January 2012 6.14 Synchronized Axes (Option 24) 769
Opening a coupling
of gantry axes
With Module 9126 you can also reopen axis couplings already existing. If an
axis coupling is commanded open by the PLC with Module 9126, the following
actions are taken:
The coupling is opened
The slave axis is braked to a stop at the velocity configured in
MP_maxAcceleration
The status bits of the slave axis are reset
If the last slave axis of a master axis is decoupled, the status bits of the
master axis are also reset
Master-slave
position deviation
The MANUALplus 620 monitors the synchronism of the coupled axes. If the
position difference of the master and slave axes exceeds the maximum
permissible value, the MANUALplus 620 issues an emergency stop error
message.
In MP_maxPosDifference of the slave axis, enter the maximum
permissible difference in positions between the master and slave.
If an offset is caused in the axes through an emergency stop, they will be
synchronized after the emergency stop.
The current position difference between master and slave axis can be
displayed in the oscilloscope by means of new channels for all axes.
Homing of gantry
axes
For gantry axes, the master axis must always be homed first when the
MANUALplus 620 starts up. Then, all coupled slave axes are automatically
homed. You configure the procedure for homing separately for all axes in
MP_refType. This makes it possible on gantry axes to use different encoder
types for the master and slave.
Not until all coupled axes have been homed and come to a stop can the
position control loop be closed.
MP_masterAxis
Assign a master axis to the slave axis.
Available from NCK software version: 597 110-04.
Format: Selection menu
Selection: Key name of the master axis
Default: 0
Access: LEVEL3
Reaction: RUN
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