Siemens sinumerik 840D sl Function Manual

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Detailed description2.1 Speed/torque coupling, master-slave (SW 6 and higher)Special functions: Speed/Torque Coupling, Master-Slave (TE3)18 Function Manual, 11/2006, 6FC5397-2BP10-2BA0With IS (DB31, ... DBX24.4), the torque compensatory controller is activated by the PLC.The status of the torque compensatory controller can be read from IS "Master/slave comp.contr. active" (DB31, ... DBX96.4).NoteIf the coupling is closed, the slave axis operates in speed control mode; status signal"Position controller active" (DB31, ... DBX61.5) is not enabled.2.1.9 Axial monitoring functionsExcept monitoring the speed setpoint and actual speed, axial monitoring functions likecontour and standstill in the slave axis are inactive because of the missing positioncontroller. The position control circuit parameters like gain factor, precontrol, balancing canthus be set differently for master and slave axes without initiating the monitoring functions.To achieve the same braking response for all coupled axes in the event of a fault, the samealarm reaction is applied to the entire coupling grouping when the coupling is active.When correcting fault states, repositioning of slave axes on the interrupt point is suppressed.2.1.10 Response in conjunction with other functionsFunction GeneratorTo calibrate the speed control circuit for a closed master-slave coupling, slave axisMD37268 $MA_MS_TORQUE_WEIGHT_SLAVEshould be set to a smaller value. Traversing of a coupled-motion slave axis is not preventedby the torque compensatory controller in this case.Reference point approachIf the coupling is closed, only the master axis can be referenced. Referencing of slaves axesis suppressed. The referencing requirement does not have to be explicitly canceled for theslave axis in order to do this. The referencing status of coupled slave axes remainsunchanged. 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 not closed, each axis can bereferenced separately as usual.CompensationPosition offsets of the slave axis, such as spindle pitch errors, backlash, temperature andsag offsets are computed but not active because there is no position controller.Correct calculation of the backlash compensation requires that the backlash of the slave axisis always overtraveled by the motion of the master axis in coupled mode. Disconnecting thecoupling during an axis reversal error will generate an incorrect actual value for the slaveaxis.