HEIDENHAIN MANUALplus 620 Technical Manual page 764

6.14 Synchronized Axes (Option 24)
Conventions
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For synchronized axes:
Master and slave axes can be either linear or rotary axes.
The axes must be either both analog or both digital.
An axis cannot be both master and slave at the same time.
More than one slave axes can be assigned to a master axis.
The slave axis cannot be moved separately.
After the MANUALplus 620 starts up, only one static coupling of axes can
be automatically active. During run time, dynamic couplings can be activated
only over the PLC.
The PLC program must ensure that the master axis does not move until the
slave axis is ready (clamping, feed-rate enable).
If the master and slave axes are to be moved without a feed-rate enable, the
IN_POSITION bit is set to zero. This requests a feed-rate enable from the
PLC.
The values for rapid traverse, acceleration, jerk, software limit switches,
feed rate for reference mark traverse, and manual feed rate are also taken
over from the input values of the master axis for the slave axis.
The minimal values of the software limit switches of master and slave axes
are taken into account.
It is possible to open or close each configured coupling of axes separately.
When operating with following error, the k
must be the same.
For gantry axes, one position encoder is sufficient.
Linear and nonlinear axis error compensation as well as temperature
compensation must be entered separately for each axis.
The nonlinear axis-error compensation can be used separately for master
and slave axes.
For the nonlinear axis-error compensation, master and slave axes may be
dependent on each other.
The nominal value display of the slave axis shows the nominal value of the
master axis.
The nominal position of the slave axis is calculated from the nominal position
of the master. The actual position of the master has no influence on the
nominal position of the slave.
If a coupled axis is stopped because of an error message, all other axes
coupled with this axis are also brought to a stop.
Note
The number of slave axes in master-slave torque control and gantry
combinations is restricted by the controller unit on which the master axis is
configured. The slave axes and the master axis must be configured on the
same drive-control motherboard (DSPs). Thus, up to five slave axes are
possible per CC 61xx.
factors for master and slave
v
HEIDENHAIN Technical Manual MANUALplus 620