Sinumerik
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Connectware device driver for Siemens Sinumerik 840Dsl and 828D CNC systems. The driver acts as client for the Sinumerik “Access MyMachine / OPC UA” machine interface.
To be able to access the Sinumerik OPC UA interface the machine requires Sinumerik Operate, a Sinumerik OPC UA license and a compatible OPC UA server version. For information on the machine prerequisites, compatibility & setup please see the
Tool number (toolNo): Sinumerik internal tool number which uniquely identifies each tool
Tool identifier (toolIdent): Tool name. In the tool management each tool is explicitly defined both by its identifier and its duplo number. This means that a tool area can only contain equal tool identifiers with different duplo numbers.
Duplo number (duploNo): Number of replacement (“sister”) tool
Cutting edges (numCuttEdges): Number of cutting edges of a tool. This is not the number of blades but the number of different cut radius along the tool. Most tools have one cutting edge (eg regular drill). Also called D-Number.
The following describes the available device specifics for a Sinumerik device. The Cybus Sinumerik OPC UA Reference file can be found in section
The device connection is configured with a resource of type Cybus::Connection. Please note that the Sinumerik driver uses the Connectware OPC UA driver implementation and therefore the same settings apply here.
protocol
Required. Must be Sinumerik.
connectionhost
Required.
Each connection can have several endpoints. They define the operations that are supported.
You define an endpoint by adding a resource of type Cybus::Endpoint
They have two key properties:
An operation
and a Sinumerik driver method
A Sinumerik endpoint support the following modes of operation:
Read
Write
Polling subscription (subscribe operation with type poll)
Notify subscription (subscribe operation with type notify)
The subscribe pattern offers the possibility to subscribe to a Sinumerik driver method and poll the specified method in a given interval.
Example mapping:
propertiesprotocol
Required. Must be Sinumerik
connection
Required. Must be a reference to a Sinumerik connection
topic
Optional. Your MQTT topic to write the data to.
operation
Required. Must to be subscribe
type
Required. Must be poll.
method
Required. Describes the Sinumerik driver method.
params
Optional. Array of method parameter.
pollInterval
Optional. Polling interval in milliseconds. Default 1000ms.
The read operation offers the possibility to request a machine action and receive a response. The operation follows the JSON-RPC 2.0 Specification. To make it work you only need to specify a read operation on the desired method and send a message on a request-topic (req):
Example message:
Example mapping:
endpoint propertiesprotocol
Required. Must be Sinumerik
connection
Required. Must be a Sinumerik connection.
operation
Required. Must to be read.
method
Required. Describes the Sinumerik method.
This configuration will subscribe to getMachineInfo/req and publish responses to getMachineInfo/res.
The MQTT request payload requires two keys:
id: User-defined correlation ID which can be used to identify the response
params: Array of parameters required for the used driver method
Following the example mapping above (method: getMachineInfo), the request payload, send on topic getMachineInfo/req, needs to be as following:
This invokes the Sinumerik driver method getMachineInfo and returns the following response on topic getMachineInfo/res:
Endpoints configured with the write operation works exactly as endpoints configured with the read operation, allowing you to execute Sinumerik methods by sending a message to a set-topic (set).
Currently, these endpoints don’t support the return of any result.
Please refer to the Read section for more information.
Certain Sinumerik driver methods offer events realized through the subscribe operation with type notify. Notifications are fired when a certain event is triggered.
This feature is highly unstable and can crash the OPC UA server.
Example mapping:
endpoint propertiesprotocol
Required. Must be Sinumerik
connection
Required. Must be a Sinumerik connection.
operation
Required. Must to be subscribe.
type
Required. Must be notify.
method
Required.
Important
Each driver method requires certain access rights on the Sinumerik. The driver automatically sets the required OPC UA access rights for the currently connected OPC UA user. Please make sure the user is allowed to change its access rights. See also method getMyAccessRights.
Sinumerik NC variables are described here as:
<variable-name> (<type>, <sinumerik-machine-data-reference>): <description>
Note
Some machine information
Provides static Sinumerik machine information.
Method: getMachineInfo
Operation: subscribe or req/res
Parameter: none
Return
nckType (string, -): NC type
nckVersion (string, $AN_NCK_VERSION): NC version
anLanguageOnHmi (string, $AN_LANGUAGE_ON_HMI): Current language set on HMI
maskToolManagement (string, $MC_TOOL_MANAGEMENT_MASK): Channel-specific settings for NCK tool management function
basicLengthUnit (string, -): Global basic unit
numCuttEdgeParams (string, -): Number of parameters of a cutting edge in the T/TO module
numCuttEdgeParams_ts (string, ): Number of monitoring parameters of a cutting edge in the T/TS module
numToolParams_tu (string, MD 18094: MM_CC_TDA_PARAM ): Number of OEM data of a tool in the T/TU module
numCuttEdgeParams_tu (string, MD 18096: MM_CC_TOA_PARAM): Number of OEM data of a cutting edge in the T/TUE module.
Provides current Sinumerik machine state.
Method: getMachineState
Operation: subscribe or req/res
Parameter: none
Return
anPoweronState (string, $AN_POWERON_STATE): machine power on state
poweronTime (string, $AN_POWERON_TIME): machine runtime in minutes
licenseStatus (string, -): Licensing status
nckMode (string, -): Mode in which the NCK works
sysTimeSinceStartup (string, -): System run time in seconds since NCK ramp-up
progStatus (string, DB21-30, DBX35.0 - DBX35.4): Program status
progName (string, -): Active program name
workPName (string, -): Active workpiece name
accessLevel (string, -): Level of the access rights currently set
Get spindle speed.
Method: getSpindleSpeed
Operation: subscribe or req/res
Parameter: none
Return
actualSpeed (string, $AA_S[x]): Spindle speed actual value
commandSpeed (string, -): Spindle speed desired value
Get spindle feed.
Method: getSpindleFeed
Operation: subscribe or req/res
Parameter: none
Return
actualFeed (string, -): Current constant cutting rate
commandFeed (string, -): Constant cutting rate of the master spindle
The method provides an event when the execution of a NC-file changes.
Method: onNcProgramChanged
Operation: notify
Parameter: none
Return
progStatus (string, DB21-30, DBX35.0 - DBX35.4): NC program state
progName (string, -): Name of active NC-file
workPName (string, -): Work piece name
Method: getTool
Method signature: object tool = getTool (string toolNo)
Operation: subscribe or req/res
Parameter:
toolNo (string): Tool number of tool to read
Return:
toolNo (string, ): Internal tool number of the tool
adaptNo (string, -): Number of adapter defined by system parameter $TC_ADPx
duploNo (string, $TC_TP1): Duplo number (number of replacement tool)
numCuttEdges (string, $P_TOOLND): Number of cutting edges of a tool
toolIdent (string, $TC_TP2): Tool identifier
toolInfo (string, $TC_TP11): Definition of the sub-group to which the tool belongs
toolInMag (string, $A_TOOLMN): Current magazine in which the tool is located
toolInPlace (string, $A_TOOLMLN): Current location in which the tool is located
toolMon (string, $TC_TP9): Type of tool monitoring
toolplace_spec (string, $TC_TP7): Magazine location type of tool
toolSearch (string, $TC_TP10): Selection of the order of the replacement tools
toolMyMag (string, $A_MYMN): Owner magazine of the tool magazine from which the tool was loaded
toolMyPlace (string, $A_MYMLN): Owner magazine of the tool - Magazine location from which the tool was loaded
toolsize_left (string, $TC_TP3): Tool size to the left in half locations
toolsize_right (string, $TC_TP4): Tool size to the right in half locations
toolsize_upper (string, $TC_TP5): Tool size upwards in half locations
toolsize_down (string, $TC_TP6): Tool size downwards in half locations
toolOverSize (string, $TC_TP3 … $TC_TP6): Tool size as fixed setting (two half locations left & right, one half location top & bottom) (true, false, special)
toolState (string, $TC_TP8): Tool state
toolStateLocked (string, $TC_TP8.2): Tool state - tool is locked (true, false)
toolMaxVelo (string, $TC_TP_MAX_VELO): Maximum speed of the tool if the value is >0. There is no monitoring if no speed limit is defined (=0).
toolMaxAcc (string, $TC_TP_MAX_ACC): Maximum angular acceleration of the tool if the value is >0. There is no monitoring if no acceleration limit is defined (=0).
lifetime (string, $TC_MOP2): Remaining service life in minutes
maxLifetime (string, $TC_MOP5): Desired service life
toolType (string, $TC_DP1): Tool type
length1 (string, $TC_DP3): Tool length 1
length2 (string, $TC_DP4): Tool length 2
radius (string, $TC_DP6): Tool radius
wearLength1 (string, $TC_DP12): Tool wear length 1
wearLength2 (string, $TC_DP13): Tool wear length 2
wearRadius (string, $TC_DP15): Tool wear radius
coolant1 (string, $TC_DP25.10): Coolant 1 (on, off)
coolant2 (string, $TC_DP25.11): Coolant 2 (on, off)
spindleDirection (string, $TC_DP2.8 & $TC_DP2.9): Spindle direction (left, right, off)
teethCount (string, $TC_DPNT): Number of teeth of a cutting edge
Method: getToolComplete
Method signature: object tool = getToolComplete (string toolNo)
Operation: subscribe or req/res
Parameter:
toolNo (string): Tool number of tool to read
Return: Method returns all essential tool information (see getTool), plus
toolCompensationEdgeData (object, $TC_DPx): Tool edge offset data. Note: objectIndex = parameterIndex - 1
toolSupervisionData (object, TC_MOPx): Monitoring data per tool edge. Size given by numCuttEdgeParams_ts. Note: objectIndex = parameterIndex - 1
toolUserData (object, $TC_TPCx): User-defined tool parameter. Size given by numToolParams_tu. Keys addressed as toolUser_1 … toolUser_n.
toolUserEdgeData (object, $TC_DPCx): User-defined cutting edge parameter. Size given by numCuttEdgeParams_tu. Note: objectIndex = parameterIndex - 1
Read all available tools on the Sinumerik. Method returns essential tool information for each tool.
Method: getTools
Method signature: object tools = getTools ()
Operation: subscribe or req/res
Parameter: none
Return
object of getTool objects. Key is the tool number.
Read all available tools on the Sinumerik. Method returns complete tool information for each tool.
Method: getToolsComplete
Method signature: object tools = getToolsComplete ()
Operation: subscribe or req/res
Parameter: none
Return
object of getToolComplete objects. Key is the tool number.
Create Tool
Create new tool on the Sinumerik and set tool configuration.
Method: createTool
Method signature: createTool (toolNo, fields, toolArea)
Operation: subscribe or req/res
Parameter:
toolNo (string): Tool number to be created
toolArea (string): Optional, default = 1. Tool area in which the tool should be created.
Return
Status code
0: success
1: Tool area does not exist
2: Tool number out of range
3: Tool number exists already
4: Maximum number of tools reached)
Set or modify the configuration of a tool.
Method: setToolFields
Method signature: setToolFields (toolNo, fields)
Operation: subscribe or req/res
Parameter:
toolNo (string): Tool number to be created
fields (object): Tool configuration to set
Return: status code
The tool configuration (fields) can be any of the essential tool configuration (see return of getTool method). Simply add the setting key to the fields object. Additionally any ToolUserData ($TC_TPCx), ToolCompensationEdgeData, ToolSupervisionData and ToolUserEdgeData parameter can be written by adding the key toolUser_x, toolCompensationEdgeData_x, toolSupervisionData_x and toolUserEdgeData_x, where x should be replaced by the corresponding parameter number, to the fields object.
Example:
Method: setTool
Method signature: string toolNo = setTool (toolNo, toolInMag, toolInPlace, fields)
Operation: subscribe or req/res
Parameter:
toolNo (string): Tool number to be created. Auto-assigned if toolNo = "".
toolInMag (string): Magazine number the tool should be loaded to. Not loaded if toolInMag = "".
toolInPlace (string): Magazine place the tool should be loaded to. Not loaded if toolInPlace = "".
Return
toolNo (string): Tool number of the created tool
Delete an existing tool.
Method: deleteTool
Method signature: deleteTool (toolNo, toolArea)
Operation: subscribe or req/res
Parameter:
toolNo (string): Tool number to be deleted
toolArea (string): Optional, default = 1. Tool area in which the tool should be deleted.
Return
Status code
0: success
1: Tool area does not exist
2: Tool number out of range
3: Tool number exists already
6: Tool active
Delete an existing tool. If the tool is loaded into a magazine, the tool is unloaded prior to deletion.
Method: deleteToolAndUnload
Method signature: deleteToolAndUnload (toolNo, toolArea = '1')
Operation: subscribe or req/res
Parameter:
toolNo (string): Tool number to be deleted
toolArea (string): Optional, default = 1. Tool area in which the tool should be deleted.
Return: status code (see deleteTool)
Returns which tools are loaded into the magazine locations (places) for a given magazine.
Method: getToolsInMagazine
Method signature: object places = getToolsInMagazine (magazineNo)
Operation: subscribe or req/res
Parameter:
magazineNo (string): Magazine number
Return
places (object): Object with magazine places and corresponding tool numbers (0 = no tool loaded)
Returns which tools are loaded into the magazine locations (places) for all magazines on the Sinumerik.
Method: getToolsInMagazines
Method signature: object magazines = getToolsInMagazines ()
Operation: subscribe or req/res
Parameter: none
Return
magazines (object): Object with magazine number and magazine places (object, see getToolsInMagazine)
Load tool into magazine.
Note
The tool configuration and the magazine configuration need to match in order to successfully load a tool into a magazine, e.g. the tool place type (toolplace_spec) needs to match the magazine place type.
Method: loadTool
Method signature: loadTool (toolInMag, toolInPlace, toolNo)
Operation: subscribe or req/res
Parameter:
toolInMag (string): Magazine number
toolInPlace (string): Magazine place to load
toolNo (string): Tool to be loaded
Return: status code
Unload tool from magazine.
Method: unloadTool
Method signature: unloadTool (toolInMag, toolInPlace)
Operation: subscribe or req/res
Parameter:
toolInMag (string): Magazine number
toolInPlace (string): Magazine place to unload
Return: status code
Method provides a notification when the active spindle tool changes.
Method: onActiveToolChanged
Operation: notify
Parameter: none
Return
active (object)
actTNumber (string): Number of active tool
actToolIdent (string): Identifier of active tool
actDuploNumber (string): Duplo number of active tool
actDNumber (string): Number of active tool edge
previous (object)
actTNumber (string): Number of previous tool
actToolIdent (string): Identifier of previous tool
actDuploNumber (string): Duplo number of previous tool
actDNumber (string): Number of previous tool edge
The method provides an event on any essential tool configuration change, i.e. tool is added, altered or removed.
Method: onToolChanged
Operation: notify
Parameter: none
Return
toolNo (string): Tool number of changed tool
fields (object): Tool configuration (see return of getTool)
previousFields (object): Previous tool configuration (see return of getTool)
The method provides an event on any complete tool configuration change, i.e. tool is added, altered or removed.
Method: onToolCompleteChanged
Operation: notify
Parameter: none
Return
toolNo (string): Tool number of changed tool
fields (object): Tool configuration (see return of getToolComplete)
previousFields (object): Previous tool configuration (see return of getToolComplete)
The method provides an event on any magazine tool change, i.e. when a tool is loaded/unloaded to a magazine.
Method: onMagazineToolChanged
Operation: notify
Parameter: none
Return
magNo (string, -): Magazine number
magPlace (string, -): Magazine location
toolNo (string, -): Tool number which loaded/unloaded to/from this location
Method returns information about a specific magazine.
Method: getMagazine
Method signature: object magazine = getMagazine (magNo)
Operation: subscribe or req/res
Parameter:
magNo (string): Magazine number to read
Return
magNo (string, -): Magazine number
magActPlace (string, $TC_MAP8): Current magazine position
magNrPlaces (string, -): Number of real locations (in chain magazine) or number of slots (in box magazine)
magCmdState (string, -): Command state of the magazine
magIdent (string, $TC_MAP1): Identifier of the magazine
magKind (string, $TC_MAP1): Type of the magazine
magState (string, $TC_MAP3): State of the magazine
Method returns information about all available magazine.
Method: getMagazines
Method signature: object magazines = getMagazines ()
Operation: subscribe or req/res
Parameter: none
Return
object of getMagazine objects. Key is the magazine number.
Read a file from the Sinumerik file system.
Method: readFile
Method signature: { path, data } = readFile (path)
Operation: subscribe or req/res
Parameter:
path (string): File path including filename, addressable either as absolute or relative path (e.g. “Sinumerik/FileSystem/Sub Program/foobar.SPF” or “Sub Program/foobar.SPF”)
Return
path (string): Absolute file path
data (string): Base64 encoded file content
Write file to Sinumerik file system. Directories are created automatically from given file path if non existing on the Sinumerik. By default, existing files are not overwritten. If you require files to be overwritten, specify the overwrite flag.
Method: writeFile
Method signature: writeFile (filepath, data, overwrite)
Operation: subscribe or req/res
Parameter:
path (string): File path including filename, addressable either as absolute or relative path (e.g. “Sinumerik/FileSystem/Sub Program/foobar.SPF” or “Sub Program/foobar.SPF”)
data (string): Base64 encoded file data
overwrite (bool): Optional, default: false. Overwrite existing file.
Return: status code
Get list of files and subdirectories from directory.
Method: readDirectory
Method signature: { path, entries } = readDirectory(path)
Operation: subscribe or req/res
Parameter:
path (string): Directory path, addressable either as absolute or relative path (e.g. “Sinumerik/FileSystem/Sub Program” or “Sub Program”)
Return
path: (string) Absolute directory path
entries: (array) Directory entries
Delete directory. By default, directories that have any content (files/subdirectories) are not deleted. If you require to delete directories including content recursively, specify the recursive flag (use with care!).
Method: deleteDirectory
Method signature: deleteDirectory (directoryPath, recursive)
Operation: subscribe or req/res
Parameter:
path (string): Directory path, addressable either as absolute or relative path (e.g. “Sinumerik/FileSystem/Sub Program” or “Sub Program”)
recursive (bool): Optional, default: false. Delete directories including any content recursively.
Return: Status code
Read OPC UA access rights of the current OPC UA user.
Method: getMyAccessRights
Operation: subscribe or req/res
Parameter: none
Return: Access rights
Set accesss rights for current OPC UA user. Please note that all driver methods automatically set their required access rights.
Method: giveUserAccess
Operation: subscribe or req/res
Parameter:
level (string): User access level
Return: Status code
The examples are using the Sinumerik Reference Device File below. Thus, the MQTT topics might differ in your application but the payload needs to be the same (as long as no JSONata rules are being used).
Example showing how to read the complete tool configuraton of tool number 1.
Method: getToolComplete
Operation: req/res
Request on MQTT topic “sinumerik-opcua/<machine-ip>/getToolComplete/req”
Example response on MQTT topic “sinumerik-opcua/<machine-ip>/getToolComplete/res”
Example showing how to create a new tool and to set its configuration. In the example we do not require to set a specific tool number but rather let the driver choose the next available tool number automatically.
Method: setTool
Operation: req/res
Request on MQTT topic “sinumerik-opcua/<machine-ip>/setTool/req”
Example response on MQTT topic “sinumerik-opcua/<machine-ip>/setTool/res”
Here the driver successfully created a new tool using the next available tool number 2.
Sinumerik OPC UA Reference File.
For a detailed overview on all available OPC UA connection settings see the Connectware driver documentation.
See the section for further information.
This section describes the available Sinumerik driver methods. Each method is a specific RPC call which requires certain parameters and provides a defined return. The method paramter must be provides in the request payload in the params section. See the section for further information.
NC variable details are found in the Siemens Sinumerik NC variables documentation, see e.g. .
Read tool by tool number. Method returns the essential tool configuration. See also .
Read tool by tool number. Method returns the complete tool configuration. See also .
fields (object): Optional, default = {}. Tool configuration to set (see )
See also .
Convenient method to create a tool, set tool configurations and load the tool into a magazine. If no tool number is given the method searches for the first available tool number and uses this for tool creation. See also .
fields (object): Tool configuration to set. (see )