Special features in manual mode

Monitoring in manual mode is carried out in the real-time part of the CNC based on the defined and activated control areas.

Error response is identical to ACS limitation or approaching manual mode offset limits. If an IMCS / MCS limit is reached, all axes ahead of the limit without any error.

The start of the deceleration process ahead of the limit is dependent on the manual mode velocity and acceleration.

Output a warning message

The reason for motion stop is displayed to the user by the output of a warning message. To achieve this, P-MANU-00014 must be set.

Exclusive manual mode (G200)

In response to an error in automatic mode, an error message is output and the program is aborted. However in manual mode, only an axis motion stop occurs as an error reaction when a person enters the protection space or leaves the workspace.

Inclusive manual mode (G201/G202)

If motions from automatic and manual mode are superimposed (parallel interpolation), work space and protective space violations may occur.

Suppress workspace monitoring

The parameter P-CHAN-00442 influences or even suppresses workspace monitoring in manual mode.

Example

Suppress workspace monitoring with P-CHAN-00442

Initial situation for all cases:
The machine runs in automatic or manual mode. Before activating manual mode, activate workspace monitoring, e.g. in a subroutine.

Case 1:

P-CHAN-00442 is assigned the value 1.
Workspace monitoring is not activated in manual mode although its definition and activation were executed in the NC program. The machine can move back and forth across workspace boundaries.

Case 2:

P-CHAN-00442 is assigned the value 0.

Workspace monitoring is active in manual mode in combination with the Suppress error output from workspace monitoring in manual mode control unit.

When manual mode is active, workspace monitoring can be deactivated by the signal set in the Suppress error output from workspace monitoring in manual mode control unit. The machine can then move back and forth across workspace boundaries.

When manual mode is activated the TCP must be within the permitted range. If this is not the case, an error is output.

Error ID 50961, if the workspace was left

Error ID 50962, if the protection space was left.

Case 3:

P-CHAN-00442 is assigned the value 2.

Workspace monitoring is activated in manual mode in combination with the Suppress error output from workspace monitoring in manual mode control unit.

When manual mode is activated, the TCP may be located outside the permitted range. The position of the TCP is not checked, Workspace monitoring can be deactivated by the control unit. The machine can move back within the permitted range.