on_motor.
Correlated with: DAC_POS +/- 0/10V Management enabling, AP_OPZIONI (bit 11).
Analog forward movement output register, AP_REGDACPOSAVA.
Analog backward movement output register, AP_REGDACPOSIND.
Backward movement analog sign bit, AP_BITDACPOSIND.
Forward movement analog sign bit, AP_BITDACPOSAVA.
restrictions, ..
Options: axes enabling in simulated mode, SP_OPZIONI (bit 31)

Description: If set, allows the operation of the spindles to be simulated without actually moving
them. This function is of use during the setting up phase.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 11.7

Speed limit for proportional follow error, SP_FWERRVLIM

Default value: Meas. unit: rpm
Description: Maximum reference speed used to calculate the proportional follow error alarm. If the
value of this parameter is 0, the follow error limit is fixed and not proportional to the
speed.
Correlated with: Maximum follow error, SP_FWERR.
Maximum follow error, SP_FWERR

Default value: Meas. unit: encoder pulses
Description: Expresses the maximum follow error tolerated, beyond which error is generated. The
maximum value tolerated is given by the ratio between the DAC unit number of the
axis and P gain.
Correlated with: P Gain, SP_GAINP.
11.8 91752.PM.1.GB Esa/Gv

Maximum follow error, SP_SSERR

Default value: Meas. unit: revolutions
Description: Maximum difference between the theoretic position and the real one after which, when
exceeded, an emergency stop is made.
The maximum follow error depends on the maximum speed and Kp gain. Assuming a
9V reference voltage corresponding to the maximum speed and null feed-forward gain,
the following formula can be used to calculate:
V[ rpm ]
ε SMAX [ rev ] = ⋅ 1.1
60 ⋅ Kp[ s −1 ]
Factor 1.1 provides a certain tolerance (10%) on the theoretic valve. This is also useful
for taking slight speed overshoots into account.
If a reference voltage, corresponding to the maximum speed, exceeding 9V must be
used, the maximum tolerance is calculated with the following formula:
10
TolRatio MAX =
E MAX [V ]
...where Emax is the voltage reference corresponding to the maximum speed. Tolerance
values exceeding those calculated mean that there is no immediate emergency stop in
the case of saturation (voltage reference limited to 10V in absolute value) caused by
excessive overshoot. For example: an Emax of 9.5V, obtains a TolRatiomax of about
1.05, equal to 5% of maximum overshoot. It will therefore be advisable to substitute
1.1 with that value in order to obtain an emergency stop in saturation conditions.
Correlated with: Maximum speed, SP_VELMAX
Gain Kp, SP_KPGAIN
Gain Kvff, SP_KVFFGAIN
Esa/Gv 91752.PM.1.GB 11.9

Rough tolerance target, SP_TOLLERG

Default value: Meas. unit: degrees
Description:
Correlated with:
restrictions, ..
Fine tolerance target, SP_TOLLERF

Description: This is the tolerance required at the end of positioning in feed mode (G33, G63 and
M19).
Correlated with:
restrictions, ..
Tolerance monitoring wait time, SP_TOLLER

Description: This is the time the axis has to recover the follow error at the end of positioning.
A few seconds should always be set in order to ensure that the axis always ends up
within tolerance.
Correlated with:
restrictions, ..
11.10 91752.PM.1.GB Esa/Gv

Maximum speed, SP_VELMAX

Description: This speed is merely used as a reference when the acceleration and deceleration ramps
are calculated.
Correlated with: Maximum follow error, SP_SSERR (*)
Voltage with maximum speed, DC_DACREF (*)
(*) with version 1 sets of parameters or superior (see Parameter set version,
CN_PARMSVER).
restrictions, ..
P Gain, SP_GAINP
Description: Proportional Gain Kp of the axis regulator. Expresses the promptness with which it is
controlled.
An increase to the gain value increases the promptness with which the axis responds
but diminishes the stability.
Correlated with:
Esa/Gv 91752.PM.1.GB 11.11

Gain Kp, SP_KPGAIN

Default value: 16.666 Meas. unit: s-1
Description: Proportional Gain Kp. Establishes the relation between the speed and follow error.
Infeed speed being equal, the promptness of the response increases and the follow error
decreases.
Considering a null feed-forward gain, the Kp is defined by the following:
V[ rev / s ]
Kp[ s−1 ] =
ε S [ rev ]
...where ε S is the follow error that corresponds to V speed. Using a more convenient
unit of measurement, one obtains:
V[ rpm ]
Kp[ s −1 ] =
ε S [ rev ] ⋅ 60
Or, with infeed speed V, one obtains a follow error given by the following:
V[ rpm ]
ε S [ rev ] =
60 ⋅ Kp[ s −1 ]
In some cases, a value denominated Kv is sized during the planning phase of the
mechanical part: this is defined as:
V[ rpm ]
Kv =
ε S [ rev ]
If this value is available, one can easily calculate Kp with the following formula:
1000
Kp[ s −1 ] = Kv ⋅
60
Parameters such as maximum speed, voltage with maximum speed and number of
encoder pulses/mm (numerator/denominator) are considered because the relation
between infeed speed and follow error will be complied with this, for that reason, it is
essential for the correct values to be set for these parameters.
Axes with equal gain values have an equal follow error, infeed speed being equal.
Thus, the same gains will be set for axes that take part in interpolated processes. This
condition is essential in order to prevent (for example) scale errors between axes in
circular interpolation processes.
The instantaneous follow error in mm can be verified by means of the operator
interface.
Number of encoder pulses/mm (numerator), SP_QFATTCONV
11.12 91752.PM.1.GB Esa/Gv

Number of encoder pulses/mm (denominator), SP_QFATTCONV

Considering a DAC of 15 bits + sign with a +/- 10V output, achievement of the
maximum resolution allowed by the encoder is not guaranteed unless the following
formula is complied with:
FC MUL ⋅ VMAX [ rpm ]
Kp[ s −1 ] ≥
FC DIV ⋅ EMAX [V ] ⋅ 49150.5
...where Emax is the voltage with maximum speed, FCMUL are FCDIV the number of
encoder pulses/mm (numerator) and (denominator) respectively. Value 49150.5 is
obtained by the following formula, which takes into account the DAC resolution that
generates the speed reference:
(NDAC - 1) ⋅ 60
DACFS ⋅ SCAL
...where:
NDAC is the number of voltage values obtainable on the speed reference (number of
DAC points), equal to 32768;
SCAL is the multiplier of the encoder, equal to 4;
DACFS is the maximum voltage in V of the speed reference (DAC full scale voltage),
equal to 10.
Some hardware solutions envisage a different DAC resolution. In that case, the constant
will have a different value.
D Gain, SP_GAIN
Available from SW version 0.0 Change activated Start
Description: Derivative gain.
Correlated with:
Esa/Gv 91752.PM.1.GB 11.13

Gain Kd, SP_KDGAIN

Description: Kd Derivative Gain. Establishes the ratio between the speed contribution in mm/s and
the derivative of the follow error expressed in the same unit of measurement. The
overshoot diminishes as the set value increases.
Correlated with:
Forward feed, SP_GAINFWD

on channel reset
Description: Forward feed speed gain.
Correlated with:
Gain Kvff, SP_KVFFGAIN

Description: Speed Feed-Forward Gain Kvff. Establishes the ratio between the speed contribution
supplied to the axis and the theoretic speed, without taking the follow error into
account.
The follow error diminishes as the set value increases. Theoretically, it is completely
eliminated with a value of 1.
Correlated with: Maximum follow error, SP_SSERR
Particular cases, errors, Values exceeding 1 are brought back to 1.
restrictions, ..
CN_PARMSVER).
11.14 91752.PM.1.GB Esa/Gv


Default value: 9 Meas. unit: V
Description: Voltage that must be supplied to the drive in order to obtain the maximum speed set for
the relative parameter.
It is usually set at 9.
Incorrect setting of this parameter causes a different follow error from the one that
would be expected considering the infeed speed and gain values set, while there are NO
errors in the speeds of the axes.
With an analog reference, there will still be a slight voltage drop in the cables that will
cause a different follow error from the one expected: both the drive speed gain and the
gain of this value can be used to correct this difference. In the latter case, the output
voltage can be read (it can be displayed by means of the operator interface) while the
axis is moved at top speed, thus set the value measured for this parameter.
If there are changes in the maximum speed, particularly towards lower values, it is
advisable to adapt the drive speed gain so as to continue to have the maximum possible
resolution. If this change is not made, remember to modify the value set for this
parameter in proportion.
Gain Kp, SP_KPGAIN
Negative insensitivity voltage, SP_INSNEG

Default value: Meas. unit: V
Description: Expresses the negative insensitivity value, i.e. the minimum negative voltage required
to move the axis, identified in the characteristic curve of the actuator as a non-linearity
near the zero voltage value (towards negative voltages).
Typical negative insensitivity voltage value: 0
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 11.15

Number of encoder pulses/turn, SP_FATTCONV

Default value: Meas. unit: rev/pulses
Description: This is the number of encoder pulses per turn.
Correlated with:
restrictions, ..
Type of sizing, SP_TARTYPE

Description: Type of sizing.
May take on the following values:
0 (TARA_0) Sizing on limit switch and then on zero mark
1 (TARA_0_PARK) Sizing on zero mark and then on parking target
Correlated with:
restrictions, ..
11.16 91752.PM.1.GB Esa/Gv

Positive insensitivity voltage, SP_INSPOS

Default value: Meas. unit: V
Description: Expresses the positive insensitivity value, i.e. the minimum positive voltage required to
move the axis identified in the characteristic curve of the actuator as a non-linearity
near to the zero voltage value.
Typical positive insensitivity voltage value: 0.
Correlated with:
restrictions, ..
Sizing target, SP_TARQUOTA

Description: Absolute position in which the zero reference of the spindle is to be found.
Correlated with:
restrictions, ..
Sizing micro search speed , SP_VELMICRO

Description: Speed at which the axis searches for the sizing limit switch.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 11.17

Sizing marker search speed, SP_VELTACCA

Description: Speed at which the axis releases the sizing limit switch and searches for the zero
marker.
Correlated with:
10 Volt motor speed, SP_VEL10V

Default value: numeric Meas. unit: rpm
Description: Indicates the maximum rotation speed the spindle motor can reach.
Correlated with:
restrictions, ..
11.18 91752.PM.1.GB Esa/Gv

Maximum jerk, SP_JERK

Description: Maximum jerk. This is the maximum acceleration/deceleration (the lesser of the two) in
rev/s² divided by the time in s used to reached it or to reach a uniform motion,
beginning from that acceleration/deceleration.
Acceleration being equal, use of jerk limitation on the trajectory allows the stress on the
mechanical parts to be contained during rapid axes movements, or greater accelerations
to be used while maintaining acceptable stress on the mechanical parts.
Acceleration being equal, minor jerk values on the correspond to longer cycle times
and less stress on the mechanical parts.
formula.
VMAX [ rpm ] A 2
t RAMP [ s ] = + MAX [ rev / s ]
AMAX [ rev / s 2 ] ⋅ 60 J [ rev / s 3 ]
Maximum acceleration, SP_ACCEL
Maximum deceleration, SP_DECEL
restrictions, ..
CN_PARMSVER).
Encoder position, SP_ENCTYPE

Description: If 0, indicates that the encoder is mounted on the spindle. If 1, indicates that the
encoder is mounted on the motor.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 11.19

1, 2, 3, 4, range transmission ratio SP_N1, SP_N2, SP_N3, SP_N4

Description: Indicates the transmission ratio between motor and spindle in each range.
Value 1,000 corresponds to the unitary ratio; value 2,000 to a 1:2 ratio.
Correlated with:
restrictions, ..
Hunting speed, SP_VELND

Default value: Meas. unit: DAC units
Description: Rotation speed used for the hunting movements required to facilitate range
engagement.
Correlated with:
restrictions, ..
1,2,3,4, range limit speed SP_VELLIM1, SP_VELLIM2, SP_VELLIM3, SP_VELLIM4

Minimum value: 0 Maximum value: VEL10V * RTS
Description: Spindle rotation limit speed for each range.
The speed set or reached in mode G96 (constant cutting speed) is limited to this value
according to the selected range.
Correlated with:
restrictions, ..
11.20 91752.PM.1.GB Esa/Gv

Full speed rate percentage tolerance, SP_VELLTOL

Default value: Meas. unit: %
Description: Sets the percentage value, in relation to the programmed speed, at which the full speed
rate bit is activated in the spindle status register. Checks are made on the calculated
speed and not on the real spindle speed.
Correlated with:
restrictions, ..
Maximum speed fluctuation, SP_FLT

Description: Sets the maximum fluctuation value the spindle is allowed on instantaneous speed. The
value is expressed as percentage of the programmed speed. If deviation of the
instantaneous speed in relation to the theoretic speed is greater than the maximum
programmed value, the spindle sets to the fluctuation error status.
Correlated with: Minimum fluctuation monitoring speed, SP_VELMIN.
restrictions, ..
Minimum fluctuation monitoring speed, SP_VELMIN

Description: Spindle speed beyond which the fluctuation monitoring function is activated with
alarm. For very low speed values, the measuring error is critical in relation to
fluctuation monitoring.
Correlated with: Maximum percentage fluctuation, SP_FLT.
restrictions, ..
Esa/Gv 91752.PM.1.GB 11.21

Spindle stationary speed tolerance, SP_VELSTOP

Minimum value: Maximum value: 100
Description: Speed below which the PLC is informed that the spindle is at a standstill; expressed as
percentage of the maximum speed.
Correlated with: 10 Volt motor speed, SP_VEL10V with version 0 sets of parameters (see Parameter
set version, CN_PARMSVER)
Voltage with maximum speed, DC_DACREF with version 1 set of parameters or
superior (see Parameter set version, CN_PARMSVER).
restrictions, ..
Spindle speed in JOG, SP_VELJOG

Description: Speed selected for the spindle in manual mode.
Correlated with:
restrictions, ..
Spindle speed during positioning, SP_VELM19

Description: Spindle speed selected during positioning M19 (default speed for POS and POSA).
Correlated with:
restrictions, ..
11.22 91752.PM.1.GB Esa/Gv

Emergency Ramp time, SP_EMERTIME

Description: Duration of the emergency ramp, i.e. the time required to stop the axis if an emergency
occurs.
Correlated with:
restrictions, ..
END OF CHAPTER
Esa/Gv 91752.PM.1.GB 11.23

11.24 91752.PM.1.GB Esa/Gv

PM Measuring circuit parameters
12 Measuring circuit parameters
12.1 Introduction
Configuration of the sole interface with the encoder is required for axes of the
MEASURING CIRCUIT type. The option is used to acquire the position of an axis not
moved by the CNC but by an entity outside it (or in manual mode).
It is generally used to carry out position following, to acquire a dimension after a touch-
probing process, etc...
The only parameters involved concern sizing the measuring circuit and pulse / space
conversion.
12.2 Parameters
Type, AP_AXTYPE
1 Proportional axis
2 Polar axis
3 Round axis
4 Poor axis
10 Spindle with encoder
11 Spindle without encoder (but with analog output)
30 Ram axis
40 Measuring circuit
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 12.1

Measuring circuit parameters PM
Options: Count direction reversal, AP_OPZIONI (bit1)

Description: If necessary, set this option during the set-up phase to avoid the encoder channels.
Correlated with:
restrictions, ..
Options: enables ABSOLUTE sizing, AP_OPZIONI (bit10)

the last target sampled. When the NC resets, the axis target is retentive, meaning that it
takes on the same value it had before the reset.
This option may be useful when the stop-return phase of B-T (Boring-Tapping) units is
managed, if the unit has been turned off with the workpiece inside it. However, a sizing
cycle must be carried out before the tool is removed.
Correlated with:
restrictions, ..
12.2 91752.PM.1.GB Esa/Gv

Number of encoder pulses/mm (numerator), AP_FATTCONV

P/R).
Correlated with: Number of encoder pulses/mm (denominator), AP_FATTCONVDIV
NOTE

P/R).
Correlated with: Number of encoder pulses/mm (denominator), AP_QFATTCONVDIV.
Esa/Gv 91752.PM.1.GB 12.3


Correlated with: Number of encoder pulses/mm (numerator), AP_FATTCONV.
restrictions, ..
NOTE

Correlated with: Number of encoder pulses/mm (numerator), AP_QFATTCONV.
restrictions, ..
CN_PARMSVER).
12.4 91752.PM.1.GB Esa/Gv

Type of encoder test, AP_TIPOTSTENC

Correlated with:
restrictions, ..
END OF CHAPTER
Esa/Gv 91752.PM.1.GB 12.5

12.6 91752.PM.1.GB Esa/Gv

PM Proportional Axes Configuration parameters
13 Proportional Axes Configuration parameters
Motor ON Output register, AP_REGONM

Description: Physical register of the movement enabling signal of the axis. See M_ONMIT register
for greater details.
Do not configure if option 17 is activated.
Correlated with: DAC_POS management enabling for Forward/Backward movement, AP_OPZIONI
(bit 17).
restrictions, ..
Number of Motor On output bit, AP_BITONM

Description: Identifies the bit in the register assigned to the Motor On Output Register relative to the
OnMotore signal. See M_ONMT register for greater details.
Do not configure if option 17 is activated.
Correlated with: DAC_POS management enabling for Forward/Backward movement, AP_OPZIONI
(bit 17).
restrictions, ..
Esa/Gv 91752.PM.1.GB 13.1

Proportional Axes Configuration parameters PM
Analog sign output register, AP_REGDACPOS

Description: Physical register of the analog sign bit if the DAC POS 0-10V mode is activated.
Correlated with: DAC_POS +/- 0/10V management enabling, AP_OPZIONI (bit 11).
DAC_POS sign reversal, AP_OPZIONI (bit 12).
restrictions, ..
Analog sign output register, AP_BITDACPOS

Description: Identifies the bit for the analog sign signal in the analog sign output register if the DAC
POS 0-10V mode is activated.
Correlated with: DAC_POS +/- 0/10V management enabling, AP_OPZIONI (bit 11).
DAC_POS sign reversal, AP_OPZIONI (bit 12).
restrictions, ..
Brake output register, AP_REGFRENO

Description: Physical register of the brake activation signal, if brake management via Slave is
enabled.
Correlated with: Slave Brake Timing Management enabling, AP_OPZIONI (bit 13).
restrictions, ..
13.2 91752.PM.1.GB Esa/Gv

Brake output bit, AP_BITFRENO

Description: Identifies the bit for the brake activating and releasing signal in the brake output
register, if brake management via Slave is activated.
Correlated with: Slave Brake Timing Management enabling, AP_OPZIONI (bit 13).
restrictions, ..
Forward HW limit input register, AP_REGFCHWAV

Description: Physical register of the forward HW limit signal if the HW limits are enabled and their
management is entrusted to the Slave.
restrictions, ..
Forward HW limit input bit, AP_BITFCHWAV

Description: Identifies the bit of the forward HW limit signal in the forward limit input register.
restrictions, ..
Esa/Gv 91752.PM.1.GB 13.3

Backward HW limit input register, AP_REGCHWIND

Description: Physical register of the backward HW limit signal, if the HW limits are enabled and
their management is entrusted to the Slave.
restrictions, ..
Backward HW limit input bit, AP_BITFCHWIND

Description: Identifies the bit of the backward HW limit signal in the backward limit input register.
restrictions, ..
Number of encoder associated with axis, AP_NUMENC

Description: Number of encoder associated with axis.
Correlated with:
restrictions, ..
13.4 91752.PM.1.GB Esa/Gv

Encoder position, AP_ENCTYPE

Available from SW version 1.1 (2.0) Change activated on CNC reset
Description: 0 - encoder on CNC
1 - encoder on I/O (only for Proportional Axes)
2 - Potentiometer 12 bit on I/O ring (only for Proportional Axes)
3 - Potentiometer 16 bit on I/O ring (only for Proportional Axes)
Correlated with:
restrictions, ..
Number of DAC associated with axis, AP_NUMDAC

Description: Number of DAC associated with axis.
Correlated with:
restrictions, ..
DAC position, AP_DACTYPE

Description: 0 - DAC on CNC,
1 - DAC on I/O ring.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 13.5

Analog backward movement output register, AP_REGDACPOSIND

Description: Physical register of the backward movement analog sign signal, if F/B movement
DACPOS Management option is enabled.
Correlated with: DAC_POS Management enabling for Forward/Backward movement, AP_OPZIONI
(bit 17).
restrictions, ..
Sign bit for backward movement analog , AP_BITDACPOSIND

Description: Identifies the bit relative to the sign bit in the analog backward movement output
Register.
(bit 17).
restrictions, ..
Analog forward movement output register, AP_REGDACPOSAVA

Type of data: numeric Protection level: Password
Description: Physical register of the sign signal for forward movement analog if the F/B movement
DACPOS management option is enabled.
(bit 17).
restrictions, ..
13.6 91752.PM.1.GB Esa/Gv

Sign bit for forward movement analog, AP_BITDACPOSAVA

Description: Identifies the bit relative to the sign bit in the analog forward movement output
Register.
(bit 17).
restrictions, ..
Type of Drive, AP_DRVTYPE

Minimum value: 0 (Analog) Maximum value: 1 (Digital)
0 Axis with analog interface
1 Axis with digital interface
Correlated with:
restrictions, ..
Ring Number, AP_NRING

Description: Indicates the number of the ring to which the axis is associated in the digital axes
network.
Correlated with: Only present if the Drive Type parameter is set to DIGITAL
Particular cases, errors, Must always be set to 0.
restrictions, ..
Esa/Gv 91752.PM.1.GB 13.7

Ring Number, AP_DRIVE

Description: Indicates the number of the Servo Data configuration table to which the axis should
refer for its configuration in the digital drive network.
Correlated with: Only present if the Drive Type parameter is set to DIGITAL
restrictions, ..
END OF CHAPTER
13.8 91752.PM.1.GB Esa/Gv

PM N_VEL Axes Configuration parameters
14 N_VEL Axes Configuration parameters
Forward Output registers: NV_VELAV1, NV_VELAV2, NV_VELAV3

Backward Output registers: NV_VELIND1, NV_VELIND2, NV_VELIND3
Description: Physical output registers where the outputs to operate each of the N-speeds of the N-vel
axis are supplied.
Correlated with:
restrictions, ..
Forward Output bit numbers: NV_BITAV1, NV_BITAV2, NV_BITAV3

Backward Output bit numbers: NV_BITIND1, NV_BITIND2, NV_BITIND3
Description: Bits of the physical output registers where the outputs that drive N-speed are supplied.
Correlated with:
restrictions, ..
Brake output register, NV_REGFRENO

Description: Physical register of the brake activating signal, if brake management by Slave is
activated.
Correlated with: Slave Brake Timing Management Enabling, NV_OPZIONI (bit 13).
restrictions, ..
Esa/Gv 91752.PM.1.GB 14.1

N_VEL Axes Configuration parameters PM
Brake output bit, NV_BITFRENO

Description: Identifies the bit for the brake activating and releasing signal in the brake output
register, if brake management via Slave is enabled.
Correlated with: Slave Brake Timing Management Enabling, NV_OPZIONI (bit 13).
restrictions, ..
Forward limit input register, NV_REGFCHWAV

Description: Physical register of the forward HW limit, if the HW limits are enabled and are
managed by the Slave.
Correlated with: Hardware limit enabling, NV_OPZIONI (bit 6).
Bumper Management via Input Enabling, NV_OPZIONI (bit 14).
HW limit sign reversal, NV_OPZIONI (bit 18).
restrictions, ..
Forward limit input bit, NV_BITFCHWAV

Description: Identifies the bit relative to the forward HW limit signal in the forward limit input
register.
restrictions, ..
14.2 91752.PM.1.GB Esa/Gv

PM N_VEL Axes Configuration parameters
Backward limit input register, NV_REGFCHWIND

Description: Physical register of the backward HW limit, if the HW limits are enabled and are
managed by the Slave.
restrictions, ..
Backward limit input bit, NV_BITFCHWIND

Description: Identifies the bit relative to the backward HW limit signal in the backward limit input
register.
restrictions, ..
Number of encoder associated with the axis, NV_NUMENC

Description: Number of encoder associated with the axis.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 14.3

N_VEL Axes Configuration parameters PM
Encoder position, NV_ENCTYPE

Available from SW version 1.1 (2.0) Change activated on CNC reset
Description: 0 encoder on CNC
1 encoder on I/O ring
2 Potentiometer 12 bits on I/O ring (only for Standard Nvel Axes)
3 Potentiometer 16 bits on I/O ring (only for Standard Nvel Axes).
Correlated with:
restrictions, ..
END OF CHAPTER
14.4 91752.PM.1.GB Esa/Gv

PM Spindle Axes Configuration Parameters
15 Spindle Axes Configuration Parameters
Motor On Output Register, SP_REGONM

Description: Physical register of the movement enabling signal of the axis. See M_ONMT register
for further details. Do not use if option 17 is activated.
Correlated with: DAC_POS management enabling for Forward/Backward movement, SP_OPZIONI
(bit 17).
restrictions, ..
Number of Motor On output bit, SP_BITONM

Description: Identifies the bit in the register assigned to the Motor On Output Register parameter
relative to the Onmotor signal. See the M_ONMIT register for further details. Do not
use if option 17 is activated.
(bit 17).
restrictions, ..
Analog sign output register, SP_REGDACPOS

Description: Physical register of the analog sign bit if the DAC POS 0-10V mode is activated.
Correlated with: DAC_POS +/- 0/10V management enabling, SP_OPZIONI (bit 11).
DAC_POS sign bit reversal, SP_OPZIONI (bit 12).
restrictions, ..
Esa/Gv 91752.PM.1.GB 15.1

Spindle Axes Configuration Parameters PM
Analog sign output register, SP_BITDACPOS

Description: Identifies the bit for the analog sign signal in the analog sign output register if the DAC
POS 0-10V mode is activated.
Correlated with: DAC_POS +/- 0/10V management enabling, SP_OPZIONI (bit 11).
DAC_POS sign bit reversal, SP_OPZIONI (bit 12).
restrictions, ..
Number of encoder associated with axis, SP_NUMENC

Description: Number of encoder associated with axis.
Correlated with:
restrictions, ..
Encoder position, SP_ENCTYPE

Description: 0 encoder on CNC
1 encoder on I/O ring
Correlated with:
restrictions, ..
15.2 91752.PM.1.GB Esa/Gv

PM Spindle Axes Configuration Parameters
Number of DAC associated with axis, SP_NUMDAC

Description: Number of DAC associated with axis.
Correlated with:
restrictions, ..
DAC position, SP_DACTYPE

Description: 0 DAC on CNC
1 DAC on I/O ring
Correlated with:
restrictions, ..
Analog backward movement output register, SP_REGDACPOSIND

Description: Physical register of the backward movement analog sign signal, if F/B movement
DACPOS Management option is enabled.
(bit 17).
restrictions, ..
Esa/Gv 91752.PM.1.GB 15.3

Spindle Axes Configuration Parameters PM
Sign bit for backward movement analog, SP_BITDACPOSIND

Description: Identifies the bit relative to the sign bit in the analog backward movement output
Register.
(bit 17).
restrictions, ..
Analog forward movement output register, SP_REGDACPOSIND

Description: Physical register of the sign signal for forward movement analog if the F/B movement
DACPOS management option is enabled.
(bit 17).
restrictions, ..
Sign bit for forward movement analog, SP_BITDACPOSIND

Description: Identifies the bit relative to the sign bit in the analog forward movement output
Register.
(bit 17).
restrictions, ..
END OF CHAPTER
15.4 91752.PM.1.GB Esa/Gv

PM Servolink data
16 Servolink data
16.1 Introduction
These tables allow a network of digital axes interfaced with the MECHATROLINK®
protocol available in YASKAWA drives to be configured.
The parameters are entered by means of two parallel tables:

ù Axes mapping in the ring
ù Servo data
These tables are each instantiated in a number equal to the number of digital axes
forming the network (defined in the first mask Number of Digital Axes).
The first table contains information about how to address the drives and information
acquired by these latter concerning the model of drives and encoders installed. The
second contains all the parameters of the drives and indications about how these are
transmitted from the CNC to the drive itself.
Esa/Gv 91752.PM.1.GB 16.1

Servolink data PM
16.2 Table that defines the number of digital axes
Number of Digital Axes

Type of data: Integer Protection level: password
Description: Indicates the number of axes to be used in the digital network. This value can also be
oversized in relation to the real use made of digital axes.
Correlated with:
restrictions, ..
16.2 91752.PM.1.GB Esa/Gv

PM Servolink data
16.3 Axes mapping in ring
Sys Wide axis

Description: Indicates the logic axis number associated with the digital axis parametrized by the
current table.
For example, if 3 is indicated, this means that reference is made to the axis whose
parameters are contained in the 4th Axis Parameters and Configure Axis tables (tables
with index 3). In the determined Configure Axis table, the Ring Number and Drive
Number parameters must be 0 the former (fixed), while the second determines the index
of the current table, i.e. there is a double link between this and the configuration table.
Correlated with: Ring Number and Drive Number of the Configure Axis table.
Particular cases, errors, If the axis to which reference is made is not configured as a DIGITAL axis, the settings
restrictions, .. in this table will have no effect.
Servo Dip Switch

Description: This is the physical address of the drive for the axis in question, set by means of a
commutator.
Digital axis 0 usually has address 1, axis 1 has address 2, and so forth.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 16.3

Servolink data PM
16.4 Servo data
The drive data are not described in this section. Consult the dedicated manual supplied
by Yaskawa for this information.
Request Servo Data Update
Description: Indicates the status of the set of digital servodrive parameters in the memory. The
following two values are possible:
ù 0 value means that there are no valid parameters in the memory. When the
instrument is powered again, the parameters will be downloaded from the non-
volatile memory of the Servodrive and the value will be automatically changed to
1.
Set 0 in manual mode in the event of changes in the type of drive, motor, etc., and
the parameters must be re-acquired from the drive.
ù Value 1 means that there are valid parameters in the memory. When the instrument
is powered again, the parameters will be loaded into the memory of the Servodrive.
Modifications to the drive parameters and saving of machine parameters on disk
(backup) must only be carried out in this situation.
Correlated with: Note that it is NOT necessary to reset the CNC when changes are made to the following
parameters since they are brought up to date on each automatic start or axes movement
in jog mode:
ù Speed Loop Gain (Pn100)
ù Speed Loop Integral Time Constant (Pn101)
ù Position Loop Gain (Pn102)
ù Inertia Ratio (Pn103)
ù Feed Forward (Pn109)
restrictions, ..
16.4 91752.PM.1.GB Esa/Gv

PM Servolink data
Servo mode
Description: Indicates the reference entity whose values are transmitted in digital form in order to
move the axes:
ù Value 0 means that a position reference is transmitted.
This means that the speed and torque regulations are made by the Servodrive.
Speed regulation is thus insensitive to the delay due to the transmission line and the
speed errors are corrected in a much more reactive way.
ù Value 1 means that a speed reference is transmitted.
This mode is currently unavailable.
Correlated with:
restrictions, ..
END OF CHAPTER
Esa/Gv 91752.PM.1.GB 16.5

Servolink data PM
16.6 91752.PM.1.GB Esa/Gv

PM Origin Data parameters
17 Origin Data parameters
Origins 1,2,3,4: X Origin coordinate, OG_X

Description: These are four parameters that represent the components along X axis of origin targets
G54, G55, G56, G57.
Correlated with:
restrictions, ..
Origins 1,2,3,4: Y origin coordinate, OG_Y

Description: These are four parameters that represent the components along Y axis of origin targets
G54, G55, G56, G57.
Correlated with:
restrictions, ..
Origins 1,2,3,4: Z origin coordinate, OG_Z

Description: These are four parameters that represent the components along Z axis of origin targets
G54, G55, G56, G57.
Correlated with:
restrictions, ..
END OF CHAPTER
Esa/Gv 91752.PM.1.GB 17.1

Origin Data parameters PM
17.2 91752.PM.1.GB Esa/Gv

PM Tool Parameters
18 Tool Parameters
18.1 Spindle Data
Type of mechanism, TWI_KINE

Description: Identifies the type of mechanism:
1 ROTARY_HEAD
2 FORK_ROTARY_HEAD
Correlated with:
restrictions, ..
Minimum rpm rate, TWI_MINRPM

Default value: 0 Meas. unit: RPM
Description: Minimum rpm rate. Selected according to the motor specifications in order to allow
efficient cooling.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 18.1

Tool Parameters PM
Maximum rpm rate, TWI_MAXRPM

Default value: 0 Meas. unit: RPM
Description: Maximum rpm rate. Selected according to the motor specifications.
Correlated with:
restrictions, ..
Normal rotation direction to the left, TWI_CCW

Description: Indicates that, with a positive piloting analog, the spindle turns towards the left.
Correlated with:
restrictions, ..
First pivot X coordinate, FRH_X0

Description: First pivot X coordinate (ref. the zero of the head).
Correlated with:
restrictions, ..
18.2 91752.PM.1.GB Esa/Gv

PM Tool Parameters
Z
ZERO
HEAD
Z'
PIVOT2
PIVOT1 X≡ X'
toolholder
Figure 18.1 - Coordinate X first pivot
First pivot Y coordinate, FRH_Y0

Description: First pivot Y coordinate (ref. the zero of the head).
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 18.3

Tool Parameters PM
First pivot Z coordinate, FRH_Z0

Description: First pivot Z coordinate (ref. the zero of the head).
Correlated with:
restrictions, ..
Z axis head positioning, FRH_ORIENT

Description: Establishes the order and direction of the axes of the system of coordinates of the
spindle, by identifying the new Z axis of the spindle.
Z axis head positioning.
ù 6 = X+
ù 4 = X-
ù 8 = Y+
ù 2 = Y-
ù 9 = Z+
ù 1=Z
Only right-hand terns can be generated. If the Z axis of the generated tern coincides
with a negative semi-axis of the system of machine coordinates (cases represented at
the bottom of the following figure), the system is obtained in the following way:
ù consider the tern that would be obtained if the new Z axis were to coincide with a
positive semi-axis;
ù turn that tern through 180° around the new X axis.
Correlated with:
restrictions, ..
18.4 91752.PM.1.GB Esa/Gv

PM Tool Parameters
Y+
Z+
8 9
X- 4 6 X+
1 2
Z-
Y-
Figure 18.2 - Z axis head positioning
Rotation around Z axis, FRH_EC

Description: Rotation around Z axis of the reference system with origin in the first pivot.
Correlated with:
restrictions, ..
Reversal of rotation around Z axis, FRH_ECREV

Description: Reversal towards actuator of rotation around Z axis.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 18.5

Tool Parameters PM
Actuator of rotation around Z axis, FRH_ECAX

Description: Actuator of rotation around Z axis, FRH_ chosen from amongst:
ù 0 = None
ù 7=A
ù 8=B
ù 9=C
ù 10 = Spindle Axis
Correlated with:
restrictions, ..
Second pivot X coordinate, FRH_X1

Description: Second pivot X coordinate (ref. to first pivot).
Correlated with:
restrictions, ..
18.6 91752.PM.1.GB Esa/Gv

PM Tool Parameters
z
dX1
ZERO
HEAD
z'
PIVOT2
PIVOT1
X≡ X'
toolholder
Figura 18.3 - X coordinate of second pivot
Second pivot Y coordinate, FRH_Y1

Description: Second pivot Y coordinate (ref. to first pivot).
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 18.7

Tool Parameters PM
Rotation around Y axis, FRH_EB

Description: Rotation around Y axis of the reference system with origin in the PIVOT2.
Correlated with:
restrictions, ..
Z
ZERO
HEAD
Z'
PIVOT2
PIVOT1
X≡ X'
Tool post
rotation
Around Y’
axis
Figura 18.4 - Rotation around Y axis of the reference system with origin in the PIVOT2
18.8 91752.PM.1.GB Esa/Gv

PM Tool Parameters
Reversal towards rotation actuator, RH_EBREV

Default value: Boolean Meas. unit:
Description: Reversal towards actuator of rotation around Y axis.
Correlated with:
restrictions, ..
Actuator of rotation around Y axis, RH_EBAX

Description: Actuator of rotation around Y axis, chosen from amongst:
ù 0 = None
ù 7=A
ù 8=B
ù 9=C
Correlated with:
restrictions, ..
Toolholder X coordinate, FRH_X2

Description: Toolholder X coordinate. (Ref. to second Pivot).
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 18.9

Tool Parameters PM
Z'
ZERO
HEAD
PIVOT2
PIVOT1 X'
dZ2
dX2
toolholder
Figura 18.5 - Toolholder X coordinate
Toolholder Z coordinate, FRH_Z2

Description: Toolholder Z coordinate. (Ref. to second Pivot).
Correlated with:
restrictions, ..
18.10 91752.PM.1.GB Esa/Gv

PM Tool Parameters
18.1.1 Rotary Head
First pivot X coordinate, RH_X0

Description: First pivot X coordinate (ref. the zero of the head).
Correlated with:
restrictions, ..
PIVOT1 (X0,Y0,Z0)
As regards origin head
Figura 18.6 -First pivot X coordinate
Esa/Gv 91752.PM.1.GB 18.11

Tool Parameters PM
First pivot Y coordinate, RH_Y0

Description: First pivot Y coordinate (ref. the zero of the head).
Correlated with:
restrictions, ..
First pivot Z coordinate, RH_Z0

Description: First pivot Z coordinate (ref. the zero of the head).
Correlated with:
restrictions, ..
18.12 91752.PM.1.GB Esa/Gv

PM Tool Parameters
Z axis head positioning, RH_ORIENT

Description: Establishes the order and direction of the axes of the system of coordinates of the
spindle, by identifying the new Z axis of the spindle.
Z axis head positioning:
ù 6 = X+
ù 4 = X-
ù 8 = Y+
ù 2 = Y-
ù 9 = Z+
ù 1=Z
Only right-hand terns can be generated. If the Z axis of the generated tern coincides
with a negative semi-axis of the system of machine coordinates (cases represented at
the bottom of the figure above), the system is obtained in the following way:
ù consider the tern that would be obtained if the new Z axis were to coincide with a
positive semi-axis;
ù turn that tern through 180° around the new X axis.
Correlated with:
restrictions, ..
Y+
Z+
8 9
X- 4 6 X+
1 2
Z-
Y-
Figura 18.7 - Z axis head positioning
Esa/Gv 91752.PM.1.GB 18.13

Tool Parameters PM
Rotation around Z axis, RH_EC

Description: Rotation around Z axis.
Correlated with:
restrictions, ..
C
Rotation as regards
Head’s Z axis
Figura 18.8 - Rotation around Z axis
18.14 91752.PM.1.GB Esa/Gv

PM Tool Parameters
Reversal towards rotation actuator, RH_ECREV

Description: Reversal towards actuator of rotation around Z axis.
Correlated with:
restrictions, ..
Actuator of rotation around Z axis, RH_ECAX

Description: Actuator of rotation around Z axis, chosen from amongst:
ù 0 = None
ù 7=A
ù 8=B
ù 9=C
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 18.15

Tool Parameters PM
18.2 Toolholder data
Pivot coordinates added to Z, THD_Z0

Default value: 0 Meas. unit: mm
Description: Z pivot coordinates (add to the Toolholder point identified by the Spindle data).
Correlated with:
restrictions, ..
18.16 91752.PM.1.GB Esa/Gv

PM Tool Parameters
Toolholder
PIVOT1
dZ0
Z'
X'
Figure 18.9 - Toolholder Point and Pivot Point
Rotation around Z axis, THD_C

Description: Rotation around the Z axis of the toolholder.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 18.17

Tool Parameters PM
Conversion Type flag, THD_FLG

Description: Conversion order concerning the pivot:
1 First rotation around Z axis, then X’Y’ pivot transfer. Generally used to configure
non-vertical toolholders on a head with neither a numeric actuator nor a manual
positioning system.
2 First transferring, then rotation (recommended).
Correlated with:
restrictions, ..
18.18 91752.PM.1.GB Esa/Gv

PM Tool Parameters
X coordinate of the pivot, THD_X1

Description: X coordinate of the pivot (in relation to the Toolholder point identified by the Spindle
data).
Correlated with:
restrictions, ..
Toolholder
dX1
PIVOT1
dZ0
Z'
X'
Figure 18.10 - X coordinate of the Pivot
Esa/Gv 91752.PM.1.GB 18.19

Tool Parameters PM
Y coordinate of the pivot, THD_Y1

Description: Y coordinate of the pivot (in relation to the Toolholder point identified by the Spindle
data).
Correlated with:
restrictions, ..
18.20 91752.PM.1.GB Esa/Gv

PM Tool Parameters
Rotation around Y axis, THD_B

Description: Rotation around Y axis of the reference system with origin in PIVOT1.
Correlated with:
restrictions, ..
Toolholder
dX1
PIVOT1
dZ0 Z'
X'
dB
Figure 18.11 - Rotation of the reference system with origin in Pivot
Esa/Gv 91752.PM.1.GB 18.21

Tool Parameters PM
X coordinate of the tool base, THD_X2

Description: X coordinate of the toolholder (in relation to Pivot1).
Correlated with:
restrictions, ..
Toolholder
dX1
PIVOT1
Z'
X'
dZ2
Tool
base
dX2
Figure 18.12 - X coordinate of the Toolholder in relation to the Pivot
18.22 91752.PM.1.GB Esa/Gv

PM Tool Parameters
Y coordinate of the tool base, THD_Y2

Description: Y coordinate of the toolholder (in relation to the first pivot).
Correlated with:
restrictions, ..
Maximum rpm rate, THD_MAXRPM

Default value: Meas. unit: RPM
Description: Maximum rpm rate.
Correlated with:
restrictions, ..
Transmission with reversal without rotation, THD_REV

Available from SW version Change activated Start of program
Description: Transmission with reversal without rotation. If a right-handed tool is used, the spindle
will be started with left-hand rotation and vice versa.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 18.23

Tool Parameters PM
Tool descriptor index, THD_IDX

Correlated with:
restrictions, ..
Cone identifier for tool change, THD_CONE

Correlated with:
restrictions, ..
18.24 91752.PM.1.GB Esa/Gv

PM Tool Parameters
18.3 Tool Data
Tool radius, CED_RAD

Description: Tool radius: allows the rear tool dimension to be taken into account during the
machining phase.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 18.25

Tool Parameters PM
Theoretic mill union radius, CED_TRAD

Description: Theoretic mill union radius: allows which point of the tool is in contact with the
material to be exactly established.
Correlated with:
restrictions, ..
dLenZ dLenZ dLenZ
dTRad=dRad
dTRad
dRad dRad dRad

dTRad=0
Figure 18.13 - Theoretic mill union radius
Tool Z length, CED_LENZ

Description: Length of the boring/milling tool (it will be added to the Z coordinate of the tool base).
Correlated with:
restrictions, ..
18.26 91752.PM.1.GB Esa/Gv

PM Tool Parameters
Disk tool thickness, CED_THICK

Description: Thickness/Distance between interchangeable cutters. See Figure 5.10 -
Thickness/Distance between interchangeable cutters.
Correlated with:
restrictions, ..
dLenZ
dThick
dRad
Figure 18.14 - Thickness/Distance between interchangeable cutters
Esa/Gv 91752.PM.1.GB 18.27

Tool Parameters PM
X turning tool length , CED_LENX

Description: Auxiliary length for turning tools (it will be added to the X coordinate of the tool base).
Correlated with:
restrictions, ..
dLenY
dRad
dLenX
Figure 18.15 - Auxiliary length for turning toolholders
18.28 91752.PM.1.GB Esa/Gv

PM Tool Parameters
Y turning tool length, CED_LENY

Description: Auxiliary length for turning tools (it will be added to the Y coordinate of the tool base).
Correlated with:
restrictions, ..
Extension index for wear management, CED_WEAIDX

Description: Tool data index for wear management.
Correlated with:
restrictions, ..
Minimum rpm rate, CED_MINRPM

Description: Minimum rpm rate.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 18.29

Tool Parameters PM
Maximum rpm rate, CED_MAXRPM

Description: Maximum rpm rate.
Correlated with:
restrictions, ..
Rpm rate, CED_STDRPM

Description: Default rpm rate - used if no other value is specified (0= not automatically set on tool
selection).
Correlated with:
restrictions, ..
Left-hand tool, CED_CCW

Description: Left-hand tool.
Correlated with:
restrictions, ..
18.30 91752.PM.1.GB Esa/Gv

PM Tool Parameters
Maximum linear advancement speed, CED_MAXFEED

Description: Maximum linear advancement speed.
Correlated with:
restrictions, ..
Default linear advancement speed, CED_STDFEED

Description: Linear advancement speed unless specified differently (0=not automatically set on tool
selection).
Correlated with:
restrictions, ..
Cutting direction monitoring enabling, CED_DIR

Description: Cutting direction monitoring enabling.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 18.31

Tool Parameters PM
Tool tangency to path monitoring enabling, CED_TG

Description: Tool tangency to path monitoring enabling (e.g.: shaped mill or blade).
Correlated with:
restrictions, ..
Maximum tolerated deviation Angle, CED_TGTHRE

Description: Maximum tolerated deviation angle in relation to the programmed path. Used when the
tool tangency to path monitoring function is enabled.
Correlated with:
restrictions, ..
Events that involve the tool, CED_STATUS

Correlated with:
restrictions, ..
END OF CHAPTER
18.32 91752.PM.1.GB Esa/Gv

PM Zoned Compensation Data parameters
19 Zoned Compensation Data parameters
Initial compensation target, CZ_QTMIN

Description: Initial target of the distance to compensate. Targets less than this value will be
corrected with the value of the first zone programmed.
Correlated with:
restrictions, ..
Final compensation target, CZ_QTMAX

Description: Final target of the distance to compensate. Targets exceeding this value will be
corrected with the value in the last zone programmed.
Correlated with:
restrictions, ..
Number of zones for compensation, CZ_QTMAX

Description: Distances into which the distance to compensate is divided. Along with the size of the
distance to compensate, this parameter determines the resolution of the algorithm.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 19.1

Zoned Compensation Data parameters PM
Compensation for the esimal zone, CZ_SAMPLE

Description: Compensation to make in the esimal zone.
Correlated with:
restrictions, ..
END OF CHAPTER
19.2 91752.PM.1.GB Esa/Gv

PM Tool Magazine data
20 Tool Magazine data
20.1 Introduction
Tool change management implemented by means of the revolvers is configured in these

tables.
Up to 6 revolvers can be used, each of which consists of up to 12 turrets.
The implementation uses the spindle to turn the revolver.
Each revolver table consists of:

ù A revolver configuration table
ù A turret code - pocket code association table
ù A table for each pocket containing the compensations to apply to the origin of the
tool mounted
ù A table for each pocket containing the new dynamic data of the spindle used after
the turret associated with the pocket has been selected.
Esa/Gv 91752.PM.1.GB 20.1

Tool Magazine data PM
20.2 Revolver configuration
This table contains the configuration parameters of the revolver and the dynamic
parameters the spindle must use when it is utilized to move the revolver.
Number of revolver turrets

Description: Indicates the number of turrets on the revolver.
Setting of this parameter leads to the creation of an equivalent number of tables in
order to define the Kinematic Revolver Data and Dynamic Spindle Data.
Correlated with:
restrictions, ..
Spindle revolutions
Description: Spindle reduction ratio: numerator of the q=n/d fraction, where q is the number of
spindle revolutions required to obtain one revolver turn.
Correlated with: Revolver Turns parameter.
restrictions, ..
20.2 91752.PM.1.GB Esa/Gv

Revolver revolutions
Description: Revolver reduction ratio: denominator of the q=n/d fraction, where q is the number of
spindle revolutions required to obtain one revolver turn.
Correlated with: Spindle Turns parameter.
restrictions, ..
Revolver limit speed (rpm)

Description: Maximum speed in RPM that the revolver can reach.
Correlated with:
restrictions, ..
Acceleration time
Minimum value: > 0 Maximum value:
Default value: Meas. unit: seconds
Description: Time the revolver takes to reach its maximum rotation speed after starting from a
standstill
Correlated with: Revolver limit speed (rpm) to refer to.
restrictions, ..
Esa/Gv 91752.PM.1.GB 20.3

Deceleration time
Description: Time the revolver takes to stop, beginning from its maximum rotation speed.
Correlated with: Revolver limit speed (rpm) to refer to.
restrictions, ..
S ramp time
Minimum value: 0 Maximum value: 50% of acceleration time
Description: Time the non-linear section of the acceleration ramp lasts (0 = linear acceleration). If a
non-linear section of the acceleration ramp is programmed, stress on the mechanical
parts can be reduced while maintaining short axes response times.
Correlated with:
restrictions, ..
P Gain
Default value: Meas. unit: Pure number
Description: Proportional gain Kp of the axis regulator. Expresses the promptness with which the
axis is controlled.
If the gain value is increased, the promptness of the axis response also increases, but
the stability decreases.
Correlated with:
restrictions, ..
20.4 91752.PM.1.GB Esa/Gv

Max Follow Err.

Minimum value: 0 Maximum value: (216 / P Gain) +10%
Default value: (216 / P Gain) +10% Meas. unit: encoder pulses
Description: Expresses the maximum tolerable follow error beyond which error is generated. The
axis and P gain.
It is advisable to increase the value obtained by the ratio of a percentage that guarantees
the control will not act on the follow error near the maximum speed.
Correlated with: P Gain parameter
restrictions, ..
Fine tolerance target (degrees)

Description: This is the tolerance required on the end of positioning in the feed mode.
Correlated with:
restrictions, ..
Sizing target
Description: Absolute position in which the zero mark of the axis is to be found.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 20.5

Parking target
Correlated with:
restrictions, ..
Positioning speed
Minimum value: 0 Maximum value: Limit speed
Description: Selected speed of the spindle during M19 positioning.
Correlated with: Revolver limit speed parameter.
restrictions, ..
JOG speed
Description: Speed used during movements in JOG mode.
restrictions, ..
20.6 91752.PM.1.GB Esa/Gv

Speed in SINGLE CYCLE

Description: Speed used in search cycles for the next or previous turret in relation to the current
position.
restrictions, ..
Esa/Gv 91752.PM.1.GB 20.7

20.3 Tool-Pocket association
This table defines which pocket is associated with which turret and which dynamic data
are associated with the spindle.
These are two indexes that identify a table between the Kinematic Revolver Data
(pocket) and Dynamic Spindle Data. The pair of indexes is repeated for all the turrets
configured.
Pocket number (T1 – T12)

Description: Indicates the number of the pocket associated with the turret to which it refers. Besides
indicating the table of the compensations to use, the code in question is compared with
a hardware code in the pocket of the revolver to make sure that there has not been a
selection error.
Correlated with:
Particular cases, errors, The values of these fields need not necessarily correspond to the number of the turret.
restrictions, .. However, double values are not permitted (or more than one turret with the same
pocket code) owing to failure of verification with the hardware code that would give
rise to ambiguity.
Dynamic type
Description: Indicates the table containing the dynamic data with which the spindle will work when
the current turret is selected. Each turret can define a different set of dynamic spindle
parameters in order to adapt spindle operation to the tool on the turret in a better way.
Correlated with:
restrictions, ..
20.8 91752.PM.1.GB Esa/Gv

20.4 Kinematic Revolver data
This table contains a tern of offsets to compensate for a probable misalignment of the
tool turning axis in relation to the reference one (usually the one on turret 1). These data
are supplied by the revolver manufacturer.
All the machining processes are compensated by the offsets programmed in this table.
For example, if boring is carried out with a tool on turret 1 and tapping with a tool on
turret 2 and if, after selection, the tapping tool is not positioned exactly on a level with
the boring bit, the only way to obtain a good process is by compensating for this
misalignment.
X mechanical compensation
Default value: Meas. unit: millimeters
Description: Misalignment in relation to X axis of the tool reference point in relation to the
reference tool.
Correlated with:
restrictions, ..
Y mechanical compensation
Description: Misalignment in relation to Y axis of the tool reference point in relation to the
reference tool.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 20.9

Z mechanical compensation
Description: Misalignment in relation to Z axis of the tool reference point in relation to the reference
tool.
Correlated with:
restrictions, ..
20.10 91752.PM.1.GB Esa/Gv

20.5 Dynamic Spindle Data
This table includes the main parameters concerning the dynamics of the spindle. These
parameters are used instead of the ones configured in the axes parameters, thus allowing
each tool of the revolver to be customized with data that take its tangible characteristics,
and how these affect the main parameters, into account.
Limit speed
Default value: Unit of meas.: giri/minuto
Available from SW version 3.9 Change activated On tool selection
Description: Maximum speed tolerated for the spindle when the tool in question is selected by the
program.
Correlated with:
restrictions, ..
Acceleration time
Description: Time the spindle must take to reach the maximum speed.
Correlated with:
restrictions, ..
Deceleration time
Description: Time the spindle must take to reach null speed from the maximum speed.
Correlated with:
restrictions, ..
Esa/Gv 91752.PM.1.GB 20.11

S ramp time
Minimum value: 0 Maximum value: Acceleration time / 2
Default value: 0 Unit of meas.: s
Description: Length of the non-linear section of the acceleration ramp (0 = linear acceleration). If a
non-linear section of the acceleration ramp is programmed, stress on the mechanical
parts can be reduced while maintaining short axes response times.
Correlated with:
restrictions, ..
P Gain
Description: Kp proportional gain of the axis regulator. Expresses the promptness with which it is
controlled.
The promtptness with which the axis responds is increased by increasing the gain value,
but the stability decreases.
Correlated with:
restrictions, ..
Maximum follow error

Default value: Unit of meas.: encoder pulses
Description: Expresses the maximum tolerated follow error beyond which error is generated. The
axis and P gain.
Correlated with: P Gain
restrictions, ..
20.12 91752.PM.1.GB Esa/Gv

Fine tolerance target (degrees)

Default value: Unit of meas.: degrees
Description: This is the tolerance required at the end of positioning in the feed mode (G33, G63 and
M19).
Correlated with:
restrictions, ..
Positioning speed (rpm)

Default value: Unit of meas.: rpm
Description: Speed selected for the spindle during M19 positioning (default speed for POS and
POSA).
Correlated with:
restrictions, ..
END OF CHAPTER
Esa/Gv 91752.PM.1.GB 20.13

20.14 91752.PM.1.GB Esa/Gv

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OEM Environment

Machine Parameters Description

Product: Kvara SW 162

Edition: March 2003

Evolution of the document

Esa/Gv 91752.PM.1.GB iii

Machine Parameters Description

Notes for the reader ....................................................................................................... i

1 Introduction ............................................................................................................. 1.1

2 General Parameters ................................................................................................ 2.1

3 NC Option Parameters............................................................................................ 3.1

Enabling of Heap consistency RunTime monitoring, ISO_OPTS (bit 4) ................................3.5

4 PLC Option parameters .......................................................................................... 4.1

5 Channel configuration parameters........................................................................ 5.1

6 Channel parameters ............................................................................................... 6.1

Number of continuous slave queue commands, CP_CMDC .................................................6.2

7 Speed Monitoring Data parameters....................................................................... 7.1

Esa/Gv 91752.PM.1.GB iii

Reference speed 0, FDC_FC0...............................................................................................7.2

8 Channel geometry................................................................................................... 8.1

9 Proportional Axes parameters............................................................................... 9.1

Options: analog direction reversal, AP_OPZIONI (bit 2)........................................................9.5

Sizing target, AP_TARQUOTA ............................................................................................9.26

10 N_VEL axes parameters ..................................................................................... 10.1

Options: HW limit sign reversal, NV_OPTIONS (bit 18) ......................................................10.4

11 Spindle Axes parameters ................................................................................... 11.1

Esa/Gv 91752.PM.1.GB vii

Deceleration time, SP_DECTIME ........................................................................................11.2

viii 91752.PM.1.GB Esa/Gv

Encoder position, SP_ENCTYPE.......................................................................................11.19

12 Measuring circuit parameters ............................................................................ 12.1

13 Proportional Axes Configuration parameters .................................................. 13.1

DAC position, AP_DACTYPE...............................................................................................13.5

14 N_VEL Axes Configuration parameters ............................................................ 14.1

15 Spindle Axes Configuration Parameters........................................................... 15.1

16 Servolink data ..................................................................................................... 16.1

16.2 Table that defines the number of digital axes.........................................................................16.2

17 Origin Data parameters ...................................................................................... 17.1

18 Tool Parameters.................................................................................................. 18.1

Rotation around Z axis, RH_EC...............................................................................18.15

19 Zoned Compensation Data parameters ............................................................ 19.1

xii 91752.PM.1.GB Esa/Gv

Number of zones for compensation, CZ_QTMAX ...............................................................19.1

20 Tool Magazine data ............................................................................................. 20.1

Esa/Gv 91752.PM.1.GB xiii

xiv 91752.PM.1.GB Esa/Gv

Notes for the reader

Users This document contains information for:

Explanation of the symbols

Keyboard and video The following conventions are used.

Text The following conventions are used.

Esa/Gv 91752.PM.1.GB iii

1.1 Units of measurement

Magnitude GUI Memory

Esa/Gv 91752.PM.1.GB 1.1

1.2 91752.PM.1.GB Esa/Gv

Esa/Gv 91752.PM.1.GB 1.3

1.4 91752.PM.1.GB Esa/Gv

Esa/Gv 91752.PM.1.GB 1.5

1.6 91752.PM.1.GB Esa/Gv

Esa/Gv 91752.PM.1.GB 1.7

1.3 Default configuration