Synchronized Axes; Gantry Axes; Master-Slave Position Deviation - HEIDENHAIN TNC 426 PB/M Technical Manual

6.6 Synchronized Axes

6.6.1 Gantry Axes

Example
Master-slave
position deviation
December 2001
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. From a maximum of nine controlled
axes, four times two axes can be controlled synchronously.
The function is effective during control both with following error and with
velocity feedforward.
Activating synchronized axes:
7 7 7 7 Assign a slave axis to a master axis.
MP850.0-8 Synchronized axes
Input: 0: Master axis
1: Slave axis to axis 1
2: Slave axis to axis 2
3: Slave axis to axis 3
4: Slave axis to axis 4
5: Slave axis to axis 5
6: Slave axis to axis 6
7: Slave axis to axis 7
8: Slave axis to axis 8
9: Slave axis to axis 9
Axis 4 is slave to axis 1:
n
MP850.0 = 0
n
MP850.1 = 0
n
MP850.2 = 0
n
MP850.3 = 1
n
MP850.4 = 0
n
MP850.5 = 0
n
MP850.6 = 0
n
MP850.7 = 0
n
MP850.8 = 0
The TNC monitors the synchronism of the coupled axes. If the master and
slave axes deviate from each other by the difference of the following errors,
the TNC displays the slave axis with the message EXCESSIVE SERVO LAG
IN <AXIS.> The LAG display shows the current difference in position.
7 7 7 7
In MP855.x of the slave axis, enter the maximum permissible difference in
positions between the master and slave.
If you cause an offset in the axes through an emergency stop, they will be
synchronized after the emergency stop.
Synchronized Axes 6 – 87