SINUMERIK 840D sl. Service - Functions. Manual (2018-2020)

Axis couplings

14.3 Master value coupling

MD37160 $MA_LEAD_FUNCTION_MASK Bit 0 = 0

Interface to axis exchange

A master value coupled following axis receives its setpoint values from curve tables. Overlaid

programming of this axis is not possible in the part program. Therefore, the master value-

coupled following axis is removed from the channel in the same way as for axis exchange. This

is carried out automatically when the coupling is activated in the part program.

If the coupling is to be activated with synchronized action, then it must be prepared for it in

advance with RELEASE.

After a master value coupling has been deactivated, the former following axis can be

programmed again in the part program.

Spindles in master value coupling

A spindle can only be used as the master value coupled following axis if it has been switched to

axis mode beforehand. The machine data parameter block of the axis drive then applies.

Example: Activation from synchronized action

Program code

Comment

SPOS=0

B=IC(0)

; switch spindle to axis operation.

RELEASE(Y)

; Enable for synchronized action.

ID=1 WHEN ($AA_IM[X]<-50) DO LEADON(B,X,2)

; Y is coupled to X via curve table No.

14.3.3

Programming

Definition and activation

An axis master value coupling is defined and activated simultaneously with the modal effective

language command LEADON.

Syntax:

LEADON(<FA>,<LA>,<CTABn>)

Meaning:

<FA>

Following axis as geometry-, channel- or machine axis name (X, Y, Z,...)

<LA>

Leading axis as geometry-, channel- or machine axis name (X, Y, Z,...)

Software axis is also possible:

MD30130 $MA_CTRLOUT_TYPE=0 (setpoint output type)

<CTABn>

Number of curve table

Value range:

1 to 999

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14.3 Master value coupling

Example:

Program code

Comment

LEADON(Y,X,1)

;Definition and activation of a master value coupling between

the leading axis X and the following axis Y. Curve Table No. 1

should be used to calculate the following value.

Boundary conditions:

• No reference point is required to activate the coupling.

• A defined following axis cannot be traversed in the JOG mode (not even if the "Synchronized

run fine" or. "synchronized run coarse" interface signal is not there).

• An activated coupling must first be deactivated with LEADOF before it can be activated again

with LEADON. The settings in the following machine data are to be considered in this

connection:

MD20112 MC_START_MODE_MASK (definition of initial control system settings with NC-

START)

MD20110 $MC_RESET_MODE_MASK (definition of initial control settings after RESET/TP-

End)

-"% 0/ BOE TZODISPOPVT XJUI '" QPTJUJPO

-"% JT POMZ TXJUDIFE PO XIFO UIF -" JT XJUIJO UIF UBCMF SBOHF PG UIF '"

5BCMF SBOHF

5SBWFSTJOH

EJSFDUJPO

-"% 0/

5SBWFSTJOH EJSFDUJPO

5BCMF SBOHF

0WFSSJEF GPMMPXJOH -"% 0/ XJUI IBOEXIFFM %3'

-"% 0/

*O UIF DPVQMFE TUBUF UIF GPMMPXJOH BYJT DBO CF

PWFSMBJE XJUI "650 %3' NPEF

5BCMF SBOHF

0WFSSJEF

Figure 14-6

Activating master value coupling

Switch off

An axis master value coupling is deactivated with the model language command LEADOF.

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14.3 Master value coupling

When the axis master value coupling is deactivated, the following axis becomes the command

axis and a stop command is generated implicitly for the following axis. The stop command can

be overwritten by another command with a synchronous action.

Syntax:

LEADON(<FA>,<LA>)

Meaning:

<FA>

Following axis as geometry-, channel- or machine axis name (X, Y, Z,...)

<LA>

Leading axis as geometry-, channel- or machine axis name (X, Y, Z,...)

Software axis is also possible:

MD30130 $MA_CTRLOUT_TYPE=0 (setpoint output type)

Example:

Program code

Comment

LEADOF(Y,X,1)

;Switching off of master value coupling between the leading ax-

is X and the following axis Y.

Note

Activating / deactivating the axis master value coupling with LEADON / LEADOF is permissible

both in the part program and in synchronous actions.

Further information

Function Manual Synchronized Actions

Coupling type

The coupling type is defined by the following axis-specific setting data:

SD43100 $SA_LEAD_TYPE[<LA>] (type of master value)

<LA>: Leading axis as geometry axis name, channel axis name or machine axis name (X, Y, Z,...)

Value

Meaning

Actual value coupling (this type of coupling must be used for external leading axes)

Setpoint coupling (default setting)

Simulated master value (note virtual axis, not evaluated for FA)

Switch-over between actual and setpoint value coupling is possible at any time (preferably in the

idle phase).

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14.3 Master value coupling

System variables of the master value

The following master value system variables can only be read from part program and from

synchronous actions:

System variable

Meaning

$AA_LEAD_V[ax]

Velocity of the leading axis

$AA_LEAD_P[ax]

Position of the leading axis

$AA_LEAD_P_TURN

Master value position

Portion that is deducted during modulo reaction.

The actual (not modulo-reduced) position of the leading axis is:

$AA_LEAD_P_TURN + $AA_LEAD_P

The speeds and positions of simulated master values (when $SA_LEAD_TYPE[ax]=2) can be

written in and read from the part program and synchronous actions.

System variable

Meaning

$AA_LEAD_SV[ax]

Simulated master value velocity per IPO cycle

$AA_LEAD_SP[ax]

Simulated position in MCS

System variables of the following axis

For the following axis, the following system variables can be read in the part program and

synchronized action:

System variable

Meaning

$AA_SYNC[ax]

Condition of the coupling between following and leading axes

Value

Meaning

not synchronized

"Coarse synchronous operation" ¹⁾

"Fine synchronous operation" ²⁾

"Coarse synchronous operation" ¹⁾ AND "Fine synchronous opera-

tion" ²⁾

Corresponds to:

• MD37200 $MA_COUPLE_POS_TOL_COARSE

• DB31, ... DBX98.1 (coarse synchronous operation)

• MD37210 $MA_COUPLE_POS_TOL_FINE

• DB31, ... DBX98.0 (fine synchronous operation)

$AA_IN_SYNC[ax]

Condition of the synchronization between following and leading axes

Value

Meaning

Synchronization not started or ended.

Synchronization is running, i. e., the following axis is synchronized.

$AA_IN_SYNC[ax] corresponds to the NC/PLC interface signal:

DB31, ... DBX99.4 (synchronization running)

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14.3 Master value coupling

Note

If the following axis is not enabled for travel, it is stopped and is no longer synchronous.

14.3.4

Behavior in AUTOMATIC, MDA and JOG modes

Effectiveness

A master value coupling is active depending on the settings in the part program and in the

following machine data:

MD20110 $MC_RESET_MODE_MASK (definition of initial control settings after RESET / TP End)

MD20112 $MC_START_MODE_MASK (definition of initial control system settings with NC-

START)

Manual mode

Once a master axis coupling has been activated, traversal of the master axis (e.g. with rapid

traverse or incremental dimension INC1 ... INC10000) results in a movement of the slave axis,

allowing for the curve table definition.

Referencing

A master value coupled-following axis should be referenced prior to activation of the coupling.

A following axis cannot be referenced when the coupling is activated.

Deletion of distance-to-go

When deletion of distance-to-go is performed for a leading axis, all axes in the associated,

activated master value coupling are shut down.

Basic setting after POWER ON

No master value couplings are active after POWER ON. (Options with ASUB).

Behavior after NC start/RESET

The following behavior results, depending on the settings of the machine data:

MD20110 $MC_RESET_MODE_MASK (bit 13) (definition of initial control settings after RESET /

TP End)

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14.3 Master value coupling

MD20112 $MC_START_MODE_MASK (bit 13) (definition of initial control system settings with

NC-START)

• MD20110 $MC_RESET_MODE_MASK=2001H

MD20112 $MC_START_MODE_MASK=0H

→ Master value coupling remains valid after RESET and START

• MD20110 $MC_RESET_MODE_MASK=2001H

MD20112 $MC_START_MODE_MASK=2000H

→ Master value coupling remains valid after RESET and is canceled with START. However,

master value coupling activated via IDS=... remains valid.

• MD20110 $MC_RESET_MODE_MASK=1H

→ Master value coupling is canceled with RESET irrespective of machine data:

MD20112 $MC_START_MODE_MASK

Master value coupling activated via IDS=... can only be deactivated via an operator front

panel reset and remains valid after program end/reset (M30, M02).

• MD20110 $MC_RESET_MODE_MASK=0H

→ Master value coupling remains valid after RESET and is canceled with START, irrespective

of machine data:

MD20112 $MC_START_MODE_MASK

However, master value coupling activated via IDS=... remains valid.

Further information

Function Manual Basic Functions; Coordinate systems, axis types, axis configurations, ...

Activating, deactivating

Master value couplings activated via a static synchronous action (IDS=...) are:

• not deactivated during program start, regardless of the value of machine data:

MD20110 $MC_RESET_MODE_MASK (definition of initial control settings after RESET / TP

End)

and

MD20112 $MC_START_MODE_MASK (definition of initial control system settings with NC-

START)

• not deactivated during program end reset (M30, M02), regardless of the value of machine

data:

MD20110 $MC_RESET_MODE_MASK

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14.3 Master value coupling

14.3.5

Effectiveness of PLC interface signals

Leading axis

When a coupled axis group is active, the interface signals (IS) of the leading axis are applied to

the appropriate following axis via axis coupling. i.e.:

• a feed control action of the leading axis is applied via the master value coupling to effect an

appropriate feed control action in the following axis.

• shutdown of the leading axis as the result of an IS (e.g. axis-specific feed stop, axis inhibit,

servo enable, etc.) causes the corresponding coupled motion axis to shut down.

Position measuring system 1/2 (DB31, ... DBX1.5/1.6))

Switch-over of the position measuring system for the leading and following axes is not inhibited

for an active coupled axis group. The coupling is not canceled.

Recommendation: Switch the measuring system over when the coupling is deactivated.

14.3.6

Special characteristics of the axis master value coupling function

Control dynamics

Depending on the application in question, it may be advisable to match the position controller

parameter settings (e.g. servo gain factor (K_Vfactor)) of the leading axis and following axis in an

axis grouping. It may be necessary to activate other parameter sets for the following axis. The

dynamics of the following axis should be the same or better than those of the leading axis.

Status of coupling

See Chapter "Status of coupling (Page 544)"

Actual value display

The display of the actual value is updated for all axes of in a master value coupled axis grouping

(only real axes) coupled via a master value.

Interpolation

When the movement defined in the curve table is interpolated, axis position and axis speed are

calculated for a master value and its speed.

Logging

The curve tables generated by the definition of motion sequences are stored in the battery-

backed memory.

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14.4 Electronic gear (EG)

The curve tables are not lost when the control system is switched off.

These functions have no effect on cyclic machines because they are performed without operator

actions. Nor does it make sense to perform automatic (re-)positioning via the NC with external

master values.

14.3.7

Supplementary conditions

External master value axes

When using the REPOS or REPOSA parts program instructions in conjunction with external

master value axes, it should be ensured that these are released by the channel or switched to a

"neutral state" using the RELEASE instruction.

When attempting to reposition without release of the axis, the message "Wait: Feed stop active"

is displayed and the processing of the part program is not continued.

14.4

Electronic gear (EG)

14.4.1

Product brief

14.4.1.1

Function

General

The "electronic gear" function makes it possible to control the movement of a following axis,

depending on up to five master axes. The relationship between each leading axis and the

following axis is defined by the coupling factor. Following axis motion components derived from

the individual leading axis motion components have an additive effect.

The coupling can be based on:

• Actual value of the leading axis

• Setpoint of the leading axis

The following functions of a gear grouping can be programmed using part program instructions:

• Defining

• Switch on

• Switch off

• Delete

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14.4 Electronic gear (EG)

Curve tables

Non-linear relationships between lead and following axes can also be implemented using curve

tables.

Cascading

Electronic gearboxes can be cascaded, i.e. the following axis of an electronic gearbox can be the

leading axis for a subsequent electronic gearbox.

Synchronous position

An additional function for synchronizing the following axis allows a synchronous position to be

selected:

• Approach next division (tooth gap) time-optimized

• Approach next division (tooth gap) path-optimized

• Approach in positive direction of axis rotation, absolute

• Approach in negative direction of axis rotation, absolute

• Traverse time-optimized with respect to programmed synchronized position

• Traverse path-optimized with respect to programmed synchronized position

Application Examples:

• Machine tools for gear cutting

• Gear trains for production machines

14.4.1.2

Preconditions

The "Electronic Gearbox" option or the relevant option of generic coupling (refer to

" Preconditions (Page 609) " in the "Brief description" of Generic Coupling) is required for the

usage of function.

14.4.2

Electronic gear (EG)

Function

With the aid of the "Electronic gearbox" the movement of a following axis FA can be

interpolated dependent of up to five leading axes LA. The relationship between each leading

axis and the following axis is defined by a coupling factor. The following axis motion components

derived in this manner from the individual leading axis motion components have an additive

effect.

FA_set= SynPosFA + (LA_1-SynPosLA₁)*CF₁ +... +(LA_5-SynPosLA₅)*CF₅

With:

SynPosFA, SynPosLA_i: from call EGONSYN (see below)

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14.4 Electronic gear (EG)

setpoint

: Partial setpoint of the following axis

LA_i: Setpoint or actual value of the ith leading axis (depending on the type of coupling - see

below)

KF_i: Coupling factor of the ith leading axis (see below)

All paths are referred to the basic co-ordinate system BCS.

When an EG axis group is activated, it is possible to synchronize the leading axes and following

axis in relation to a defined starting position.

From the part program a gearbox group can be:

• defined,

• activated,

• deactivated,

• deleted.

Extensions

The influence of each of the 5 leading axes can be specified using a curve table as an alternative

to a transmission ratio (KF=numerator/denominator).

It is thus possible for each curve (except for the special case of a straight line) for the leading axis

to influence the following axis in a non-linear manner. The function can only be used with

EGONSYN.

The function EG can be activated with curve tables with EGON.

The function EGONSYNE is available for approaching the synchronized position of the following

axis with a specified approach mode.

For special applications, it may be advisable configure the position controller as a PI controller.

CAUTION

Application faults

Knowledge of the control technology and measurements with servo trace are an absolute

prerequisite for using this function.

Further information

• CNC Commissioning Manual: NC, PLC, drive

• Velocities, setpoint/actual value systems, closed-loop control (Page 135)

Coupling type

The following axis motion can be derived from either of the following:

• Setpoints of leading axes

• Actual values of leading axes

The reference is set in the definition call for the EG axis group:

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14.4 Electronic gear (EG)

EGDEF

(see Section "Definition of an EG axis group (Page 590)")

Coupling factor

The coupling factor must be programmed for each leading axis in the group. It is defined by

numerator/denominator.

Coupling factor values numerator and denominator are entered per leading axis with the

following activation calls:

EGON

EGONSYN

EGONSYNE

(see Section "Activating an EG axis group (Page 591)")

Number of EG axis groups

Several EG axis groups can be defined at the same time. The maximum possible number of EG

axis groupings is set in the following machine data:

MD11660 $MN_NUM_EG

The maximum permissible number of EG axis groups is 31.

Note

The option must be enabled.

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14.4 Electronic gear (EG)

EG cascading

The following axis of an EG can be the leading axis of another EG. For a sample configuration

file, see Section "Examples".

;

$BTDBEJOH BMTP QPTTJCMF

;

-",

4PGUXBSF BYJT

-",

;

ॱ

-",

;

Figure 14-7

Block diagram of an electronic gearbox

Synchronous positions

To start up the EG axis group, an approach to defined positions for the following axis can first be

requested.

Synchronous positions are specified with:

EGONSYN (see below for details)

EGONSYNE (extended EGONSYN call)

Synchronization

If a gear is started with EGON(), EGONSYN() or EGONSYNE() see below, the actual position of the

following axis is only identical to the setpoint position defined by the rule of motion of the gear

specified by the positions of the leading axes at this time if the part program developer makes

sure that it is. The control then uses the motion of the following axis to ensure that the setpoint

and actual positions of the following axes correspond as quickly as possible if the leading axes

are moved further. This procedure is called synchronization. After synchronization of the

following axis, the term synchronous gearing is used.

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14.4 Electronic gear (EG)

Activation response

An electronic gearbox can be activated in two different ways:

1. On the basis of the axis positions that have been reached up to now in the course of

processing the command to activate the EG axis group is issued without specifying the

synchronizing positions for each individual axis.

EGON (see Section "Activating an EG axis group (Page 591)")

2. The command to activate the EG axis group specifies the synchronized positions for each axis.

From the point in time when these positions are reached, the EG should be synchronized.

EGONSYN (see Section "Activating an EG axis group (Page 591)")

3. The command to activate the EG axis group specifies the synchronized positions and

approach mode for each axis. From the point in time when these positions are reached, the

EG should be synchronized.

EGONSYNE (see Section "Activating an EG axis group (Page 591)")

Synchronization with EGON

With EGON(), no specifications are made for the positions at which the following axis is to be

synchronized. The control system activates the EG and issues the signal "Synchronized position

reached".

Synchronization for EGONSYN

1. With EGONSYN(), the positions of the leading axes and the synchronization position for the

following axis are specified by the command.

• The control then traverses the following axis with just the right acceleration and velocity to

the specified synchronization position so that the following axis is in position with the leading

axes at its synchronization position.

• If the following axis is stationary: If the "Feed stop/spindle stop" DB 31, ... DBX 4.3 is set for

the following axis, the following axis is not set in motion by EGON or EGONSYN. A traverse

command is issued and block changing is blocked until the axis-specific feed is enabled.

EGOSYN is topped by RESET transformed into EGON. The programmed synchronized

positions are deleted.

• If the following axis is not stationary: The NST "Feed Stop/Spindle Stop" DB31, ... DBX4.3 has

no direct influence on the electronic gearbox. As before, it does have an indirect effect on the

leading axes, if these are located in the same channel.

• For channel specific feed enabling and for override nothing is implemented. Override still

has no direct influence on the electronic gearbox. The axis-specific feed enable is set,

depending on the current override setting.

Synchronization for EGONSYNE

With EGONSYN(), the positions of the leading axes and the synchronization position for the

following axis are specified by the command.

The control system moves the following axis to the synchronized position according to the

program approach mode.

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14.4 Electronic gear (EG)

Synchronization abort with EGONSYN and EGONSYNE

1. The EGONSYN/EGONSYNE command is aborted under the following conditions and changed

to an EGON command:

• RESET

• Axis switches to tracking

The defined synchronization positions are ignored. Synchronous traverse monitoring still takes

synchronized positions into account.

Aborting position synchronization generates alarm 16774.

The alarm may be suppressed with the following machine data:

MD11410 $MN_SUPPRESS_ALARM_MASK Bit31 = 1

Synchronous monitoring

The synchronism of the gearbox is monitored in each interpolator clock cycle on the basis of the

actual values of the following and leading axes. For this purpose, the actual values of the axes

are computed according to the rule of motion of the coupling. The synchronism difference is

the difference between the actual value of the following axis and the value calculated from the

leading axis actual values according to the rule of motion. The synchronism difference can be

queried from the part program (see below).

Changes in the synchronism difference

The mass inertia of the axis systems during acceleration can cause dynamic fluctuations in the

synchronism difference. The synchronism difference is checked continuously and the tolerance

values in the machine data used to produce interface signals.

The synchronism difference is compared with the following machine data:

MD37200 $MA_COUPLE_POS_TOL_COARSE

MD37210 $MA_COUPLE_POS_TOL_FINE

Depending on the result of this comparison, the following signals are set:

NST "Synchronous travel fine" DB31, ... DBX98.0

NST "synchronous traverse coarse" DB31, ... DBX98.1

Difference > .. TOL_COARSE

As long as the synchronism difference is greater than the following machine data, the gearbox

is not synchronized and neither IS "Coarse synchronism" DB 31, ... DBX 98.1 nor IS "Fine

synchronism" DB 31, ... DBX 98.0 is active:

MD37200 $MN_COUPLE_POS_TOL_COARSE

Instead, the following interface signal is displayed:

NST "synchronization running" DB31, ... DBX99.4

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14.4 Electronic gear (EG)

Difference < .. TOL_COARSE

As long as the synchronism difference is smaller than the following machine data, IS "Coarse

synchronism" DB 31, ... DBX 98.1 is at the interface and IS "Synchronism running" DB31, ...

DBX99.4 is deleted:

MD37200 $MN_COUPLE_POS_TOL_COARSE

Difference > .. TOL_FINE

If the synchronism difference is smaller than the following machine data, then NST

"synchronous traverse fine" DB31, ... DBX98.0 is at the interface:

MD37210 $MA COUPLE_POS_TOL_FINE

Synchronism difference for EG cascades

Synchronism difference for EG cascades is the deviation of the actual position of the following

axis from setpoint position that results for the rule of motion for the real axes involved.

Example:

-"_J ࠞ SFBM MFBEJOH BYJT

'"_J ࠞ GPMMPXJOH BYJT GSPN &(_J

Figure 14-8

Three-level EG cascade

According to the definition given, the synchronism difference of following axis FA3 in the

example below is determined by the value of following axis FA3_Act and the value of leading axis

FA2_Act and LA2_Act, but not by LA1_Act and FA1_Act.

If FA2 is not a real axis, the actual value FA2_Act is not available. In this case, the setpoint of the

axis derived solely from the leading axis value FA1_Act must be used instead of the actual value of

the setpoint of the axis.

Other signals

If an EGON(), EGONSYN() or EGONSYNE() block is encountered in the main run, the signal

"Coupling active" is set for the following axis. If the following axis is only overlaid, the signals

"Coupling active" and "Axis override" are set. If EGON(), EGONSYN() or EGONSYNE() is active and

the following axis is also overlaid, the signals "Coupling active" and "Axis override" are also set.

IS "following spindle active" DB31, ... DBX 99.1: Coupling active,

IS "overlaid movement" DB31, ... DBX98.4: axis is overlaid,

IS "Enable following axis override" DB31, ... DBX26.4

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14.4 Electronic gear (EG)

In the case of the commands EGON() and EGONSYNE(), the "Enable following axis override"

signal must be present for the gear to synchronize to the specified synchronization position for

the following axis. If it is not present, alarm 16771 "Override movement not enabled" is issued.

If the signal is present, the following axis travels to the synchronized position with the calculated

acceleration and at the velocity set for the approach mode.

Further monitoring signals

Machine data MD37550 $MA_EG_VEL_WARNING allows a percentage of the speeds and

accelerations to be specified in the following machine data MD32000 $MA_MAX_AX_VELO and

MD32300 $MA_MAX_AX_ACCEL, with reference to the following axis, which results in the

generation of the following interface signals:

IS "Speed warning threshold" DB31, ... DBX98.5

IS "Acceleration warning threshold" DB31, ... DBX98.6

The monitoring signals can be used as trigger criteria for emergency retraction (see Section

"Trigger sources (Page 904)").

Machine data MD37560 $MA_EG_ACC_TOL allows a percentage with reference to machine data

MD32300 $MA_MAX_AX_ACCEL of the following axis to be defined, and the IS signal "axis

accelerates" DB31, ... DBX99.3 to be generated.

Request synchronism difference

1. The result of the synchronism difference calculation can be read as an amount in the part

program with system variable $VA_EG_SYNCDIFF. The relevant value with sign is available in

the system variables $VA_EG_SYNCDIFF_S. The following meanings apply:

• Negative value (in positive traverse direction for lead and following axis): The following axis

lags behind its calculated setpoint position.

• Positive value (in positive traverse direction for lead and following axis): The following axis

leads before its calculated setpoint position (overswing).

The amount of the synchronism difference with sign corresponds to the system variables

without sign from $VA_EG_SYNCDIFF.

$VA_EG_SYNCDIFF[ax] = ABS($VA_EG_SYNCDIFF_S[ax])

Block change mode

1. When an EG axis group is activated, it is possible to specify the conditions under which a part

program block change is to be executed:

2. The specification is made with a string parameter with the following meaning:

3. "NOC": Immediate block change

4. "FINE": Block change if "Fine synchronism" is present

5. "COARSE": Block change if "Coarse synchronism" is present

6. "IPOSTOP": Block change if "Setpoint synchronism" is present

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Note

When programmed in activation calls EGON, EGONSYN, EGONSYNE, each of the above strings

can be abbreviated to the first two characters.

If no block change has been defined for the EG axis group and none is currently specified, "FINE"

applies.

14.4.3

Definition of an EG axis group

Note

The following definition commands and switch instructions of the electronic gearbox must all be

contained in only one block of a parts program.

All commands of the electronic gearbox result in a preprocessing stop, except for the activation

commands:

• EGON

• EGONSYN

• EGONSYNE

Definition and activation

The definition described below and activation are separate processes. An activation is not

possible unless it has been defined previously.

Definition of an EG axis group

An EG axis group is defined through the input of the following axis and at least one, but not more

than five, leading axis, each with the relevant coupling type:

EGDEF(following axis, leading axis1, coupling type1, leading axis2, coupling type 2,...)

The coupling type does not need to be the same for all leading axes and must be programmed

separately for each individual leading axis.

Coupling type:

Evaluate actual value of leading axis: 0

Evaluate setpoint of leading axis: 1

The coupling factors are preset to zero when the EG axis group is defined. As such, the group has

no effect on the following axis until it is activated. (See EGON, EGONSYN, EGONSYNE).

Preconditions for defining an EG axis group:

No existing axis coupling may already be defined for the following axis. (If necessary, an existing

axis must be deleted with EGDEL.)

EGDEF triggers preprocessing stop with alarm.

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14.4 Electronic gear (EG)

For an example of how to use the EG gearbox for gear hobbing, please see Chapter "Examples",

"Electronic Gearbox for Gear Hobbing".

EGDEF

The gearbox definition with EGDEF should also be used unaltered when one or more leading

axes affect the following axis via a curve table.

The variant extended with the addition of non-linear coupling via curve tables is illustrated in an

extended example in Chapter "Extended Example with non-linear Components".

14.4.4

Activating an EG axis group

Without synchronization

The EG axis group is activated without synchronization selection with:

EGON(FA, block change mode, LA1, Z1, N1, LA2 , Z2, N2,..LA5, Z5, N5.)

The coupling is activated immediately.

With:

FA: Following axis

Depending on block change mode, the next block will be activated:

"NOC": Block change takes place immediately

"FINE": Block change is performed in "Fine synchronism"

"COARSE": Block change is performed in "Coarse synchronism"

"IPOSTOP": Block change is performed for setpoint-based synchronism

LA_i: Axis name of the leading axis i

Z_i: Counter for coupling factor of leading axis i

N_i: Denominator for coupling factor of leading axis i

Only the leading axes previously specified with the EGDEF command may be programmed in the

activation line. At least one leading axis must be programmed.

The positions of the leading axes and following axis at the instant the grouping is switched on

are stored as "Synchronized positions". The "Synchronized positions" can be read with the system

variable $AA_EG_SYN.

With synchronization

The EG axis group is activated with synchronization selective:

1. EGONSYN

EGONSYN(FA, block change mode, SynPosFA, LA_i, SynPosLA_i, Z_LA_i, N_LA_i)

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With:

FA: Following axis

Block change mode:

"NOC": Block change takes place immediately

"FINE": Block change is performed in "Fine synchronism"

"COARSE": Block change is performed in "Coarse synchronism"

"IPOSTOP": Block change is performed for setpoint-based synchronism

SynPosFA: Synchronized position of the following axis

LA_i: Axis name of the leading axis i

SynPosLAi: Synchronized position of leading axis i

Zi: Counter for coupling factor of leading axis i

Ni: Denominator for coupling factor of leading axis i

Note

The parameters indexed with i must be programmed for at least one leading axis, but for no

more than five.

Only leading axes previously specified with the EGDEF command may be programmed in the

activation line.

Through the programmed "Synchronized positions" for the following axis (SynPosFA) and for the

leading axes (SynPosLA), positions are defined for which the axis grouping is interpreted as

synchronous. If the electronic gear is not in the synchronized state when the grouping is

switched on, the following axis traverses to its defined synchronized position.

The position specification of the synchronized positions is specified in the configured basic

system independently of the programmable dimensions (G70/G71).

If the axis grouping includes modulo axes, their position values are reduced in the modulo, This

way the fastest possible synchronized position is approached reliably, e. g., the next tooth from

the tooth spacing (360 degree* Zn/Ni) and the associated synchronized positions.

(So-called relative synchronization.)

thereby ensuring that they approach the fastest possible synchronized position. (So-called

relative synchronization, e.g. the next tooth gap after "centering".)

If the following interface signal has not been set for the following axis, the axis will not travel to

the synchronization position.

DB31, ... DBX26.4 (Enable following axis override)

Instead the program is stopped at the EGONSYN block and the self-clearing alarm 16771 is

issued until the above mentioned signal is set.

2. EGONSYNE

EGONSYNE(FA, block change mode, SynPosFA, Approach mode, LA_i,SynPosLA_i, Z_LA_i, N_LA_i)

with:

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"FA": Following axis

Block change mode:

"NOC": Block change takes place immediately

"FINE": Block change is performed in "Fine synchronism"

"COARSE": Block change is performed in "Coarse synchronism"

"IPOSTOP": Block change is performed for setpoint-based synchronism

SynPosFA: Synchronized position of the following axis

Approach mode:

"NTGT": NextToothGapTime-optimized, the next tooth gap is approached time-optimized

(preset is used if no setting is applied).

"NTGP": The next tooth gap is approached time-optimized.

"ACN": AbsoluteCoordinateNegative, Absolute measurement specification, rotary axis traverses

in negative rotation direction

"ACP": AbsoluteCoordinatePositive, Absolute measurement specification, rotary axis traverses in

positive rotation direction

"DCT": DirectCoordinateTime-optimized, Absolute measurement specification, rotary axis

traverses time-optimized to programmed synchronized position

"DCP": DirectCoordinatePath-optimized, Absolute measurement specification, rotary axis

traverses path-optimized to programmed synchronized position

LA_i: Axis name of the leading axis i

SynPosLAi: Synchronized position of leading axis i

Zi: Counter for coupling factor of leading axis i

Ni: Denominator for coupling factor of leading axis i

Note

The parameters indexed with i must be programmed for at least one leading axis, but for no

more than five.

The function is active only for modulo following axes that are coupled to modulo leading axes.

Tooth gap

The tooth gap is defined as 360 degrees * Zi / Ni

Example:

EGONSYNE(A, "FINE", FASysPos, "Traversing mode", B, LASynPos, 2, 10)

Tooth gap: 360*2/10 = 72 (degrees)

Approach response with FA at standstill

In this case, the time-optimized and path-optimized traversing modes are identical.

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Axis couplings

14.4 Electronic gear (EG)

The table below shows the target positions and traversed paths with direction marker (in

brackets) for the particular approach modes:

Programmed

Position of the fol-

Traversing

Traversing mode

synchronized posi-

lowing axis be-

mode NTGT/

DCT/DCP

ACP

ACN

tion FaSysPos

fore EGONSYNE

NTGP

110

150

182 (+32)

110 (-40)

110 (+320)

110 (-40)

110

350

326 (-24)

110 (+120)

110 (-240)

130

346 (-14)

130 (+130)

130 (-230)

130

58 (+28)

130 (+100)

130 (-260)

130

190

202 (+12)

130 (-60)

130 (+300)

130 (-60)

190

334 (-26)

190 (-170)

190 (+190)

190 (-170)

230

14 (+14)

230 (-130)

230 (+230)

230 (-130)

Approach response for moving FA

The following axis moves at almost maximum velocity in the positive direction when the

coupling is activated by EGONSYNE. The programmed synchronized position of the following

axis is 110, the current position 150. This produces the two alternative synchronized positions

110 and 182 (see table above).

In the case of traversing mode NTGP (path-optimized), synchronized position 182 is selected

independent of the current velocity. This has the shortest distance from the current position of

the following axis. Traversing mode NTGT (time-optimized) considers the current speed of the

following axis and produces a deceleration on account of the limit for the maximum axis speed

to reach synchronism in the shortest possible time (see Figure).

/5(1

W_NBY

/5(5

Figure 14-9

Reaching the next tooth gap, FA path-optimized (top) vs. time-optimized (bottom)

Sample notations

EGONSYNE(A, "FINE", 110, "NTGT", B, 0, 2, 10)

couple A to B, synchronized position A = 110, B = 0, coupling factor 2/10, approach mode = NTGT

EGONSYNE(A, "FINE", 110, "DCT", B, 0, 2, 10)

couple A to B, synchronized position A = 110, B = 0, coupling factor 2/10, approach mode = DCT

EGONSYNE(A, "FINE", 110, "NTGT", B, 0, 2, 10, Y, 15, 1, 3)

couple A to B, synchronized position A = 110, B = 0, Y = 15,

Coupling factor to B = 2/10, Coupling factor to Y = 1/3,

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approach mode = NTGT

With synchronization

The syntax specified above applies with the following different meanings:

If a curve table is used for a leading axis, then the denominator of the linear coupling of the

coupling factor (N_i) must be set to 0 (denominator 0 would be impermissible for linear

couplings).

For control, denominator zero is the indicator that the counter of the coupling factor (Z_i) is to be

interpreted as the number of the curve table to be used. The curve table with the specified

number must already be defined at power on (in accordance with Chapter "Curve Tables").

The leading axis specified (LA_i) corresponds to the one specified for coupling via coupling factor

(linear coupling).

14.4.5

Deactivating an EG axis group

Variant 1

There are different ways to deactivate an active EG axis grouping.

EGOFS(following axis)

The electronic gear is deactivated. The following axis is braked to a standstill. This call triggers

a preprocessing stop.

Variant 2

The following parameterization of the command makes it possible to selectively control the

influence of individual leading axes on the motion of the following axis.

EGOFS(following axis, leading axis 1, ... leading axis 5)

Note

At least one leading axis must be specified.

The influence of the specified leading axes on the slave is selectively inhibited. This call triggers

a preprocessing stop.

If the call still includes active leading axes, then the slave continues to operate under their

influence. If the influence of all leading axes is excluded by this method, then the following axis

is braked to a standstill.

If the command EGONSYN is deactivated selectively, no axis movement is performed.

Variant 3

EGOFC(following spindle)

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14.4 Electronic gear (EG)

The electronic gear is deactivated. The following spindle continues to traverse at the speed/

velocity that applied at the instant of deactivation. This call triggers a preprocessing stop.

Note

Call for following spindles available. For EGOFC a spindle name must be programmed.

14.4.6

Deleting an EG axis group

An EG axis grouping must be switched off, as described in Chapter "Switching off a EG Axis

Group", before its definition can be deleted.

EGDEL(following axis)

The defined coupling of the axis grouping is deleted. Additional axis groups can be defined by

means of EGDEF until the maximum number of simultaneously activated axis groups is reached.

This call triggers a preprocessing stop.

14.4.7

Interaction between rotation feedrate (G95) and electronic gearbox

The FPR( ) part program command can be used to specify the following axis of an electronic gear

as the axis, which determines the rotational feedrate. Please note the following with respect to

this command:

• The feedrate is determined by the setpoint velocity of the following axis of the electronic gear.

• The setpoint velocity is calculated from the speeds of the leading spindles and modulo axes

(which are not path axes) and from their associated coupling factors.

• Velocity components from other leading axes and overlaid motion of the following axis are

not taken into account.

Further information

Feedrates (Page 195)

14.4.8

Response to POWER ON, RESET, operating mode change, block search

Function

Behavior regarding electronic gearbox

Coupling state

Configuration

Mode change

Is retained

End of part program

Is retained

Reset

Is retained

Power On¹⁾

Is not retained

1) No coupling is active after Power On.

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14.4 Electronic gear (EG)

Block search

A search while a coupling is active (EG) is possible under the following supplementary

conditions:

• Simulation is exclusively with setpoint coupling.

• No cross-channel leading axes may be disabled.

• Axis movements for which all real positions are known to the NC.

If it is technically not sensible or not possible to permit the target block for a block search with

calculation or SERUPRO within a part program section with active coupling, this section can be

locked for "continue machining at the contour".

Programming

• IPTRLOCK()

• IPTRUNLOCK()

Further information

Function Manual Basic Functions; Mode group, channel, program operation, reset response,

block search type 5 SERUPRO > Lock program section for continue machining at the contour

14.4.9

System variables for electronic gearbox

Application

The following system variables can be used in the part program to scan the current states of an

EG axis group and to initiate appropriate reactions if necessary:

Table 14-1

System variables, R means: Read access possible

Name

Type

Access

Preprocessing

Meaning, value

Cond. Index

stop

part

Sync

part

Sync

pro-

act.

pro-

act.

gram

$AA_EG_

INT

Type of coupling:

Axis name

TYPE[a,b]

0: actual value

a: Following axis

1: Setpoint value coupling

b: Leading axis

$AA_EG_

REAL

Numerator of coupl. factor

Axis name

NUMERA[a,b]

a: Following axis

KF = numerator/denomina-

b: Leading axis

tor

preset: 0

Number of curve table

when $AA_EG_DE-

NOM[a,b] is 0.

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Name

Type

Access

Preprocessing

Meaning, value

Cond. Index

stop

part

Sync

part

Sync

pro-

act.

pro-

act.

gram

$AA_EG_

REAL

Denominator of coupl. fact.

Axis name

DENOM[a,b]

a: Following axis

KF = numerator/denomina-

b: Leading axis

tor

preset: 1

Denominator must be posi-

tive.

Denominator is 0, if instead

of the numerator

$AA_EG_NUMERA[a,b] the

number of a curve table is

specified.

$AA_EG_

REAL

Synchronized position for

Axis name

SYN[a,b]

specified leading axis

a: Following axis

Default: 0

b: Leading axis

$AA_EG_

REAL

Synchronized position for

Axis name

SYNFA[a]

specified following axis

a: Following axis

Default: 0

$P_EG_BC[a]

STRING

Block change criterion for

Axis name

EG activation calls: EGON,

a: Following axis

EGONSYN:

"NOC": immediately

"FINE": Synchronoous tra-

verse fine

"COARSE": Synchronous tra-

verse coarse

"IPOSTOP": Setpoint-based

synchronism

$AA_EG_

INT

Number of leading axes de-

Axis name

NUM_LA[a]

fined with EGDEF. 0 if no ax-

a: Following axis

is has been defined as a fol-

lowing axis with EGDEF.

$AA_EG_

AXIS

Axis name of leading axis

Axis name

AX[n,a]

whose index n has been

n: Index of leading axis in

specified.

the EG coupling 0 ... 4

a: Following axis

$AA_EG_

BOOL

Determine power-on state

Axis name

ACTIVE[a,b]

of a leading axis:

a: Following axis

0: Switched off

b: Leading axis

1: activated

$VA_EG_

REAL

Actual value of synchronism

Axis name

SYNCDIFF[a]

difference. A comparison of

a: Following axis

machine data MD37200

$MA_COU-

PLE_POS_TOL_COARSE and

MD37210 $MA_COU-

PLE_POS_TOL_FINE produ-

ces interface signals.

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14.4 Electronic gear (EG)

14.4.10

Examples

14.4.10.1

Example using linear couplings

Use of axes

The following diagram shows the configuration of a typical gear hobbing machine. The machine

comprises five numerically closed loop controlled axes and an open loop controlled main

spindle. These are:

• The rotary motion of the workpiece table (C) and hobbing cutter (B)

• The axial axis (Z) for producing the feed motion over the entire workpiece width

• The tangential axis (Y) for moving the hobbing cutter along its axis

• The radial axis (X) for infeeding the cutter to depth of tooth

• The cutter swivel axis (A) for setting the hobbing cutter in relation to the workpiece as a

function of cutter lead angle and angle of inclination of tooth

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Axis couplings

14.4 Electronic gear (EG)

Radial axis

Tangential axis (master drive 3)

Axial axis (master drive 2)

Milling swivel axis

Workpiece rotational axis (slave drive)

Milling rotational axis, main spindle (master drive 1)

Figure 14-10

Definition of axes on a gear hobbing machine (example)

The functional interrelationships on the gear hobbing machine are as follows:

;

3FWPMVUJPO PG

8JEUI PG

-POHJUVEJOBM BYJT

NJMMJOH UPPM

XPSLQJFDF

PG NJMMJOH UPPM

;

8PSLQJFDF SPUBUJPOBM BYJT HFBS XIFFM

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14.4 Electronic gear (EG)

In this case, the workpiece table axis (C) is the following axis which is influenced by three master

drives.

The setpoint of the following axis is calculated cyclically with the following logic equation:

n_c = n_b * (z₀ / z₂) + v_z * (u_dz / z₂) + v_y * (u_dy / z₂)

With: n_c

= Rotational speed of workpiece axis (C)

n_b

= Rotational speed of milling spindle (B)

z₀

= Number of gears of the hobbing machine

z₂

= Number of teeth of the workpiece

v_z

= Feed velocity of axial axis (Z)

v_y

= Feed velocity of tangential axis (Y)

u_dz

= Axial differential constant

u_dy

= Tangential differential constant

Quantities which influence the setpoint of workpiece axis C

The first addend of the above equation determines the speed ratio between workpiece table and

cutter, and thus the number of teeth of the workpiece.

The second addend effects the necessary additional rotation of the C axis as a function of the

axial feed motion of the cutter to produce the tooth inclination on helical teeth.

The third component also makes allowance for additional rotation of the C axis to compensate

for the tangential movement of the cutter in relation to the workpiece, thus ensuring that the

tool is equally stressed over its entire length.

Workpiece/tool parameter

The values z₀, z₂, u_dz, and u_dy are workpiece- or tool-dependent and are specified by the NC

operator or in the part program.

Differential constants

Differential constants u_dz and u_dy make allowance for the angle of workpiece teeth and for cutter

geometry. These differential constants can be determined in user-specific cycles.

u_dz = (sin β° / (m_n * π) ) * 360

[degrees/mm]

u_dy = (cos γ° / (m_n * π) ) * 360

[degrees/mm]

With: m_n

= Normal module (in mm)

β°

= Incline angle of gear wheel

γ°

= Pitch angle of hobbing machine

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14.4 Electronic gear (EG)

14.4.10.2

Extended example with non-linear components

Introduction

The following example extends the example (see "Figure 14-10 Definition of axes on a gear

hobbing machine (example) (Page 600)") with the following:

• Machine error compensations which are not linearly dependent on the Z axis, and

• a Z-axis dependent component with tooth geometry.

This can be used to create a slightly convex tooth surface, so that the center of the tooth is

stressed more than the edges during operation.

/HDGLQJ D[HV

;

&RPSHQVDWLRQ I =

$FFRUGLQJ WR %DVH ([DPSOH

)ROORZLQJ D[LV

*HDU JHRPHWU\

6RIWZDUH D[LV

Figure 14-11

Extended example with non-linear machine fault compensation and non-linear components on the tooth

geometry

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14.4 Electronic gear (EG)

The following section of a part program is intended to illustrate the general concept;

supplementary curve tables and gear wheel/machine parameters are still to be added.

Components to be added are marked with <...> . Stated parameters may also have to be

modified, e.g. coupling factors.

N100 CTABDEF(X, Z, 1, 0)

;

declaration and specification of non-periodic curve table C1

N110 < ...

;

Preset of curve table: Curve points or polynomial blocks

N190 CTABEND

N200 CTABDEF(Y, Z, 2,

;

declaration and specification of non-periodic curve table C2

N210 < ...

;

Preset of curve table: Curve points or polynomial blocks

N290 CTABEND

N300 CTABDEF(A, Z, 3, 0)

;

declaration and specification of non-periodic curve table C3

N310 < ...

;

Preset of curve table: Curve points or polynomial blocks

N390 TABEND

N400 CTABDEF(C, Z, 4, 0)

;

declaration and specification of non-periodic curve table C4

N410 < ...

;

Preset of curve table: Curve points or polynomial blocks

N490 CTABEND

N500 EGDEF(X, Z, 1)

;

Declaration of path via C1, setpoint coupling

N510 G1 F1000 X10

;

declaration of command component of X

N520 EGONSYN(X, "NOC",

;

Path switch-on via C1

<SynPosX>, Z,

<SynPosX_Z>, 1, 0)

N600 EGDEF(Y, Z, 1)

;

Declaration of path via C2, setpoint coupling

N610 G1 F1000 Y10

;

declaration of command component of Y

N620 EGONSYN(Y,

;

Path switch-on via C2

"COARSE",

<SynPosY>, Z,

<SynPosY_Z>, 2, 0)

N700 EGDEF(A, Z, 1)

;

Declaration of path via C3, setpoint coupling

N710 G1 F1000 A10

;

declaration of command component of A

N720 EGONSYN(A, "FINE",

;

Path switch-on via C3

<SynPosA>, Z,

<SynPosA_Z>, 3, 0)

; 1st Gear stage, C99 is the software axis between the two electronic gears

N800 EGDEF(C99, Y, 1, Z,

1, B, 1 )

N810 EGONSYN(C99, "NOC",

; Switch-on of leading axis B

<SynPosC99>, B,

<SynPosC99_B>,

18.2, &

Y, <Syn-

; Switch-on of leading axis Y

PosC99_Y>,R1 * π, 1, &

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14.4 Electronic gear (EG)

Z, <Syn-

; Switch-on of leading axis Z

PosC99_Z>,10, 1)

; "&" character means: command continued in next line, no LF nor comment per-

missible in program

; 2nd Gear stage

N900 EGDEF(C, C99, 1,

; declaration of following C99 of step 1 as leading axis of step 2,

Z, 1)

; Setpoint value coupling

N910

; Declaration of path via C4, setpoint coupling

N900

; Switch-on of software axis C99

N910

; and of leading axis Z via C4

N920 EGONSYN(C, "NOC",

<SynPosC>, C99,

<SynPosC_C99>, 1,

1, &

Z, <SynPosC_Z>, 4,

N999 M30

Machine data

Only one section is specified, which extends beyond the necessary geometry/channel

configuration and machine axis parameters.

$MN_NUM_EG = 5

; Maximum number of gearboxes

$MN_MM_NUM_CURVE_TABS = 5

; Maximum number of curve tables

$MN_MM_NUM_CURVE_SEGMENTS = 50

;Max. Number of curve segments

$MN_MM_NUM_CURVE_POLYNOMS = 100

;Max. Number of curve polynomials

Setting data

If the scaling described in Section "Electronic gear (EG) (Page 581)" is used, the function value

from the following machine data changes according to the displacement:

MD43108 $SD_LEAD_SCALE_OUT_POS[4] = 1.2 ; scaling for table C4

System variables

In accordance with the above definitions, the following values are entered in the associated

system variables by the control.

Further information

List Manual System Variables

The system variables listed below are only used for explanatory purposes!

; ************** Gear X (G1)

$AA_EG_TYPE[X, Z] = 1

; Setpoint value coupling

$AA_EG_NUMERA[X, Z] = 1

; curve table No. = 1

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$AA_EG_DENOM[X, Z] = 0

; nominator = 0 → curve table applies

$P_EG_BC[X] = "NOC"

; Block change criterion

$AA_EG_NUM_LA[X] = 1

; Number of leading axes

$AA_EG_AX[0, X] = Z

; name of leading axis

$AA_EG_SYN[X,Z] = <SynPosX_Z>

; Synchronized position of leading axis Z

$AA_EG_SYNFA[X] = <SynPosX>

; Synchronized position of the following axis

; ************** Gear Y (G2)

$AA_EG_TYPE[Y, Z] = 1

; Setpoint value coupling

$AA_EG_NUMERA[Y, Z] = 2

; curve table No. = 2

$AA_EG_DENOM[Y, Z] = 0

; nominator = 0 → curve table applies

$P_EG_BC[Y10] = "COARSE"

; Block change criterion

$AA_EG_NUM_LA[Y] = 1

; Number of leading axes

$AA_EG_AX[0, Y] = Z

; name of leading axis

$AA_EG_SYN[Y, Z] = <SynPosY_Z>

; Synchronized position of leading axis Z

$AA_EG_SYNFA[Y] = <SynPosY>

; Synchronized position of the following axis

; ************** Gear A (G3)

$AA_EG_TYPE[A, Z] = 1

; Setpoint value coupling

$AA_EG_NUMERA[A, Z] = 3

; curve table No. = 3

$AA_EG_DENOM[A, Z] = 0

; nominator = 0 → curve table applies

$P_EG_BC[A10] = "FINE"

; Block change criterion

$AA_EG_NUM_LA[A] = 1

; Number of leading axes

$AA_EG_AX[0, A] = Z

; name of leading axis

$AA_EG_SYN[A, Z] = <SynPosA_Z>

; Synchronized position of leading axis Z

$AA_EG_SYNFA[A] = <SynPosA>

; Synchronized position of the following axis

; ************** Gear C99 (G4)

$AA_EG_TYPE[C99, Y] = 1

; Setpoint value coupling

$AA_EG_NUMERA[C99, Y] = 18

; numerator for coupling factor_y

$AA_EG_DENOM[C99, Y] = 2

; denominator for coupling factor_y

$AA_EG_TYPE[C99, Z] = 1

; Setpoint value coupling

$AA_EG_NUMERA[C99, Z] = R1 * π

; numerator for coupling factor_z

$AA_EG_DENOM[C99, Z] = 1

; denominator for coupling factor_z

$AA_EG_TYPE[C99, B] = 1

; Setpoint value coupling

$AA_EG_NUMERA[C99, B] = 10

; numerator for coupling factor_b

$AA_EG_DENOM[C99, B] = 1

; denominator for coupling factor_b

$P_EG_BC[C99] = "NOC"

; Block change criterion

$AA_EG_NUM_LA[C99] = 3

; Number of leading axes

$AA_EG_AX[0, C99] = Y

; name of leading axis Y

$AA_EG_AX[1, C99] = Z

; name of leading axis Z

$AA_EG_AX[2, C99] = B

; name of leading axis B

$AA_EG_SYN[C99, Y] = <SynPosC99_Y>

; Synchronized position of leading axis Y

$AA_EG_SYN[C99, Z] = <SynPosC99_Z>

; Synchronized position of leading axis Z

$AA_EG_SYN[C99, B] = <SynPosC99_B>

; Synchronized position of leading axis B

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14.4 Electronic gear (EG)

$AA_EG_SYNFA[C99] = <SynPosC99>

; Synchronized position of the following axis

; *************** Gear C (G5)

$AA_EG_TYPE[C, Z] = 1

; Setpoint value coupling

$AA_EG_NUMERA[C, Z] = 4

; curve table No. = 4

$AA_EG_DENOM[C, Z] = 0

; nominator = 0 → curve table applies

$AA_EG_TYPE[C, C99] = 1

; Setpoint value coupling

$AA_EG_NUMERA[C, C99] = 1

; numerator for coupling factor_C99

$AA_EG_DENOM[C, C99] = 1

; denominator for coupling factor_C99

$P_EG_BC[C] = "NOC"

; Block change criterion

$AA_EG_NUM_LA[C] = 2

; Number of leading axes

$AA_EG_AX[0, C] = Z

; name of leading axis Z

$AA_EG_AX[1, C] = C99

; name of leading axis C99

$AA_EG_SYN[C, Z] = <SynPosC_Z>

; Synchronized position of leading axis Z

$AA_EG_SYN[C, C99] = <SynPosC_C99>

; Synchronized position of leading axis C99

$AA_EG_SYNFA[C] = <SynPosC>

; Synchronized position of leading axis C

Machine data

Extract from MD:

; ************** Channel 1

CHANDATA(1)

; ************** Axis 1, "X"

$MC_AXCONF_GEOAX_NAME_TAB[0] = "X"

$MC_AXCONF_CHANAX_NAME_TAB[0] = "X"

$MC_AXCONF_MACHAX_USED[0]=1

$MN_AXCONF_MACHAX_NAME_TAB[0] = "X1"

$MA_SPIND_ASSIGN_TO_MACHAX[AX1] = 0

$MA_IS_ROT_AX[AX1] = FALSE

; *************** Axis 2, "Y"

$MC_AXCONF_GEOAX_NAME_TAB[1]="Y"

$MC_AXCONF_CHANAX_NAME_TAB[1] = "Y"

$MC_AXCONF_MACHAX_USED[1] = 2

$MN_AXCONF_MACHAX_NAME_TAB[1] = "Y1"

$MA_SPIND_ASSIGN_TO_MACHAX[AX2] = 0

$MA_IS_ROT_AX[AX2] = FALSE

; *************** Axis 3, "Z"

$MC_AXCONF_GEOAX_NAME_TAB[2] = "Z"

$MC_AXCONF_CHANAX_NAME_TAB[2] = "Z"

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14.4 Electronic gear (EG)

$MC_AXCONF_MACHAX_USED[2]=3

$MN_AXCONF_MACHAX_NAME_TAB[2] = "Z1"

$MA_SPIND_ASSIGN_TO_MACHAX[AX3] = 0

$MA_IS_ROT_AX[AX3] = FALSE

; *************** Axis 4, "A"

$MC_AXCONF_CHANAX_NAME_TAB[3] = "A"

$MC_AXCONF_MACHAX_USED[3]=4

$MN_AXCONF_MACHAX_NAME_TAB[3] = "A1"

$MA_SPIND_ASSIGN_TO_MACHAX[AX4]=0

$MA_IS_ROT_AX[AX4] = TRUE

$MA_ROT_IS_MODULO[AX4] = TRUE

; *************** Axis 5, "B"

$MC_AXCONF_CHANAX_NAME_TAB[4] = "B"

$MC_AXCONF_MACHAX_USED[4]=5

$MC_SPIND_DEF_MASTER_SPIND = 1

$MN_AXCONF_MACHAX_NAME_TAB[4] = "B1"

$MA_SPIND_ASSIGN_TO_MACHAX[AX5] = 1

$MA_IS_ROT_AX[AX5] = TRUE

$MA_ROT_IS_MODULO[AX5] = TRUE

; ************** Axis 6, "C"

$MC_AXCONF_CHANAX_NAME_TAB[5] = "C"

$MC_AXCONF_MACHAX_USED[5]=6

$MN_AXCONF_MACHAX_NAME_TAB[5] = "C1"

$MA_SPIND_ASSIGN_TO_MACHAX[AX6] = 0

$MA_IS_ROT_AX[AX6] = TRUE

$MA_ROT_IS_MODULO[AX6] = TRUE

; ************** Axis 10, "C99"

$MC_AXCONF_CHANAX_NAME_TAB[9] = "C99"

$MC_AXCONF_MACHAX_USED[9]=10

$MA_SPIND_ASSIGN_TO_MACHAX[AX10] = 0

$MA_IS_ROT_AX[AX10] = TRUE

$MA_ROT_IS_MODULO[AX10] = TRUE

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14.5 Generic coupling

14.5

Generic coupling

14.5.1

Brief description

14.5.1.1

Function

"Generic Coupling" is a general coupling function, combining all coupling characteristics of

existing coupling types (coupled motion, master value coupling, electronic gearbox and

synchronous spindle).

The function allows flexible programming:

• Users can select the coupling properties required for their applications (building block

principle).

• Each coupling property can be programmed individually.

• The coupling properties of a defined coupling (e.g. coupling factor) can be changed.

• Later use of additional coupling properties is possible.

• The coordinate reference system of the following axis (Base co-ordinate system or Machine

co-ordinate system) is programmable.

• Certain coupling properties can also be programmed with synchronous actions.

Further information

Function Manual Synchronized Actions

Adaptive cycles

Previous coupling calls for coupled motion (TRAIL*), Master value coupling (LEAD*), Electronic

Gearbox (EG*) and Synchronous spindle (COUP*) are still supported via adaptive cycles (see

Section "Adaptive cycles (Page 659)").

14.5.1.2

Requirements

CP version

The generic coupling is available in a basic version and four optional versions:

• CP-STATIC

• CP-BASIC

• CP-COMFORT

• CP-EXPERT

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14.5 Generic coupling

This structure is based on the following considerations:

• Functional scope and required application knowledge increase from the basic version to the

optional CP_EXPERT version.

• The number of required couplings (following axes, following spindles) and their properties

are decisive in the selection of versions.

- Example of simultaneous operation:

If sequential operation of 1 x synchronous spindle pair for part transfer from the main to

the supplementary spindle and the 1 x multi-edge turning is required, then the CP-BASIC

option is suitable and sufficient. However, if it cannot be excluded that both operations

can overlap (multi-edge turning running when part transfer is started), the CP-COMFORT

option would be required.

- Example of property:

If a coupled axis grouping with a leading axis is required, the base version is sufficient. For

coupled motion groups with two leading axes, one of the optional versions is required.

• Individual versions are independent of each other. They can be combined and can be

activated simultaneously.

Table 14-2

Quantity structure, which is dependent on the execution of coupling modules that can be simultaneously activated

Typ

CP versions allow one or more different CPSETTYPE

Base ver-

CP-

CP-BA-

CP-COM-

CP-EX-

coupling objects simultaneously:

sion

STATIC

SIC

FORT

PERT

Coupled motion

Synchronous spindle with |1|:1 coupling

o./u. Synchronous spindles, multi-edge turning

o./u. Master value coupling / curve tables interpolation

o./u. MCS coupling

o./u. Electronic gearbox "plain"

o./u. Free generic coupling "basic"

o./u. Electronic gearbox

o./u. Free generic coupling

o./u. stands for over/under

Table 14-3

Scaling of availability of coupling properties

Type A

Type B

Type C

Type D

Type E

Maximum number of CPSETTYPE-related functionalities (per

type)

TRAIL - coupled motion

Maximum number of coupled motion groups with the following

properties:

→ refer to CPSETTYPE="TRAIL"¹⁾

Maximum number of master values

Coupling between a spindle and an axis

Coupling between a rotary axis and a linear axis

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14.5 Generic coupling

Type A

Type B

Type C

Type D

Type E

From part program and synchronous actions

Superimposition / speed difference permitted

Cascading permitted

BCS

BCS / MCS

Coordinate reference (default: CPFRS="BCS")

Synchronous spindle with |1|:1 coupling

Maximum number of synchronous spindles / multi-edge turning

with the following properties:

→ refer to CPSETTYPE="COUP"¹⁾

Maximum number of master values

From part program and synchronous actions

Superimposition / speed difference permitted

Cascading permitted

MCS

Coordinate reference fix (CPFRS="MCS")

COUP - synchronous spindle/multi-edge turning

Maximum number of synchronous spindles / multi-edge turning

with the following properties:

→ refer to CPSETTYPE="COUP"¹⁾

Maximum number of master values

From part program and synchronous actions

Superimposition / speed difference permitted

Cascading permitted

MCS

Coordinate reference fix (CPFRS="MCS")

LEAD - master value coupling / curve tables interpolation

Maximum number of master value couplings / curve tables inter-

polation with the following properties:

→ refer to CPSETTYPE="LEAD"¹⁾

Maximum number of master values

From part program and synchronous actions

Superimposition / speed difference permitted

Cascading permitted

BCS / MCS

Coordinate reference (default: CPFRS="BCS")

EG - electronic gearbox

Maximum number of electronic gearboxes

with the following properties:

→ refer to CPSETTYPE="EG"¹⁾

Maximum number of master values

From part program and synchronous actions

Superimposition / speed difference permitted

Cascading permitted

BCS / MCS

Coordinate reference (default: CPFRS="BCS")

Non-linear coupling law (CPLCTID) permitted

CP - free generic coupling

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14.5 Generic coupling

Type A

Type B

Type C

Type D

Type E

Maximum number of free generic couplings

with the following properties:

Default (corresponds to CPSETTYPE="CP"¹⁾)

Maximum number of master values

From part program and synchronous actions

Superimposition / speed difference permitted

Cascading permitted

BCS / MCS

Coordinate reference (default: CPFRS="BCS")

Non-linear coupling law (CPLCTID) permitted

¹⁾Refer to " Coupling types (CPSETTYPE) (Page 660) ".

Note

Existing coupling options (Master value coupling, Electronic gearbox and Synchronous spindle)

are not taken into consideration by generic coupling. Simultaneous operation of existing

coupling options and generic coupling is only possible if the couplings refer to different axes/

spindles.

Memory configuration

Memory space reserved in dynamic NC memory for generic coupling is defined in machine data:

MD18450 $MN_MM_NUM_CP_MODULES (maximum allowed number of CP coupling

modules)

MD18452 $MN_MM_NUM_CP_MODUL_LEAD (maximum allowed number of CP master

values)

Note

Recommendation: Expected maximum values, which can be expected simultaneously for this

machine in its maximum configuration, should already be set during commissioning.

Hardware requirements

Systems with more than 6 axes are required when using the "CP-EXPERT" option.

14.5.2

Fundamentals

14.5.2.1

Coupling module

With the help of a coupling module, the motion of one axis (→ following axis) can be

interpolated depending on other axes (→ leading axes).

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14.5 Generic coupling

Coupling rule

The relationships between leading axis/values and a following axis are defined by a coupling rule

(coupling factor or curve table). The individual motion components from the individual leading

axes/values have an additive effect.

The relationship is demonstrated by the following example (following axis with two leading

axes):

&RXSOLQJ UXOH

/HDGLQJ D[LV

&RXSOLQJ UXOH

/HDGLQJ D[LV

)$_'HS

)ROORZLQJ D[LV

)$_&PG

)$_7RWDO

FA_Total

Total setpoint value of the following axis

FA_Cmd

Setpoint value set in part program

= independent motion component of the following axis

FA_DEP1

Dependent motion component of leading axis 1

FA_DEP2

Dependent motion component of leading axis 2

LA₁

Setpoint or actual value of the 1st leading axis

LA₂

Setpoint or actual value of the 2nd leading axis

SynPosLA₁

Synchronized position of the 1st leading axis

SynPosLA₂

Synchronized position of the 2nd leading axis

KF₁

Coupling factor of the 1st leading axis

KF₂

Coupling factor of the 2nd leading axis

The following axis position results from the overlay (summation) of the dependent motion

components (FA_DEP1 and FA_DEP2), which result from the individual coupling relationships to the

leading axes, and of the independent motion component (FA_Cmd) of the following axis:

FA_Total = FA_Cmd + FA_DEP1 + FA_DEP2

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14.5 Generic coupling

The motion components of the following axis are calculated as follows:

Dependent motion component of leading axis 1:

FA_DEP1 = (LA₁ - SynPosLA₁) * KF₁

Dependent motion component of leading axis 2:

FA_DEP2 = (LA₂ -SynPosLA₂) * KF₂

Independent motion component of the following axis:

FA_Cmd

Following axis overlay

The overlay of dependent and independent motion components of the following axis is called

following axis overlay.

The independent motion component of the following axis can be programmed with the full

range of available motion commands.

14.5.2.2

Keywords and coupling characteristics

Keywords

Programming is done via language commands, e.g. coupled motion with TRAILON(X,Y,2).

Keywords replace the language commands in generic coupling.

This has the following advantages:

• Coupling characteristics can be programmed individually (see following example).

• Programming of multiple couplings can be done in one block (since keywords do not require

their own block).

Advantage: Reduction of work off time

Example:

The properties set with the existing coupling call TRAILON(X,Y,2)(following axis, leading axis

and coupling factor) are defined in the generic coupling with the following keywords:

CPON=(X1) CPLA[X1]=(X2) CPLNUM[X1,X2]=2

CPON=(X1)

Switch on coupling to following axis X1.

CPLA[X1]=(X2)

Define axis X2 as leading axis.

CPLNUM[X1,X2]=2

Set numerator of the coupling factor to 2.

Notation

In order to be uniquely assigned, keywords are furnished with the prefix "CP", for Coupling).

Depending on meaning and application position, a third letter is used:

Keyword prefix

Meaning

Example

CP*

Describes the characteristics of the entire coupling.

CPON¹⁾

CPF*

Describes the characteristics of the following axis (Follow-

CPFPOS¹⁾

ing axis).

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14.5 Generic coupling

Keyword prefix

Meaning

Example

CPL*

Describes a property referring to the leading axis (Leading

CPLON¹⁾,

axis) or the coupling rule.

CPLNUM¹⁾

CPM*

Describes a property of the entire coupling for special

CPMRESET¹⁾

states.

¹⁾ For keyword meaning, please refer to the following table "Overview of all keywords and coupling

characteristics".

Overview of all keywords and coupling characteristics

The following table gives an overview of all keywords of the generic coupling and the

programmable coupling characteristics:

Keyword

Coupling characteristics / meaning

Default setting (CPSET-

TYPE="CP")

CPDEF

Creating a coupling module

CPDEL

Deletion of a coupling module

CPLDEF

Definition of a leading axis and creation of a coupling

module

CPLDEL

Deleting a leading axis of a coupling module

CPON

Switching on a coupling module

CPOF

Switching off a coupling module

CPLON

Switching on a leading axis of a coupling module

CPLOF

Switching off a leading axis of a coupling module

CPLNUM

Numerator of the coupling factor

1.0

CPLDEN

Denominator of the coupling factor

1.0

CPLCTID

Number of curve table

Not set

CPLSETVAL

Coupling reference

CMDPOS

CPFRS

Co-ordinate reference system

BCS

CPBC

Block change criterion

NOC

CPFPOS + CPON

Synchronized position of the following axis when

Not set

switching on

CPLPOS + CPON

Synchronized position of the leading axis when

Not set

switching on

CPFMSON

Synchronization mode

CFAST

CPFMON

Behavior of the following axis at switching on

STOP

CPFMOF

Behavior of the following axis at complete switch-off

STOP

CPFPOS + CPOF

Switch-off position of the following axis when switch-

Not set

ing off

CPMRESET

Coupling response to RESET

NONE

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14.5 Generic coupling

Keyword

Coupling characteristics / meaning

Default setting (CPSET-

TYPE="CP")

CPMSTART

Coupling behavior at part program start

NONE

CPMPRT

Coupling response when the part program starts un-

NONE

der block search run via program test

CPLINTR

Offset value of the input value of a leading axis

0.0

CPLINSC

Scaling factor of the input value of a leading axis

1.0

CPLOUTTR

Offset value for the output value of a coupling

0.0

CPLOUTSC

Scaling factor for the output value of a coupling

1.0

CPSYNCOP

Threshold value of position synchronism "Coarse"

MD37200

CPSYNFIP

Threshold value of position synchronism "Fine"

MD37210

CPSYNCOP2

Second threshold value for the "Coarse" position syn-

MD37202

chronism

CPSYNFIP2

Second threshold value for the "Fine" position syn-

MD37212

chronism

CPSYNCOV

Threshold value of velocity synchronism "Coarse"

MD37220

CPSYNFIV

Threshold value of velocity synchronism "Fine"

MD37230

CPMBRAKE

Response of the following axis to certain stop signals

and stop commands

CPMVDI

Response of the following axis to certain NC/PLC in-

0 (for bits 0 to 3, 5)

terface signals

1 (for bits 4, 6)

CPMALARM

Suppression of special coupling-related alarm out-

MD11410

puts

MD11415

CPSETTYPE

Coupling type

Note

Coupling characteristics, which are not explicitly programmed (in part program of synchronous

actions), become effective with their default settings (see right hand column of the table).

Depending on the settings of the keyword CPSETTYPE instead of the default settings

(CPSETTYPE="CP") preset coupling characteristics can become effective (see Section

"Coupling types (Page 660)").

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14.5 Generic coupling

14.5.2.3

System variables

The current state of a coupling characteristic set with a keyword, can be read and written to with

the relevant system variable.

Note

When writing in the part program, PREPROCESSING STOP is generated.

Notation

The names of system variables are normally derived from the relevant keywords and a

corresponding prefix.

The first letter of the prefix defines the access location when reading:

System variable prefix

Access location during read

Features

$PA_CP

Reading of channel referenced axis

Use in synchronous actions is not

specific coupling characteristics in

possible.

block preparation (Preparation)

Does not generate an implicit pre-

processing stop.

$AA_CP

Reading of the current state of the

Use in the part program and in syn-

coupling module (across channels).

chronous actions is possible.

Generates an implicit preprocessing

stop when used in the part program.

Note

The preprocessing value of a $PA_CP.. CP system variable only differs from the values of the

corresponding $AA_CP.. CP system variable during active part program processing.

At the end of the program or with abort, there is an appropriate synchronization of the

preprocessing with the main run states.

System variable list

A list of all system variables which can be used in a generic coupling is contained in the data lists

(see Section "System variables (Page 691)").

The exhaustive description of the system variables can be found in:

Further information

List Manual System Variables

14.5.3

Creating/deleting coupling modules

14.5.3.1

Creating a coupling module (CPDEF)

An axial coupling module is created through the definition of the following axis.

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14.5 Generic coupling

Programming

Syntax:

CPDEF= (<following axis/spindle>)

Designation:

Coupling Definition

Functionality:

Definition of a coupling module The coupling is not activated.

Following axis/

Type: AXIS

spindle:

Range of values: All defined axis and spindle names in the channel

Example:

Programming

Comment

CPDEF=(X2)

; A coupling module is created with axis X2 as following

axis.

Boundary conditions

• The maximum number of coupling modules is limited (see Section "Requirements

(Page 609)").

• The application of CPDEF to an already created coupling module is possible and will not result

in an alarm being generated.

14.5.3.2

Delete coupling module (CPDEL)

A coupling module created with CPDEF can be deleted with CPDEL.

Programming

Syntax:

CPDEL= (<following axis/spindle>)

Designation:

Coupling Delete

Functionality:

Deletion of a coupling module. All leading axis modules are deleted with

the coupling module and reserved memory is released.

Following axis/

Type: AXIS

spindle:

Range of values: All defined axis and spindle names in the channel

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14.5 Generic coupling

Example:

Programming

Comment

CPDEL=(X2)

; Deletion of the coupling module with following axis X2.

Boundary conditions

• The switch command CPDEL results in a preprocessing stop with active coupling.

Exception: CPSETTYPE="COUP" does not result in a preprocessing stop.

• Applying CPDEL to a coupling module active in the block preparation results in implicit

deactivation of this coupling.

• Applying CPDEL to an undefined coupling module does not result in any action.

14.5.3.3

Defining leading axes (CPLDEF or CPDEF+CPLA)

The leading axes/spindles defined for a coupling can be programmed/created with the

keyword CPLDEF or with the keyword CPLA in conjunction with CPDEF.

Programming with CPLDEF

Syntax:

CPLDEF[FAx]= (<leading axis/spindle>)

Designation:

Coupling Lead Axis Definition

Functionality:

Definition of leading axis/spindle for following axis/spindle FAx. A leading

axis/spindle module is created in the coupling module. If the coupling

module of the following axis/spindle has not yet been created, the cou-

pling module will be created implicitly.

Leading axis/

Type: AXIS

spindle:

Range of values: All defined axis and spindle names in the channel

Example:

Programming

Comment

CPLDEF[X2]=(X1)

; Definition of leading axis X1 for following axis X2.

Programming with CPLA and CPDEF

Syntax:

CPLA[FAx]= (<leading axis/spindle>)

Designation:

Coupling Lead Axis

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14.5 Generic coupling

Functionality:

Definition of leading axis/spindle for following axis/spindle FAx.

Leading axis/spin- Type: AXIS

dle:

Range of values: All defined axis and spindle names in the channel

Example:

Programming

Comment

CPDEF=(X2) CPLA[X2]=(X1)

; Definition of leading axis X1 for following axis

X2.

Boundary conditions

• CPLDEF is only allowed in blocks without CPDEF/CPON/CPOF/CPDEL.

(This limitation applies to the case where the keywords refer to the same coupling module.)

• The maximum number of leading axis modules per coupling module is limited (see Section

"Requirements (Page 609)").

• Definition of leading axes on an already defined or active coupling module is possible. Any

newly defined leading axes and their properties (e.g. coupling factor) are not active

immediately. A corresponding switch-on command like (CPON or CPLON) is required.

14.5.3.4

Delete leading axes (CPLDEL or CPDEL+CPLA)

Defined leading axes can be deleted with CPLDEL or with CPLA in conjunction with CPDEL, i.e.

removed from the coupling module.

Programming with CPLDEL

Syntax:

CPLDEL[FAx]= (<leading axis/spindle>)

Designation:

Coupling Lead Axis Delete

Functionality:

Deletion of leading axis/spindle of following axis/spindle FAx. The leading

axis/spindle module will be deleted and the corresponding memory will be

released. If the coupling module does not have a leading axis/spindle any

more, the coupling module will be deleted and the memory will be re-

leased.

Leading axis/

Type: AXIS

spindle:

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Range of values: All defined axis and spindle names in the channel

Example:

Programming

Comment

CPLDEL[X2]=(X1)

; Deletion of leading axis X1 of the coupling to following

axis X2.

Programming with CPLA and CPDEL

Syntax:

CPLA[FAx]= (<leading axis/spindle>)

Designation:

Coupling Lead Axis

Functionality:

Deleting a leading axis/spindle: The leading axis/spindle module will be

deleted and the corresponding memory will be released. If the coupling

module does not have a leading axis/spindle any more, the coupling mod-

ule will be deleted and the memory will be released.

Leading axis/spin- Type: AXIS

dle:

Range of values: All defined axis and spindle names in the channel

Example:

Programming

Comment

CPDEL=(X2) CPLA[X2]=(X1)

; Deletion of leading axis X1 of the coupling to fol-

lowing axis X2.

Boundary conditions

• CPLDEF is only allowed in blocks without CPDEF/CPON/CPOF/CPDEL.

(This limitation applies to the case where the keywords refer to the same coupling module.)

• If an active leading axis is deleted, the coupling to this leading axis is implicitly deactivated.

• Deletion of the last leading axis results in the entire coupling module to be deleted.

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14.5 Generic coupling

14.5.4

Switching coupling on/off

14.5.4.1

Switching on a coupling module (CPON)

A defined coupling module is switched on with the switch command CPON.

Coupling characteristics like coupling reference can be programmed together with the switch on

command (see Section "Programming coupling characteristics (Page 625)").

Without programming, a coupled motion group or a synchronous spindle pair becomes

effective based on a setpoint coupling (default setting for CPLSETVAL) with the coupling rule

1:1 (default setting for CPLNUM/CPLDEN).

Programming

Syntax:

CPON= (<following axis/spindle>)

Designation:

Coupling On

Functionality:

Activate the coupling of the following axis to all defined leading axes.

Following axis/

Type: AXIS

spindle:

Range of values: All defined axis and spindle names in the channel

Example:

Programming

Comment

CPON=(X2)

; Activation of coupling of the following axis X2.

Boundary conditions

Application of CPON to an already active coupling results in a resynchronization. If applicable,

changed coupling properties become effective as a result. Any lost synchronization (for

example, following axis was in tracking mode) is restored.

14.5.4.2

Switch off coupling module (CPOF)

An activated coupling can be deactivated with the CPOF switching command. The deactivation,

i.e. the switching off of the coupling to the leading axis, is performed in accordance with the set

switch-off properties (see CPFMOF)

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Programming

Syntax:

CPOF= (<Following axis / spindle>)

Designation:

Coupling Off

Functionality:

Deactivate the coupling of the following axis to all defined leading axes.

Following axis/

Type: AXIS

spindle:

Range of values: All defined axis and spindle names in the channel

Example:

Programming

Comment

CPOF=(X2)

; Deactivation of coupling of following axis X2.

Boundary conditions

• The switch command CPOF results in a preprocessing stop with active coupling.

Exception: CPSETTYPE="COUP" does not result in a preprocessing stop

• A CPOF switching command on an already deactivated or deleted coupling module has no

effect and is not executed.

• CPOF can be programmed in synchronous actions.

14.5.4.3

Switching on leading axes of a coupling module (CPLON)

CPLON activates the coupling of a leading axis to a following axis. If several leading axes are

defined for a coupling module, they can be activated and deactivated separately with CPLON.

Programming

Syntax:

CPLON[FAx]= (<leading axis/spindle>)

Designation:

Coupling Lead Axis On

Functionality:

Activates the coupling of a leading axis/spindle to following axis/spindle

FAx.

Leading axis/

Type: AXIS

spindle:

Range of values: All defined axis and spindle names in the channel

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Example:

Programming

Comment

CPLON[X2]=(X1)

; The coupling of leading axis X1 to following axis X2 is ac-

tivated.

Boundary conditions

CPON can be programmed in synchronous actions.

14.5.4.4

Switching off leading axes of a coupling module (CPLOF)

CPLOF deactivates the coupling of a leading axis to a following axis. If several leading axes are

defined for a coupling module, they can be deactivated separately with CPLOF.

Programming

Syntax:

CPLOF[FAx]= (<leading axis/spindle>)

Identifiers:

Coupling Lead Axis Off

Functionality:

Deactivates the coupling of a leading axis/spindle to the following axis/

spindle FAx.

Leading axis/

Type: AXIS

spindle:

Range of values: Axes of the channel

Example:

Programming

Comment

CPLOF[X2]=(X1)

; The coupling of leading axis X1 to following axis X2 is de-

activated.

Constraints

CPLOF can be programmed in synchronous actions.

14.5.4.5

Implicit creation and deletion of coupling modules

Switch-on commands may also be used to create coupling modules (without prior definition

with CPDEF).

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Example

Programming

Comment

CPON=(X2) CPLA[X2]=(X1)

; Creates a coupling module for following axis X2 with

leading axis X1 and activates the coupling module.

CPLON[X2]=(X1)

CPOF=(X2)

; After its deactivation, the implicitly created cou-

pling module is deleted.

Constraints

• Implicitly created coupling modules (via switch-on commands) are deleted once they are

completely deactivated (CPOF).

Advantage: Deleting them with CPDEL/CPLDEL is not necessary.

Disadvantage (possibly): All coupling properties which were set with CPOF are lost.

• Implicitly created coupling modules can be transformed into explicit coupling modules with

the following instruction CPDEF/CPLDEF. In this case CPOF does not delete the coupling

module and the data is retained.

14.5.5

Programming coupling characteristics

14.5.5.1

Coupling rule (CPLNUM, CPLDEN, CPLCTID)

The functional relationship between the leading value and the following value is specified by a

coupling rule for each leading axis. This functional relationship can be defined linear via a

coupling factor or non-linear via a curve table. The following axis components calculated in this

way from the individual leading values have an additive effect.

Programming: Coupling factor

When programming a coupling factor, a previously activated non-linear coupling relationship

(curve table) is deactivated.

The coupling factor is programmed with numerator and denominator.

In the default state, i.e. without explicit programming after creation of a new coupling module,

the numerator and denominator are each preset with 1.

If only the numerator is programmed, this is applied as the factor as the denominator is 1.

More exact linear relationships can be defined by programming numerators and denominators.

Numerator of the coupling factor

Syntax:

CPLNUM[FAx,LAx]= <value>

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Designation:

Coupling Lead Numerator

Functionality:

Defines the numerator of the coupling factor for the coupling rule of the

following axis/spindle FAx to the leading axis/spindle LAx.

Value:

Type: REAL

Range of values:

-2³¹ to +2³¹

Default value:

+1.0

Example:

Programming

Comment

CPLNUM[X2,X1]=1.3

; The numerator of the coupling factor of the coupling of

the following axis X2 to the leading axis X1 must be 1.3.

Denominator of the coupling factor

Syntax:

CPLDEN[FAx,LAx]= <value>

Designation:

Coupling Lead Denominator

Functionality:

Defines the denominator of the coupling factor for the coupling rule of the

following axis/spindle FAx to the leading axis/spindle LAx.

Value:

Type: REAL

Range of values:

-2³¹ to +2³¹

Default value:

+1.0

Example:

Programming

Comment

CPLDEN[X2,X1]=2

; The denominator of the coupling factor of the coupling of

the following axis X2 to the leading axis X1 must be 2.

Programming: Curve table

When programming a table number, a previously activated non-linear coupling relationship

(coupling factor) is deactivated.

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The leading axis specific coupling component for the leading value of the leading axis is

calculated using the specified curve table.

Syntax:

CPLCTID[FAx,LAx]= <value>

Designation:

Coupling Lead Curve Table Id

Functionality:

Specifies the number of the curve table to be used to calculate how the

leading axis/spindle must act on the following axis/spindle.

Value:

Type: INT

Range of values:

-2¹⁵ to +2¹⁵

Example:

Programming

Comment

CPLCTID[X2,X1]=5

; The leading axis specific coupling component of the cou-

pling of the following axis X2 to the leading axis X1 is

calculated with curve table No. 5.

Supplementary conditions

• A coupling factor of zero (CPLNUM=0) is a permissible value. In this case, the leading axis/

spindle does not provide a path component for the following axis/spindle, however, it

remains a part of the coupling. Contrary to the switched-off state, the leading axis/spindle

still has an influence on the following axis/spindle. This affects, for example, reactions to

errors, limit switches and NC/PLC interface signals.

• CPLDEN=0 is not a valid value and is rejected with alarm.

• CPLNUM, CPLDEN and CPLCTID can be programmed in synchronous actions.

• Availability of non-linear coupling relationships (CPLCTID) depends on selected options

(see Section "Requirements (Page 609)").

14.5.5.2

Coupling relationship (CPLSETVAL)

The following value can be derived from either of the following:

• position setpoint of the leading axis

• speed setpoint of the leading axis

• position actual value of the leading axis

The following couplings can be programmed accordingly:

• Setpoint value coupling

• Speed coupling

• Actual value coupling

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Programming

Syntax:

CPLSETVAL[FAx,LAx]= <value>

Identifiers:

Coupling Lead Set Value

Functionality:

Defines tapping of the leading axis/spindle LAx and the reaction point

on the following axis/spindle FAx.

Coupling reference:

Type: STRING

Range of values:

"CMDPOS"

Commanded Position

Setpoint value coupling

"CMDVEL"

Commanded Velocity

Speed coupling

"ACTPOS"

Actual Value

Actual value coupling

Default value:

"CMDPOS"

Example:

Programming

Comment

CPLSETVAL[X2,X1]="CMDPOS"

; The coupling of following axis X2 to leading ax-

is X1 is deducted from the setpoint.

Constraints

For a coupling module speed coupling cannot be activated simultaneously with setpoint or

actual value coupling of another leading axis.

14.5.5.3

Co-ordinate reference (CPFRS):

The co-ordinate reference of the following axis/spindle specifies in which co-ordinate reference

system the coupling component resulting from the coupling is applied. in the base co-ordinate

system or in the machine co-ordinate system.

It is further specified which co-ordinate reference the leading values of the leading axis spindle

must have. When a transformation is active and when the machine co-ordinate system is

specified as co-ordinate reference (CPFRS="MCS"), the initial transformation values are taken

as leading values.

Programming

Syntax:

CPFRS[FAx]= (<co-ordinate reference>)

Identifiers:

Coupling Following Relation System

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Functionality:

Defines the co-ordinate reference system for the coupling module of the

following axis/spindle FAx.

Co-ordinate refer- Type: STRING

ence:

Range of values:

”BCS”

Basis Co-ordinate System

Basic Coordinate System

”MCS”

Machine Coordinate System

Machine coordinate system

Default value:

”BCS”

Example:

Programming

Comment

CPFRS[X2]="BCS"

; The base co-ordinate system is the co-ordinate reference for

the coupling module with following axis X2.

Constraints

• Co-ordinate reference has to be specified when creating a coupling module, else the default

value is used. It is not possible to effect subsequent changes.

• Simultaneous active transformation and coupling via RESET is not supported.

Solution: Switching off the coupling with CPMRESET="OF" with RESET switching it on again

with CPMSTART="ON" in the part program.

• Simultaneous operation of the previous function "Axial Coupling in the Machine Co-ordinate

System (MCS Coupling)" and the generic coupling is not supported.

• CPFRS is not available in the main run.

14.5.5.4

Block change behavior (CPBC)

The block change criterion can be used to specify under which conditions the block change with

activated coupling is to be permitted in the processing of the part program. The status of the

coupling influences the block change behavior. If the specified condition is not fulfilled, the block

change is disabled. The block change criterion is only evaluated with an active coupling.

The block change criterion can be defined with the keyword CPBC or with the programming

command WAITC. The instruction programmed last is valid.

Programming with PCBC

Syntax:

CPBC[FAx]= "<block change criterion>"

Identifiers:

Coupling Block Change Criterium

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Functionality:

Defines block change criterion with active coupling.

Block change criteri- Type: STRING

on:

Range of values:

"NOC"

Block change is performed irrespective of the coupling

status.

"IPOSTOP"

Block change is performed with setpoint synchronism.

"COARSE"

Block change is performed with actual value synchron-

ism “coarse”.

"FINE"

Block change is performed with actual value synchron-

ism “fine”.

Default value:

"NOC"

Example:

Programming

Comment

CPBC[X2]="IPOSTOP"

; Block change during processing of the part program is

done with setpoint synchronism (with active coupling to

following axis X2).

Programming with WATC

Syntax:

WAITC(FAx1,BC)

Identifiers:

Wait for Coupling Condition

Functionality:

Defines block change criterion with active coupling.

Parameter:

Fax:

Designates the following axis and therefore the coupling module.

BC:

Defines the desired block change criterion.

FAx:

Type: STRING

Range of values: Axes of the channel

BC:

Type: STRING

Range of values:

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"NOC"

Block change is performed irrespective of the coupling

status.

"IPOSTOP"

Block change is performed with setpoint synchronism.

"COARSE"

Block change is performed with actual value synchron-

ism “coarse”.

"FINE"

Block change is performed with actual value synchron-

ism “fine”.

Default value:

"NOC"

Example:

Programming

Comment

WAITC(X2,"IPOSTOP")

; Block change during processing of the part program is

done with setpoint synchronism (with active coupling to

following axis X2).

Constraints

WAITC can only occur singularly in a block, contrary to the keyword CPBC.

14.5.5.5

Synchronized position of the following axis when switching on (CPFPOS+CPON)

When switching on the coupling (CPON) approach of the following axis can be programmed for a

specified synchronized position.

The synchronized position takes immediate effect at switch on. The total position, resulting from

the synchronized position and the coupling rule, is approached according to the specified

synchronization mode (CPFMSON), taking into account the dynamic response limits.

Programming

Syntax:

CPON=FAx CPFPOS[FAx]= <value>

Designation:

Coupling Following Position

Functionality:

Defines the synchronized position of the following axis when switching

on. AC, IC and GP are possible in position specification.

Value:

Type: REAL

Range of values: All positions within the traverse range boundaries

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Example:

Programming

Comment

CPON=X2 CPFPOS[X2]=100

; Activation of coupling to following axis X2. 100 is

taken as synchronized position of following axis X2.

Supplementary conditions

• CPFPOS is only effective as synchronized position with the switch-on command CPON/

CPLON.

The switch-off command CPOF evaluates CPFPOS as switch off position (see Section

"Following Axis Position on Switch off (Page 637)").

• CPFPOS without switch-on command results in an alarm.

• If the synchronized position of the following axis is not set during switch on, then the current

position of the following axis takes effect as synchronized position.

The program instruction IC can be used to move the current position.

• The position specification is specified in the configured basic system independently of the

programmable dimensions(G70/G71).

Part program section (Example)

Programming

Comment

CPON=(X2) CPFPOS[X2]=100

; Activation of coupling to following axis X2. 100

is taken as synchronized position of the following

axis.

G00 X2=123

; Following axis X2 is traversed to position 123.

CPON=(X2)

; The current position (=123) is taken as synchron-

ized position of the following axis. The previous-

ly active synchronized position 100 becomes effec-

tive.

14.5.5.6

Synchronized position of the leading axis when switching on (CPLPOS)

The current leading axis position, taken as leading value, can be offset. The synchronized

position of the leading axis therefore defines the zero point of the input variable.

Programming

Syntax:

CPLPOS[FAx,LAx]= <value>

Identifiers:

Coupling Lead Position

Functionality:

Defines the synchronized position of the following axis at switch on. On-

ly AC is possible in the position specification.

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Value:

Type: REAL

Range of values: All position within the traverse range boundaries

Example:

Programming

Comment

CPLPOS[X2,X1]=200

; 200 is taken as synchronized position of the leading ax-

is X1 of the coupling to following axis X2.

Constraints

• CPFPOS can only set with the switch-on command CPON / CPLON. CPFPOS without switch-

on command results in an alarm.

• If the synchronized position of the leading axis is not set with the switch on command

(CPON), then the current position of the leading axis takes effect as synchronized position

and therefore as zero point of the input variable.

• The position specification is specified in the configured basic system independently of the

programmable dimensions(G70 / G71).

Part program section (Example)

Programming

Comment

CPON=(X2) CPFPOS[X2]=100 CPLPOS[X2,X1]=200

; Activation of coupling to following axis X2.

100 is taken as synchronized position of fol-

lowing axis and 200 for leading axis X1.

N20 X1=280 F1000

; Leading axis X1 is traversed to position 280.

CPON=(X2)

; The current position X1=280 is taken as

synchronized position of the leading axis. The

previously active synchronized position of the

leading axis (200) becomes ineffective.

14.5.5.7

Synchronization mode (CPFMSON)

Synchronization mode determines synchronization behavior during switch-on of the coupling.

Programming

Syntax:

CPFMSON[FAx]= "<synchronization mode>"

Identifiers:

Coupling Following Mode Strategy On

Functionality:

Determines the synchronization mode during coupling.

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Synchronization

Type: STRING

mode:

Range of values:

"CFAST"

Closed Coupling Fast

The coupling is closed time-

optimized.

"CCOARSE"

Closed If Gab Coarse

The coupling is only closed

when the following axis posi-

tion, required according to the

coupling rule, is in the range

of the current following axis

position.

"NTGT"

Next Tooth Gap Time

The next tooth gap is ap-

Optimized

proached time-optimized.

"NTGP"

Next Tooth Gap Path

The next tooth gap is ap-

Optimized

proached path-optimized.

"NRGT"

Next Ratio Gap Time

The next segment is approach-

Optimized

ed in a time-optimized man-

ner, in accordance with the ra-

tio of the number of gears to

the number of teeth.

"NRGP"

Next Ratio Gap Path

The next segment is approach-

Optimized

ed in a path-optimized man-

ner, in accordance with the ra-

tio of the number of gears to

the number of teeth.

"ACN"

Absolute Co-

For rotary axes only!

ordinate Negative

The rotary axis traverses to-

wards the synchronized posi-

tion in the negative axis direc-

tion. Synchronization is effec-

ted immediately.

"ACP"

Absolute Coordinate

For rotary axes only!

Positive

The rotary axis traverses to the

synchronized position in

the positive axis direction.

Synchronization is effected im-

mediately.

"DCT"

Direct Co-

For rotary axes only!

ordinate Time Opti-

The rotary axis traverses to the

mized

programmed synchronized

position in time-optimized

fashion. Synchronization is ef-

fected immediately.

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"DCP"

Direct Co-

For rotary axes only!

ordinate Path Opti-

The rotary axis traverses to the

mized

programmed synchronized

position in path-optimized

fashion. Synchronization is ef-

fected immediately.

Default value: "CFAST"

Example:

Programming

Comment

CPFMSON[X2]="CFAST"

; CFAST is taken as synchronization mode of the coupling

to following axis X2.

14.5.5.8

Behavior of the following axis at switch-on (CPFMON)

The behavior of the following axis/spindle during switch-on of the coupling can be programmed

with the keyword CPFMON.

Programming

Syntax:

CPFMON[FAx]= "<block change criterion>"

Identifiers:

Coupling Following Mode On

Functionality:

Defines the behavior of the following axis/spindle during switch-on of

the coupling.

Poweron response:

Type: STRING

Range of values:

"STOP"

Stop

For spindles only!

An active motion of the following

spindle is stopped before switch-on.

"CONT"

Continue

For spindles and main traverse axes

only!

The current motion of the following

axis/spindle is taken over into the

coupling as start motion.

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"ADD"

Additional

For spindles only!

The motion components of the cou-

pling operate in addition to the cur-

rently overlaid motion, i.e. the cur-

rent motion of the following axis/

spindle is retained as overlaid mo-

tion.

Default value:

"STOP"

Example:

Programming

Comment

CPFMON[X2]="CONT"

; The current motion of following axis X2 is taken over as

start motion.

14.5.5.9

Behavior of the following axis at switch-off (CPFMOF)

The behavior of the following axis/spindle during complete switch-off of an active coupling can

be programmed with the keyword CPFMOF.

Programming

Syntax:

CPFMOF[FAx]= "<switch-off behavior>"

Identifiers:

Coupling Following Mode Off

Functionality:

Defines the behavior of the following axis/spindle during complete

switch-off of the coupling.

Switch-off response:

Type: STRING

Range of values:

"STOP"

Stop

Stop of a following axis/spindle.

An active overlaid motion is also

braked to standstill. Then the coupling

is opened, (deactivated).

"CONT"

Continue

For spindles and main traverse axes on-

ly!

The following spindle continues to tra-

verse at the speed/velocity that applied

at the instant of deactivation.

Default value:

"STOP"

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Example:

Programming

Comment

CPFMOF[S2]="CONT"

; The following spindle S2 continues to traverse at the speed

that was applied at the instant of deactivation.

14.5.5.10

Position of the following axis when switching off (CPFPOS+CPOF)

When switching off a coupling (CPOF) traversing to a certain position can be requested for the

following axis.

Programming

Syntax:

CPOF=(FAx) CPFPOS[FAx]= <value>

Functionality:

Defines the switch-off position of the following axis FAx.

Value:

Type: REAL

Range of values: All positions within the traverse range boundaries

Example:

Programming

Comment

CPOF=(X2) CPFPOS[X2]=100

; Deactivation of coupling to following axis X2. 100

is approached as switch-off position of the fol-

lowing axis.

Supplementary conditions

• CPFPOS is only effective as switch-off position with the switch-off command CPOF.

The switch command CPON evaluates CPFPOS as switch-on position (see Section

"Synchronized Position of the Following Axis on Switch-on (Page 631)").

• The setting of a switch-off position is only permitted with the switch-off mode:

CPFMOF=STOP

• Switch-off position is approached with maximum dynamics.

• Block change behavior depends on parameterization of the keyword CPBC.

14.5.5.11

Condition at RESET (CPMRESET)

With RESET, the coupling can be activated, deactivated or the current status can be retained. The

behavior can be set separately for each coupling module.

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Programming

Syntax:

CPMRESET[FAx]= "<Reset behavior>"

Identifiers:

Coupling Mode RESET

Functionality:

Defines the behavior of a coupling at RESET.

Reset response:

Type: STRING

Range of values:

"NONE"

The current state of the coupling is retained.

"ON"

When the appropriate coupling module is created, the

coupling is switched on. All defined leading axis relation-

ships are activated. This is also performed when all or

parts of these leading axis relationships are active, i.e.

resynchronization is performed even with a completely

activated coupling.

"OF"

An active overlaid motion is also braked to standstill. The

coupling is then deactivated. When the relevant cou-

pling module was created without an explicit definition

(CPDEF), the coupling module is deleted. Otherwise it is

retained, i.e. it can still be used.

"OFC"

Possible only in spindles!

The following spindle continues to traverse at the speed/

velocity that applied at the instant of deactivation. The

coupling is switched off. When the relevant coupling

module was created without an explicit definition

(CPDEF), the coupling module is deleted. Otherwise it is

retained, i.e. it can still be used.

"DEL"

An active overlaid motion is also braked to standstill. The

coupling is then deactivated and then deleted.

"DELC"

Possible only in spindles!

The following spindle continues to traverse at the speed/

velocity that applied at the instant of deactivation. The

coupling is deactivated and then deleted.

Default value:

"NONE"

Example:

Programming

Comment

CPMRESET[X2]="DEL"

; On RESET the coupling to following axis X2 is deactiva-

ted and then deleted.

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Constraints

• The coupling characteristics set with CPMRESET is retained until the coupling module is

deleted with (CPDEL).

• For the coupling type (CPSETTYPE="TRAIL", "LEAD", "EG" or "COUP") the response is

defined by the following machine data during RESET:

MD20110 $MC_RESET_MODE_MASK (definition of initial control system settings after RESET/

TP-End)

→ See Section "Defaults" in " Coupling Types (CPSETTYPE) (Page 660) ".

14.5.5.12

Condition at parts program start (CPMSTART)

At part program start the coupling can be activated, deactivated or the current status can be

retained. The behavior can be set separately for each coupling module.

Programming

Syntax:

CPMSTART[FAx]= <value>

Identifiers:

Coupling Mode Start

Functionality:

Defines the behavior of a coupling at part program start.

Value:

Type: STRING

Range of values:

"NONE"

The current state of the coupling is retained.

"ON"

When the appropriate coupling module is created, the cou-

pling is switched on. All defined leading axis relationships

are activated. This is also performed when all or parts of

these leading axis relationships are active, i.e. resynchro-

nization is performed even with a completely activated

coupling.

"OF"

The coupling is switched off. When the relevant coupling

module was created without an explicit definition

(CPDEF), the coupling module is deleted. Otherwise it is

retained, i.e. it can still be used.

"DEL"

The coupling is deactivated and then deleted.

Default value:

"NONE"

Example:

Programming

Comment

CPMSTART[X2]="ON"

; At part program start, coupling to following axis X2 is

switched on.

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Axis couplings

14.5 Generic coupling

Constraints

• The coupling characteristics set with CPMSTART are retained until the coupling module is

deleted with (CPDEL).

• For the set coupling type (CPSETTYPE="TRAIL", "LEAD", "EG" or "COUP"), the response

is defined by the following machine data during part program start:

MD20112 $MC_START_MODE_MASK (Definition of the control default settings in case of NC

START)

→ See Section "Defaults" in " Coupling Types (CPSETTYPE) (Page 660) ".

14.5.5.13

Status during part program start in search run via program test (CPMPRT)

When starting the part program under block search run via program test (SERUPRO), the

coupling can be activated, deactivated or the current status can be retained. The behavior can

be set separately for each coupling module.

Programming

Syntax:

CPMPRT[FAx]= <value>

Designation:

Coupling Mode Program Test

Functionality:

Defines the behavior of a coupling when the part program starts under

block search run via program test.

Value:

Type: STRING

Value range:

"NONE"

The current state of the coupling is retained.

"ON"

When the appropriate coupling module is created, the cou-

pling is switched on. All defined leading axis relationships

are activated. This is also performed when all or parts of

these leading axis relationships are active, i.e. resynchro-

nization is performed even with a completely activated

coupling.

"OFF"

The coupling is switched off. When the relevant coupling

module was created without an explicit definition

(CPDEF), the coupling module is deleted. Otherwise it is

retained, i.e. it can still be used.

"DEL"

The coupling is deactivated and then deleted.

Default value:

"NONE"

Axes and spindles

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Axis couplings

14.5 Generic coupling

Example:

Programming

Comment

CPMPRT[X2]="ON"

; When the part program starts under block search run via

program test, the coupling to following axis X2 is switch-

ed on.

Supplementary conditions

• The coupling characteristics set with CPMPRT is retained until the coupling module is deleted

with (CPDEL).

• If CPMPRT="NONE" is set, then the response when the part program starts under block

search run via program test (SERUPRO) is defined by CPMSTART.

• For the set coupling type (CPSETTYPE="TRAIL", "LEAD", "EG" or "COUP"), the response

is defined by the following machine data when the part program starts during block search

run via program test:

MD22620 $MN_START_MODE_MASK_PRT(definition of initial control system settings with

special start)

MD22621 $MC_ENABLE_START_MODE_MASK_PRT (activation of MD22620)

MD20112 $MC_START_MODE_MASK (definition of initial control settings for NC-START)

→ See Section "Defaults" in " Coupling types (CPSETTYPE) (Page 660) ".

14.5.5.14

Offset / scaling (CPLINTR, CPLINSC, CPLOUTTR, CPLOUTSC)

An existing coupling relationship between a following axis and a leading axis can be scaled and

offset.

The effect of these functions on the total setpoint value of the following axes can be viewed from

the following formula:

)$_7RWDO

)$_FPG

^ WUDQV2XW VFDOH2XW

6\Q3RV/$

VFDOH,Q WUDQV,Q @

.) ` ^ WUDQV2XW VFDOH2XW

6\Q3RV/$

VFDOH,Q WUDQV,Q @

.) `

FA_Total

Total setpoint value of the following axis

FA_Cmd

Setpoint set in the part program

LA_{1 / 2}

Setpoint or actual value of the 1st or 2nd leading axis/value

SynPosLA_{1 / 2}

Synchronized position of the 1st or 2nd leading axis/value

scaleIn_{1 / 2}

Scaling factor of the 1st or 2nd lead value

transIn_{1 / 2}

Offset of the 1st or 2nd lead value

KF_{1 / 2}

Coupling factor of the 1st or 2nd leading axis/value

scaleOut_{1 / 2}

Scaling factor of the 1st or 2nd output value

transOut_{1 / 2}

Offset of the 1st or 2nd output value

Note

The scaling and offset values can be defined for each leading axis.

Axes and spindles

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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 12