Coupled Motion (Trailon, Trailof) - Siemens SINUMERIK 828D Programming Manual

10.4.21

Coupled motion (TRAILON, TRAILOF)

Function
When the coupling is activated from the synchronized action, the leading axis can be in
motion. In this case the following axis is accelerated up to the set velocity. The position of
the leading axis at the time of synchronization of the velocity is the starting position for
coupled-axis motion. The functionality of coupled-axis motion is described in the Section
"Path traversing behavior".
Syntax
Switch-in coupled motion
DO TRAILON(following axis, leading axis, coupling factor)
Deactivate coupled-axis motion
DO TRAILOF (following axis, leading axis, leading axis 2)
Significance
Activate unsynchronized coupled motion:
... DO TRAILON(FA, LA,
Kf)
Deactivate unsynchronized coupled motion:
... DO TRAILOF(FA, LA,
LA2)
... DO TRAILOF(FA)
Example
Program code
$A_IN[1]==0 DO TRAILON(Y,V,1)
$A_IN[2]==0 DO TRAILON(Z,W,-1)
G0 Z10
G0 Y20
...
G1 Y22 V25
...
TRAILOF (Y,V)
TRAILOF (Z,W)
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
with:
FA: Following axis
LA: Leading axis
Kf: Coupling factor
with:
FA: Following axis
LA: Leading axis, optional
LA2: Leading axis 2, option
All couplings to the following axis are disengaged.
Comments
; Activation of the 1st coupled motion group
if the digital input is 1
; Activation of the 2nd coupled axis group
; Infeed Z and W axes in the opposite ;axis
direction
; Infeed of Y and V axes in same axis
direction
; Superimpose dependent and independent
movement of coupled motion axis "V"
; Deactivate 1st coupled axis group
; Deactivate 2nd coupled axis group
Motion synchronous actions
10.4 Actions in synchronized actions
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