Interaction With Other Functions - Siemens SINUMERIK 840D sl Function Manual

TE3: Speed/torque coupling, master-slave
16.8 Supplementary conditions
● If, for the master or slave axis, one of the following drive status signals is not set:
DB31, ... DBX61.7 (current controller active) == 0 OR
DB31, ... DBX61.6 (speed controller active) == 0
then, when the slave axis is at a standstill, the status signal is reset:
DB31, ... DBX96.7 (master/slave active) = 0
As soon as the master and slave axis are again in closed-loop control:
DB31, ... DBX61.7 (current controller active) == 1 AND
DB31, ... DBX61.6 (speed controller active) == 1
then for the slave axis, the status signal is again set:
DB31, ... DBX96.7 (master/slave active) = 1
● The torque equalization controller can be activated via the NC/PLC interface using:
DB31, ... DBX24.4 = 1 (torque equalization controller on)
The status of the torque equalization controller is displayed in:
DB31, ... DBX96.4 (master/slave equalization controller active)
Note
The slave axis is only closed-loop speed controlled when the coupling is closed. The NC/
PLC interface signal: DB31, ... DBX61.5 (position controller active) is no longer set.
16.8.3

Interaction with other functions

Function generator
To calibrate the speed control loop with activated coupling, it is recommended that a low value
should be set for the torque weighting of the slave axis (MD37268
$MA_MS_TORQUE_WEIGHT_SLAVE). Traversing of a mechanical coupled-motion slave
axis is not prevented by the torque compensatory controller.
Reference point approach
If the coupling is switched on, only the master axis can be referenced. Referencing of slave
axes is suppressed. The referencing requirement does not have to be explicitly canceled for
the slave axis in order to do this. The referencing status of coupled slave axes remains
unchanged. The slave axis position is generally not the same as the master axis position. This
difference in position is not significant. If the coupling is separated, each axis can be referenced
separately as usual.
Position-related compensations
Position-related compensations of the slave axis, such as spindle pitch errors, backlash,
temperature and sag offsets are not active because the position controller of the slave axis is
not active.
Correct calculation of the backlash compensation requires that the backlash of the slave axis
is always overtraveled by the motion of the master axis in coupled mode. Disconnecting the
coupling during an axis reversal error will generate an incorrect actual value for the slave axis.
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions