Siemens sinumerik 840D sl Function Manual page 377

Boundary conditions
3.1 Coupled motion
Control system dynamics
It is recommended to align the position control parameters of the leading axis and the
coupled motion axis within a coupled axis group.
Note
Alignment of the position control parameters of the leading axis and the coupled motion axis
can be performed via a parameter set changeover.
3.2 Curve tables
Transformations
Transformations are not permissible in curve tables. TRAANG is an exception.
TRAANG
If TRAANG is programmed, the rule of motion programmed in the basic co-ordinate system is
transformed to the associated machine co-ordinate system. In this way it is possible to
program a curve table as Cartesian co-ordinates for a machine with inclined linear axes.
The condition that stipulates that "the direction of motion of the leading axis must not reverse
at any point of the rule of motion" must then be met in the machine co-ordinate system.
Please note that this condition in the basic co-ordinate system does not have the same
meaning as in the machine co-ordinate system, since the contour tangents are changed by
the transformation.
External master value axes
When using the REPOS or REPOSA parts program instructions in conjunction with external
master value axes, it should be ensured that these are released by the channel or switched
to a "neutral state" using the RELEASE instruction.
When attempting to reposition without release of the axis, the message "Wait: Feed stop
active" is displayed and the processing of the part program is not continued.
Special functions: Axis Couplings and ESR (M3)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
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