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

8.3

Using tangential follow-up control

Activation
The following axis can only be aligned if:
• The assignment between the leading and following axes is declared to the system (TANG)
• Follow-up control is activated explicitly (TANGON)
• The response at corners is specified, if required (TLIFT).
Additional functions
Further functions are provided in order to:
• Terminate follow-up control of the following axis (TANGOF)
• Deactivate the special behavior at path corners (TANG() without subsequent TLIFT)
• Cancel the definition of a follow-up grouping (TANGDEL).
Effect on transformation
The position of the rotary axis to which follow-up control is applied can act as the input value
for a transformation.
References:
Function Manual Extended Functions; Kinematic Transformation (M1)
Note
The user is recommended to program TLIFT if tangential control is used together with a
transformation. TLIFT prevents the follow-up axis from overtraveling and protects against
excessive compensating movements.
Explicit programming of the follow-up axis
If a following axis, which is being made to follow its leading axes, is positioned explicitly, then
the position specification is added to the offset angle programmed in the activation instruction
TANGON. see Section "Activation of follow-up control". Motion commands (AC, IC, DC, POS)
are permissible.
Reference point approach
Follow-up control is deactivated while the following axis executes a reference point approach.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
T3: Tangential control
8.3 Using tangential follow-up control
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