information for the machine tool builder...tnc contouring control with drive system from heidenhain...
TRANSCRIPT
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TNC 620 HSCIThe Compact ContouringControl for Milling, Drilling andBoring Machines
Information for the MachineTool Builder
March 2014
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TNC contouring control with drive system from HEIDENHAINGeneral information
TNC 620 Contouring control for milling machinesUp to 5 axes and closed-loop main spindleHEIDENHAIN inverter systems and motors recommendedUniformly digital with HSCI interface and EnDat interfaceCompact design:– Screen, keyboard and main computer housed in one unit
(MC 7410)– Screen and main computer housed in one unit (MC 7420) and
separate keyboard with integrated ASCII keysDimensions: 400 mm x 470 mm x 100 mm (MC 7410)Integrated 15-inch TFT color flat-panel displayStorage medium for NC programs: CompactFlash memory cardProgramming in HEIDENHAIN conversational format oraccording to DIN/ISOStandard milling, drilling and boring cyclesTouch probe cyclesShort block processing time (1.5 ms)
System test Controls, motors and encoders from HEIDENHAIN are in mostcases integrated as components in larger systems. In thesecases, comprehensive tests of the complete system are required,irrespective of the specifications of the individual devices.
Expendable parts In particular the following parts in controls from HEIDENHAIN aresubject to wear:
Buffer batteryFan
Standards Standards (ISO, EN, etc.) apply only where explicitly stated in thecatalog.
Note Microsoft Windows, Windows 2000, Windows XP, WindowsVista, Windows 7, Windows 8 and the Internet Explorer areregistered trademarks of Microsoft Corporation.
Validity The features and specifications described here apply for thefollowing control and NC software versions:
TNC 620 with NC software versions817600-01 (export license required) 817601-01 (no export license required)
This catalog supersedes all previous editions, which therebybecome invalid. Subject to change without notice.
Prerequisites Some of these specifications require particular machineconfigurations. Please note also that, for some functions, a specialPLC program must be created by the manufacturer.
Functional safety If no explicit distinction is made between standard and FScomponents (FS = functional safety), then the data and otherinformation apply to both versions (e.g. TE 735, TE 735 FS).
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Contents
TNC contouring control with drive system from HEIDENHAIN 2
Overview tables 4
HSCI control components 14
Accessories 26
Cable overview 38
Technical description 45
Data transfer and communication 69
Mounting information 72
Overall dimensions 74
General information 92
Subject index 94
Please refer to the page references in the tables with thespecifications.
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Overview tablesComponents
Control systems TNC 620 Page
Main computer MC 7420 (separate operating panel) MC 7410 (integrated operating panel) 14
Storage medium CFR CompactFlash memory card 15
NC software license On SIK component 15
Visual display unit 15-inch color flat-panel display (integrated)
Operating panel TE 720 or TE 730 or TE 735 Integrated 22
MB 720 (integrated in TE 7x5) 22Machine operating panel
PLB 6001 (HSCI adapter for OEM machine operating panel) 27
Controller unit 6 control loops CC 6106 18
Power supply1) PSL 130 26
PL 6000 consisting of PLB 62xx basic module (system PL) or PLB 61xx(expansion PL) and I/O modules
23
On UEC 19
With HSCIinterface
On UMC 21
PLC inputs/outputs1)
With PROFIBUS-DP interface
PL 550 consisting of PLB 550 basic module and I/O modules 25
CMA-H for analog axes/spindles in the HSCI systemAdditional modules1)
Module for PROFIBUS-DP
28
Inverter systems Compact inverters and modular inverters *)
UEC 111 194 control loops
UMC 111 21
5 control loops UEC 112 19
Inverters withintegratedcontroller unit
6 control loops UEC 113 19
Connecting cable 38
*) For further information, refer to the Inverter Systems for HEIDENHAIN Controls brochure1) May be necessary depending on the configuration
Please note: The MC main computer does not have any PLC inputs/outputs. Therefore one PL 6000, UEC or UMC is necessary for eachcontrol. They feature safety-relevant inputs/outputs as well as the connections for touch probes.
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Accessories
Accessories TNC 620 Page
Electronic handwheels HR 410 portable handwheel orHR 520 portable handwheel with display orHR 550 FS portable wireless handwheel with display orHR 130 panel-mounted handwheel orUp to three HR 150 panel-mounted handwheels via HRA 110 handwheel adapter
31
Workpiece touch probes TS 230 touch trigger probe with cable connection orTS 440 touch trigger probe with infrared transmission orTS 444 touch trigger probe with infrared transmission orTS 640 touch trigger probe with infrared transmission orTS 740 touch trigger probe with infrared transmission
29
Tool touch probes TT 140 touch trigger probe with cable connection orTT 449 touch trigger probe with infrared transmission orTL Nano laser system for contact-free tool measurement orTL Micro laser system for contact-free tool measurement
30
USB hub 70
Programming station Control software for PCs for programming, archiving, and trainingSingle-station license with original control keyboardSingle-station license with virtual keyboardNetwork license with virtual keyboardDemo version with virtual keyboard or PC keyboard—free of charge
*)
Snap-on keys For the controlFor the handwheel
3635
*) For more information, refer to the Programming Station TNC brochure.
Accessories / Software TNC 620 Page
PLCdesign1) PLC development software 66
KinematicsDesign1) Software for creating kinematics and initializing DCM 58
TNCremo2) Data transfer software 70
TNCremoPlus2) Data transfer software with “live” screen 70
ConfigDesign1) Software for configuring the machine parameters 63
CycleDesign1) Software for creating cycle structures 68
Software Key Generator1) Software tools for temporary enabling of SIK options or code numbers 15
TNCscope1) Software for data recording 64
DriveDiag1) Software for diagnosis of digital control loops 63
TNCopt1) Software for putting digital control loops into service 63
IOconfig1) Software for configuring PLC I/O and PROFIBUS-DP components 24
TeleService1) Software for remote diagnostics, monitoring, and operation 64
RemoTools SDK1) Function library for developing customized applications for communication withHEIDENHAIN controls
71
TNCtest1) Software for creation and execution of acceptance tests -
1) Available to registered customers for downloading from the Internet2) Available to all customers (without registration) for downloading from the Internet
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Specifications
Specifications TNC 620 Page
Axes1) Max. 5
Rotary axes
Synchronized axes
PLC axes
49
Spindle 52
Spindle speed2) Max. 60 000 min–1 52
Operating mode switchover 52
Position-controlled spindle 52
Oriented spindle stop 52
Gear shifting 52
NC program memory 1.8 GB 14
Input resolution and display step
Linear axes 0.1 μm, 0.01 μm with option 23
Rotary axes 0.0001°, 0.00001° with option 23
49
Functional safety With FS components, SPLC and SKERN
For applications up to SIL 2 according to EN 61 508Category 3, PL d according to EN ISO 13 849-1: 2008
46
Interpolation MC
Straight line In 4 axes; in 5 axes with option 9 *
Circle In 2 axes; in 3 axes with option 8 *
Helix *
Axis feedback control
With following error
With feedforward
54
Axis clamping 49
Maximum feed rate60000 min–1
Screw pitch [mm]No. of motor pole pairs
at fPWM = 5000 Hz
49
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Specifications TNC 620 Page
Cycle times of main computer MC 55
Block processing 1.5 ms 56
Cycle times of controller unit CC/UEC/UMC 55
Path interpolation 3 ms
Fine interpolation Single speed: 0.2 ms Double speed: 0.1 ms (option 49)
Position controller Single speed: 0.2 ms Double speed: 0.1 ms (option 49)
Speed controller Single speed: 0.2 ms Double speed: 0.1 ms (option 49)
Current controller fPWM 3333 Hz4000 Hz5000 Hz 6666 Hz8000 Hz 10 000 Hz
TINT150 μs 125 μs 100 μs75 μs with option 4960 μs with option 4950 μs with option 49
55
Permissible temperature range Operation: In electrical cabinet: 5 °C to 40 °CIn operating panel: 0 °C to 50 °CStorage: –20 °C to 60 °C
*) For further information, refer to the TNC 620 brochure (ID 896140-xx)1) As ordered2) On motors with two pole pairs
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Machine interfacing
Machine interfacing TNC 620 Page
Error compensation 59
Linear axis error 59
Nonlinear axis error 59
Backlash 59
Reversal spikes with circularmovement
59
Hysteresis 59
Thermal expansion 59
Stick-slip 59
Sliding friction 59
Integrated PLC 65
Program format Statement list 65
Program input at the control MC 7410: By external USB keyboardMC 7420: By TE 7xx
65
Program input by PC 65
Symbolic PLC-NC interface 65
PLC memory 350 MB 65
PLC cycle time 9 ms to 30 ms, adjustable 65
PLC inputs/outputs1) A PLC system can consist of max. seven PLB 61xx and max. two MB 7xx, TE 7x5 orPLB 6001. A total maximum of 1000 inputs/outputs is supported.
23,19
PLC inputs, 24 V DC1) Via PL, UEC, UMC 23
PLC outputs, 24 V DC1) Via PL, UEC, UMC 23
Analog inputs, 10 V Via PL 23
Inputs for PT 100 thermistors Via PL 23
Analog outputs, 10 V Via PL 23
PLC functions 65
Small PLC window 65
PLC soft keys 65
PLC positioning 66
PLC basic program 67
Integration of applications 66
High-level language programming Python programming language used in combination with the PLC (option 46) 66
User interfaces can be custom-designed
Inclusion of specific user interfaces from the machine tool builder (option 46) 66
1) Further PLC inputs/outputs via PL 550 for connection to MC with PROFIBUS-DP additional module
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Machine interfacing TNC 620 Page
Commissioning and diagnosticaids
63
DriveDiag Software for diagnosis of digital drive systems 63
TNCopt Software for putting digital control loops into service 63
ConfigDesign Software for creating the machine configuration 63
KinematicsDesign Software for creating the machine kinematics, initialization of DCM 58
Integrated oscilloscope 64
Trace function 64
API DATA function 64
Table function 64
OnLine Monitor (OLM) 63
Log 64
TNCscope 64
Bus diagnostics 64
Data interfaces
Ethernet (1000BASE-T) 69
USB 3.0 69
RS-232-C/V.24 69
Protocols 69
Standard data transfer 69
Blockwise data transfer 69
LSV2 69
1) Further PLC inputs/outputs via PL 550 for connection to MC with PROFIBUS-DP additional module
Encoder inputs UEC 111 UEC 112 UEC 113 UMC 111 CC 6106 53
4 5 6 - 6 53
Incremental 1 VPP 53
Position
Absolute EnDat 2.2 53
4 5 6 4 6 53
Incremental 1 VPP 53
Shaft speed
Absolute EnDat 2.2 53
Nominal-value outputs UEC 111 UEC 112 UEC 113 UMC 111 CC 6106 53
PWM - - - - 6 17
Motor connections 4 5 6 4 - 17
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User functions
User functionS
tand
ard
Opt
ion
TNC 620
Brief description0/1
Basic version: 3 axes plus spindle1st or 2nd additional axis for 4 or 5 axes plus spindleDigital current and speed control
Program entry42
HEIDENHAIN conversationalDirect loading of contours or machining positions from DXF files and saving as conversationalcontouring program or as point tablesDIN/ISO with MC 7410: Soft keys or external standard USB keyboard;with MC 7420: Integrated ASCIIkeyboard
Position entry Nominal positions for lines and arcs in Cartesian coordinates or polar coordinatesIncremental or absolute dimensionsDisplay and entry in mm or inches
Tool compensation219
Tool radius in the working plane and tool lengthRadius-compensated contour look-ahead for up to 99 blocks (M120)Three-dimensional tool-radius compensation for changing tool data without having to recalculate anexisting program
Tool tables Multiple tool tables with any number of tools
Cutting data Automatic calculation of spindle speed, cutting speed, feed per tooth and feed per revolution
Constant contourspeed
Relative to the path of the tool centerRelative to the tool’s cutting edge
Parallel operation Creating a program with graphical support while another program is being run
3-D machining9999
Motion control with smoothed jerk3-D tool compensation through surface normal vectorsKeeping the tool normal to the contourTool radius compensation normal to the tool directionManual traverse in the active tool-axis system
Rotary tablemachining
88
Programming of cylindrical contours as if in two axesFeed rate in distance per minute
Contour elements Straight lineChamferCircular pathCircle centerCircle radiusTangentially connecting circular arcCorner rounding
Contour approachand departure
Via straight line: tangential or perpendicularVia circular arc
FK free contourprogramming
19 FK free contour programming in HEIDENHAIN conversational format with graphic support forworkpiece drawings not dimensioned for NC
Fixed cycles
19191919191919191919
Drilling, tapping with a floating tap holder, rigid tappingRectangular and circular pocketsPeck drilling, reaming, boring, counterboring, centeringMilling internal and external threadsClearing level and oblique surfacesMultioperation machining of straight and circular slotsMultioperation machining of rectangular and circular pockets, and rectangular and circular studsCartesian and polar point patternsContour train, contour pocketContour slot with trochoidal millingEngraving cycle: Engrave text or numbers in a straight line or on an arcOEM cycles (special cycles developed by the machine tool builder) can be integrated
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User function
Sta
ndar
d
Opt
ion
TNC 620
Program jumps SubprogramsProgram-section repeatCalling any program as a subprogram
Coordinatetransformation 8
Datum shift, rotation, mirror image, scaling factor (axis-specific)Tilting the working plane, PLANE function
Q parametersProgramming withvariables
Mathematical functions =, +, –, *, /, sin , cos , tan , arc sin, arc cos, arc tan, an, en, ln, log, angle of sin and cos , square root of a, square root of (a2 + b2)Logical operations (=, = /, )Calculating with parenthesesAbsolute value of a number, constant , negation, truncation of digits before/after decimal pointFunctions for calculation of circlesFunctions for text processing
Programming aids CalculatorComplete list of all current error messagesContext-sensitive help function for error messagesTNCguide: The integrated help system. User information available directly on the TNCGraphic support for programming cyclesComment and structure blocks in the NC program
Teach-In Actual positions can be transferred directly into the NC program
Test graphicsDisplay modes
202020
Graphic simulation before a program run, even while another program is runningPlan view / projection in 3 planes / 3-D view, also in tilted working plane / 3-D pencil-trace graphicsMagnification of details
Programminggraphics
In the Programming and Editing mode, the contour of the NC blocks is drawn on screen while theyare being entered (2-D pencil-trace graphics), even while another program is running
Program-rungraphics Display modes
2020
Graphic simulation during real-time machiningPlan view / projection in 3 planes / 3-D view
Machining time Calculation of machining time in the Test Run operating modeDisplay of the current machining time in the Program Run operating modes
Returning to thecontour
Mid-program startup in any block in the program, returning the tool to the calculated nominal positionto continue machiningProgram interruption, contour departure and return
Datummanagement
For saving any reference points
Datum tables Several datum tables for storing workpiece-related datums
Pallet tables 22 Pallet tables (with as many entries as desired for the selection of pallets, NC programs and datums)can be machined workpiece by workpiece
Touch probe cycles 17171717
Touch probe calibrationCompensation of workpiece misalignment, manual or automaticDatum setting, manual or automaticAutomatic tool and workpiece measurement
Parallel secondaryaxes
Compensating movement in the secondary axes U, V, W through the principal axes X, Y, ZIncluding movements of parallel axes in the position display of the associated principal axis (sumdisplay)Defining the principal and secondary axes in the NC program makes it possible to run programs ondifferent machine configurations
Conversationallanguages
English, German, Chinese (traditional, simplified), Czech, Danish, Dutch, Finnish, French, Hungarian,Italian, Korean, Norwegian, Polish, Portuguese, Romanian, Russian (Cyrillic), Slovak, Slovenian,Spanish, Swedish, Turkish
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Options
Optionnumber
Option As of NCsoftware81760x-
ID Comment
0 Additional axis 01 ID 354540-01 Additional control loop 1
1 Additional axis 01 ID 353904-01 Additional control loop 2
8 Software option 1 01 ID 617920-01 Rotary table machiningProgramming of cylindrical contours as if in two axesFeed rate in distance per minute
Coordinate transformationTilting the working plane, PLANE function
InterpolationCircular in 3 axes with tilted working plane
9 Software option 2 01 ID 617921-01 3-D machining3-D tool compensation through surface normal vectorsTool center point management (TCPM): Using the electronichandwheel to change the angle of the swivel head duringprogram run without affecting the position of the tool pointKeeping the tool normal to the contourTool radius compensation normal to the tool directionManual traverse in the active tool-axis system
InterpolationLinear in 5 axes (export license required)
17 Touch probefunctions
01 ID 634063-01 Touch probe cyclesCompensation of workpiece misalignment, datum settingAutomatic tool and workpiece measurementTouch probe input enabled for non-HEIDENHAIN systems
18 HEIDENHAIN DNC 01 ID 526451-01 Communication with external PC applications over COMcomponent
19 Advancedprogrammingfeatures
01 ID628252-01 FK free contour programmingFixed cycles
Peck drilling, reaming, boring, counterboring, centeringMilling internal and external threadsClearing level and oblique surfacesMultioperation machining of straight and circular slotsMultioperation machining of rectangular and circular pocketsCartesian and polar point patternsContour train, contour pocket—also with contour-parallelmachiningContour slot with trochoidal millingSpecial cycles developed by the machine tool builder can beintegrated
20 Advanced graphicfeatures
01 ID 628253-01 Program-verification graphics, program-run graphicsPlan view, view in three planes, 3-D view
21 Software option 3 01 ID 628254-01 Tool compensationRadius-compensated contour look-ahead for up to 99 blocks(LOOK AHEAD)
3-D machiningSuperimpose handwheel positioning during program run
22 Pallet management 01 ID 628255-01 Pallet management
23 Display step 01 ID 632986-01 Display step to 0.01 μm or 0.000 01°
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Optionnumber
Option As of NCsoftware81760x-
ID Comment
24 Gantry axes 01 ID 634621-01 Gantry axes in master-slave torque control
42 DXF converter 01 ID 526450-01 Load and convert DXF contours
46 Python OEMprocess
01 ID 579650-01 Python application on the iTNC
48 KinematicsOpt 01 ID 630916-01 Touch probe cycles for automatic measurement of rotary axes
49 Double-speed axis 01 ID 632223-01 Short control-loop cycle times for direct drives
133 Remote desk.manager
01 ID 894423-01 Display and remote operation of external computer units (e.g. aWindows PC)
141 Cross talk comp. 01 ID 800542-01 CTC: Compensation of axis couplings
142 Pos. adapt. control 01 ID 800544-01 PAC: Position-dependent adaptation of control parameters
143 Load adapt. control 01 ID 800545-01 LAC: Load-dependent adaptation of control parameters
144 Motion adaptivecontrol
01 ID 800546-01 MAC: Motion-dependent adaptation of control parameters
145 Active chattercontrol
01 ID 800547-01 ACC: Active suppression of chatter
146 Active vibrationdamping
01 ID 800548-01 AVD: Active vibration damping
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HSCI control componentsMain computer
Main computer The MC 74xx main computers feature:Intel Celeron 1047 1.4 GHz dual-core processor2 GB SDRAM main memoryOnly with MC 7410: TNC operating panel with soft keys15-inch TFT color flat-panel display; resolution 1024 x 768 pixelsHSCI interface to the controller unit and to other controlcomponentsUSB 2.0 port with cover cap on frontOn MC 7420: USB port for the TE operating panelFurther interfaces on the MC for use by the end user: Ethernet,USB 3.0, RS-232-C/V.24
To be ordered separately, and installed in the main computer bythe OEM:
CFR memory card with the NC softwareSIK component (System Identification Key) for enabling thecontrol loops and software options
The following HSCI components are necessary for operation ofthe TNC 620:
MC main computerController unitPLB 62xx PLC input/output unit (system PL; integrated in UEC/UMC)MB 720 machine operating panel (integrated in TE 7x5) orPLB 6001 HSCI adapter for connection of an OEM machineoperating panel
Power supply 24 V DC of power are supplied to the main computer and otherHSCI components by the UEC controller unit. If the currentconsumption is greater than 3.5 A or a CC 6106 is used, then aPSL 130 power supply unit is also necessary.
Export version Because the complete NC software is saved on the CFR memorymedium, no export version is required for the main computeritself. Export versions are available only for the easily replaceablestorage medium and the SIK component.
Versions The MC 74xx main computers are designed for direct installation inthe operating panel. The following versions are available:
Integrated keyboardThe MC 7410 combines the 15-inch screen and the TNCkeyboard in one extremely compact unit.Separate keyboardThe MC 7420 and the screen form one unit. A separate 15-inchTNC keyboard is used as keyboard. Hence, the complete ASCIIcharacter set is available.
The main computers listed are supported by NC software81760x-01, and later. These MC main computers cannot be run onearlier software versions.
The MC main computers feature the HEROS 5 operating system.Connection to PROFIBUS-DP is possible via an additional module.
Keyboardunit
Powerloss
Weight
MC 7410 Integrated 52 W 7.8 kg ID 1039531-xx
MC 7420 Separate 52 W 6,5 kg ID 1066650-xx
MC 7410
MC 7420
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Options The capabilities of the TNC 620 can also be adapted retroactivelywith options to meet new requirements. These options aredescribed on page 12. They are enabled by entering keywordsbased on the SIK number, and are saved in the SIK component.Please indicate your SIK number when ordering new options.
Storage medium A CFR (= CompactFlash Removable) compact flash memorycard is used as storage medium. It contains the NC softwareand is used to store NC and PLC programs. The storage mediumis removable and must be ordered separately from the maincomputer.
Please note: These CFRs use the fast SATA protocol (CFast) forsignificantly shorter access times. They are not compatible withthe previous CFRs and can be used only in conjunction with theMC 74xx main computers.
CFR CompactFlashFree capacity for NC programs 1.8 GBFree capacity for PLC programs 350 MBExport license required ID 1069906-01No export license required ID 1069906-51
CFR CompactFlash
SIK component The SIK component contains the NC software license forenabling control loops and software options. It gives the maincomputer an unambiguous ID code—the SIK number. The SIKcomponent is ordered and shipped separately. It must be insertedin a special slot in the MC main computer.
The SIK component with the NC software license is available invarious versions, depending on the enabled control loops andoptions. Further control loops – up to 6 control loops – can beenabled later by entering a keyword. HEIDENHAIN provides thekeyword, which is based on the SIK number.
When ordering, please indicate the SIK number of your control.When the keywords are entered in the control, they are savedin the SIK component. This enables and activates the options.Should service become necessary, the SIK component must beinserted in the replacement control to enable all required options.
SIK component
Master keyword(general key)
There is a master keyword (general key) for putting the TNC 620into service that will unlock all options for a duration of 90 days.After this period, only those options with the correct keywords willbe active. The general key is activated via a soft key.
Software Key Gen-erator (accessory)
The PC software makes it possible to generate an activation codefor software options on HEIDENHAIN controls. The selectedoption is enabled for a limited time (10 to 90 days). It can onlybe enabled once. You generate the desired activation code byentering the SIK number, the option to be enabled, the durationand a manufacturer-specific password. Option enabling isindependent of the general key.
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NC softwarelicense andenabling ofcontrol loops
Controlloops
Without option Incl. option 46 Incl. options 19and 20
Incl. options 19,20 and 46
Incl. options 8, 19and 20
4 ID 526924-01 ID 526924-51
ID 526924-09 ID 526924-59
ID 526924-04 ID 526924-54
ID 526924-11 ID 526924-11
ID 526924-18 ID 526924-18
5 ID 526924-02 ID 526924-52
ID 526924-10 ID 526924-60
ID 526924-05 ID 526924-55
ID 526924-12 ID 526924-62
--
6 ID 526924-03 ID 526924-53
- -
ID 526924-06 ID 526924-56
--
--
(Italics: Export version)
Enabling furthercontrol loops
Further control loops can be enabled individually. Up to 6 controlloops are possible.
Individual control loops Option
1st additional control loop 0 ID 354540-01
2nd additional control loop 1 ID 353904-01
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Controller unit
Controller unit Due to the very short cycle times of the position, speed andcurrent controllers, the controller units from HEIDENHAIN areequally suited for conventional drives, for direct drives (linearmotors, torque motors) and for HSC spindles. They permit a highloop gain and short reaction times to changing machining forces,and so make the high contour accuracy and surface quality of theworkpiece possible.
Single speedDouble speed
Single-speed control loops are usually sufficient for linear ortorque motors and for conventional axes. Double-speed controlloops (option 49) are preferred for HSC spindles and axes that aredifficult to control. In the default setting, all axes are set to singlespeed. Each axis that is switched from single speed to doublespeed can reduce the number of available control loops by one.PWM frequencies greater than 5 kHz require double-speed controlloops, for which option 49 must be enabled.
Cycle times Speed controllerWith fPWM Current controller
Single-speed Double-speed
Position controller
3333 Hz 150 μs 300 μs 150 μs
4000 Hz 125 μs 250 μs 125 μs
5000 Hz 100 μs 200 μs 100 μs
6666 Hz1) 75 μs 150 μs 150 μs
8000 Hz1) 60 μs 125 μs 125 μs
10000 Hz1) 50 μs 100 μs 100 μs
Same as speedcontroller
1) Possible only with option 49
Number of controlloops
The number of enabled control loops depends on the SIK (seeMain computer), or on additionally enabled control loops, whichcan also be ordered as needed later.
Versions Modular CC 61xx controller units with PWM interface to theinvertersCompact UEC/UMC inverters with integrated controller unit
Controller units, main computers and inverters operate in anydesired combination.
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CC 6106 The CC 6106 controller unit features:Position controller, speed controller, current controllerHSCI interfacesPWM interfaces to the UM, UR, UE power modulesInterfaces to the speed and position encodersInterfaces for power supply (via inverter)SPI interfaces for expansion modules (e.g. CMA-H)
CC 6106
Digital control loops Max. 6 (single speed)
Speed inputs 6 x 1 VPP or EnDat 2.2
Position inputs 6 x 1 VPP or EnDat 2.2
PWM outputs 6
Weight 4.1 kg
ID 662636-xx
CC 6106
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UEC 11x The UEC 11x compact inverters not only include the inverter, butalso a controller with PLC inputs and outputs and an integratedbraking resistor. They offer a complete solution for machines witha limited number of axes and low power demands.
ControllersPosition controller, speed controller, current controllerHSCI interfaceInterfaces to the speed and position encoders
InverterPower electronicsConnections for axis motors and spindle motorBraking resistorConnections for motor holding brakes
System PLInterfaces for one workpiece touch probe and one tool touchprobeIntegrated PLC (expandable with PL 61xx)UEC 11x: 38 free inputs, 23 free outputs (7 of which can beswitched off)UEC 11x FS: 38 free inputs, 28 free outputs (7 of which can beswitched off), 8 free FS inputs, 8 free FS outputsConfiguration with IOconfig PC software
DC-link connectionsThe UEC 111 and UEC 112 do not have any DC-link connection.On the UEC 111 FS, UEC 112 FS and UEC 113 (FS) an additionalDC-link connection is located on the front panel for connectionof a PSL 130.
UEC 111
UEC 113
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UEC 111/UEC 112/UEC 113
Controller 4/5/6 digital control loops
Speed inputs 4/5/6 x 1 VPP or EnDat 2.2
Position inputs 4/5/6 x 1 VPP or EnDat 2.2
Inverter 2/3/4 axes 1 axis Spindle
3333 Hz 6.0/12.0 A 9.0/18.0 A 24.0/36.0 A
4000 Hz 5.5/11.0 A 8.3/16.5 A 22.0/33.0 A
5000 Hz 5.0/10.0 A 7.5/15.0 A 20.0/30.0 A
6666 Hz 4.2/8.4 A 6.3/12.6 A 16.8/25.2 A
8000 Hz 3.6/7.3 A 5.5/11.0 A 14.6/21.9 A
Rated current IN/maximum current Imax1)
at a PWM frequency of
10000 Hz 3.0/6.0 A 4.6/9.2 A 12.2/18.3 A
Supply voltage2) 3 x 400 V AC (± 10 %); 50 Hz
Rated power of DC link 14 kW
Peak power3) of DC link 18 kW / 25 kW
Power loss at IN 450 W
DC-link voltage 565 V DC
Integral braking resistance4) 2.1 kW / 27 kW
Power pack for HSCI components 24 V DC / 3.5 A
Module width 150 mm
Weight 20 kg
Functional safety -
UEC 111UEC 112UEC 113
ID 625777-xx ID 625779-xx ID 828471-xx
ID 1075825-xxID 1075826-xx ID 1038694-xx
1) Axes: 0.2 s cyclic duration factor for duty cycle time of 10 s with 70 % rated current preload Spindle: 10 s cyclic duration factor for duty cycle time of 60 s with 70 % rated current preload
2) For UL certification: 3 x 480 V AC (+6 %/–10 %); 60 Hz3) 1st value: 40 % cyclic duration factor for 10 minutes duty cycle time (S6-40 %)
2nd value: 4 s cyclic duration factor for 20 seconds duty cycle time4) 1st value: Continuous duty
2nd value: Peak power (1.5 % cyclic duration factor for 120 seconds duty cycle time)
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UMC 11x The UMC 111 is a compact inverter with integrated controllerunit and PLC inputs/outputs. As opposed to the UEC, it is usedexclusively for controlling axis motors and is powered by anexternal DC link. The UMC automatically enables the control loopsneeded for auxiliary axes. No additional options are required.
Please note: The UMC does not increase the number of possibleaxes. Interpolation with NC axes is not possible.
ControllerPosition controller, speed controller, current controllerHSCI interfaceInterfaces to the speed encoders
InverterPower electronicsConnections for axis motorsConnections for motor holding brakes
System PLInterfaces for one workpiece touch probe and one tool touchprobe with signal transmission by cableIntegrated PLC, expandable with PL 61xxUMC 111: 38 free inputs, 23 free outputs (7 of which can beswitched off)UMC 111 FS: 38 free inputs, 28 free outputs (7 of which can beswitched off)8 FS inputs, 8 FS outputsConfiguration with IOconfig PC software
UMC 111
UMC 111
Controller 4 digital control loops
Speed inputs 4 x 1 VPP or EnDat 2.2
Inverter 4 axes
3333 Hz 9.0/18.0 A
4000 Hz 8.3/16.5 A
5000 Hz 7.5/15.0 A
6666 Hz 6.3/12.6 A
8000 Hz 5.5/11.0 A
Rated current IN/maximum currentImax1) at a PWMfrequency of
10000 Hz 4.6/9.2 A
Power loss at IN Approx. 300 W
DC-link voltage 565 V DC
24 V PLC current consumption 24 V DC / 2 A
Module width 150 mm
Weight Approx. 11 kg
UMC 111UMC 111 FS
ID 736435-xxID 664231-xx
1) Axes: 0.2 s cyclic duration factor for duty cycle time of 10 s with 70 % rated current preload Spindle: 10 s cyclic duration factor for duty cycle time of 60 s with 70 % rated current preload
-
22
Keyboard unit
MB 720 machineoperating panel
Power supply 24 V DC / approx. 4 W36 exchangeable snap-on keys with status LEDs, freelydefinable via PLCOperating elements: 12 axis keys, 24 function keys, NC start1),NC stop1), spindle start, spindle stop (all snap-on keys),emergency stop button, control voltage on1); 2 holes foradditional keys or keylock switchesHSCI interfaceMB 720: 7 free PLC inputs and 5 free PLC outputs MB 720 FS: 4 free FS inputs and 5 free PLC outputs; and dual-channel FS inputs for emergency stop and permissive buttons ofthe handwheel.
1) Keys illuminated, addressable via PLC
MB 720 ID 784803-01MB 720 FS ID 805474-01Weight Approx. 1 kg
MB 720
TE 730 keyboard For MC 7420Axis keysThe keys for axes IV and V are exchangeable snap-on keys.Contouring keysOperating mode keysASCII keyboardSpindle-speed and feed-rate override potentiometersUSB interface to the MCTouchpad
TE 730 ID 805489-01Weight Approx. 4.2 kg
TE 730
TE 720 keyboard Same features as TE 730 but without touchpad
TE 720 ID 805488-01
TE 735 keyboardunit withintegratedmachineoperating panel
For MC 7420NC keyboard same as TE 730USB interface to the MC main computerMachine operating panel (same as MB 720)HSCI interface
TE 735 ID 771898-01TE 735 FS ID 805493-01Weight Approx. 3.4 kg
TE 735
-
23
PL 6000 PLC input/output systems with HSCI
PL 6000 The PLC inputs and outputs are available via external modularPL 6000 PLC input/output systems. They consist of a basicmodule and one or more input/output modules. A total maximumof 1000 inputs/outputs is supported. The PL 6000 units areconnected to the MC main computer via the HSCI interface. ThePL 6000 units are configured with the IOconfig PC software.
PLB 62xx
Basic modules There are basic modules with HSCI interface available for four, sixor eight I/O modules. They are mounted on standard NS 35 rails(DIN 46 227 or EN 50 022).
Supply voltage 24 V DCPower consumption1) Approx. 48 W at 24 V DC NC
Approx. 21 W at 24 V DC PLCWeight 0.36 kg (bare)1) PLB 6xxx completely filled, incl. TS, TT. For more details
regarding power supply for 24 V DC NC, see Power supply forHSCI components.
System PL Necessary once for each control system (except with UEC)Includes connections for TS and TT touch probes, as well as TLSafety-relevant inputs/outputsWithout FS: 12 free inputs, 7 free outputsWith FS: 6 free FS inputs, 2 free FS outputs
PLB 6204 for 4 I/O modules ID 591832-03PLB 6204 FS for 4 I/O modules ID 586789-03PLB 6206 for 6 I/O modules ID 630054-03PLB 6206 FS for 6 I/O modules ID 622721-03PLB 6208 for 8 I/O modules ID 630055-03PLB 6208 FS for 8 I/O modules ID 620927-03
Expansion PL For connection to the system PL to increase the number ofPLC inputs/outputs
PLB 6104 for 4 I/O modules ID 591828-03PLB 6104 FS for 4 I/O modules ID 590479-03PLB 6106 for 6 I/O modules ID 630058-03PLB 6106 FS for 6 I/O modules ID 804755-01PLB 6108 for 8 I/O modules ID 630059-03PLB 6108 FS for 8 I/O modules ID 804756-01
Up to seven PLB 6xxx can be connected to the control. Themaximum cable length results from the maximum permissiblelength of the HSCI chain of 70 m.
-
24
I/O modules forHSCI
There are I/O modules with digital and analog inputs and outputs.For partially occupied basic modules, the unused slots must beoccupied by an empty housing.
PLD-H 16-08-00 I/O module with 16 digital inputs and 8 digital outputs
ID 594243-02
PLD-H 08-16-00 I/O module with 8 digital inputs and 16 digital outputs
ID 650891-02
PLD-H 08-04-00 FS I/O module with 8 digital FS inputs and 4 digital FS outputs
ID 598905-02
PLD-H 04-08-00 FS I/O module with 4 digital FS inputs and 8 digital FS outputs
ID 727219-02
Total current Outputs 0 to 7: 2 A per output ( 8 A simultaneously)Power output Max. 200 WWeight 0.2 kg
PLA-H 08-04-04 Analog module for PL 6xxx with8 analog inputs, ± 10 V4 analog outputs, ± 10 V4 analog inputs for PT 100 thermistors
ID 675572-01
Weight 0.2 kg
Empty housing For unused slots ID 383022-11
IOconfig(accessory)
PC software for configuring HSCI and PROFIBUS components
-
25
PL 550 PLC input/output system for PROFIBUS-DP
PL 550 PLC inputs and outputs are also available via the external modularPL 550 PLC input/output system. It consists of a basic moduleand one or more I/O modules, and is connected to the MC maincomputer via the PROFIBUS-DP interface. The PLC I/O modulesare configured with the PC software IOconfig. The additionalmodule for PROFIBUS-DP (Page 28) must be installed in theMC before the PLB 550 is connected to the control.
PL 550
Basic module Basic module with PROFIBUS-DP interfaceThe PLB 550 has slots for four I/O modules. It serves as aPROFIBUS slave. A total of 32 slaves can be connected to theMC with integrated PROFIBUS interface board (PROFIBUS singlemaster). They are mounted on standard NS 35 rails (DIN 46 227 orEN 50 022).
PLB 550 ID 507872-01Supply voltage 24 V DCPower consumption Approx. 20 WWeight 0.36 kg (bare)
I/O modules The I/O modules consist of one module with digital inputs/outputsand one analog module. For partially occupied basic modules, theunused slots must be occupied by an empty housing.
PLD 16-8 ID 360916-11I/O module for PL 5x0 with16 digital inputs and 8 digital outputs. The maximum power output per module is 200 W. A load of up to2 A can be placed on each output. No more than four outputs maybe loaded with 2 A at any given time.Weight 0.2 kg
PLA 4-4 ID 366423-01Analog module for PL 5x0 with4 analog inputs for PT 100 thermistors4 analog inputs for ± 10 VWeight 0.2 kg
Empty housing For unused slots ID 383022-11
IOconfig(accessory)
PC software for configuring HSCI and PROFIBUS components
-
26
AccessoriesPower supply for HSCI components
PSL 13x To power the HSCI components, HEIDENHAIN offers the PSL 13xpower supply unit. Either line voltage and DC-link voltage or onlyline voltage is provided to the PSL 13x. The PSL 13x providesthe safely separated 24 V DC NC power supply required for theHSCI components by EN 61 800-5-1. The NC supply voltage andthe PLC supply voltage are separated from each other by basicinsulation.
Supplyvoltage
Line voltage 400 V AC ± 10 % 50 Hz andDC-link voltage 400 V DC to 750 V DCPower consumption max. 1000 W
Outputs NC: 24 V DC / 20 A (double insulation from line power) 5 V DC / 16 A (only for PSL 135) electrically connected with 24 V DC NC
PLC: 24 V DC / 20 A (basic insulation from linepower)
Total: Max. 32 A / 750 W
PSL 130
The PSL 130 serves as a 24 V DC power supply unit for supplyingthe HSCI components. If a UEC controller unit is used, then thePSL 130 is not necessary if the total current consumption of theconnected HSCI components does not exceed 3.5 A.
HSCI components Current consumption 24 V DC NC
Main computer MC 7410, MC 7420 2.2 A
Machine operating panel PLB 6001MB 7x0
0.2 A (without handwheel)0.2 A (without handwheel)
Keyboard unit TE 7x5 (MB integrated) 0.2 A (without handwheel)
PLC inputs/outputs PLB 62xx PLB 61xx PLD PLA
0.3 A (without touch probe) 0.2 A 0.05 A 0.1 A
Handwheels HR 520 HRA 551 FS + HR 550 FS HR 410 HR 130 HRA 110 + 3 x HR 150
0.05 A 0.5 A (during charging) 0.05 A 0.05 A 0.2 A
Touch probes See specifications of the touch probes
Module width Degree ofprotection
Weight
PSL 130 50 mm IP 20 2.1 kg ID 575047-04
-
27
HSCI adapter for OEM machine operating panel
PLB 6001 The PLB 6001 HSCI adapter is required in order to connect anOEM-specific machine operating panel to the TNC 620. Thespindle-speed and feed-rate override potentiometers of the TE 7xxand the HR handwheel are also connected to this adapter.
HSCI interfaceConnection for HR handwheelInputs/outputs for keys/key illumination Without FS: Terminals for 72 inputs and 40 outputsWith FS: Terminals for 36 FS inputs and 40 outputsConnection for spindle-speed, feed-rate and rapid-traverseoverridesScrew fastening or top-hat-rail mountingConfiguration of the PLC inputs/outputs with the IOconfigcomputer software
PLB 6001 ID 668792-01PLB 6001 FS ID 722083-01Weight Approx. 1.2 kg
PLB 6001
-
28
Additional modules
Overview The additional modules are directly connected to the HSCI controlsystem through a slot on the MC main computer, CC controllerunit or UEC/UMC inverter.
Module for analogaxes
Digital drive designs sometimes also require analog axes orspindles. The additional module CMA-H 04-04-00 (ControllerModule Analog—HSCI) makes it possible to integrate analog servodrives in an HSCI system.
The CMA-H is connected to the HSCI control system througha slot on the underside of the CC or UEC. Every controller unithas slots for two boards. The CMA-H does not increase the totalnumber of available axes: every analog axis used reduces thenumber of available digital control loops by one. Analog controlloops also need to be enabled on the SIK. The analog control-loopoutputs can only be accessed via the NC, and not via the PLC.
Additional module for analog axes/spindlesExpansion board for CC 61xx or UEC controller units4 analog outputs, ± 10 V for axes/spindleSpring-type plug-in terminals
CMA-H 04-04-00 ID 688721-01CMA-H 04-04-00
Module forPROFIBUS-DP
An expansion board can be used to provide the TNC 620 with aPROFIBUS interface at any time. This makes the connection to aPROFIBUS-DP field bus system possible.
The PROFIBUS module is integrated in the control system byusing a slot in the MC. The interface is configured with IOconfig.
Additional module for PROFIBUS-DPExpansion board for the MC main computerConnection for D-sub connector (female) 9-pin
PROFIBUS-DP additional module ID 828539-01
Module for PROFIBUS-DP
-
29
Touch probes
Overview Touch probes for tool and workpiece measurement are connectedvia the system PL 62xx or the UEC/UMC. These touch probesgenerate a trigger signal that saves the current position value tothe NC. For more information on the touch probes, ask for ourbrochure titled Touch Probes.
Workpiecemeasurement
The TS touch trigger probes have a stylus for probing workpieces.The HEIDENHAIN controls provide standard routines for datumsetting and workpiece measurement and alignment. The touchprobes are available with various taper shanks. Assorted styli areavailable as accessories.
Touch probes with cable connection for signal transmission formachines with manual tool change:
TS 260
TS 230
Next generation touch probe for NC machines
Touch probe for NC machines
TS 260
Touch probe with radio and infrared transmission for machineswith automatic tool change (for the fitting transmitter/receiver unitsee page 30):
TS 460 Next-generation touch probe with compact dimensionsHybrid technology: Signal transmission via radio or infraredsignalsLarge transmission range and long operating timeMechanical collision protection and thermal decoupling
TS 460
Touch probes with infrared signal transmission for machineswith automatic tool change (for the fitting transmitter/receiver unitsee page 30):
TS 444 Compact dimensions, battery-free—power supply throughintegrated air turbine generator over central compressed air supply
TS 640 Large infrared transmission range and long operating time
TS 740 High probing accuracy and reproducibility, low probing force
-
30
Tool -measurement
HEIDENHAIN touch probes for tool measurement are suited forprobing stationary or rotating tools directly on the machine. TheTNC 620 features standard cycles for measuring the length anddiameter of the tool as well as the individual teeth. The TNC 620automatically saves the results of measurement in the tool table.It is also possible to measure tool wear between two machiningsteps. The TNC 620 compensates the changed tool dimensionsautomatically for subsequent machining or replaces the tool after acertain limit—as for example after tool breakage.
With the triggering TT touch probes , the disk-type probe contactis deflected from its rest position upon contact with a stationary orrotating tool, sending a trigger signal to the TNC 620 control.
TT 160
TT 140
Next generation touch probe, signal transmission to the controlover connecting cable
Signal transmission to the control over connecting cable
TT 160
TT 460 Next generation touch probe, hybrid technology: signaltransmission via radio or infrared beam (for fitting transmitter/receiver unit see below)
TL Micro/TL Nano The TL laser systems operate without any contact. A laserbeam probes the length, diameter or contour of the tool. Specialmeasuring cycles in the TNC 620 evaluate the information.
Transmitter/receiver unit
The radio or infrared transmission is established between the TSor TT touch probe and the SE transceiver unit.
SE 660 For radio or infrared transmission (hybrid technology);common SE for TS 460 and TT 460; next generation
SE 540 For infrared transmission; integration in the spindle headSE 640 For infrared transmissionSE 642 For infrared transmission; common SE for TS and TT
The following combinations are possible:
SE 660 SE 540 SE 640 SE 642
TS 444 - Infrared Infrared Infrared
TS 460 Radio/infrared Infrared Infrared Infrared
TS 640 - Infrared Infrared Infrared
TS 740 - Infrared Infrared Infrared
TT 460 Radio/infrared Infrared Infrared Infrared
SE 660
-
31
Electronic handwheels
Overview The standard TNC 620 supports the use of electronic handwheels.HR 550 FS wireless handwheel, orHR 410 or HR 520 portable handwheel, orHR 130 panel-mounted handwheelUp to three HR 150 panel-mounted handwheels via HRA 110
A handwheel or HRA handwheel adapter can be connected to theMB machine operating panel or the PLB 6001 adapter for HSCI.Handwheels with functional safety are cross-circuit proof thanks tothe special permissive key logic.
HR 410 Portable electronic handwheel withKeys for actual-position capture and the selection of 5 axesKeys for traverse direction and three preset feed ratesThree keys with machine functions (see below)Emergency stop button and two permissive buttons (24 V)Magnetic holding pads
All keys are designed as snap-on keys and can be replaced by keyswith other symbols (see Snap-on keys).
Keys Withoutdetent
With detent
FCT A, FCT B,FCT C
ID 296469-53 –
Spindle right/left/stop
ID 296469-54 –
HR 410
NC start/stop,spindle start (forPLC basic program)
ID 296469-55 ID 535220-05
FCT A, FCT B,FCT C
ID 337159-11 ID 578114-01HR 410 FS
NC start/stop,spindle start (forPLC basic program)
ID 337159-21 ID 578114-11
Weight approx. 1 kg
HR 410
HR 520 Portable electronic handwheel withDisplay for operating mode, actual position value, programmedfeed rate and spindle speed, error messagesOverride potentiometer for feed rate and spindle speedSelection of axes via keys or soft keysActual position captureNC start/stopSpindle on/offKeys for continuous traverse of the axesSoft keys for machine functions of the machine manufacturerEmergency stop button
Withoutdetent
With detent
HR 520 ID 670302-01 ID 670303-01
HR 520 FS ID 670304-01 ID 670305-01
Weight approx. 1 kgHR 520
Mount for HR 520 For fastening on machine ID 591065-02
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32
HR 550 FS Electronic handwheel with wireless transmission. Display,operating elements and functions same as HR 520.
In addition:Functional safetyWireless transmission range up to 20 m (depending onenvironment)
HR 550 FS Without detent ID 598515-03With detent ID 606622-03
Replacementbattery
for HR 550 FS ID 623166-xx
HR 550 FS with HRA 551 FS
HRA 551 FS Handwheel mount for HR 550 FSFor docking the HR 550 FS on the machineIntegrated charger for HR 550 FSConnections to the control and the machineIntegrated transmitter/receiver unit
HRA 551 FS ID 731928-02Weight Approx. 1.0 kg
For more information, see the HR 550 FS Product Informationsheet.
Connecting cable For HR 410/HR 520
ForHR 410 FS/HR 520 FS
For HR 550 FSwithHRA 551 FS
Connecting cable (spiral cable) to HR(3 m)
– ID 312879-01
Connecting cable with metal armor – ID 296687-xx
Connecting cable without metal armor ID 296467-xx
Adapter cable for HR/HRA to MC 1) ID 296466-xx
Extension cable to adapter cable 1) ID 281429-xx
Adapter cable for HRA to MC – – 2) ID 749368-xx
Extension cable to adapter cable – – 2) ID 749369-xx
Dummy plug for standard handwheels – – ID 271958-03
Dummy plug for handwheels with FS – ID 271958-05
1) For cable lengths up to 20 m between MB and HRA 551 FS2) For cable lengths up to 50 m between MB and HRA 551 FS
See also Cable overview on Page 38.
-
33
HR 130 Panel-mounted handwheel with ergonomic control knob. It is attached to the MB 7x0 or the TE 7x5 either directly or via anextension cable.
HR 130 Without detent ID 540940-03With detent ID 540940-01
Weight Approx. 0.7 kg
HR 130
HR 150 Panel-mounted handwheel with ergonomic control knob forconnection to the HRA 110 handwheel adapter.
HR 150 Without detent ID 540940-07With detent ID 540940-06
Weight Approx. 0.7 kg
HR 150
HRA 110 Handwheel adapter for connection of up to three HR 150 panel-mounted handwheels and two switches for axis selection andfor selecting the interpolation factor. The first two handwheelsare permanently assigned to axes 1 and 2. The third handwheelis assigned to the axes over a selection switch (accessory) or bymachine parameters. The position of the second selection switch(accessory) is evaluated by the PLC, for example to set the properinterpolation.
HRA 110 ID 261097-04Weight Approx. 1.5 kg
Handwheelselection switch
With turning knob and cable ID 270908-xx
HRA 110
Handwheel selection switch
-
34
Industrial PC
IPC 6641for Windows
With the IPC 6641 industrial PC you can start and remotelyoperate Windows-based applications via the TNC’s user interface.The user interface is displayed on the control screen. Option 133 isrequired.
Since Windows runs on the industrial PC, it does not influencethe NC machining process. The IPC is connected to the NC maincomputer via Ethernet. No second screen is necessary, sincethe Windows applications are displayed on the TNC’s screen viaremote accesses.
In addition to the IPC 6641 industrial PC, a separately ordered harddisk is required for operation. The operating systems Windows 7or 8 can be installed on this empty data medium.
IPC 6641 ID 1039543-01To be installed in Electrical cabinetProcessor Intel Core i7-3
2.1 GHz 4 coresRAM memory 4 GBWeight 4.0 kg
HDR hard disk ID 1074770-51Empty data carrier for Windows operatingsystemFree capacity Approx. 160 GB
IPC 6641
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35
Snap-on keys for HR
Overview
The snap-on keys make it easy to replace the key symbols. In this way, the HR handwheel can be adapted to different requirements. Thesnap-on keys are available in packs of 5 keys.
Axis keys
Machine functions
Spindle functions
Other keys
Gray
Orange
Black
Black
Black
Black
Black
Black Black
Black
Black
Red
Green
Red
Red
Green
Green Green
Red
Green
-
36
Snap-on keys for control
Overview
The snap-on keys make it easy to replace the key symbols. In this way, the keyboard can be adapted to different requirements. The snap-on keys are available in packs of 5 keys.
Machine functions
Gray
KeysOrange
Green Black
Black
Black
Black
Red
-
37
Other keys
Spindle functions
Green
Green
Green
Red
Red
Black
Black
Black
Black Red
Red
-
38 Cable overview
Control system
with U
EC 11x; integrated keyboard
UEC 11x
X201 ... X204 (UEC 111)
12m
60m
298429-xx298430-xx
309783-xx
310199-xx
336376-xx
60m
336376-xx LC x83
KTY
533631-xx max. 6m
VL (max. 6m)340302-xx
VL340302-xx 289440-xx
KTY
LB/LS
60m
max. 9m
289440-xxVL336847-xx
60m
VL323897-xx
509667-xx
1)
1m RCN 729RCN 226RCN 228
2)
2)
1)
PLC I/O
X201 ... X205 (UEC 112)X201 ... X206 (UEC 113)
X15 ... X18 (UEC 111)X15 ... X19 (UEC 112)X15 ... X20 (UEC 113)
3)
X502
X500
HSCI618893-xx
X500
X502
HSCI
PL 610x
722414-xx
HSCI
HSCI M12 688144-xx
X500
X501
X502
MC 7xxx
MB 720
558714-xx max. 30m
332115-xx
LC
LC x83
60m
VL323897-xx
LC x83
RCN 729RCN 226RCN 228
533631-xx max. 9m
1m
30m673459-xx max. 20m
368330-xx
533661-xx max. 16m
4)
5) 4)
5)
4)
5)
4)
5)
4)
5)533627-xx
30.07.2013
X60
X10
250479-603)
1 VPP
Position inputs
1 VPP
1 VPP
Sp
eed
inp
uts
EnDat 2.1 interface
Axes + spindle:
Axes: 60m
Voltage controller 5 V368210-01
Voltage controller 5 V383951-01
1 VPP
1 VPP
Only for connection of the KTY
Adapter connector 544703-01 for spindle (if necessary)
38 inputs
23 outputs
Supplied with the MB
EnDat ������with incremental signals
Pure serial EnDat 2.2
VL: Extension cable – for separation points with connecting cable – for extending existing connecting cable
HSCI total length 70 m
ribbon cable for pots
-
39
Control system
with C
C 6106; integrated keyboard
CC 6106
X15 ... X20
X201 ... X206
12m
60m
298429-xx298430-xx
309783-xx
310199-xx
336376-xx
60m336376-xx LC x83
KTY
533631-xx max. 6m
VL (max. 6m)340302-xx
VL340302-xx 289440-xx
KTY
LB/LS
60m
max. 9m
289440-xxVL336847-xx
60m
VL323897-xx
509667-xx1)
1m RCN 729RCN 226RCN 228
2)
MC 7xxx
X502
X500
30.07.2013
2)
1)
X51...X56
3)
MB 720
HSCI618893-xx
X500
X502
HSCI
X500
X502
PL 620x
PL 610x
722414-xx
HSCI
HSCI M12 688144-xx
X500
X501
X502
558714-xx max. 30m
332115-xx
LC x83
60m
VL323897-xx
LC x83
RCN 729RCN 226RCN 228
533631-xx max. 9m
1m
30m673459-xx max. 20m
368330-xx
533661-xx max. 16m
4)
5) 4)
5)
4)
5)
4)
5)
4)
5)533627-xx
X60
X10
250479-603)
UMC 11xX500
X502
X15...X18
PLC I/0
1 VPP
Position inputs
1 VPP
1 VPP
Sp
eed
inp
uts
EnDat 2.1 interface
Axes + spindle:
Axes: 60m
Voltage controller 5 V368210-01
Voltage controller 5 V383951-01
1 VPP
1 VPP
Only for connection of the KTY
Adapter connector 544 703-01 for spindle (if necessary)
VL: Extension cable – for separation points with connecting cable – for extending existing connecting cable
HSCI total length 70 m
Included with the MB
EnDat ������with incremental signals
Pure serial EnDat 2.2
ribbon cable for pots
40 inputs24 outputs
PWMout
-
40
Control system with UEC 11x; separate keyboard
UE
C 1
1x
X20
1 ...
X20
4 (U
EC
111
)X
500
X50
2
PLC
I/O
X20
1 ...
X20
5 (U
EC
112
)X
201
... X
206
(UE
C 1
13)
X15
... X
18 (
UE
C 1
11)
X15
... X
19 (
UE
C 1
12)
X15
... X
20 (
UE
C 1
13)
12m
60m
3097
83-x
x
3101
99-x
x
3363
76-x
x
60m
3363
76-x
xLC
x83
KT
Y
5336
31-x
x m
ax. 6
m
VL
(max
. 6m
)34
0302
-xx
VL
3403
02-x
x28
9440
-xx
KT
Y
LB/L
S
60m
max
. 9m
2894
40-x
xV
L33
6 84
7-xx
60m
VL
3238
97-x
x
5096
67-x
x
1)
1mR
CN
729
RC
N 2
26R
CN
228
2)
X50
0P
L 61
0x
2)
1)
X80
... X
85
HS
CI
X50
2
30.0
7.20
13
5587
14-x
x m
ax. 3
0m
3321
15-x
x
LC
LC x
83
60m
VL
3238
97-x
x
RC
N 7
29R
CN
226
RC
N 2
28
5336
31-x
x m
ax. 9
m
1m
30m
6734
59-x
x m
ax. 2
0m
5336
27-x
x36
8330
-xx
5336
61-x
x m
ax. 1
6m
3) 4)
3)
4)
3)
4)
3)
4)
3)
4)
LC x
83
3609
74-x
x (L
S x
87)
2984
29-x
x (L
B, L
F 18
3)29
8430
-xx
(LF
481)
max
. 20m
max
. 12m
max
. 12m
HS
CI
6188
93-x
x
X50
1
2x U
SB
HS
CI
X50
2
X50
2
HS
CI
MC
7xx
x
US
B 2
.0 3
5477
0-xx
7224
14-x
xM
1268
8144
-xx
HS
CI
HS
CI
X50
0
US
B 1
.1 6
2477
5-xx
max
. 5m
max
. 20m
TE
720
/TE
730
TE
735
(FS
)
MB
720
X60
X10
2504
79-6
0
2504
79-5
5
X1
X1
X3
1 V
PP
Posi
tio
n in
pu
ts
1 V
PP
1 V
PP
Speed inputs
En
Dat
2.1
inte
rfac
e
Axe
s +
spin
dle
: Axe
s: 6
0m
Vo
ltag
e co
ntr
olle
r 5
V36
8210
-01
Vo
ltag
e co
ntr
olle
r 5
V38
3951
-01
1 V
PP
1 V
PP
on
ly f
or
con
nec
tio
n o
f th
e K
TY
Ad
apte
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-
41
Control system with CC 6106; separate keyboard
CC
610
6
60m
3609
74-x
x (L
S x
87)
2984
29-x
x (L
B, L
F 18
3)29
8430
-xx
(LF
481)
3097
83-x
x
3101
99-x
x
3363
76-x
x
5587
14-x
x m
ax. 3
0m
3321
15-x
x
LC
LC x
83
60m
60m
VL
3238
97-x
x
LC x
83
RC
N 7
29R
CN
226
RC
N 2
28
3363
76-x
xLC
x83
KT
Y
5336
31-x
x m
ax. 9
m
VL
(max
. 6m
)34
0302
-xx
VL
3403
02-x
x28
9440
-xx
KT
Y
LB/L
S
60m
max
. 9m
HS
CI
6188
93-x
x
2894
40-x
xV
L33
6847
-xx
60m
5336
31-x
x m
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m
VL
3238
97-x
x
5096
67-x
x
1)
1m
1m
30m
RC
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CN
226
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28
2)
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1
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56
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0
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2x U
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PL
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PL
610x
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2
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2
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MC
7xx
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US
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.0 3
5477
0-xx
7224
14-x
xM
1268
8144
-xx
HS
CI
HS
CI
X20
1...X
206
X20
X50
0
6734
59-x
x m
ax. 2
0m
5336
27-x
x36
8330
-xx
5336
61-x
x m
ax. 1
6m
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B 1
.1 6
2477
5-xx
max
. 5m
max
. 20m
3) 4)
3)
4)
X50
2
max
. 20m
max
. 12m
max
. 12m
3)
4)
3)
4)
3)
4)
TE
720
/TE
730
TE
735
(FS
)
MB
720
30.0
7.20
13
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X10
2504
79-6
0
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79-5
5
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X1
X3
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502
X50
0
X15
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18
PLC
I/0
1 V
PP
Posi
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pu
ts
1 V
PP
Speed inputs
En
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s +
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Mo
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-
42
Inverter system
-
43
Measuring devices
X15A ... X18AX15B ... X20B*)
X201A ... X204AX201B ... X206B*)
55m
309783-xx
310199-xx
X500A
X502A
X500B*)
X502B*)
360974-xx (LS x87)298429-xx (LB, LF 183)298430-xx (LF 481)
max. 20mmax. 12mmax. 12m
29.07.2013
310128-xx (LB, LF 183)310123-xx (LF 481)360645-xx (LS x87)
735994-xx
641926-xx679671-xx max. 6mmax. 55m
max. 25m
735961-xx
RCN xx10 / EnDat 22
RCN xx80 / EnDat 02
735994-xx
533627-xx 679671-xx max. 6mmax. 55m
max. 25m
727658-xx
332115-xx 643450-xx max. 20m
RCN xx10 / EnDat 22
RCN xx80 / EnDat 02
LC x15 / EnDat 22 533661-xx max. 6m641926-xx
558727-xxLC x8/3 / EnDat 02
509667-xx533631-xx max. 9m
max. 55m
673459-xx
533627-xx 533661-xx max. 6m
558714-xx
332115-xx 533631-xx max. 9m
max. 55m
LC 211LC x15 / EnDat 22
max. 25m
LC 281LC x83 / EnDat 02
UEC 1xxUMC 1xxCC 6xxx
509667-xx643450-xx max. 20m
max. 55m
max. 30m
max. 9m
max. 20m
max. 55m
max. 20m
max. 55m
max. 20m
max. 55m
1 VPP
Posi
tio
n in
pu
ts
1 VPP
1 VPP
*) CCs with 2nd controller board
Sp
eed
inp
uts
Voltage controller 5 V368210-02
Voltage controller 5 V368210-02
-
44 Accessories
TS 44x588 008-xx
365725-xx
MC 7xxx 274545-xx
20m
PC
X27
355484-xx 366964-xx
354770-xxX141X142
5m
624775-xx
V.24/RS-232-C
X26
Ethernet
X23
MB 720TE 735PLB 6001
50m
max. 20 m
VL281429-xx
296466-xx
683259-xx
HRA 110261097-xx
50m
HR 150540940-06 -07
HR 130540940-01 -03
HR 410296469-xx535220-xx
515845-01
PL 550 100m
516670-01
516670-01
X121
25m20m
688721-xx
CC 6xxxUEC 11xUMC 11x
CMA-H 04-04-0030.07.2013
*)
*)
296687-xx
296467-xx
3m312879-01
HR 520670302-xx670303-xx
HR 410 FS337159-xx578114-xx
HR 520 FS 670304-xx670305-xx
296467-xx
296466-xx
20m
HR 550 FS598515-xx606622-xx
max. 2mHRA 551 FS731928-xx
749368-xx
50m
749369-xx
743095-01
CMA-H 02-00-04
810900-01
CMD-H 24-12-00
633616-xx
50m
TT 14030m
TS 230
633611-xx
633613-xx
50m
0.5m
517375-xx
560040-xx
826269-01
X112
X113
560041-xx
PLC
PL 620xUEC 11x
633608-xx
TS
SE x40
SE 540626001-xx
TL Nano TL Micro 150 TL Micro 200 TL Micro 300
TT
663631-xx
SE 642
TS
Adapter 25 pin310085-01 3 inputs
Adapter 9 pin363987-02
USB hub582884-01
with connection of a USB hubanalog axis
VL: Extension cable – for separation points with connecting cable – for extending existing connecting cable
HSCI total length 70 m
Housing must be mounted
analog inputs + PT 100
(Option)
for fast PLC I/Os
With SE 642:TT 449 and TS 740, TS 640, TS 440, TS 444TS 460 or TS 642
With SE x40:TS 740, TS 640, TS 440, TS 444TS 460 or TS 642
PUR protective armor
Steel braiding
-
45
Technical descriptionDigital control design
Uniformly digital In the uniformly digital control design from HEIDENHAIN, allcomponents are connected to each other via purely digitalinterfaces: The control components are connected via HSCI(HEIDENHAIN Serial Controller Interface), the new real-timeprotocol from HEIDENHAIN for Fast Ethernet, and the encodersare connected via EnDat 2.2, the bidirectional interface fromHEIDENHAIN. This achieves a high degree of availability for theentire system. It can be diagnosed and is immune to noise—fromthe main computer to the encoder. These outstanding propertiesof the uniformly digital design from HEIDENHAIN guarantee notonly very high accuracy and surface quality, but rapid traversespeeds as well. Please refer to the Uniformly Digital TechnicalInformation sheet for more detailed information.
HSCI HSCI, the HEIDENHAIN Serial Controller Interface, connects themain computer, controller(s) and other control components. HSCIis based on 100BaseT Ethernet hardware. A special interfacecomponent developed by HEIDENHAIN makes short cycle timesfor data transfer possible.
Main advantages of the control design with HSCI:Hardware platform for flexible and scalable control system (e.g.local axis systems)High noise immunity due to digital communication betweencomponentsHardware basis for the implementation of “functional safety”Simpler wiring (initial operation, configuration)Inverters remain connected via proven PWM interfaceGreater cable lengths in the entire system (HSCI up to 70 m)Number of control loops can be increased (up to 18 axes andalternatively two spindles)More PLC inputs and outputsController units can be installed elsewhere
CC or UEC controller units, up to nine PL 6000 PLC input/outputmodules, and machine operating panels (such as the MB 720 fromHEIDENHAIN) can be connected to the serial HSCI bus of the MCmain computer. The HR handwheel is connected directly to themachine operating panel. The combination of visual display unitand main computer is especially advantageous if the computeris housed in the operating panel. All that is required then is thepower supply and an HSCI line to the controller in the electricalcabinet.
The maximum permissible number of individual HSCI participantsis listed below.
HSCI components Maximum number
MC HSCI master 1 in the system
CC, UEC, UMC HSCI slave 4 drive-control motherboards (distributed to CC, UEC, UMCas desired)
MB, PLB 6001 HSCI slave 2 in the system
PLB 61xx, PLB 62xx HSCI slave 7 in the system
HR On MB orPLB 6001
1 in the system
PLD-H-xx-xx FS In PLB 6xxx FS 10 in the system
PLD-H-xx-xx, PLA-H-xx-xx In PLB 6xxx 25 in the system
Total maximum of1000 inputs/outputs
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46
Functional safety
Basic principle Controls from HEIDENHAIN with functional safety meetsafety integrity level 2 (SIL 2) as per the EN 61 508 standard, aswell as performance level d, category 3, as per EN ISO 13 849-1(which replaced EN 954-1). These standards describe theassessment of safety-related systems, for example based on thefailure probabilities of integrated components and subsystems.This modular approach helps the manufacturers of safety-relatedsystems to implement their systems, because they can beginwith subsystems that have already been qualified. Safety-relatedposition encoders, the TNC 620 control and functional safetyaccommodate this concept. Two redundant safety channels thatwork independently of each other are the foundation for controlswith functional safety. All safety-relevant signals are captured,processed and output via two channels. Errors are detected bymutual comparison of the states and data in the two channels. Inthis way, the occurrence of just one fault in the control does notlead to the safety functions being incapacitated.
Design The safety-related controls from HEIDENHAIN have a dual-channeldesign with mutual monitoring. The SPLC (safety-related PLCprogram) and SKERN (safe core software) processes are the basisof the two redundant systems. The two software processes runon the MC main computer (CPU) and CC controller unit (DSP)components. The dual-channel structure of the MC and CC isalso used in the PLB 6xxx FS input/output systems and theMB 7xx FS machine operating panel. This means that all safety-relevant signals (e.g. permissive buttons and keys, door contacts,emergency stop button) are captured via two channels, and areevaluated independently of each other by the MC and CC. TheMC and CC use separate channels to also address the powermodules, and to stop the drives in case of an error.
Components In systems with functional safety, certain hardware componentsassume safety-relevant tasks. Systems with FS may consist ofonly those safety-relevant components, including their variants,which HEIDENHAIN has approved for use! Control components with functional safety are recognizable by thesuffix FS after the model designation, e.g. MB 720 FS.
MB and TE An MB machine operating panel with FS is indispensable forsystems with functional safety. Only on such a machine operatingpanel do all keys have a dual-channel design. Axes can be movedwithout additional permissive keys.
PLB In systems with functional safety, a combination of hardware (FSand standard) is possible, but a PLB 62xx FS is essential.
HR FS handwheels are required in systems with functional safetybecause only they have the required cross-circuit-proof permissivebuttons.
For a current list of components approved for FS, see theFunctional Safety FS Technical Manual.
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47
Safety functions The following safety functions are integrated in the hardware andsoftware:
Safe stop reactions (SS0, SS1, SS2)Safe torque off (STO)Safe operating stop (SOS)Safely limited speed (SLS)Safely limited position (SLP)Safe brake control (SBC)Safe operating modes in accordance with EN 12 417– Operating mode 1: Automated or production mode– Operating mode 2: Set-up mode– Operating mode 3: Manual intervention– Operating mode 4: Advanced manual intervention, process
monitoring
Please note: The complete feature content is not yet available for all machinetypes with functional safety. Before planning a machine withfunctional safety, please inform yourself of whether the currentscope of features suffices for your machine design.
Activation offunctional safety
If the control identifies a PLB 62xx FS in the system duringbooting, functional safety is activated.
In this case, it is essential that the following prerequisites befulfilled:
Functional safety versions of safety-related control components(e.g. MB 720 FS, TE 735 FS, HR 550 FS)Safety-related SPLC programConfiguration of safe machine parametersWiring of the machine for systems with functional safety
Functional safety cannot be activated or deactivated by parameter.
More information For more information on the topic of functional safety, refer tothe Technical Information documents Safety-Related ControlTechnology for Machine Tools and Safety-Related PositionEncoders. For details, see the Functional Safety FS Technical Manual. Yourcontact person at HEIDENHAIN will be glad to answer anyquestions concerning controls with functional safety.
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48
Operating system
HEROS 5 The TNC 620 works with the real-time operating system HEROS 5(HEIDENHAIN Real-time Operating System). This future-orientedoperating system features powerful functions:
Display of PDF files. Drawings, work instructions, etc. can beopened directly on the control.Direct Internet access from the TNC 620 thanks to theintegrated browser.You can open various file formats directly on the TNC 620 andalso edit some of them with the appropriate editors:– Text files (.txt, .ini)– Graphic files (.gif, .bmp, .jpg, .png)– Tables (.xls, .csv)– Internet files (.html)Standardized display format for operating system dialogs
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49
Axes
Linear axes Depending on the options enabled, the TNC 620 can control linearaxes with any axis designation (X, Y, Z, U, V, W ...).
Display and programming
–99 999.9999 to +99 999.9999 [mm]–99 999.99999 to +99 999.99999 [mm] with option 23
Feed rate in mm/min relative to the workpiece contour, or mm perspindle revolution
Feed rate override: 0 % to 150 %
Traverse range –99 999.9999 to +99 999.9999 [mm]–99 999.99999 to +99 999.99999 [mm] with option 23
The machine tool builder defines the traverse range. The user canset additional limits to the traverse range if he wishes to reducethe working space. Three different traverse ranges can be defined(selection by PLC).
Rotary axes The TNC 620 can control rotary axes with any axis designation(A, B, C, U ...). Special parameters and PLC functions are availablefor rotary axes with Hirth coupling.
Display and programming
0° to 360° or –99 999.9999 to +99 999.9999 [°]–99 999.99999 to +99 9999.9999 [°] with option 23
Feed rate in degrees per minute [°/min]
Traverse range –99 999.9999 to +99 999.9999 [°]–99 999.99999 to +99 999.99999 [°] with option 23
The machine tool builder defines the traverse range. The user canset additional limits to the traverse range if he wishes to reducethe working space. Various traverse ranges can be defined per axisusing parameter sets (selection by PLC).
Free rotation For milling-turning operations, the rotary axis can be started viathe PLC with a defined feed rate. For functions specific to milling/turning machines, see Turning operations.
Cylindrical surfaceinterpolation (option 8)
A contour defined in the working plane is machined on a cylindricalsurface.
-
50
Tilting theworking plane(option 8)
The TNC 620 has special coordinate transformation cycles forcontrolling swivel heads and tilting tables. The offset of the tiltingaxes and the tool lengths are compensated by the TNC.
The TNC can manage more than one machine configuration (e.g.different swivel heads).
Tilting tableSwivel head
5-axis machining(option 9)
Tool Center Point Management (TCPM) The offset of the tilting axes is compensated so that the tooltip remains on the contour. Handwheel commands can also besuperimposed during machining without moving the tool tip fromthe programmed contour.
Synchronizedaxes (option 24)
Synchronized axes move in synchronismand are programmed with the same axisdesignation.
With HEIDENHAIN controls, parallelaxis systems (gantry axes) such as onportal-type machines or tilting tablescan be moved synchronously to eachother through high-accuracy and dynamicposition control.
With gantry axes more than one slave axiscan be assigned to one master gantry axis.They may also be distributed to severalcontroller units.
-
51
Torque control(option 24)
Torque control is used on machines withmechanically coupled motors for which
a defined distribution of drive torque isdesired, orparts of the controlled system show abacklash effect that can be eliminatedby "tensioning" the servo drives. (e.g.toothed racks).
PLC axes Axes can be controlled by the PLC. Theyare programmed through M functions orOEM cycles. The PLC axes are positionedindependently of the NC axes and aretherefore designated as asynchronousaxes.
-
52
Spindle
Overview The TNC 620 contouring control is used in connection with theHEIDENHAIN inverter systems with field-oriented control. As analternative, an analog nominal speed value can be output.
Controller unit With the CC controller units and the UEC/UMC inverters, a PWMbasic frequency can be set for each controller assembly (e.g.4 kHz). Possible basic frequencies are 3.33 kHz, 4 kHz or 5 kHz.The Double Speed option (option 49) can double this frequencyfor high-speed spindles (e.g. 8 kHz for HF spindles). See TechnicalManual.
Controller groups For example with CC 6106 1: X51 + X52 2: X53 + X54 3: X55 + X56
Maximum spindlespeed
The maximum spindle speed is calculated as follows:
nmax =
fPWM = PWM frequency in HzNPP = No. of pole pairs
Operating modeswitchover
For controlling the spindle (e.g. for wye/delta connection), differentparameter sets can be stored. You can switch between theparameter sets in the PLC.
Position-controlled spindle
The position of the spindle is monitored by the control.
Encoder HEIDENHAIN rotary encoder with sinusoidal voltage signals (1 VPP)or EnDat interface.
Tapping There are special cycles for tapping with or without floating tapholder. For tapping without floating tap holder, the spindle must beoperated under position control.
Oriented spindlestop
With a position-controlled spindle, the spindle can be positionedexactly to 0.1°.
Spindle override 0 to 150 %
Gear ranges A specific nominal speed can be defined for each gear range. Thegear code is output via the PLC.
Second spindle Up to two spindles can be alternately controlled. You can switchfrom spindle 1 to spindle 2 through the PLC. Because the secondspindle is controlled instead of an axis, the number of availableaxes is reduced by one.
-
53
Encoders
Overview For speed and position control of the axes and spindle,HEIDENHAIN offers both incremental and absolute encoders.
Incrementalencoders
Incremental encoders have as measuring standard a gratingconsisting of alternate lines and spaces. Relative movementbetween the scanning head and the scale causes output ofsinusoidal scanning signals. The measured value is calculated fromthese signals.
Reference mark When the machine is switched on, the machine axes need totraverse a reference mark to establish an accurate connectionbetween measured value and machine position. For encoderswith distance-coded reference marks, the maximum travel untilautomatic reference mark evaluation for linear encoders is only20 mm or 80 mm, depending on the model, or 10° or 20° for angleencoders.
Reference markevaluation
The routine for traversing the reference marks can also be startedfor specific axes via the PLC during operation (reactivation ofparked axes).
Output signals Incremental encoders with sinusoidal output signals with levels 1 VPP are suitable for connection to HEIDENHAIN numerical
controls.
Absoluteencoders
With absolute encoders, the position information is containedin several coded tracks. Thus, an absolute reference is availableimmediately after switch-on. Reference-mark traverse is notnecessary. Additional incremental signals are output for highlydynamic control loops.
EnDat interface The TNC 620 features the serial EnDat 2.2 interface (includesEnDat 2.1) for the connection of absolute encoders.
Note: The EnDat interface on HEIDENHAIN encoders differs inits pin assignment from the interface on Siemens motors withintegrated absolute ECN/EQN rotary encoders. Special adaptercables are available.
Encoder inputs Incremental and absolute linear, angle or rotary encoders fromHEIDENHAIN can be connected to all position encoder inputs ofthe controller unit.
Incremental and absolute rotary encoders from HEIDENHAIN canbe connected to all speed encoder inputs of the controller unit.
Input frequency1)Inputs Signal level/Interface1)
Position Shaft speed
Incremental signals 1 VPP 33 kHz/350 kHz 350 kHz
Absolute position valuesIncremental signals
EnDat 2.22)/021 VPP
– 33 kHz/350 kHz
– 350 kHz
Absolute position values EnDat 2.22)/22 – –
1) Switchable2) Includes EnDat 2.1
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54
Digital servo control
Integrated inverter Position controllers, speed controllers, current controllersand inverters are integrated in the TNC 620. HEIDENHAINsynchronous or asynchronous motors are connected to the TNC620.
Axis feedbackcontrol
The TNC 620 can be operated with following error or feedforwardcontrol. During roughing operations at high speeds, for example,you can switch to velocity semi-feedforward control via an OEMcycle in order to machine faster at reduced accuracy.
Servo controlwith followingerror
The term “following error” denotes the distance between themomentary nominal position and the actual position of the axis.The velocity is calculated as follows:
v = velocitykv = position loop gain
v = kv · sa
sa = following error
Servo controlwith feedforward
Feedforward means that the speed and the acceleration areadjusted to fit the machine. Together with the values calculatedfrom the following error, it forms the nominal value. This greatlyreduces the following error (to within a few μm).
Compensation oftorque ripples
The torque of synchronous, torque and linear motors is subjectto periodic oscillations, one cause of which can be permanentmagnets. The amplitude of this torque ripple depends on themotor design, and under certain circumstances can have aneffect on the workpiece surface. After the axes have beencommissioned with the TNCopt software, the Torque RippleCompensation (TRC) of the CC 61xx or UEC 11x can be used tocompensate it.
-
55
Control loop cycletimes
The cycle time for path interpolation is defined as the timeinterval during which interpolation points on the path arecalculated. The cycle time for fine interpolation is defined asthe time interval during which interpolation points are calculatedthat lie between the interpolation points calculated for pathinterpolation. The cycle time for