Characteristics Of Tangential Follow-Up Control - Siemens SINUMERIK 840D sl Function Manual

Special functions
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8.2

Characteristics of tangential follow-up control

Task specification
Follow-up control for the rotary axis must be implemented so that the axis is always
positioned at a specified angle on the programmed path of the two leading axes.
Figure 8-1
In the diagram, X and Y are the leading axes in which the path is programmed; C is the
following axis whose position is determined by the control as a function of the leading axis
values and of the desired offset angle between tangent and alignment in C.
The tangential control will function only if the leading axes are used as path axes. A leading
axis which is programmed as a positioning axis (POS or POSA) does not specify values
required for the follow-up control function.
Response on follow-up
A difference must made between the following cases:
Without intermediate block (TLIFT)
The path velocity of the leading axes is reduced to such an extent that the following axis
reaches its target position synchronously with the other axes.
With intermediate block (TLIFT), rounding off without G641
The intermediate block generates the required turn of the tangentially following axis. It is
interpolated in such a way that the following axis travels at its limit velocity. The
intermediate block is not rounded. At the beginning of the intermediate block, the path
velocity of the leading axes is zero.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Tangential control, offset angle of zero degrees to path tangent
8.2 Characteristics of tangential follow-up control
T3: Tangential control
419

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