766 HEIDENHAIN Technical Manual MANUALplus 620
In MP_mode, define the type of coupling. Select a position for the position
coupling.
To keep a static coupling of the axes, enter in MP_type the value Static.
Both static and dynamic axis couplings can be closed and reopened at any
time by the PLC with Module 9126.
With MP_typeOfOffset you configure the treatment of the position offset
between the master and slave axes. The input values None and Actual cause
the position offset at the time of coupling closing to remain as a static offset.
In this case there is no compensating movement on stationary axes.
Select Parameter, in order to transfer the value from MP_posOffset as an
absolute position offset. When the coupling is closed, a compensating
movement is made immediately and the feed rate is enabled for the slave.
The slave position is then calculated:
If in MP_typeOfOffset you have selected the input value Parameter, enter
in MP_posOffset the position offset that is moved to and held. After the
reference run, this value is used as absolute position offset.
In MP_offsetFeed specify the speed at which the configured offset it to be
attained.
With closed coupling, except when moving to an offset, the difference
between the actual positions of master and slave axes is monitored. In
MP_maxPosDiff, enter the value of the permissible position difference with
closed coupling between the master and slave axes. If this difference
exceeds the value entered here, the MANUALplus 620 issues a clearable
emergency stop error message (monitoring only when MP_scalingFactor=
±1 active).
The position of the master is converted with the following factors for the
comparison:
In MP_ultimatePosDiff enter a maximum position difference value up to
which it will remain possible to close a coupling of master and slave. If you
try to close a coupling in which the current position difference between
master and slave axis is greater than this parameter value, an emergency
stop message appears before the coupling is closed. This serves to monitor
a mechanical coupling.
Also if the coupling is closed, a non-clearable emergency stop error
message appears if the position difference between master and slave
exceed the value from MP_ultimatePosDiff.
The monitoring can be canceled by entering zero.
SlavePos = MasterPos * scalingFactor - posOffset
ActlPosMaster = actual position of the master * scalingFactor - posOffset
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