July 2013 6.6 Gantry/synchronized axes 781
Conventions The following applies for a gantry combination:
For a gantry combination, HEIDENHAIN recommends using a separate
position encoder for each axis. This is the only way that the benefits of an
independent position control of each axis of the gantry combination can be
used.
Linear and nonlinear axis error compensation as well as temperature
compensation must be entered separately for each axis.
Nonlinear axis-error compensation can be entered separately for master and
slave axes.
For the nonlinear axis-error compensation, master and slave axes may be
dependent on each other.
When operating with following error, the same k
v
factors for master and
slave must be entered.
MP855.x Synchronization monitoring
Input: 0 to 100.0000 [mm]
0: Monitoring not active
MP860.x Datum for synchronous control
Input: %xxx
Bit 0 – Datum for synchronous control
0: Datum at position after switch-on
1: Datum at reference marks (machine datum)
Bit 1 – Master-slave torque control
0: Not a torque slave axis
1: Axis is torque-slave axis
Bit 2 – Brake test for synchronized i.e. gantry axes
0: Test the brakes of a synchronized axis simultaneously
1: Test the brakes of a synchronized axis successively
Example Gantry axes with two position encoders
Position encoder of the slave axis is mounted mirror-inverted.
Master Slave
200
200
0
0
0
200
0
–200
Slave
Slave
Counting direction
changed
Machine
datum
shifted
(MP960.x)
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