Coupled Motion (Trailon, Trailof) - Siemens Sinumerik 840D sl Programming Manual

10.4.22

Coupled motion (TRAILON, TRAILOF)

Function
When the coupling is activated from the synchronized action, the leading axis can be in
motion. In this case the following axis is accelerated up to the set velocity. The position of the
leading axis at the time of synchronization of the velocity is the starting position for coupled-
axis motion. The functionality of coupled-axis motion is described in the Section "Path
traversing behavior".
Syntax
Switch-in coupled motion
DO TRAILON(following axis, leading axis, coupling factor)
Deactivate coupled-axis motion
DO TRAILOF (following axis, leading axis, leading axis 2)
Significance
Activate unsynchronized coupled motion:
... DO TRAILON(FA,
LA, Kf)
Deactivate unsynchronized coupled motion:
... DO TRAILOF(FA,
LA, LA2)
... DO TRAILOF(FA)
Job planning
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
with:
FA: Following axis
LA: Leading axis
Kf: Coupling factor
with:
FA: Following axis
LA: Leading axis, optional
LA2: Leading axis 2, option
All couplings to the following axis are disengaged.
Motion synchronous actions
10.4 Actions in synchronized actions
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