Gantry/Synchronized Axes - HEIDENHAIN iTNC 530 HSCI Technical Manual

6.6 Gantry/synchronized axes

Conventions
6.6.1 Gantry axes
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For synchronized axes:
The slave axis cannot be moved separately.

The nominal value display of the slave axis shows the nominal value of the

master axis.
The PLC program must ensure that the synchronized axis does not move

until the master and slave axes are ready (clamping, feed-rate enable).
For the slave axis, the bits for "traverse direction" in W1030/W1112 and "axis

in motion" in W1028/W1108 are not set.
Linear and nonlinear axis error compensation as well as temperature

compensation must be entered separately for each axis.
An axis cannot be both master and slave at the same time.
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The values for rapid traverse, acceleration, jerk, software limit switches,

feed rate for reference mark traverse, and manual feed rate are also taken
over from the input values of the master axis for the slave axis.
The axes must be either both analog or both digital.

Master and slave axes can be linear or rotary axes.
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When operating with following error, the k

must be the same.
For gantry axes, one position encoder is sufficient.

The nonlinear axis-error compensation can be used separately for master

and slave axes.
For the nonlinear axis-error compensation, master and slave axes may be

dependent on each other.
The number of slave axes in master-slave torque control and gantry

combinations is restricted by the controller unit on which the master axis is
configured. The slave axes and the master axis must be configured on the
same drive-control motherboard (DSPs). Thus, up to five slave axes
maximum are possible (e.g with CC 6106).
In gantry axes, tandem tables, etc., two servo-controlled axes are coupled so
that they can move only simultaneously. The main axis is referred to as the
master, and the tracking axis as the slave. The number of control loops
available also determines the number of Gantry axes possible.
Because a gantry coupling is configured exclusively over the slave axis, it is
possible to assign more than one slave to the same master. However, a gantry
slave axis cannot at the same time serve as a gantry master axis (e.g. up to
five slave axes are possible for a CC for six axes).
Note
The master and slave axes must be on the same drive-control main board,
which means that both axes need to be controlled by the same DSP. In this
way, you can flexibly assign the master and slave axes to the PWM outputs
X51 to X56 of a CC 6106. On controller units with more than one drive
control board (CC 6108, CC 6110), the master axis and the slave axis both
need to be assigned to either the A connections or the B connections.
Mixed connection is not permitted.
factors for master and slave
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HEIDENHAIN Technical Manual iTNC 530 HSCI