Siemens SINUMERIK 840D sl Function Manual page 1223

● Axis mode can be activated in all gear steps.
If the actual position value encoder is installed on the motor (indirect measuring system),
the positioning and contouring accuracy can vary for the different gear steps.
● The gear step cannot be changed when the axis mode is active.
The spindle must be switched to control mode.
This is done with M41 ... M45 and M5, SPCOF.
● In axis mode, the first parameter set is active (machine data index = zero).
References
Function Manual, Basic Functions; Section "Velocities, setpoint / actual value systems,
closed-loop control (G2)" > "Closed-loop control" > "Parameter sets of the position
controller"
Dynamic response
The dynamic limits of the axis apply in axis mode. For example:
● MD32000 $MA_MAX_AX_VELO[<axis>] (maximum axis velocity)
● MD32300 $MA_MAX_AX_ACCEL[<axis>] (maximum axis acceleration)
● MD32431 $MA_MAX_AX_JERK[<axis>] (maximum axial jerk for path motion)
Feedforward control
The feedforward control mode active for the axis is retained.
A detailed description of the "Dynamic feedforward control" function can be found in:
References
Function Manual, Extended Functions; Section "Compensations (K3)" > "Dynamic feedforward
control (following error compensation)"
Example: Resolution switchover for analog actuator
Switching to axis mode
Programming
SPOS=...
M5
M70
C=...
Switching to spindle mode
Programming
C=...
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Comment
; Controller enable off (by PLC)
→ is output on PLC
; Switch actuator (by PLC on account of M70)
Controller enable on (by PLC)
; NC traverses with axis parameter set
Comment
S1: Spindles
16.2 Modes
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