Bosch Rexroth R911294441 MTC200 Multi Function Interpolator Manual

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DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

MTC200

Multi Function Interpolator

Functional Description

SYSTEM200

About this Documentation Multi Function Interpolator

Title

Type of Documentation

MTC200

Multi Function Interpolator

Functional Description

Document Typecode DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Internal File Reference Document Number 120-1700-B378-01/EN

Purpose of Documentation This documentation describes special interpolation functions of the NC axis processor.

These include the feed to positive stop with torque table dependent of position, the table interpolator, the spindle speed coupling and the 3D compensation.

Record of Revisions

Description

120-1700-B378-01/EN

Release

Date

08.02

Notes

Valid from version 22

Copyright

2002 Rexroth Indramat GmbH

Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden.

Offenders are liable for the payment of damages.

All rights are reserved in the event of the grant of a patent or the registration of a utility model or design

(DIN 34-1).

Validity The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract.

All rights are reserved with respect to the content of this documentation and the availability of the product.

Published by Rexroth Indramat GmbH

Bgm.-Dr.-Nebel-Str.

•

D-97816 Lohr a.

Main

Telephone +49 (0)93 52/40-0

•

Tx 68 94 21

•

Fax +49 (0)93 52/40-48 85 http://www.boschrexroth.de/

Dept.

BRC/ESM1 (MaWe)

Dept.

BRC/ESM6 (DiHa)

Note This document has been printed on chlorine-free bleached paper.

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Contents I

1 Overview 1-1

1.1

Brief Description ............................................................................................................................. 1-1

1.2

Relevant APR-AXD parameters..................................................................................................... 1-1

2 Functional Areas 2-1

2.1

Moving to the Fixed Stop with Position-Dependent Moment Table ............................................... 2-1

Description of Functions .......................................................................................................... 2-1

Parameter value assignment ................................................................................................... 2-1

2.2

Table Interpolator ........................................................................................................................... 2-2

Description of Functions .......................................................................................................... 2-2

Parameter Value Assignment .................................................................................................. 2-7

2.3

Geometry Compensation with Table Interpolator .......................................................................... 2-9

Description of Functions .......................................................................................................... 2-9

Parameter Value Assignment ................................................................................................ 2-10

2.4

Spindle Speed Coupling............................................................................................................... 2-11

Description of Functions ........................................................................................................ 2-11

Parameter Value Assignment ................................................................................................ 2-11

2.5

3D Compensation ........................................................................................................................ 2-11

Description of Functions ........................................................................................................ 2-11

Parameter Value Assignment ................................................................................................ 2-14

3 Transferring Machine Data to the APR 3-1

3.1

Required NC Program Commands ................................................................................................ 3-1

3.2

Sample program "Geometry compensation".................................................................................. 3-1

Overview .................................................................................................................................. 3-1

User Machine Data .................................................................................................................. 3-2

NC Program ............................................................................................................................. 3-3

3.3

Sample program "3D compensation"........................................................................................... 3-12

Overview ................................................................................................................................ 3-12

User Machine Data ................................................................................................................ 3-12

NC Program ........................................................................................................................... 3-15

3.4

Sample Program "Canted Axis with Table Interpolator" .............................................................. 3-16

Overview ................................................................................................................................ 3-16

NC Program ........................................................................................................................... 3-17

3.5

Transferring Machine Data from the PLC via the AXD Channel.................................................. 3-17

4 Appendix 4-1

4.1

Firmware Versions ......................................................................................................................... 4-1

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

II Contents Multi Function Interpolator

4.2

Reference to Additional Documents .............................................................................................. 4-1

5 List of Figures 5-1

6 Index 6-1

7 Service & Support 7-1

7.1

Helpdesk ........................................................................................................................................ 7-1

7.2

Service-Hotline ............................................................................................................................... 7-1

7.3

Internet ........................................................................................................................................... 7-1

7.4

Vor der Kontaktaufnahme...

Before contacting us....................................................................... 7-1

7.5

Kundenbetreuungsstellen Sales & Service Facilities .................................................................. 7-2

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Overview 1-1

1 Overview

1.1

Brief Description

Functional areas of the

Multifunction Interpolator

Special features of the

Multifunction Interpolator

The Multifunction Interpolator combines a number of axis coupling functions.

With its help, special functions that are not covered by the standard functions of the MTC200 can be implemented.

The functions of the Multifunction Interpolator are parameterized and activated in the NC or PLC program using APR-AXD parameters.

• Moving to the fixed stop (G75) with a position-dependent moment table (interpolator 1)

•

Table interpolation with up to 4 tables (interpolators 1 to 4) per axis

•

Spindle speed coupling (interpolator 1)

•

3D compensation (interpolator 1)

The Multifunction Interpolator can be used for only one functional area per axis at a time.

The Multifunction Interpolator is made up of four interpolators.

Interpolator 1 is used by all functional areas.

Interpolators 2 to 4 can be used only in table interpolation.

Note: The Multifunction Interpolator can be used only if the slack compensation (Cxx.077

= "no") in the axis parameters is not used.

Table storage in the user machine data

The tables required by the Multifunction Interpolator should be stored in a user machine data page (pages 100-299

If there is an algorithm for calculating the table values, the values can also be calculated directly in the NC program.

In any case, the table values must be transferred via the

AXD channel to the NC axis processor (APR) before the Multifunction

Interpolator can access them.

For example, the table values can already be transferred in the Home program.

1.2

Relevant APR-AXD parameters

The following table provides an overview of all relevant APR-AXD parameters of the Multifunction Interpolator.

Which parameters are required for the corresponding coupling type and their effect is described in the corresponding sections.

A detailed description of AXD parameters can be found in the DOC-CONTRL-PAR*DES*Vxx-EN-P parameter description.

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Up to version V19, pages 100-199 are designated as OEM pages.

1-2 Overview Multi Function Interpolator

Interpolator 1

ID Number

Interpolator 2 Interpolator 3 Interpolator 4

Meaning

65053 (P-7-3613) 65093 (P-7-3653) 65101 (P-7-3661) 65109 (P-7-3669)

Coupling type

1: Moment table

2: Table interpolation

3: Spindle speed coupling

4: 3D compensation

65054 (P-7-3614) 65094 (P-7-3654) 65102 (P-7-3662) 65110 (P-7-3670) Table length

65055 (P-7-3615) 65095 (P-7-3655) 65103 (P-7-3663) 65111 (P-7-3671) Table values

65056 (P-7-3616) 65096 (P-7-3656) 65104 (P-7-3664) 65112 (P-7-3672) Table factor

65057 (P-7-3617) 65097 (P-7-3657) 65105 (P-7-3665) 65113 (P-7-3673) Start position

65058 (P-7-3618) 65098 (P-7-3658) 65106 (P-7-3666) 65114 (P-7-3674) Support point distance

65059 (P-7-3619) 65099 (P-7-3659) 65107 (P-7-3667) 65115 (P-7-3675) Multifunction Interpolator mode

65060 (P-7-3620) 65100 (P-7-3660) 65108 (P-7-3668) 65116 (P-7-3676) Reference axis

65008 (P-7-3568)

Servodrive as spindle drive (M3,

M4, M5, M19)

65027 (P-7-3587)

65048 (P-7-3608)

Real/virtual axis

Positive limit of dynamic limit surveillance

65049 (P-7-3609)

Negative limit of dynamic limit surveillance

65061 (P-7-3621)

65062 (P-7-3622)

Fig.

1-1:

Value = 1 / 0, activate / deactivate

Multifunction Interpolator

Activating the 2 nd sensor of a digital drive

Overview of relevant APR-AXD parameters

Note: APR-AXD parameters that are used to configure the

Multifunction Interpolator can be modified only when the

Multifunction Interpolator is deactivated.

Otherwise, the modifications have no effect (no error message!).

This parameter must be activated in the Init phase of the PLC!

Parameters 65048 (P-7-3608) and 65049 (P-7-3609) should be used only together with the Multifunction Interpolator.

The modifiable movement range limits (as of V19) apply for all other forms of limiting the movement range.

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Functional Areas 2-1

2 Functional Areas

2.1

Moving to the Fixed Stop with Position-Dependent

Moment Table

Description of Functions

Moment table

Moving to the fixed stop (G75) with a position-dependent moment table is preselected using coupling type 1 (P-7-3613).

A moment table that can contain up to 1024 support points must be generated.

The associated positions are specified by the start position and the support point distance.

The moment table is activated in the G75 record and remains in effect until ‘Moving to fixed stop’ is switched off using G76.

Depending on the actual position of the axis, a moment value is retrieved from the table, multiplied by a factor (P-7-3616) and transferred to the drive as a

‘Moment limit value bipolar’ (S-0-0092).

Moment limit value

Axis position

Start position

Fig.

2-1: Moment table

Supp.

position dist.

Start position and support position distance

The axis positions are assigned to the moment table values using the start position and the supporting position distance (the supporting position distance can also be negative).

Position of the n th moment value

= start position + (n – 1) * support point distance

Fig.

2-2: n = 1-1024

Calculation of position of n th moment value

Parameter value assignment

Table storage The moment table should be stored in a user machine data page.

Note: After the machine is switched on, the moment values must be transferred once via the AXD channel, for example in the NC

Home program.

For this, a subprogram for transferring the moment values must be integrated into the Home program.

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

2-2 Functional Areas Multi Function Interpolator

Used APR-AXD parameters

(Interpolator 1)

ID No.

SERCOS

ID No.

Meaning

65053 P-7-3613 Value = 1, moment table coupling type

65054 P-7-3614 Table length

65055 P-7-3615 Table values

65056 P-7-3616 Table factor

65057 P-7-3617 Start position

65058 P-7-3618 Support point distance

65061 P-7-3621 Value = 1 / 0, activate / deactivate Multifunction

Interpolator

Fig.

2-3: APR-AXD parameters of the moment table coupling type

2.2

Table Interpolator

Description of Functions

Position coupling The table interpolator permits additional position couplings between the axes.

Either the nominal position, the actual position or the position of an auxiliary transmitter is taken from a reference axis.

This position value is either converted using a table in the table mode or multiplied by a factor in the multiplication mode.

In one case, the result of this calculation is added as an offset to the nominal position value of the axis.

In the other case, the angle offset register of an active spindle synchronization can also be modified using the result.

Ref.

axis

Nom.

pos.

val

Act.

pos.

val.

AXD parameter

65059 Bits 3, 2 = 0, 1

65099 Bits 3, 2 = 0, 1

65107 Bits 3, 2 = 0, 1

65115 Bits 3, 2 = 0, 1

Act.

pos.

val ext.

tran AXD parameter

65059 Bit 2 = 0

65099 Bit 2 = 0

65107 Bit 2 = 0

65115 Bit 2 = 0

Position coupling

Position offset table

AXD parameter

65059 Bit 1 = 0

65099 Bit 1 = 0

65107 Bit 1 = 0

65115 Bit 1 = 0

Axis of table interpolator

Angle offset of synchr.

slave spindle

Nom pos val

AXD parameter

65059 Bits 3, 2 = 1, 1

65099 Bits 3, 2 = 1, 1

65107 Bits 3, 2 = 1, 1

65115 Bits 3, 2 = 1, 1

Multiplication with factor

Position offset

AXD parameter

65059 Bit 1 = 1

65099 Bit 1 = 1

65107 Bit 1 = 1

65115 Bit 1 = 1

AXD parameter

65059 Bit 0 = 1

65099 Bit 0 = 1

65107 Bit 0 = 1

65115 Bit 0 = 1

AXD param.

65059 Bit 0 = 0

65099 Bit 0 = 0

65107 Bit 0 = 0

65115 Bit 0 = 0

Fig.

2-4: Principle of position coupling

Maximum of 4 tables per axis The table interpolator consists of up to 4 individual interpolators, i.e.

up to

4 separate tables or factors per axis.

All 4 interpolators affect the position of the corresponding axis with an additive position offset.

When tables are used, the limit of a total of 1024 table values for all 4 tables is to be taken into account.

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Functional Areas 2-3

Position of ref.

axis 1

Position of ref.

axis 2

Position of ref.

axis 3

Position of ref.

axis 4

Table 1

Table 2

Table 3

Table 4

Offset 1

Offset 2

Offset 3

Offset 4

Nom.

pos.

val., axis N

Resulting nom.

pos.

value

Fig.

2-5: Use of several tables in table interpolator

Note: Interpolator 1 must always be assigned parameters when the table interpolator is used.

If one of the interpolators 2 to 4 is to be subsequently switched off within a Multifunction Interpolator group, this can be accomplished by, for example, setting the reference axis number to 0.

It must be noted here that APR-AXD parameters that are used to configure the table interpolator can be modified only when the group is deactivated (P-7-3621 = 0).

Position offset The table interpolator runs in the background.

As was the case until now, the target axis interpolates according to specifications of the NC.

The nominal position value, however, is also affected by the additive position offset.

Position offset =

Σ individual position offsets

Nominal position value of drive = nominal position value of interpolator

+ position offset

Fig.

2-6: Calculation of nominal position value for drive

Activation of the table interpolator

The following figure shows how the additive position offset in the controller and to the drive is processed after the table interpolator has been enabled by active controller activation:

Position of reference axis

AxxC.READY

= 1

(0 / 20) *)

Position offset om.

pos.

val.

(controller, display)

(100 / 100) *)

(100 / 120) *)

Nom.

pos.

val.

(drive)

*(-1)

Act.

pos.

val.

(controller, display)

Fig.

2-7:

(100 / Æ 100) *)

(100 / Æ 120) *)

Sample values beore/after table interpolator is activated

Processing of position offset (with controller activation)

Act.

pos.

val.

(drive)

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

2-4 Functional Areas Multi Function Interpolator

When the table interpolator is activated, the calculated position offset to the drive goes into effect all at once.

However, it is not taken into account in the position display.

Note: The position offset is not taken into account in the position display (nominal and actual position)!

ATTENTION

Danger of collision when activating or deactivating the table interpolator:

The axis processes the current position offset at top speed.

To prevent this axis movement, controller activation for the affected axis should be switched off when the table interpolator is switched on or off.

When controller activation is switched off, the table interpolator can be activated without problems (possible only if bit 6 of AXD parameter 65059

= 1).

Only the actual position value changes in the position display; a process movement is not triggered.

Position of reference axis

AxxC.READY

= 0

(0 / 20) *)

Position offset om.

pos.

val.

(controller, display)

(100 / 100)

(--/ ---)

(100)

Nom.

pos.

val.

(drive)

*(-1)

Act.

pos.

val.

(controller, display)

(100 / 80)

(100 / 100) *)

Act.

pos.

val.

(drive)

Sample values beore/after table interpolator is activated

Fig.

2-8: Processing of position offset (without controller activation)

As soon as the table interpolator is active, controller activation can also be enabled without problems.

The actual position value that has been reduced by the position offset is taken up in the nominal position value in the controller.

Now the same position offset is again added to this nominal position value and is transferred to the drive as the nominal position value.

The drive thus receives an unchanged nominal position value from the controller; this does not trigger a process movement.

The following figure clarifies this procedure:

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Functional Areas 2-5

Position of reference axis

AxxC.READY

= 0

(0 / 20)

Position offset

Nom.

pos.

val.

(controller, display)

(100 / 80) *)

(--/ 100) *)

Nom.

pos.

val.

(drive)

*(-1)

Act.

pos.

val.

(controller, display)

(100 / 80) *)

(100 / 100)

Sample values for active table interpolator before/after enabling controller activation

Act.

pos.

val.

(drive)

Fig.

2-9: Processing of position offset (controller activation enabled)

ATTENTION

Movement range limits can be exceeded:

The movement range limits specified in the axis parameters do not take the position offset component into account.

Dynamic movement range limits P-7-3608 and P-7-

3609, which take the position offset into account in monitoring, should also be used.

Table mode

ATTENTION

When the table interpolator is used, the MTC200 has no control over the axis speeds and axis accelerations of the coupled axes that occur.

The user must ensure that the maximum values are not exceeded by using the function sensibly.

For the table mode, one of the position offset tables that depends on the position of the reference axis must be defined with a maximum of 1024 support points.

The assignment between the position of the reference axis and the table value is specified by the start position and the support point distance.

The first support point, and thus the first table value, is located at the start position.

All additional support points are shifted by the support point distance.

Position of the n th support point

= start position + (n – 1) * support point distance n = 1-1024

Fig.

2-10: Calculation of position of n th support point

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

2-6 Functional Areas Multi Function Interpolator

Position offset

Position of reference axis

Start position

Support point

Fig.

2-11: Example of position offset table dist.

Conditions for modulo rotary axis

If a modulo rotary axis is used as the reference axis, a table of 0° to 360° should be used.

Start position = 0°

360° mod support point distance = 0 number of values = (360° / support point distance) + 1

Fig.

2-12: Conditions for rotary axis

If the first and last table values are identical, a position offset table with a finite height arises.

Otherwise, the position offset increases with each rotation of the reference axis by the difference between the first and last table values.

Position offset of target axis

0° Position of reference axis

Fig.

2-13: Position offset table with finite height

360°

Position offset of target axis

0°

Position of reference axis

Fig.

2-14: Position offset table with infinite height

360°

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Functional Areas 2-7

Multiplication mode When a switch to the multiplication mode is made, the momentary position of the reference axis is stored as a reference axis start position.

The position offset is calculated from the difference of the momentary distance to the reference axis start position multiplied by the factor.

Position offset

= (reference axis end position reference axis start position ) * factor

Fig.

2-15: Position offset in multiplication mode

Parameter Value Assignment

Table storage The table values should be stored in a user machine data page.

Note: After the machine is switched on, the table values must be transferred once via the AXD channel, for example in the NC

Home program.

For this, a subprogram for transferring the table values must be integrated into the Home program.

Reference axis

Using the 2 nd transmitter input

Virtual axes

Selection between table mode and multiplication mode

Selection between nominal position, actual position or position of 2 nd transmitter

Affecting the spindle offset angle

The reference axis must belong to the same APR and should have a lower axis number than the axis that is coupled to the position of the reference axis.

If the axis number of the reference axis is higher, a position that is one NC cycle time (2 ms) earlier is used for coupling.

If the actual position value of the external transmitter is to be used to record the position of the reference axis, the 2 nd transmitter input (ID

65062, P-7-3622) must be activated in the Init phase of the PLC.

If the external transmitter of a drive amplifier parameterized as a linear axis is not used to record the position of the axis, it can be used for other tasks.

In the Init phase of the PLC, a digital axis can be declared to be "virtual"

(ID 65027, P-7-3587).

This axis does not exist physically (as a drive), but it can be addressed just like any other axis.

A virtual axis can be defined as the reference axis and influence one (or more) real axes using the table interpolator.

Similarly, the position offset of the table interpolator can influence a virtual axis.

In this case, the position offset does not influence the virtual axis itself, but rather the displayed actual position of the virtual axis.

The selection between table mode and multiplication mode is specified using bit 1 of APR-AXD parameter "Mode of Multifunction Interpolator".

Bit 1:

0: The position offset is fetched from the table.

1: The position offset is calculated by multiplying the relative position of the reference axis with the table factor.

The selection between the nominal position, the actual position or the position of the 2 nd transmitter (reference axis) is also made in APR-AXD parameter "Mode of Multifunction Interpolator" (bits 2 and 3).

Bit 2:

0: The nominal position of the reference axis is used.

1: The actual position of the reference axis is used.

Bit 3:

0: Actual position 1 of the reference axis is used.

1: Actual position 2 of the reference axis is used.

In synchronized spindles, the angle offset between the slave spindle and the master spindle can be influenced using the table interpolator.

This

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

2-8 Functional Areas Multi Function Interpolator

Reference of reference axis

Activating and deactivating the table interpolator without controller activation mode can be selected in APR-AXD parameter "Mode of Multifunction

Interpolator, Interpolator 1" (ID 65059, P-7-3619), bit 0.

Bit 0:

0: The position offset is added to the nominal value.

1: The position offset is entered in the angle offset during spindle synchronization.

Note that the table interpolator must be assigned to the slave spindle.

Bit 5 of APR-AXD parameter "Mode of Multifunction Interpolator" can be used to specify whether evaluation of the table is possible only with or also without a reference of the reference axis.

Bit 5:

0: Reference of reference axis required.

The table interpolator can be activated only after the reference is available (ID 65061, P-7-

3621).

An earlier activation instruction has no effect (no error message).

1: Reference of reference axis not required.

Bit 6 of APR-AXD parameter "Mode of Multifunction Interpolator,

Interpolator 1" (ID 65059, P-7-3619) specifies whether the position coupling is rescinded when controller activation is eliminated

(AxxC.READY

= 0) or whether activation without controller activation is possible (ID 65061, P-7-3621).

Bit 6:

0: When controller activation is eliminated, the table interpolator is automatically deactivated.

Activating the table interpolator without controller activation is impossible.

1: Controller activation has no affect on the table interpolator.

The table interpolator is not deactivated when controller activation is eliminated.

Activating the table interpolator is possible even without controller activation.

Used APR-AXD parameters

(Interpolators 1-4)

ID No.

SERCOS

ID No.

65027 P-7-3587 Real/virtual axis

Meaning

65048 P-7-3608 Positive limit of dynamic limit surveillance

65049 P-7-3609 Negative limit of dynamic limit surveillance

65053 P-7-3613 Value = 2, table interpolator coupling type, Interpolator 1

65054 P-7-3614 Table length of Table 1

65055 P-7-3615 Table values of Table 1

65056 P-7-3616 Factor of Interpolator 1

65057 P-7-3617 Start position of Table 1

65058 P-7-3618 Support point distance of Table 1

65059 P-7-3619 Multifunction Interpolator mode, Interpolator 1

65060 P-7-3620 Reference axis of Interpolator 1

65061 P-7-3621 Value = 1 / 0, activate / deactivate Multifunction

Interpolator

65093 P-7-3653 Value = 2, table interpolator coupling type, Interpolator 2

65094 P-7-3654 Table length of Table 2

65095 P-7-3655 Table values of Table 2

65096 P-7-3656 Factor of Interpolator 2

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Functional Areas 2-9

ID No.

SERCOS

ID No.

65097 P-7-3657 Start position of Table 2

Meaning

65098 P-7-3658 Support point distance of Table 2

65099 P-7-3659 Multifunction Interpolator mode, Interpolator 2

65100 P-7-3660 Reference axis of Interpolator 2

65101 P-7-3661 Value = 2, table interpolator coupling type, Interpolator 3

65102 P-7-3662 Table length of Table 3

65103 P-7-3663 Table values of Table 3

65104 P-7-3664 Factor of Interpolator 3

65105 P-7-3665 Start position of Table 3

65106 P-7-3666 Support point distance of Table 3

65107 P-7-3667 Multifunction Interpolator mode, Interpolator 3

65108 P-7-3668 Reference axis of Interpolator 3

65109 P-7-3669 Value = 2, table interpolator coupling type, Interpolator 4

65110 P-7-3670 Table length of Table 4

65111 P-7-3671 Table values of Table 4

65112 P-7-3672 Factor of Interpolator 4

65113 P-7-3673 Start position of Table 4

65114 P-7-3674 Support point distance of Table 4

65115 P-7-3675 Multifunction Interpolator mode, Interpolator 4

65116 P-7-3676 Reference axis of Interpolator 4

Fig.

2-16: APR-AXD parameters of the table interpolator coupling type

2.3

Geometry Compensation with Table Interpolator

Description of Functions

The geometry compensation described here is a table interpolator application.

The special feature of this is that compensation that depends on the position of the other axes takes place for every axis.

Geometry compensation can be used to, for example, eliminate angle errors between the axes and straightaway errors in the guides (sledge does not move in a straight line).

Note: Angle errors and straightaways will be changed only slightly in the compensation direction within the entire work area.

Geometry compensation is suitable only for Cartesian axes.

The following figure shows the complete compensation of three axes (X,

Y, Z) in all three axis directions.

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

2-10 Functional Areas Multi Function Interpolator

Position of reference axis Y

Table X(Y)

Interpolator 1

X offset 1

Position reference axis of

Table X(Z)

Interpolator 2

X offset 2

Nom.

pos.

val., X-axis

Resulting nom.

pos.

value X

Position of eference axis X

Table Y(X)

Interpolator 1

Y offset 1

Position reference axis of

Table Y(Z)

Interpolator 2

Y offset 2

Nom.

pos.

val., Y-axis

Resulting nom.

pos.

value Y

Interpolator 1

Nom.

pos.

val., Z-axis

Position of eference axis X

Table Z(X)

Z offset 1

Interpolator 2

Position of eference axis Y

Table Z(Y)

Z offset 2

Resulting nom.

pos.

value Z

Fig.

2-17: Example of geometry compensation with table interpolator

Parameter Value Assignment

The same specifications as for the table interpolator apply for parameter value assignment.

The compensation values should be stored in a user machine data page.

Section 3.2

can also be used as a programming example for geometry compensation.

Note: After the machine is switched on, the table values must be transferred once via the AXD channel, for example in the NC

Home program.

For this, a subprogram for transferring the geometry compensation values must be integrated into the

Home program.

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Functional Areas 2-11

2.4

Spindle Speed Coupling

Description of Functions

Factor

Spindle speed coupling can be used to couple a spindle to the speed of a master spindle.

The coupling is effective only if speed operation is preselected for both spindles (M3, M4, M5).

The slave spindle assumes the speed of the master spindle multiplied by the factor.

Angle synchronicity cannot be attained with spindle speed coupling.

Speed of master spindle

Multiplication by factor

Speed of slave spindle

Fig.

2-18: Principle of spindle speed coupling

Parameter Value Assignment

Used APR-AXD parameters

(Interpolator 1)

ID No.

SERCOS

ID No.

Meaning

65053 P-7-3613 Value = 3, spindle speed coupling type

65056 P-7-3616 Factor of Interpolator 1

65060 P-7-3620 Reference axis of Interpolator 1, master spindle

65061 P-7-3621 Value = 1 / 0, activate / deactivate Multifunction

Interpolator

Fig.

2-19: APR-AXD parameters of spindle speed coupling

2.5

3D Compensation

Description of Functions

Examples of mechanical inadequacies

3D compensation can be used to reduce static position errors that result from inadequacies of the machine mechanical system.

• Linearity errors in the movement range of the axes

• Angle errors of the Cartesian axes

• Errors in the guides (e.g.

sledge does not move in a straight line)

• Bending of the machine under its own weight

• Imprecise synchronization of rod kinematics

The following figure shows the effects of such errors in a Cartesian coordinate system:

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

2-12 Functional Areas Multi Function Interpolator

Z‘

Y‘

X‘

Y, X, Z: ideal Cartesian coordinate system

Fig.

2-20: Angle and straightaway errors

Y‘, X‘, Z‘: real, distorted coordinate system

Principle of 3D compensation 3D compensation divides the entire working area into a three-dimensional

(3D) point matrix.

For machine synchronization, each of these points should be approached and the variation from the nominal Cartesian position in the X, Y and Z directions should be measured.

Negation of the

3D error vectors determined in this manner is supplied by 3D correction vectors that are transferred as correction tables (3 tables for axes X, Y and Z) to the controller.

After 3D compensation is activated, the controller executes a position-dependent 3D position correction in the work area according to the correction tables.

Constant transitions in this correction are attained by intermediate interpolation between the support points of the correction vectors.

Note: The total number of support points in the work area is limited to 1024.

Therefore, the distance between the support points is relatively large.

Use of 3D compensation makes sense only if the position errors between the support points vary only slightly.

Then a precision gain of a factor of 10 to 30 is possible.

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator

Functional Areas 2-13

Fig.

2-21: 3D correction vectors in work area

Note: The position corrections are not taken into account in the position display (nominal and actual position)!

Number of support points The number of support points in the X direction (NumSupX), the Y direction (NumSupY) and the Z direction (NumSupZ) must be specified for axes X, Y and Z.

The number of support points is entered in the corresponding AXD parameter P-7-3648.

The total number of support points NumSup is obtained by multiplying NumSupX, NumSupY and

NumSupZ:

Assignment of table values

NumSup = NumSupX * NumSupY * NumSupZ

Fig.

2-22: Total number of support points in 3D compensation

The total number of support points is limited to 1024.

Therefore, with uniform distribution in the movement range, 10 support points can be assigned to every axis (10 * 10 * 10 = 1000).

However, any other kind of distribution, even 2D compensation (e.g.

30 * 30 = 900), can be selected.

The total number of support points defines the length of the overall table

(P-7-3614) for axes X, Y and Z.

The table values of the three-dimensional table are transformed into a one-dimensional table (P-7-3615).

Every support point is assigned an index (IndexS).

The index of the one-dimensional table is calculated from the indices (XX, YY, ZZ) of the axis support positions.

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

2-14 Functional Areas Multi Function Interpolator

IndexS = 1 + (XX 1)

+ (YY 1) * NumSupX

+ (ZZ 1) * NumSupX * NumSupY

XX: Index of X support position (1 NumSupX)

YY: Index of Y support position (1 NumSupY)

ZZ: Index of Z support position (1 NumSupZ)

Fig.

2-23: Calculation of support position index in one-dimensional correction table

Start position and supporting position distance

The 3D support points are specified by the start position and the support point distance in axes X, Y and Z.

The first support point layer in the axis direction is located at the start position.

All additional support point layers in the axis direction are shifted by the support point distance.

Position of the n th support point layer

= start position + (n – 1) * support point distance

Fig.

2-24: Calculation of position of n th support point layer

Reference axis

2D compensation

In 3D compensation, all axes (X, Y and Z) refer to the last axis (Z axis, axis with the highest axis number) of the 3D compensation group.

If 3D AXD parameters are generated for only 2 axes, one speaks of 2D compensation.

Parameter Value Assignment

Table storage The 3D correction table, including the specification of the work area, should be stored in a user machine data page.

Currently, the correction vector table values can only be entered manually.

However, the user can write an NC program (measuring program) for the automatic determination of the table values and store the values in the desired machine data page using the MTD command.

Section 3.3

can also be used as a programming example for 3D compensation.

Note: After the machine is switched on, the table values must be transferred once via the AXD channel, for example in the NC

Home program.

For this, a subprogram for transferring the 3D correction values must be integrated into the Home program.

Used APR-AXD parameters

(Interpolator 1)

No.

SERCOS ID

No.

Meaning

65053 X:P-7-3613 Value = 4, 3D compensation coupling type, Table 1

65054 X:P-7-3614 Table length of Table 1, overall correction table

65088 X:P-7-3648 Number of support points in X

65055 X:P-7-3615 Table values for Table 1, correction in X direction

65057 X:P-7-3617 X start position of Table 1

65058 X:P-7-3618 X support position distance of Table 1

65060 X:P-7-3620 Axis number of Z axis, reference axis for Table 1

65053 Y:P-7-3613 Value = 4, 3D compensation coupling type, Table 1

65054 Y:P-7-3614 Table length of Table 1, overall correction table

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Functional Areas 2-15

No.

SERCOS ID

No.

Meaning

65088 Y:P-7-3648 Number of support points in Y

65055 Y:P-7-3615 Table values for Table 1, correction in Y direction

65057 Y:P-7-3617 Y start position of Table 1

65058 Y:P-7-3618 Y support position distance of Table 1

65060 Y:P-7-3620 Axis number of Z axis, reference axis for Table 1

65053 Z:P-7-3613 Value = 4, 3D compensation coupling type, Table 1

65054 Z:P-7-3614 Table length of Table 1, overall correction table

65088 Z:P-7-3648 Number of support points in Z

65055 Z:P-7-3615 Table values for Table 1, correction in Z direction

65057 Z:P-7-3617 Z start position of Table 1

65058 Z:P-7-3618 Z support position distance of Table 1

65060 Z:P-7-3620 Axis number of Z axis, reference axis for Table 1

65061 P-7-3621 Value = 1 / 0, activate / deactivate Multifunction

Interpolator

In 3D compensation, only the last Cartesian axis (axis with the highest axis number) must be activated.

Fig.

2-25: APR-AXD parameters of 3D compensation

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

2-16 Functional Areas Multi Function Interpolator

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Transferring Machine Data to the APR 3-1

3 Transferring Machine Data to the APR

3.1

Required NC Program Commands

Reading machine data The Multifunction Interpolator table values that are stored in a user machine data page can be read and written from the NC program using the MTD (Machine Table Data) command.

MTD syntax

PG:

L1:

L2:

EL:

Fig.

3-1:

MTD(<PG>, <L1>, <L2>, <EL>)

Page number (pages 100-299)

Run variable 1 (-1000 +1000; L1

Max

– L1

Min

= 1000)

Run variable 2 (-1000 +1000;

Element number (1-1000)

Max

– L2

Min

= 1000)

MTD command syntax

The table values are transferred to the NC axis processor (APR) via the

AXD channel.

The AXD command is available for this in the NC program.

It allows reading and writing access.

AXD syntax

AX:

IDN:

Fig.

3-2:

AXD(<AX>:P-7-<IDN>)

Axis designation or axis number

SERCOS ID number of the APR parameter

AXD command syntax

A detailed description of the management of commands MTD and AXD can be found in the NC programming instructions.

Possible assignations for reading and transferring machine data include:

Writing machine data in APR-

AXD parameters

Fig.

3-3:

@100 = MTD(.....)

AXD(.....) = @100 *10000

AXD(.....) = MTD(.....) [ + MTD(.....) [ + ....] ]

Writing machine data in APR-AXD parameters

3.2

Sample program "Geometry compensation"

Overview

The following figure provides an overview of an implemented geometry compensation:

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

3-2 Transferring Machine Data to the APR Multi Function Interpolator

Position of reference axis Ax1_1

Table X(Ax1_1)

Interpolator 1

Ax1_1

X offset 1

Position of reference axis Ax2_1

Table X(Ax2_1)

Interpolator 2

Ax2_1

X offset 2

Position of reference axis Ax3_1

Table X(Ax3_1)

Interpolator 3

Ax3_1

X offset 3

Nom.

pos.

val., X axis

Resulting nom.

pos.

value X

Position of reference axis Ax1_3

Table Z(Ax1_3)

Interpolator 1

Ax1_3

Z offset 1

Position of reference axis Ax2_3

Table Z(Ax2_3)

Interpolator 2

Ax2_3

Z offset 2

Position of reference axis Ax3_3

Table Z(Ax3_3)

Interpolator 3

Ax3_3

Z offset 3

Nom.

pos.

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Resulting nom.

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Position of reference axis Ax1_2

Position of reference axis Ax2_2

Position of reference axis Ax3_2

Table Y(Ax1_2)

Interpolator 1

Y offset 1

Ax1_2

Nom.

pos.

val., Y axis

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Table W(Ax1_4)

Interpolator 1

W offset 1

Ax1_4

Nom.

pos.

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Table Y(Ax2_2)

Interpolator 2

Ax2_2

Y offset 2

Position of reference axis Ax2_4

Table W(Ax2_4)

Interpolator 2 w

Ax2_4

W offset 2

Table Y(Ax3_2)

Interpolator 3

Ax3_2

Y offset 3

Resulting nom.

pos.

value Y

Position of reference axis Ax3_4

Table W(Ax3_4)

Interpolator 3

Ax3_4

W offset 3

Ax<LV1>_<LV2>:

Fig.

3-4:

Reference axis from machine data page, run variables LV1 and LV2

Overview of sample program "Geometry compensation"

Resulting nom.

pos.

value, W

User Machine Data

List of possible variable types

Defined variables

Defined containers

Variable contents of the containers

; ---------------------------------------------------------------------------

; 001 : BOOL ; 015 : VELO

; 002 : BYTE

; 003 : WORD

; 016 : ACCEL

; 017 : DEG

; 004 : DWORD

; 006 : SINT

; 007 : INT

; 008 : DINT

; 009 : USINT

; 010 : UINT

; 018 : SPEED

; 019 : FEED/REV

; 020 : CON_SURF_S

; 021 : PERI_SPEED

; 022 : AXIS_DES

; 023 : IP_AXIS

; 011 : UDINT

; 012 : REAL

; 013 : DREAL

; 014 : POS

; 024 : SP_AXIS

; 025 : PROCESS

; 026 : AXIS_DES

; 027 : NO_CLASS

; ---------------------------------------------------------------------------

[START]

STRUCT 100 Geometry compensation

Flag "Data transfer"

Reference axis

Table start position

Table end position

BOOL

INT

DREAL

Calc. support position dist. DREAL

Correction angle [ø]

Table length (1-65)

Table correction value 1

Table correction value 2

Table correction value 3

...

DREAL

INT

REAL

NC,PLC,BOF,PwBOF

...

Table correction val. 64

Table correction val. 65

END_STRUCT

ARRAY [

Table

REAL

#+0001 Compensation table 1

#+0002 Compensation table 2

#+0003 Compensation table 3

Axis

#+0001 Compensation axis 1

#+0002 Compensation axis 2

NC,PLC,BOF,PwBOF

NO_CLASS

1-3 <Table> < >

1-4 <Axis> < >

#+0003 Compensation axis 3

#+0004 Compensation axis 4

] OF STRUCT

; ---------------------------------------------------------------------------

; No. <-Data designation--------->\Ty\<LV1>\<LV2>\Value Unit

;0001 <-Designation ->\02\+0000\+0000\55 mm

;No—Data designation-------------Type-LV1---LV2--Value-Unit------------------

[END]

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator

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DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Transferring Machine Data to the APR 3-7

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DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Transferring Machine Data to the APR 3-9

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DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

3-10 Transferring Machine Data to the APR Multi Function Interpolator

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DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Transferring Machine Data to the APR 3-11

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DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

3-12 Transferring Machine Data to the APR Multi Function Interpolator

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3.3

Sample program "3D compensation"

Overview

The following sample program represents a 3D compensation for axes X,

Y and Z corresponding to Section 2.5.

The total number of support points in the work area, and thus the length of the overall correction table is

1000.

10 support points are provided for each axis (10 * 10 * 10 = 1000).

User Machine Data

Page 100: 3D correction in work area

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DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Transferring Machine Data to the APR 3-13

Page 101: 3D correction of X axis

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-NN//N00QQ:Q:Q!

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

3-14 Transferring Machine Data to the APR Multi Function Interpolator

Page 102: 3D correction of Y axis

Page 103: 3D correction of Z axis

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DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Transferring Machine Data to the APR 3-15

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0NN//N00QQ:Q:Q!

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NC Program

@ &<@

,6...74)

,6...74

,6...74)

,6...74

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34)334)334)3

346)37:6)37:6)37

< #9> 9+ ,6.3.3.374!I3

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DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

3-16 Transferring Machine Data to the APR Multi Function Interpolator

') ' !"#"

,# '

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3.4

Sample Program "Canted Axis with Table Interpolator"

Overview

The following figures provide an overview of the position coupling that is implemented with the multiplication mode of the table interpolator for the sample application "Canted axis":

Fig.

3-5:

SchraegeAchse.bmp

Sample "Canted axis" (angle α should be greater than 45°)

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Transferring Machine Data to the APR 3-17

Fig.

3-6:

X’ = X + X * [{1-sin(

)} / sin(

)]

Z’ = Z X * cot(

)

Formulae required for calculating "Canted axis"

Nom.

pos.

val.

of ref.

axis X

Interpolator 1

1-sin(

) sin(

)

X offset

X’

Nom.

pos.

value X

Interpolator 1

-cot(

)

Z offset

Nom.

pos.

value Z

Z’

Fig.

3-7: Principle of position coupling for "Canted axis"

NC Program

.HOME

...

BRF .HOME_1

G74 Z0

G74 X0

G1 Z0 F5000

G1 X0 F5000

AXD(X:P-7-3608)=(movement range limit X+)*10000

AXD(X:P-7-3609)=(movement range limit X-)*10000

AXD(X:P-7-3613)=2

AXD(X:P-7-3616)=(1-sin(

)/sin(

))*10000

AXD(X:P-7-3619)=2

AXD(X:P-7-3620)=axis number of X axis

AXD(X:P-7-3621)=1

AXD(Z:P-7-3608)=(movement range limit Z+)*10000

AXD(Z:P-7-3609)=(movement range limit Z-)*10000

AXD(Z:P-7-3613)=2

AXD(Z:P-7-3616)=(-cot(

))*10000

AXD(Z:P-7-3619)=2

AXD(Z:P-7-3620)=axis number of X axis

AXD(Z:P-7-3621)=1

.HOME_1

...

;to reference point

;to machine zero point

;Movement range limit

;Set X axis

;Position coupling

;Table factor in 0.0001

;Multiplication ON

;Axis number of

; canted axis

;Transformation X

;Movement range limit

;Set Z axis

;Position offset

;Table factor in 0.0001

; Multiplication ON

;Axis number of

; canted axis

;Transformation Z

3.5

Transferring Machine Data from the PLC via the AXD

Channel

Generally, the transfer of the machine data to the APR can also be executed by the PLC using function module AXD_WR.

However, the transfer of tables can take a long time; therefore, this procedure is not recommended.

APR-AXD parameters for controlling the Multifunction

Interpolator can nevertheless be written without qualms using one function module AXD_WR each.

The use of function module AXD_WR is described in detail in the

MTC200 interface description.

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

3-18 Transferring Machine Data to the APR Multi Function Interpolator

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Appendix 4-1

4 Appendix

4.1

Firmware Versions

The Multifunction Interpolator functions documented here are available as of firmware version 19.

The version history is as follows:

Firmware version (FWA)

18VRS

19VRS

Added functions

Table interpolator (only 1 st table)

Expansion to a total of 4 tables, in association with the added function for the Multifunction

Interpolator documented here

Fig.

4-1: Added functions

4.2

Reference to Additional Documents

The following documents should be referred to when setting the parameters for and using the Multifunction Interpolator:

• MTC200/TRANS200 – Parameter description

• MTC200 – Machine data handling

•

MTC200 – NC programming instructions

•

MTC200 – Interface description

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

4-2 Appendix Multi Function Interpolator

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator List of Figures 5-1

5 List of Figures

Fig.

1-1: Overview of relevant APR-AXD parameters 1-2

Fig.

2-1: Moment table 2-1

Fig.

2-2: Calculation of position of n th moment value 2-1

Fig.

2-3: APR-AXD parameters of the moment table coupling type 2-2

Fig.

2-4: Principle of position coupling 2-2

Fig.

2-5: Use of several tables in table interpolator 2-3

Fig.

2-6: Calculation of nominal position value for drive 2-3

Fig.

2-7: Processing of position offset (with controller activation) 2-3

Fig.

2-8: Processing of position offset (without controller activation) 2-4

Fig.

2-9: Processing of position offset (controller activation enabled) 2-5

Fig.

2-10: Calculation of position of n th support point 2-5

Fig.

2-11: Example of position offset table 2-6

Fig.

2-12: Conditions for rotary axis 2-6

Fig.

2-13: Position offset table with finite height 2-6

Fig.

2-14: Position offset table with infinite height 2-6

Fig.

2-15: Position offset in multiplication mode 2-7

Fig.

2-16: APR-AXD parameters of the table interpolator coupling type 2-

Fig.

2-17: Example of geometry compensation with table interpolator 2-

Fig.

2-18: Principle of spindle speed coupling 2-11

Fig.

2-19: APR-AXD parameters of spindle speed coupling 2-11

Fig.

2-20: Angle and straightaway errors 2-12

Fig.

2-21: 3D correction vectors in work area 2-13

Fig.

2-22: Total number of support points in 3D compensation 2-13

Fig.

2-23: Calculation of support position index in one-dimensional correction table 2-14

Fig.

2-24: Calculation of position of n th support point layer 2-14

Fig.

2-25: APR-AXD parameters of 3D compensation 2-15

Fig.

3-1: MTD command syntax 3-1

Fig.

3-2: AXD command syntax 3-1

Fig.

3-3: Writing machine data in APR-AXD parameters 3-1

Fig.

3-4: Overview of sample program "Geometry compensation" 3-2

Fig.

3-5: Sample "Canted axis" (angle

α should be greater than 45°) 3-

Fig.

3-6: Formulae required for calculating "Canted axis" 3-17

Fig.

3-7: Principle of position coupling for "Canted axis" 3-17

Fig.

4-1: Added functions 4-1

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

5-2 List of Figures Multi Function Interpolator

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator

6 Index

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

3D compensation 1-2, 2-11, 2-12, 2-13, 2-14, 2-15 sample program 3-12

Activation of table interpolator 2-4

Additional documents 4-1

Angle offset 2-2

APR-AXD parameters 1-1

3D compensation coupling type 2-14, 2-15 modification 1-2, 2-3 moment table coupling type 2-2 moment table coupling type 2-2 overview 1-1 spindle speed coupling type 2-11 table interpolator coupling type 2-7, 2-8, 2-9

AXD command 3-1

Canted axis 3-16

Controller enablement 2-3, 2-4, 2-5, 2-8

Deactivation of table interpolator 2-4

External transmitter 2-7

G75 2-1

G76 2-1

Geometry compensation 2-9, 2-10 sample program 3-1

Home program 2-1, 2-7, 2-10, 2-14 sample 3D compensation 3-15 sample Canted axis 3-17 sample geometry compensation 3-3

Machine data page 1-1, 2-1, 2-7, 2-10, 2-14

Moment limit value bipolar 2-1

Moment table 1-2, 2-1, 2-2

Moving to the fixed stop with position-dependent moment table 2-1

MTD command 3-1

Multifunction Interpolator functional areas 1-1 special features 1-1

Multifunction Interpolator group 2-3

Multiplication mode 2-2, 2-7, 3-16

Position coupling 2-2, 2-8, 3-16

Index 6-1

6-2 Index Multi Function Interpolator

Position display 2-4, 2-13

Rotary axis 2-6

Slack compensation 1-1

Spindle speed coupling 1-2, 2-11

Spindle synchronization 2-2, 2-8

Table interpolation 1-2, 2-2, 2-3, 2-4, 2-7, 2-9, 2-10

Table interpolator activation without controller enablement 2-8 automatic deactivation without controller enablement 2-8 sample program 3-16

Table mode 2-2, 2-5, 2-7

Table storage 1-1

Transferring machine data to the APR 3-1

Virtual axis 2-7

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator

7 Service & Support

7.1

Helpdesk

Unser Kundendienst-Helpdesk im Hauptwerk Lohr am Main steht Ihnen mit Rat und Tat zur Seite.

Sie erreichen uns

telefonisch: +49 (0) 9352 40 50 60

über Service Call Entry Center Mo-Fr 07:00-18:00

per Fax: +49 (0) 9352 40 49 41

per e-Mail: [email protected]

Service & Support 7-1

Our service helpdesk at our headquarters in Lohr am

Main, Germany can assist you in all kinds of inquiries.

by phone: +49 (0) 9352 40 50 60 via Service Call Entry Center Mo-Fr 7:00 am 6:00 pm

by fax: +49 (0) 9352 40 49 41

by e-mail: [email protected]

7.2

Service-Hotline

Außerhalb der Helpdesk-Zeiten ist der Service direkt ansprechbar unter oder

+49 (0) 171 333 88 26

+49 (0) 172 660 04 06

After helpdesk hours, contact our service department directly at or

+49 (0) 171 333 88 26

+49 (0) 172 660 04 06

7.3

Internet

Unter www.indramat.de

finden Sie ergänzende Hinweise zu Service, Reparatur und

Training sowie die aktuellen Adressen *) unserer auf den folgenden Seiten aufgeführten Vertriebsund Servicebüros.

Verkaufsniederlassungen

Niederlassungen mit Kundendienst

Außerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mit unserem für Sie nächstgelegenen Ansprechpartner auf.

*) http://www.indramat.de/de/kontakt/adressen

Die Angaben in der vorliegenden Dokumentation können seit Drucklegung überholt sein.

At www.indramat.de

you may find additional notes about service, repairs and training in the

Internet, as well as the actual addresses *) of our salesand service facilities figuring on the following pages.

sales agencies offices providing service

Please contact our sales / service office in your area first.

*) http://www.indramat.de/en/kontakt/adressen

Data in the present documentation may have become obsolete since printing.

7.4

Vor der Kontaktaufnahme...

Before contacting us...

Wir können Ihnen schnell und effizient helfen wenn

Sie folgende Informationen bereithalten: detaillierte Beschreibung der Störung und der

Umstände.

Angaben auf dem Typenschild der betreffenden

Produkte, insbesondere Typenschlüssel und

Seriennummern.

Tel.-/Faxnummern und e-Mail-Adresse, unter denen Sie für Rückfragen zu erreichen sind.

F or quick and efficient help, please have the following information ready:

Detailed description of the failure and circumstances.

Information on the type plate of the affected products, especially type codes and serial numbers.

Your phone/fax numbers and e-mail address, so we can contact you in case of questions.

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

7-2 Service & Support Multi Function Interpolator

7.5

Kundenbetreuungsstellen Sales & Service Facilities

Deutschland – Germany

Vertriebsgebiet Mitte

Germany Centre

Rexroth Indramat GmbH

Bgm.-Dr.-Nebel-Str.

2 / Postf.

1357

97816 Lohr am Main / 97803 Lohr

Kompetenz-Zentrum Europa

Tel.:

Fax:

+49 (0)9352 40-0

+49 (0)9352 40-4885

Vertriebsgebiet Süd

Germany South

Rexroth Indramat GmbH

Landshuter Allee 8-10

80637 München

Tel.: +49 (0)89 127 14-0

Fax: +49 (0)89 127 14-490

S E R V I C E

C A L L E N T R Y C E N T E R

MO – FR von 07:00 18:00 Uhr from 7 am – 6 pm

Tel.

+49 (0) 9352 40 50 60 [email protected]

Vertriebsgebiet West

Germany West

Bosch Rexroth AG

Regionalzentrum West

Borsigstrasse 15

40880 Ratingen

Tel.:

Fax:

+49 (0)2102 409-0

+49 (0)2102 409-406

Vertriebsgebiet Nord

Germany North

Bosch Rexroth AG

Walsroder Str.

30853 Langenhagen

Tel.: +49 (0) 511 72 66 57-0

Service: +49 (0) 511 72 66 57-256

Fax: +49 (0) 511 72 66 57-93

Service: +49 (0) 511 72 66 57-95

Vertriebsgebiet Mitte

Germany Centre

Bosch Rexroth AG

Regionalzentrum Mitte

Waldecker Straße 13

64546 Mörfelden-Walldorf

Tel.: +49 (0) 61 05 702-3

Fax: +49 (0) 61 05 702-444

S E R V I C E

H O T L I N E

MO – FR von 17:00 07:00 Uhr from 5 pm 7 am

+ SA / SO

Tel.: +49 (0)172 660 04 06 o d e r / o r

Tel.: +49 (0)171 333 88 26

Gebiet Südwest

Germany South-West

Bosch Rexroth AG

Service-Regionalzentrum Süd-West

Fellbacherstr.115

70736 Fellbach

Tel.: +49 (0)711 54041–0

Fax: +49 (0)711 54041–147

S E R V I C E

ERSATZTEILE / SPARES verlängerte Ansprechzeit

extended office time -

♦ nur an Werktagen

only on working days -

♦ von 07:00 18:00 Uhr

from 7 am 6 pm -

Tel.

+49 (0) 9352 40 42 22

Gebiet Südwest

Germany South-West

Bosch Rexroth AG

Regionalzentrum Südwest

Ringstrasse 70 / Postfach 1144

70736 Fellbach / 70701 Fellbach

Tel.: +49 (0)711 57 61–100

Fax: +49 (0)711 57 61–125

Vertriebsgebiet Ost

Germany East

Bosch Rexroth AG

Beckerstraße 31

09120 Chemnitz

Vertriebsgebiet Ost

Germany East

Bosch Rexroth AG

Regionalzentrum Ost

Walter-Köhn-Str.

04356 Leipzig

Tel.:

Fax: vom Ausland: from abroad:

(0) nach Landeskennziffer weglassen!

don’t dial (0) after country code!

+49 (0)371 35 55-0

+49 (0)371 35 55-333

Tel.:

Fax:

+49 (0)341 25 61-0

+49 (0)341 25 61-111

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Service & Support 7-3

Europa (West) Europe (West)

Austria Österreich

Bosch Rexroth GmbH

Bereich Indramat

Stachegasse 13

1120 Wien

Tel.:

Fax:

+43 (0)1 985 25 40

+43 (0)1 985 25 40-93

Great Britain – Großbritannien

Bosch Rexroth Ltd.

Rexroth Indramat Division

Broadway Lane, South Cerney

Cirencester, Glos GL7 5UH

Tel.:

Fax:

+44 (0)1285 863000

+44 (0)1285 863030 [email protected]

[email protected]

France Frankreich

Bosch Rexroth S.A.

Division Rexroth Indramat

91, Bd.

Irène Joliot-Curie

69634 Vénissieux – Cedex

Tel.: +33 (0)4 78 78 53 65

Fax: +33 (0)4 78 78 53 62

Italy Italien

Bosch Rexroth S.p.A.

Via Mascia, 1

80053 Castellamare di Stabia NA

Tel.:

Fax:

+39 081 8 71 57 00

+39 081 8 71 68 85

Austria – vom Ausland: (0) nach Landeskennziffer weglassen, Italien: 0 nach Landeskennziffer mitwählen from abroad: don’t dial (0) after country code, Italy: dial 0 after country code

Österreich

Bosch Rexroth G.m.b.H.

Gesch.ber.

Rexroth Indramat

Industriepark 18

4061 Pasching

Tel.:

Fax:

+43 (0)7221 605-0

+43 (0)7221 605-21

Belgium Belgien

Bosch Rexroth AG

Electric Drives & Controls

Industrielaan 8

1740 Ternat

Tel.: +32 (0)2 5830719

service: +32 (0)2 5830717

Fax: +32 (0)2 5830731 [email protected]

Denmark Dänemark

BEC A/S

Zinkvej 6

8900 Randers

Tel.:

Fax:

+45

(0)87

Finland Finnland

Bosch Rexroth Oy

Rexroth Indramat division

Ansatie 6

017 40 Vantaa

Tel.:

Fax:

+358 (0)9 84 91-11

+358 (0)9 84 91-13 60

France Frankreich

Bosch Rexroth S.A.

Division Rexroth Indramat

Avenue de la Trentaine

BP.

77503 Chelles Cedex

Tel.:

Fax:

+33 (0)164 72-70 00

+33 (0)164 72-63 00

Hotline: +33 (0)608 33 43 28

France

Fax:

+33

Frankreich

Bosch Rexroth S.A.

Division Rexroth Indramat

1270, Avenue de Lardenne

31100 Toulouse

Tel.: +33 (0)5

(0)5

Italy Italien

Bosch Rexroth S.p.A.

Via G.

Di Vittoria, 1

20063 Cernusco S/N.MI

Tel.:

Fax:

Italy Italien

+39 02 92 365 1

+39 02 92 365 326

+39 02 92 365 500

+39 02 92 365 516378

Bosch Rexroth S.p.A.

Viale Oriani, 38/A

40137 Bologna

Tel.:

Fax:

+39 051 34 14 14

+39 051 34 14 22

Italy Italien

Bosch Rexroth S.p.A.

Via Paolo Veronesi, 250

10148 Torino

Tel.:

Fax:

+39 011 224 88 11

+39 011 224 88 30

Italy Italien

Bosch Rexroth S.p.A.

Via del Progresso, 16 (Zona Ind.)

35020 Padova

Tel.:

Fax:

+39 049 8 70 13 70

+39 049 8 70 13 77

Norway Norwegen

Bosch Rexroth AS

Rexroth Indramat Division

Berghagan 1 or: Box 3007

1405 Ski-Langhus 1402 Ski

Tel.:

Fax:

+47 (0)64 86 41 00

+47 (0)64 [email protected]

86 90 62

Sweden Schweden

Rexroth Mecman Svenska AB

Indramat Support

Ekvändan 7

254 67 Helsingborg

Tel.:

Fax:

+46 (0) 42 38 88 -50

+46 (0) 42 38 88 -74

Spain Spanien

Bosch Rexroth S.A.

Divisiòn Rexroth Indramat

Centro Industrial Santiga

Obradors s/n

08130 Santa Perpetua de Mogoda

Barcelona

Tel.:

Fax:

+34 9 37 47 94 00

+34 9 37 47 94 01

Switzerland West Schweiz West

Bosch Rexroth Suisse SA

Département Rexroth Indramat

Rue du village 1

1020 Renens

Tel.:

Fax:

+41 (0)21 632 84 20

+41 (0)21 632 84 21

Netherlands – Niederlande/Holland

Bosch Rexroth B.V.

Kruisbroeksestraat 1

(P.O.

Box 32)

5281 RV Boxtel

Tel.:

Fax:

+31 (0)411 65 19 51

+31 (0)411 65 [email protected]

14 83

Spain – Spanien

Goimendi S.A.

División Rexroth Indramat

Parque Empresarial Zuatzu

C/ Francisco Grandmontagne no.2

20018 San Sebastian

Tel.: +34 9 43 31 84 21

service: +34 9 43 31 84 56

Fax: +34 9 43 31 84 27

service: +34 9 43 31 84 60 [email protected]

Switzerland East Schweiz Ost

Bosch Rexroth Schweiz AG

Geschäftsbereich Indramat

Hemrietstrasse 2

8863 Buttikon

Tel.

Fax

+41 (0) 55 46 46 111

+41 (0) 55 46 46 222

Netherlands Niederlande/Holland

Bosch Rexroth Services B.V.

Kruisbroeksestraat 1

(P.O.

Box 32)

5281 RV Boxtel

Tel.:

Fax:

+31 (0)411 65 19 51

+31 (0)411 67 78 14

Sweden Schweden

Rexroth Mecman Svenska AB

Rexroth Indramat Division

Varuvägen 7

(Service: Konsumentvägen 4, Älfsjö)

125 81 Stockholm

Tel.:

Fax:

+46 (0)8 727 92 00

+46 (0)8 647 32 77

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

7-4 Service & Support Multi Function Interpolator

Europa (Ost) Europe (East)

Czech Republic Tschechien

Bosch -Rexroth, spol.s.r.o.

Hviezdoslavova 5

627 00 Brno

Tel.:

Fax:

+420 (0)5 48 126 358

+420 (0)5 48 126 112

Czech Republic Tschechien

DEL a.s.

Strojírenská 38

591 01 Zdar nad Sázavou

Tel.: +420 616 64 3144

Fax: +420 616 62 1657

Poland – Polen

Bosch Rexroth Sp.zo.o.

Biuro Poznan ul.

Dabrowskiego 81/85

60-529 Poznan

Tel.:

Fax:

+48 061 847 64 62 /-63

+48 061 847 64 02

Rumania Rumänien

Bosch Rexroth Sp.zo.o.

Str.

Drobety nr.

4-10, app.

70258 Bucuresti, Sector 2

Tel.:

Fax:

+40 (0)1 210 48 25

+40 (0)1 210 29 50

+40 (0)1 210 29 52

Turkey Türkei

Bosch Rexroth Otomasyon

San & Tic.

A..S.

Fevzi Cakmak Cad No.

34630 Sefaköy Istanbul

Tel.:

Fax:

+90 212 541 60 70

+90 212 599 34 07

Slowenia Slowenien

DOMEL

Otoki 21

64 228 Zelezniki

Tel.:

Fax:

+386

5117

5117 [email protected]

152

225 vom Ausland: (0) nach Landeskennziffer weglassen from abroad: don’t dial (0) after country code

Hungary Ungarn

Bosch Rexroth Kft.

Angol utca 34

1149 Budapest

Tel.:

Fax:

+36 (1) 364 00 02

+36 (1) 383 19 80

Russia Russland

Bosch Rexroth OOO

Wjatskaja ul.

27/15

127015 Moskau

Tel.: +7-095-785 74 78

+7-095 785 74 79

Fax: +7 095 785 74 77 [email protected]

Poland – Polen

Bosch Rexroth Sp.zo.o.

ul.

Staszica 1

05-800 Pruszków

Tel.: +48 22 738 18 00

– service: +48 22 738 18 46

Fax: +48 22 758 87 35

– service: +48 22 738 18 42

Russia Russland

ELMIS

10, Internationalnaya

246640 Gomel, Belarus

Tel.: +375/ 232 53 42 70

+375/ 232 53 21 69

Fax: +375/ 232 53 37 69 [email protected]

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator Service & Support 7-5

Africa, Asia, Australia – incl.

Pacific Rim

Australia Australien

AIMS Australian Industrial

Machinery Services Pty.

Ltd.

Unit 3/45 Horne ST

Campbellfield , VIC 3061

Melbourne

Tel.:

Fax:

+61 393 590 228

+61 393 590 286

Hotline: +61 419 369 195 [email protected]

Australia Australien

Bosch Rexroth Pty.

Ltd.

No.

7, Endeavour Way

Braeside Victoria, 31 95

Melbourne

Tel.:

Fax:

+61 3 95 80 39 33

+61 3 95 [email protected]

80 17 33

China

Shanghai Bosch Rexroth

Hydraulics & Automation Ltd.

Waigaoqiao, Free Trade Zone

No.122, Fu Te Dong Yi Road

Shanghai 200131 P.R.China

Tel.:

Fax:

+86

23 [email protected]

China

Bosch Rexroth China Ltd.

Guangzhou Repres.

Office

Room 1014-1016, Metro Plaza,

Tian He District, 183 Tian He Bei Rd

Guangzhou 510075, P.R.China

China

Bosch Rexroth (China) Ltd.

A-5F., 123 Lian Shan Street

Sha He Kou District

Dalian 116 023, P.R.China

Tel.:

Fax:

+86 20 8755-0030

+86 20 8755-0011

+86 20 8755-2387

Tel.:

Fax:

+86 411 46 78 930

+86 411 46 78 932

India Indien

Bosch Rexroth (India) Ltd.

Rexroth Indramat Division

Plot.

A-58, TTC Industrial Area

Thane Turbhe Midc Road

Mahape Village

Navi Mumbai 400 701

Tel.: +91 22 7 61 46 22

Fax: +91 22 7 68 15 31

Japan

Bosch Rexroth Automation Corp.

Service Center Japan

Yutakagaoka 1810, Meito-ku,

NAGOYA 465-0035, Japan

Tel.: +81 52 777 88 41

+81 52 777 88 53

+81 52 777 88 79

Fax: +81 52 777 89 01

Malaysia

Bosch Rexroth Sdn.Bhd.

11, Jalan U8/82

Seksyen U8

40150 Shah Alam

Selangor, Malaysia

Tel.:

Fax:

+60 3 78 44 80 00

+60 3 78 45 48 00 [email protected]

[email protected]

India

Bosch Rexroth SDN BHD.

No.11, Jalan Astaka U8/82

Seksyen U8

40150 Shah Alam

Selangor Darul Ehsan

Tel.: +65 3 7844 8000

Fax: +65 3 7845 4800

Indien

Bosch Rexroth (India) Ltd.

Rexroth Indramat Division

Plot.

96, Phase III

Peenya Industrial Area

Bangalore 560058

Tel.:

Fax:

+91 80 41 70 211

+91 80 83 94 345 [email protected]

Singapore Singapur sanjay.nemade

@boschrexroth.com.sg

China

Melchers GmbH

BRC-SE, Tightening & Press-fit

13 Floor Est Ocean Centre

No.588

Yanan Rd.

East

65 Yanan Rd.

West

Shanghai 200001

Tel.:

Fax:

India

Bosch Rexroth (India) Ltd.

1st Floor, S-10

Green Park ext.

Market

New Delhi – 110016

Tel.:

Fax:

South

+86 21 6352 8848

+86 21 6351 3138

Indien

+91

Africa -

Südafrika

TECTRA Automation (Pty) Ltd.

71 Watt Street, Meadowdale

Edenvale 1609

Tel.: +27 11 971 94 00

Fax: +27 11 971 94 40

Hotline: +27 82 903 29 23 [email protected]

Japan

Bosch Rexroth Automation Corp.

Rexroth Indramat Division

1F, I.R.

Building

Nakamachidai 4-26-44, Tsuzuki-ku

YOKOHAMA 224-0041, Japan

Tel.: +81 45 942 72 10

Fax: +81 45 942 03 41

Korea

Bosch Rexroth-Korea Ltd.

Electric Drives and Controls

Bongwoo Bldg.

7FL, 31-7, 1Ga

Jangchoong-dong, Jung-gu

Seoul, 100-391

Tel.:

Fax:

+82 234 061 813

+82 222 641 295

Thailand

NC Advance Technology Co.

Ltd.

59/76 Moo 9

Ramintra road 34

Tharang, Bangkhen,

Bangkok 10230

Tel.: +66 2 943 70 62

+66 2 943 71 21

Fax: +66 2 509 23 62 [email protected]

China

Bosch Rexroth China Ltd.

15/F China World Trade Center

1, Jianguomenwai Avenue

Beijing 100004, P.R.China

Tel.: +86 10 65 05 03 80

Fax: +86 10 65 05 03 79

Hongkong

Bosch Rexroth (China) Ltd.

6 th

Floor,

Yeung Yiu Chung No.6

Ind Bldg.

19 Cheung Shun Street

Cheung Sha Wan,

Kowloon, Hongkong

Tel.:

Fax:

+852 22 62 51 00

+852 27 41 33 44 [email protected]

Indonesia Indonesien

PT.

Rexroth Wijayakusuma

Building # 202, Cilandak

Commercial Estate

Jl.

Cilandak KKO, Jakarta 12560

Tel.: +62 21 7891169 (5 lines)

Fax: +62 21 7891170 71

Korea

Bosch Rexroth-Korea Ltd.

1515-14 Dadae-Dong, Saha-Ku

Rexroth Indramat Division

Pusan Metropolitan City, 604-050

Tel.:

Fax:

+82 51 26 00 741

+82 51 26 00 747 [email protected]

Taiwan

Rexroth Uchida Co., Ltd.

No.17, Alley 24, Lane 737

Cheng Bei 1 Rd., Yungkang

Tainan Hsien

Tel.:

Fax:

+886

565

754 [email protected]

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

7-6 Service & Support Multi Function Interpolator

Nordamerika – North America

USA

Hauptniederlassung Headquarters

Bosch Rexroth Corporation

Rexroth Indramat Division

5150 Prairie Stone Parkway

Hoffman Estates, IL 60192-3707

Tel.:

Fax:

+1 847 6 45 36 00

+1 847 6 45 62 01 [email protected]

[email protected]

USA Central Region Mitte

Bosch Rexroth Corporation

Rexroth Indramat Division

Central Region Technical Center

1701 Harmon Road

Auburn Hills, MI 48326

Tel.:

Fax:

+1 248 3 93 33 30

+1 248 3 93 29 06

USA Southeast Region Südwest

Bosch Rexroth Corporation

Rexroth Indramat Division

Southeastern Technical Center

3625 Swiftwater Park Drive

Suwanee, Georgia 30124

Tel.:

Fax:

+1 770 9 32 32 00

+1 770 9 32 19 03

USA SERVICE-HOTLINE

7 days x 24hrs -

+1-800-860-1055

USA East Region –Ost

Bosch Rexroth Corporation

Rexroth Indramat Division

Charlotte Regional Sales Office

14001 South Lakes Drive

Charlotte, North Carolina 28273

Tel.: +1 704 5 83 97 62

+1 704 5 83 14 86

USA Northeast Region – Nordost

Bosch Rexroth Corporation

Rexroth Indramat Division

Northeastern Technical Center

99 Rainbow Road

East Granby, Connecticut 06026

Tel.:

Fax:

+1 860 8 44 83 77

+1 860 8 44 85 95

USA West Region – West

Bosch Rexroth Corporation

7901 Stoneridge Drive, Suite 220

Pleasant Hill, California 94588

Tel.:

Fax:

+1 925 227 10 84

+1 925 227 10 81

Canada East Kanada Ost

Bosch Rexroth Canada Corporation

Burlington Division

3426 Mainway Drive

Burlington, Ontario

Canada L7M 1A8

Tel.:

Fax:

+1 905 335 55 11

+1 905 335-41 84 [email protected]

Canada West Kanada West

Bosch Rexroth Canada Corporation

5345 Goring St.

Burnaby, British Columbia

Canada V7J 1R1

Tel.

Fax

604

205-5777

205-6944 [email protected]

Mexico

Bosch Rexroth Mexico S.A.

de C.V.

Calle Neptuno 72

Unidad Ind.

Vallejo

07700 Mexico, D.F.

Tel.:

Fax:

+52 5 754 17 11

+52 5 754 36 84

+52 5 754 12 60

+52 5 754 50 73

+52 5 752 59 43

Mexico

Bosch Rexroth S.A.

de C.V.

Calle Argentina No 3913

Fracc.

las Torres

64930 Monterrey, N.L.

Tel.: +52 8 333 88 34...36

+52 8 349 80 91...93

Fax: +52 8 346 78 71 [email protected]

Südamerika – South America

Argentina Argentinien

Bosch Rexroth S.A.I.C.

"The Drive & Control Company"

Acassusso 48 41/47

1605 Munro

Provincia de Buenos Aires

Tel.:

Fax:

+54 11 4756 01 40

+54 11 4756 01 36 [email protected]

Argentina Argentinien

NAKASE

Servicio Tecnico CNC

Calle 49, No.

5764/66

B1653AOX Villa Balester

Provincia de Buenos Aires

Tel.:

Fax:

+54 11 4768 36 43

+54 11 [email protected]

4768 24 13 [email protected]

[email protected]

(Service)

Columbia Kolumbien

Reflutec de Colombia Ltda.

Calle 37 No.

22-31

Santafé de Bogotá, D.C.

Colombia

Tel.:

Fax:

+57 1 368 82 67

+57 1 368 02 59

+57 1 268 97 [email protected]

Brazil Brasilien

Bosch Rexroth Ltda.

Av.

Tégula, 888

Ponte Alta, Atibaia SP

CEP 12942-440

Tel.: +55 11 4414 56 92

+55 11 4414 56 84

Fax sales: +55 11 4414 57 07

Fax serv.: +55 11 4414 56 86 [email protected]

Brazil Brasilien

Bosch Rexroth Ltda.

Dr.Humberto

Pinheiro Vieira, 100

Distrito Industrial [ Caixa Postal 1273]

89220-390 Joinville SC

Tel./Fax: +55 47 473 58 33

Mobil: +55 47 9974 6645 [email protected]

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

Multi Function Interpolator

Notes

DOK-MTC200-MUL*FUN*IPO-FK01-EN-P

2 9 4 4 4 1

வணக்கம்! Bosch Rexroth R911294441 MTC200 Multi Function Interpolator Manual உடன் உங்களுக்கு உதவ சிறப்பாகப் பயிற்றுவிக்கப்பட்ட AI சாட்போட் நான். நான் ஆவணத்தை முழுமையாக மதிப்பாய்வு செய்துள்ளேன், மேலும் உங்களுக்குத் தேவையான சரியான தகவலைக் கண்டறிய அல்லது உள்ளடக்கத்தை தெளிவான மற்றும் எளிமையான சொற்களில் விளக்க உதவ முடியும். குறிப்பிட்ட அம்சங்கள், சரிசெய்தல் படிகள் அல்லது பொதுவான பயன்பாடு குறித்த வழிகாட்டுதலை நீங்கள் தேடுகிறீர்களானால், உங்கள் கேள்விகளைக் கேட்க தயங்கவும். உங்கள் கவலைகள் அல்லது தேவைகள் பற்றி நீங்கள் எவ்வளவு அதிகமாக விவரங்களை வழங்குகிறீர்களோ, அவ்வளவு துல்லியமாகவும் эффективноவும் நான் உங்களுக்கு உதவ முடியும்!