Boundary Conditions; General Boundary Conditions; Coupled Motion; Curve Tables - Siemens SINUMERIK 840D sl Function Manual

5.7

Boundary conditions

5.7.1

General boundary conditions

NOTICE
Drive optimization
At a SINAMICS S120 drive unit, a maximum of 3 drives can be optimized or measured at the
same time (speed controller optimization/function generator). Therefore, for a coupling with
more than 3 coupled drives at the same time, we recommend that these are distributed over
several drive units.
Note
Block search with active coupling
For an active coupling, it is recommended to only use block search type 5, "Block search via
program test" (SERUPRO) for a block search.
5.7.2

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.
5.7.3

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.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
M3: Coupled axes
5.7 Boundary conditions
339