768 HEIDENHAIN Technical Manual MANUALplus 620
Dynamic activation
by the PLC
With Module 9126 you can couple axes dynamically, i.e. during program run.
In this case, however, it is also necessary to configure the axis coupling
beforehand in the machine parameters.
Configure the axis coupling in the machine parameters with the exception
of MP_type as described in the previous section on the static activation of
gantry axes.
In MP_type, enter the value Dynamic to make it possible to dynamically
couple the axes.
Close the coupling of a slave axis with a master axis by calling Module 9126.
With Module 9126 you can also overwrite the values configured in
MP_scalingFactor and MP_posOffset for the coupling factor and position
offset.
The same process always occurs when the coupling closes and the feed rate
enabling is given for the slave axis.
The slave axis accelerates to the velocity of the master axis at the
acceleration specified in MP_maxAcceleration. During this, the slave axis
evaluates its own software limit switches. If the position of the master axis
cannot be reached, the MANUALplus 620 issues an emergency stop error
message.
If the velocity of the master axis is reached, the position offset is reached
by the programmed or configured nominal offset at half the maximum
acceleration. Here an acceleration or deceleration of the master axis is
allowed.
If the programmed offset is reached, the slave nominal position is calculated
cyclically (see MP_scalingFactor).
To prevent an immediate realization of any existing position offset, the PLC
can revoke the axis release for the slave axis.
If a coupling is closed with SYNC_CALC (interpreter stop) within a strobe, the
geometry and the look-ahead are automatically informed about this coupling.
You modify the software limit switch monitoring and the permissible
dynamics under consideration of all axes involved in the gantry coupling. This
ensures that the traverse range cannot be exceed by any coupled axis.
However, if a coupling is closed without SYNC_CALC, ensure that the slave
axis has at least the same acceleration capability as the master axis. Software
limit switch monitoring is then performed for the movements commanded by
the PLC in the interpolator and under consideration of the master and slave.
For movements commanded by the NC program, only the masters’s software
limit switch is monitored.
If you open an existing coupling without SYNC_CALC while the master axis is
in motion, the slave axis will be braked to a stop at the maximum possible axis
deceleration from MP_maxAcceleration.
Also when a coupling is closed, the feed rate enabling is effective for the
slave. If the enabling is revoked for the slave during movement of the
master and slave, the slave brakes at the configured acceleration
(MP_maxAcceleration) and stops. If enabled again, the slave accelerates to
the velocity of the master and then compensates the position offset.
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