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

M3: Coupled axes

10.5 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 470)").

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

result in an alarm being generated.

10.5.3.2

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

Special functions

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10.5 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.

10.5.3.3

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 coupling

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

Special functions

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10.5 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 470)").

● 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.

10.5.3.4

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

released.

Leading axis/

Type: AXIS

spindle:

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10.5 Generic coupling

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.

Special functions

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10.5 Generic coupling

10.5.4

Switching coupling on/off

10.5.4.1

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 486)").

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.

10.5.4.2

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)

Special functions

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10.5 Generic coupling

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.

10.5.4.3

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:

Special functions

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10.5 Generic coupling

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

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.

10.5.4.4

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.

Special functions

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10.5 Generic coupling

10.5.4.5

Implicit creation and deletion of coupling modules

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

with CPDEF).

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.

10.5.5

Programming coupling characteristics

10.5.5.1

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.

Special functions

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10.5 Generic coupling

Numerator of the coupling factor

Syntax:

CPLNUM[FAx,LAx]= <value>

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.

Special functions

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10.5 Generic coupling

Programming: Curve table

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

(coupling factor) is deactivated.

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 470)").

10.5.5.2

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

Special functions

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10.5 Generic coupling

The following couplings can be programmed accordingly:

● Setpoint value coupling

● Speed coupling

● Actual value coupling

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.

10.5.5.3

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.

Special functions

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10.5 Generic coupling

Programming

Syntax:

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

Identifiers:

Coupling Following Relation System

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.

10.5.5.4

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.

Special functions

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10.5 Generic coupling

Programming with PCBC

Syntax:

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

Identifiers:

Coupling Block Change Criterium

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

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10.5 Generic coupling

BC:

Type: STRING

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

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.

10.5.5.5

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

Special functions

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10.5 Generic coupling

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 498)").

● 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.

10.5.5.6

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

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10.5 Generic coupling

Functionality:

Defines the synchronized position of the following axis at switch on. Only

AC is possible in the position specification.

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.

10.5.5.7

Synchronization mode (CPFMSON)

Synchronization mode determines synchronization behavior during switch-on of the

coupling.

Programming

Syntax:

CPFMSON[FAx]= "<synchronization mode>"

Special functions

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Identifiers:

Coupling Following Mode Strategy On

Functionality:

Determines the synchronization mode during coupling.

Synchronization

Type: STRING

mode:

Range of values:

"CFAST"

Closed Coupling Fast

The coupling is closed time-op-

timized.

"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 posi-

tion.

"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-ordinate

For rotary axes only!

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. Syn-

chronization is effected imme-

diately.

"DCT"

Direct Co-ordinate

For rotary axes only!

Time Optimized

The rotary axis traverses to the

programmed synchronized po-

sition in time-optimized fash-

ion. Synchronization is effec-

ted immediately.

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10.5 Generic coupling

"DCP"

Direct Co-ordinate

For rotary axes only!

Path Optimized

The rotary axis traverses to the

programmed synchronized po-

sition in path-optimized fash-

ion. Synchronization is effec-

ted immediately.

Default value: "CFAST"

Example:

Programming

Comment

CPFMSON[X2]="CFAST"

; CFAST is taken as synchronization mode of the coupling

to following axis X2.

10.5.5.8

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 spin-

dle 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.

Special functions

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10.5 Generic coupling

"ADD"

Additional

For spindles only!

The motion components of the cou-

pling operate in addition to the cur-

rently overlaid motion, i.e. the current

motion of the following axis/spindle

is retained as overlaid motion.

Default value:

"STOP"

Example:

Programming

Comment

CPFMON[X2]="CONT"

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

start motion.

10.5.5.9

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

only!

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.

10.5.5.10

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 492)").

● 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.

10.5.5.11

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.

Special functions

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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 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.

"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.

Special functions

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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 521) ".

10.5.5.12

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.

Special functions

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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 521) ".

10.5.5.13

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"

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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 521) ".

10.5.5.14

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.

Special functions

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Programming

Offset of the input value

Syntax:

CPLINTR[FAx,LAx]= <value>

Designation:

Coupling Lead In Translation Displacement

Functionality:

Defines the offset value for the input value of the LAx leading axis.

Value:

Type: REAL

Default value:

Example:

Programming

Comment

CPLINTR[X2,X1]=-50

; The input value of the leading axis X1 is moved in the

negative direction by the value 50.

Scaling the input value

Syntax:

CPLINSC[FAx,LAx]= <value>

Designation:

Coupling Lead In Scale Factor

Functionality:

Defines the scaling factor for the input value of the LAx leading axis.

Value:

Type: REAL

Default value:

Example:

Programming

Comment

CPLINSC[X2,X1]=0.5

; The input value of the leading axis X1 is multiplied

with the factor 0.5.

Offset of the output value

Syntax:

CPLOUTTR[FAx,LAx]= <value>

Designation:

Coupling Lead Out Translation Displacement

Functionality:

Defines the offset value for the output value of coupling the following axis

FAx to leading axis LAx.

Value:

Type: REAL

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Default value:

Example:

Programming

Comment

CPLOUTTR[X2,X1]=100

; The output value of the coupling of the following axis

X2 with leading axis X1 is displaced by the value 100 in

the positive direction.

Scaling of the output value

Syntax:

CPLOUTSC[FAx,LAx]= <value>

Designation:

Coupling Lead Out Scale Factor

Functionality:

Defines the scaling factor for the output value of coupling the following

axis FAx with leading axis LAx.

Value:

Type: REAL

Default value:

Example:

Programming

Comment

CPLOUTSC[X2,X1]=3

The output value of the coupling of the following axis X2

with leading axis X1 is multiplied with factor 3.

Note

The following setting data used in the existing coupling type "Master value coupling" is

considered in generic coupling independently of the set coupling type (CPSETTYPE):

SD43102 $SA_LEAD_OFFSET_IN_POS[FAx] (offset of master value)

SD43104 $SA_LEAD_SCALE_IN_POS[FAx] (scaling of master value)

SD43106 $SA_LEAD_OFFSET_OUT_POS[FAx] (offset of function value of the curve table)

SD43108 $SA_LEAD_SCALE_OUT_POS[FAx] (scaling of function value of the curve table)

These setting data have the following effect:

● on all leading axes that are coupled with the following axis via a curve table. This must be

taken into account for couplings with more than one leading axis!

● in addition to the CP key words CPLINTR, CPLINSC, CPLOUTTR and CPLOUTSC.

Special functions

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10.5.5.15

Synchronism monitoring stage 1 (CPSYNCOP, CPSYNFIP, CPSYNCOV, CPSYNFIV)

Synchronism monitoring stage 1

In each interpolator clock cycle, the synchronous operation of the coupling group is monitored

- both on the setpoint and actual value sides. The synchronous operation monitoring responds

as soon as the synchronous operation difference (the difference between the setpoint or actual

value of the following axis and the value calculated from the setpoints or actual values of the

leading axes according to the coupling rule) reaches one of the following programmed

threshold values:

● At setpoint / actual value coupling (see "Coupling relationship (CPLSETVAL) (Page 488)"):

- "Coarse" position synchronous operation threshold value

- "Fine" position synchronous operation threshold value

● For velocity coupling (see "Coupling relationship (CPLSETVAL) (Page 488)"):

- Threshold value of "Coarse" speed synchronous operation

- Threshold value of "Fine" speed synchronous operation

The actual synchronous operation difference can be read out with the following CP system

variables:

System variable

Meaning

$AA_SYNCDIFF [FAx]

Synchronous operation difference of the setpoint

$VA_SYNCDIFF [FAx]

Synchronous operation difference of the actual value

Note

Synchronous operation differences are signed and enable the advance or delay of the following

axis to be determined.

Special functions

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Status of the coupling during synchronous operation

State

Description

Not synchronized

Provided the synchronous operation difference is greater than the

threshold value for position "coarse" synchronous operation or

"coarse" speed synchronous operation, the coupled group is des-

ignated as non-synchronous.

"Coarse" synchronous operation

The synchronous operation difference has reached the threshold

reached

value for "coarse" position synchronous operation or "coarse"

speed synchronous operation.

In case the actual value-based synchronous operation difference,

the following NC/PLC-interface signal is set:

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

"Fine" synchronous operation

The synchronous operation difference has reached the threshold

reached

value for "fine" position synchronous operation or "fine" speed syn-

chronous operation.

In case the actual value-based synchronous operation difference,

the following NC/PLC-interface signal is set:

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

The status of the coupling for the synchronous operation can be read with the following system

variables:

System variable

Meaning

$AA_SYNC [FAx]

State of the coupling

Value

State

Not synchronized

"Coarse" synchronous operation reached

"Fine" synchronous operation reached

Signal reaction

Synchronous operation signals themselves do not stop the involved axes, but can release

them via synchronized action or NC/PLC interface signals (see Section "R3: Extended stop

and retract (Page 559)").

Special functions

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10.5 Generic coupling

Configuration

The threshold values for the first stage of the synchronous operation monitoring will be

adjusted:

● For setpoint / actual value coupling in the machine data:

- MD37200 $MA_COUPLE_POS_TOL_COARSE (threshold value for "coarse

synchronism")

- MD37210 $MA_COUPLE_POS_TOL_FINE (threshold value for "fine synchronism")

● For speed coupling in the machine data:

- MD37220 $MA_COUPLE_VELO_TOL_COARSE ("coarse" speed tolerance)

- MD37230 $MA_COUPLE_VELO_TOL_FINE ("fine" speed tolerance)

Programming

CP keywords can also be used to program the threshold values for the first stage of the

synchronous operation monitoring:

"Coarse" position synchronous operation threshold value

Syntax:

CPSYNCOP[FAx]= <value>

Designation:

Coupling Synchronous Difference Coarse Position

Functionality:

Defines the threshold value for the "Coarse' position synchronous op-

eration.

Value:

Type: REAL

The default value corresponds to the setting in the machine data:

MD37200 $MA_COUPLE_POS_TOL_COARSE [FAx]

"Fine" position synchronous operation threshold value

Syntax:

CPSYNFIP[FAx]= <value>

Designation:

Coupling Synchronous Difference Fine Position

Functionality:

Defines the threshold value for the "Fine" position synchronous opera-

tion.

Value:

Type: REAL

The default value corresponds to the setting in the machine data:

MD37210 $MA_COUPLE_POS_TOL_FINE [FAx]

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Threshold value of "Coarse" speed synchronous operation

Syntax:

CPSYNCOV[FAx]= <value>

Designation:

Coupling Synchronous Difference Coarse Velocity

Functionality:

Defines the threshold value for the "Coarse'' speed synchronous oper-

ation.

Value:

Type: REAL

The default value corresponds to the setting in the machine data:

MD37220 $MA_COUPLE_VELO_TOL_COARSE [FAx]

Threshold value of "Fine" speed synchronous operation

Syntax:

CPSYNFIV[FAx]= <value>

Designation:

Coupling Synchronous Difference Fine Velocity

Functionality:

Defines the threshold value for the "Fine" velocity synchronous opera-

tion.

Value:

Type: REAL

The default value corresponds to the setting in the machine data:

MD37230 $MA_COUPLE_VELO_TOL_FINE [FAx]

Example

Program code

Comment

CPDEF=(S2) CPLA[S2]=(S1)

; Definition of a spindle coupling:

Leading spindle S1 to following spindle S2

CPON=(S2) CPSYNCOP[S2]=0.5

; Activation of the coupling with following spin-

CPSYNFIP[S2]=0.25

dle S2. The threshold values for the position syn-

chronous operation are set to 0.5 ("coarse") and

0.25 ("fine").

Special functions

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10.5 Generic coupling

Supplementary conditions

● When considering the synchronous operation difference, an active coupling cascade is not

taken into account. This means: if in the considered coupling module, the leading axis is a

following axis in another coupling module, the current actual or setpoint position is still used

as input variable for the calculation of the synchronous operation difference. This

synchronous operation difference therefore does not show the total synchronous operation

error of the cascade.

● If the leading axis is not a real axis, but a simulated axis, then the actual value is not available

for the synchronous operation monitoring of the actual value. In this case, the modeled

actual values (according to the machine data setting) are used.

10.5.5.16

Synchronous operation monitoring stage 2 (CPSYNCOP2, CPSYNFIP2)

Synchronism monitoring stage 2

For active CP position coupling (setpoint or actual value coupling, see "Coupling relationship

(CPLSETVAL) (Page 488)"), after reaching the "COARSE"/"FINE" block change criterion (see

"Block change behavior (CPBC) (Page 490)"), the second stage of the synchronous operation

monitoring can be used to monitor that one of the threshold values of the first stage is

maintained on the actual value side, independent of the synchronism tolerance.

The following two threshold values must configured or programmed for the second stage of

synchronous operation monitoring:

● "Coarse" 2 position synchronous operation threshold value

● "Fine" 2 position synchronous operation threshold value

Technical backg40round

As part of the "synchronous operation reached" and "exit synchronous window" monitoring

functions, for a correct assessment of any problems that arise during the multi-edge turning

(surface, waste, etc. ) and sometimes also for oscillating synchronous spindle it is often very

useful to define a tolerance range independent of the coarse/fine synchronous operation

tolerances of the first stage of the synchronous operation monitoring (similar to exact stop and

standstill monitoring for axes) in order to obtain a configurable error message or warning.

Configuration

The threshold values for the second stage of the synchronous operation monitoring are set in

the machine data:

MD37202 $MA_COUPLE_POS_TOL_COARSE_2 (second threshold value for "coarse

synchronous operation")

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MD37212 $MA_COUPLE_POS_TOL_FINE_2 (second threshold value for "fine synchronous

operation")

Note

If the appropriate threshold value = 0, the associated monitoring is inactive. This is also the

default value so that the compatibility with older software versions is retained.

Programming

CP keywords can also be used to program the threshold values for the second stage of the

synchronous operation monitoring:

"Coarse" 2 position synchronous operation threshold value

Syntax:

CPSYNCOP2[FAx]= <value>

Designation:

Coupling Synchronous Difference Coarse Position 2

Functionality:

Defines the second threshold value for the "Coarse' position synchro-

nous operation.

Value:

Type: REAL

The default value corresponds to the setting in the machine data:

MD37202 $MA_COUPLE_POS_TOL_COARSE_2 [FAx]

"Fine" 2 position synchronous operation threshold value

Syntax:

CPSYNFIP2[FAx]= <value>

Designation:

Coupling Synchronous Difference Fine Position 2

Functionality:

Defines the second threshold value for the "Fine" position synchronous

operation.

Value:

Type: REAL

The default value corresponds to the setting in the machine data:

MD37212 $MA_COUPLE_POS_TOL_FINE_2 [FAx]

The programming applies similarly to the general CP behavior in the part program only with

the next switching command; for synchronized actions, immediately.

Special functions

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10.5 Generic coupling

Sequence

Starting

The second stage of the synchronous operation monitoring function starts with active coupling

as soon as the following conditions are fulfilled:

● The setpoint synchronous operation is reached:

DB31, ... DBX99.4 (synchronization running) = 0

● The actual value related "coarse"/"fine" synchronous operation of the tolerance of the first

stage of the synchronous operation monitoring (see "Synchronism monitoring stage 1

(CPSYNCOP, CPSYNFIP, CPSYNCOV, CPSYNFIV) (Page 505)") is reached:

DB31, ... DBX98.1 (coarse synchronous operation) = 1 / DB31, ... DBX98.0 (fine

synchronous operation) = 1

Monitor

As long as the synchronism difference of the actual the threshold values for "fine" 2 position

synchronous operation and "coarse" 2 position synchronous operation are not exceeded, the

following NC/PLC interface signals are set:

DB31, ... DBX103.4 (synchronous operation 2 fine)

DB31, ... DBX103.5 (synchronous operation 2 coarse)

If, due to temporary overload in machining process (e.g. infeed feedrate for multi-edge

machining too high), the following axis/spindle can no longer follow the specifications of the

leading axis(n)/spindle(s) and the deviation is greater than the set tolerance, the violation of

the "fine"/"coarse" tolerance displays a display alarm that can be deleted:

Alarm 22026 "Channel %1 Block %2 Following axis/spindle %3 Synchronism (2): Coarse

tolerance exceeded"

Alarm 22025 "Channel %1 Block %2 Following axis/spindle %3 Synchronism (2): Fine

tolerance exceeded"

This does not interrupt the machining.

Note

Both alarms can also occur simultaneously.

Exit

The second stage of the synchronous operation monitoring ends in the following cases:

● Deactivation of the coupling (for the power-down command: CPOF, CPDEL, CPLOF,

CPLDEL)

● New synchronization request by:

- CPON / CPLON / CPDO / CPLOF

- DB31, ... DBX31.4 (synchronize following spindle) = 1

- Internal synchronization requests

If, in these cases, the start conditions are satisfied again, the monitoring will be restarted.

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● For coupled block changes (CPLNUM, CPLDEN, CPLCTID) in synchronized actions

● Resetting the setpoint synchronous operation because of missing enable signals for the

following spindle (emergency stop, alarm responses)

The DB31, ... DBX103.4/5 signals are reset when the monitoring is ended.

Boundary conditions

Exclusion conditions

No monitoring is performed in the following cases:

● MD37202 or MD37212 = 0.

● Speed coupling is active (CPLSETVAL="CMDVEL").

● DB31, ... DBX31.5 (inhibit synchronization of the FS) = 1

● Rapid stop of the following axis/spindle or one of the active leading axes/spindles.

● SERUPRO or block search is active.

● For channel-related run-in when the following axis/spindle or an active leading axis/spindle

does not really move.

● DB31, ... DBX63.3 (axis/spindle disable active) = 1 for the following axis/spindle or for one

of the active leading axes/spindles.

"Track the synchronous operation deviation" is active

Monitoring is suspended while the "track the synchronous operation deviation" function is

active (DB31, ... DBX31.6 = 1; see "Tracking the deviation from synchronism (Page 536)").

Synchronous operation monitoring level 2 for the traditional coupling types

For the traditional coupled motion, master value coupling, electronic gearbox and synchronous

spindle coupling types, the "stage 2 synchronous operation monitoring" is available only with

the CP adaptive cycles (see "Adaptive cycles (Page 520) ").

Example

Program code

Comment

G0 Z-300 X50

CPDEF=(S2) CPLA=(S1) CPLNUM=2 CPLDEN=1

; Gear ratio in accordance with tool.

CPBC="FINE"

M3 S2000

CPON=(S2) CPLA=(S1) CPSYNCOP2[X]=1.6

; Block change is performed on reaching "fine synchronous

CPSYNFIP2[X]=0.8

operation".

; Synchronous operation monitoring stage 2 is also activa-

ted

; (tolerances: coarse 1.6, fine 0.8).

X20

G1 Z-200

; Machining block, material removal.

; Synchronous operation determines the quality.

CPOF=(S2)

; Deselect coupling, deactivate the monitoring function.

Special functions

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10.5 Generic coupling

10.5.5.17

Reaction to stop signals and commands (CPMBRAKE)

The response of the following axis to certain stop signals and commands can be defined with

the CP keyword CPMBRAKE.

Programming

Syntax:

CPMBRAKE[FAx]= <value>

Designation:

Coupling Mode Brake

Functionality:

CPMBRAKE is a bit-coded CP keyword that defines the braking behavior of

the following axis FAx for the following events:

Bit

Event

● NST DB31, ... DBX4.3 (feed stop / spindle stop) present

● CP SW limit stop is set (see "CP SW limit monitoring

(Page 530)")

Note:

Bit 0 is significant only for a "Freely programmable" coupling type

(CPSETTYPE=CP).

Value Meaning

The brake is not transferred to the leading axes.

The brake is transferred to the leading axes depending

on the context.

1 - 31

Reserved

The following rules apply for the programming:

● CPMBRAKE must be programmed in one block with CPDEF or CPON (⇒

can only be programmed for an inactive coupling).

● While defining a coupling, the following values are captured without the

explicit programming of CPMBRAKE:

Bit 0 = 1 for pre-processing couplings with CPSETTYPE=CP (otherwise

bit 0 = 0)

Examples

Example 1:

Programming

Comment

CPDEF=(AX5) CPLA[AX5]=(AX4) CPMBRAKE[AX5]=0

;

Defining a coupling (lead-

ing axis Ax4 with following

axis Ax5). NST "feed stop /

spindle stop" or "CP SW lim-

it stop" should not brake

the coupling group.

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Example 2:

Programming

Comment

CPDEF=(S2) CPLA[S2]=(S1)

;

Definition of a spindle coupling:

Leading spindle S1 with following spindle S2

CPON=(S2) CPMBRAKE[S2]=1

;

Activation of the coupling with following

spindle S2. NST "feed stop / spindle stop"

or "CP SW limit stop" should brake the cou-

pling group.

10.5.5.18

Response to certain NC/PLC interface signals (CPMVDI)

The CP keyword CPMVDI can be used to define the coupling module's response to certain NC/

PLC interface signals.

Programming

Syntax:

CPMVDI[FAx]= <value>

Designation:

Coupling Mode VDI Signal

Functionality:

CPMVDI is a bit-coded CP keyword, which defines the response of the cou-

pling module of following axis FAx to certain NC/PLC interface signals.

The bit combination operators B_OR, B_AND, B_NOT, and B_XOR can be

used to set individual bits.

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Bit

Meaning

Reserved.

The effect of NC/PLC interface signal

DB31, ... DBX1.3 (axis/spindle disable)

on the following axis/spindle can be set via bit 3:

Bit 3 = 0

DB31, ... DBX1.3 has no effect on the following axis/

spindle. The state of the following axis/spindle with ref-

erence to the axis/spindle disable is derived solely from

the state of the leading axes/spindles.

Bit 3 = 1

DB31, ... DBX1.3 has an effect on the following axis/

spindle. The state of the leading axes/spindles with ref-

erence to the axis/spindle disable is not imposed on the

following axis/spindle.

Note:

If bit 3 = 1, the axis/spindle disable state of the following axis/spindle

only has an effect if the program test or SERUPRO states are not

active (see also bit 5).

Bit 4 is used to define the enable for the dependent motion compo-

nents when the NC/PLC interface signal DB31, … DBX1.3 (axis/spin-

dle disable) has an effect on the following axis/spindle:

Bit 4 = 0

Dependent motion components of the leading axes/spin-

dles become effective irrespective of the state of the axis/

spindle disable of the relevant leading axis/spindle.

Bit 4 = 1

Dependent motion components of the leading axes/spin-

dles only become effective if the state of the axis/spindle

disable of the leading axis/spindle matches that of the

axis/spindle disable of the following axis/spindle. Other-

wise, the components are suppressed.

Note:

Bit 4 is only of significance if bit 3 is set, i.e. if the NC/PLC interface

signal DB31, … DBX1.3 (axis/spindle disable) has an effect on the

following axis/spindle (see bits 3 and 5).

The effect of NC/PLC interface signal

DB21, ... DBX25.7 (program test selected) or

DB21, ... DBX1.7 (activate program test)

on the following axis/spindle can be set via bit 5:

Bit 5 = 0

DB21, ... DBX25.7 or DB21, ... DBX1.7 has no effect on

the following axis/spindle. The state of the following axis/

spindle with reference to the axis/spindle disable is de-

rived solely from the state of the leading axes/spindles.

Bit 5 = 1

If the "program test" state is active for an axis of the

coupling module, then for the following axis/spindle, its

own state is active regarding the axis/spindle disable.

The state of the leading axes/spindles with reference to

the axis/spindle disable is not imposed on the following

axis/spindle.

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Note:

When bit 5 is set, the program test state still has an effect on the

following axis/spindle, even if the leading axes/spindles have a differ-

ent state.

Bit 6 is used to define the enable for the dependent motion compo-

nents when the NC/PLC interface signal DB21, … DBX25.7 (program

test selected) or DB21, ... DBX1.7 (activate program test) has an

effect on the following axis/spindle:

Bit 6 = 0

Dependent motion components of the leading axes/spin-

dles become effective irrespective of the state of the axis/

spindle disable of the relevant leading axis/spindle.

Bit 6 = 1

Dependent motion components of the leading axes/spin-

dles only become effective if the state of the axis/spindle

disable of the leading axis/spindle matches that of the

axis/spindle disable of the following axis/spindle. Other-

wise, the components are suppressed.

Note:

Bit 6 is only of significance if bit 5 is set, i.e. if the program test state

has an effect on the following axis/spindle (see bits 3 and 5).

Reserved.

Note

The axis/spindle disable, which is set for the following axis/spindle via the NC/PLC interface

signal DB31, ... DBX1.3, can be overwritten by the program test (DB21, ... DBX25.7 or

DB21, ... DBX1.7) and SERUPRO states; this is also the case for every other axis/spindle.

Effect of bits 3/5 and 4/6

The effects of the different motion components on the following axis/spindle as a function of

the associated axis/spindle disable are illustrated in the table below:

A/S disable

CPMVDI

FA_Total

Meaning

LA₁

LA₂

Bit 3/5

Bit 4/6

for FA

FA_Cmd +

Real move-

FA_DEP1 +

ment.

FA_DEP2

FA_Cmd +

Real move-

FA_DEP1 +

ment.

FA_DEP2

FA_Cmd +

Simulated

FA_DEP1 +

movement

FA_DEP2

Alarm 16773,

different lead-

ing axis states

with ref. to the

A/S disable

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A/S disable

CPMVDI

FA_Total

Meaning

LA₁

LA₂

Bit 3/5

Bit 4/6

for FA

FA_Cmd +

Real move-

FA_DEP1 +

ment, FA spin-

FA_DEP2

dle disable has

no effect.

FA_Cmd +

Simulated

FA_DEP1 +

movement, FA

FA_DEP2

spindle disable

has an effect.

FA_Cmd +

Simulated

FA_DEP2

movement, as

bit 4 is set,

FA_DEP1 is sup-

pressed.

Alarm 16694

bit 4/6 = 1 is on-

ly supported if

bit 3/5 = 1.

Alarm 16694

bit 4/6 = 1 is on-

ly supported if

bit 3/5 = 1.

A/S disable:

Axis/spindle disable

This refers to the resulting internal state of the axis/spindle disa-

ble. The spindle disable, which is set via the NC/PLC interface

signal DB31, … DBX1.3 (axis/spindle disable), can be overwrit-

ten by states such as program test (DB21, … DBX25.7 or

DB21, … DBX1.7) and SERUPRO, thus generating an axis/spin-

dle state which differs from the NC/PLC interface signal.

FA:

Following axis

LA₁:

Leading axis 1

LA₂:

Leading axis 2

FA_Total:

Total setpoint value of the following axis

FA_Cmd:

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

Real movement:

Real movement means that positioning movements are transfer-

red to the position control.

Simulated movement:

Simulated movement means that no positioning movements are

transferred to the position control. The real machine axis remains

stationary. This corresponds to the state of an activated axis/

spindle disable or program test.

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Note

The states in the columns for leading axes 1 and 2 also apply if there are several leading axes/

spindles, which have the same state with reference to the axis/spindle disable.

10.5.5.19

Alarm suppression (CPMALARM)

The CP keyword CPMALARM can be used to suppress coupling-related alarms.

Programming

Syntax:

CPMALARM[FAx]= <value>

Designation:

Coupling Mode Alarm

Functionality:

CPMALARM is a bit-coded CP keyword for suppressing special coupling-re-

lated alarm outputs.

The bit combination operators B_OR, B_AND, B_NOT, and B_XOR can be

used to set individual bits.

Bit

Value

Meaning

= 1

Alarm 16772 is suppressed.

= 1

Alarm 16773 is suppressed.

= 1

Alarm 16774 is suppressed.

= 1

Alarm 22012 is suppressed.

= 1

Alarm 22013 is suppressed.

= 1

Alarm 22014 is suppressed.

= 1

Alarm 22015 is suppressed.

= 1

Alarm 22016 is suppressed.

= 1

Alarm 22025 is suppressed.

= 1

Alarm 22026 is suppressed.

= 1

Alarm 22040 is suppressed for the cyclic check in

case of previously activated position control for fol-

lowing and leading spindles.

= 1

Alarm 16771 is suppressed.

12 - 31

Reserved.

The default values correspond to the settings in the machine data:

● MD11410 $MN_SUPPRESS_ALARM_MASK (mask for suppressing

special alarm outputs)

● MD11415 $MN_SUPPRESS_ALARM_MASK_2 (suppress alarm

outputs)

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Example

Program code

Comment

CPMALARM[X2]='H300'

; The 22025 and 22026 alarms are suppressed for the cou-

pling of the X2 following axis.

10.5.6

Coupling cascading

Coupling cascades

The coupling modules can be connected in series. The following axis/spindle of a coupling

module then becomes the leading axis/spindle of another coupling module. This results in a

coupling cascade.

Multiple coupling cascades in series is also possible. The internal computation sequence of

the individual coupling modules is performed so that there is no position offset in the coupling

relationship. This also applies for a cross-channel cascading.

Example:

Two new coupling modules are created. For the coupling module with following axis X2, the

leading axis X1 is defined. For the coupling module with following axis X2, the leading axis X2

and A1 are defined.

Programming

CPDEF=(X2) CPLA[X2]=(X1) CPDEF=(A2) CPLA[A2]=(X2) CPLA[A2]=(A1)

Supplementary conditions

● The availability of cascading is option-based (see Section "Requirements (Page 470)").

● Cascades between couplings of existing coupling functions and couplings of generic

couplings are not possible.

● A ring coupling is not permitted. It is rejected with alarm 16778:

"Ring coupling with following axis FAx and leading axis LAx not allowed"

(A ring coupling occurs when a following axis is also a leading axis of its own coupling

module or a leading axis in a series-connected coupling module).

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10.5 Generic coupling

10.5.7

Compatibility

10.5.7.1

Adaptive cycles

The provision of adaptive cycles as fixed component of the NC software ensures a syntactic

and functional compatibility to coupling calls of existing coupling types (coupled motion, master

value coupling, electronic gearbox and synchronous spindle). This means that as long as the

manufacturer/user does not need new coupling characteristics, it is not necessary to modify

present coupling calls and any dependent application components (e.g. PLC evaluation of

coupling signals).

Assignment to existing coupling commands

The number of adaptive cycles corresponds to the number of existing coupling commands.

The assignment is as follows:

Coupling commands

Adaptive cycle

TRAILON

cycle700

TRAILOF

cycle701

LEADON

cycle702

LEADOF

cycle703

COUPDEF

cycle704

COUPON

cycle705

COUPONC

cycle706

COUPOF

cycle707

COUPOFS

cycle708

COUPDEL

cycle709

COUPRES

cycle710

EGDEF

cycle711

EGON

cycle712

EGONSYN

cycle713

EGONSYNE

cycle714

EGOFC

cycle715

EGOFS

cycle716

EGDEL

cycle717

Storage location

Adaptive cycles are stored in the directory "CST".

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10.5 Generic coupling

User-specific adaptive cycles

If necessary (functional completion) the user can copy an adaptive cycle to the directory "CMA"

or "CUS" and apply changes there. When reading adaptive cycles, the sequence CUS → CMA

→ CST is observed and cycle variants are taken over on a first found basis, i.e. the adaptive

cycles copied into the directory CMA / CUS by the user are selected on a priority basis.

Note

When upgrading the NC software, a log file is saved in the "CST" directory (Changelog),

indicating necessary changes of the adaptive cycles.

10.5.7.2

Coupling types (CPSETTYPE)

Coupling types

If presetting of coupling types (coupled motion, master value coupling, electronic gearbox and

synchronized spindle) is required, when creating the coupling module (CPON/CPLON or CPDEF/

CPLDEF), the keyword CPSETTYPE needs to be used also.

Programming

Syntax:

CPSETTYPE[FAx]= <value>

Designation:

Coupling Set Type

Functionality:

Defines the presettings of coupling characteristics (coupling type).

Value:

Type: STRING

Range of values:

"CP"

Freely programmable

"TRAIL"

Coupling type "Coupled motion"

"LEAD"

Coupling type "Master Value Coupling"

"EG"

Coupling type "Electronic gearbox"

"COUP"

Coupling type "Synchronized spindle"

Default value:

"CP"

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Example:

Programming

Comment

CPLON[X2]=(X1) CPSETTYPE[X2]="LEAD"

; Creates a coupling module for following

axis X2 with leading axis X1 and acti-

vates the coupling module. Coupling

properties are set such that they cor-

respond to the existing master value

coupling type.

Default settings

Presettings of programmable coupling characteristics for various coupling types can be found

in the following table:

Keyword

Coupling type

Default

Coupled motion

Master value cou-

Electronic gear

Synchronous spin-

(CP)

(TRAIL)

pling

(EG)

dle

(LEAD)

(COUP)

CPDEF

CPDEL

CPLDEF

CPLDEL

CPON

CPOF

CPLON

CPLOF

CPLNUM

1.0

CPLDEN

1.0

CPLCTID

Not set

CPLSETVAL

CMDPOS

CPFRS

BCS

MCS

CPBC

NOC

FINE

IPOSTOP

CPFPOS + CPON

Not set

CPFPOS + CPOF

Not set

CPFMSON

CFAST

CCOARSE

NRGT

CFAST

CPFMON

STOP

VL¹⁾: STOP

VL¹⁾: CONT

STOP

CONT

HL²⁾: CONT

CPFMOF

STOP

VL¹⁾: STOP

STOP

CONT

HL²⁾: STOP

CPLPOS + CPON

Not set

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10.5 Generic coupling

Keyword

Coupling type

Default

Coupled motion

Master value cou-

Electronic gear

Synchronous spin-

(CP)

(TRAIL)

pling

(EG)

dle

(LEAD)

(COUP)

CPMRESET

NONE

MD20110

CPMSTART

NONE

MD20112

CPMPRT

NONE

MD20112 /

MD22620³⁾

CPLINTR

0.0

CPLINSC

1.0

CPLOUTTR

0.0

CPLOUTSC

1.0

CPSYNCOP

MD37200

CPSYNFIP

MD37210

CPSYNCOP2

MD37202

CPSYNFIP2

MD37212

CPSYNCOV

MD37220

CPSYNFIV

MD37230

CPMBRAKE

Bit 0

CPMVDI

Bit 3

Bit 4

Bit 5

Bit 6

CPMALARM

MD11410

MD11415

Legend:

¹⁾Pre-processing

²⁾Main run

³⁾depends additionally on MD22621

- not relevant or not allowed

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10.5 Generic coupling

Additional properties

Value ranges or availability of additional properties of a set coupling type (CPSETTYPE) can

be found in the following table:

Default

Coupled motion

Master value cou-

Electronic gear

Synchronous spindle

(CP)

(TRAIL)

pling (

(EG)

(COUP)

LEAD)

Number of lead-

≦ 5

≦ 2

≦ 5

ing axes

Following axis

Axis/spindle

Spindle

type

Defining/delet-

CPDEF/CPDEL

CPON/CPOF

CPDEF/CPDEL

ing coupling

module

CPON/CPOF

Defining/delet-

CPLDEF/CPLDEL

CPLON/CPLOF

CPLDEF/CPLDEL

ing leading axis

CPLON/CPLOF

Cascading

Dynamic obser-

vation

of the leading

spindle

Implicit selec-

tion/deselection

of state control¹⁾

Legend:

¹⁾also refer to: Function Manual, Extended Functions; Synchronous Spindle (S3)

- not relevant or not allowed

Availability of the specified characteristics depends on the available version (see Section

"Requirements (Page 470)").

Example:

The coupled motion coupling type (CPSETTYPE="TRAIL") allows a maximum of two leading

axes and cascading. However, this is not available in the basic version, but requires the CP-

EXPERT option.

Supplementary conditions

● CPSETTYPE can be programmed in synchronous actions.

● If the coupling type (CPSETTYPE) is set, certain coupling characteristics are preset and

cannot be changed. Subsequent change attempts with keywords cause an error and are

rejected with an alarm:

CPSETTYPE=

TRAIL

LEAD

COUP

CPDEF

Alarm 16686

CPDEL

Alarm 16686

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10.5 Generic coupling

CPSETTYPE=

TRAIL

LEAD

COUP

CPLDEF

CPLDEL

CPON

Alarm 16686

CPLON

CPOF

Alarm 16686

CPLOF

CPRES

Alarm 16686

CPLNUM

Alarm 16686

CPLDEN

Alarm 16686

CPLCTID

Alarm 16686

CPLSETVAL

Alarm 16686

with CMDVEL

CPFRS

Alarm 16686

with BCS

CPBC

Alarm 16686

CPFPOS + CPON

Alarm 16686

CPFPOS + CPOF

Alarm 16686

CPFMSON

Alarm 16686

CPFMON

Alarm 16686

with ADD/STOP

with STOP

CPFMOF

Alarm 16686

with ADD/STOP

with ADD

CPLPOS + CPON

Alarm 16686

CPMRESET

Alarm 16686

CPMSTART

Alarm 16686

CPMPRT

Alarm 16686

CPMBRAKE

Alarm 16686

Number of leading

Alarm 16672

axes (∑ LA)

with ∑ LA > 2

with ∑ LA > 1

with ∑ LA > 5

with ∑ LA > 1

Following axis type

Alarm 14092

with axis

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10.5.7.3

Projected coupling (CPRES)

If the coupling type "Synchronous spindle" is set, (see CPSETTYPE), the coupling properties

contained in machine data can be activated instead of the programmed coupling properties.

References:

Functions Manual Extension Functions; Synchronous spindles (S3);

Chapter "Programming of synchronous spindle couplings"

Programming

Syntax:

CPRES= (<following spindle>)

Designation:

Coupling Restore

Functionality:

Activates projected data of the synchronous spindle coupling to following

spindle FAx.

Following spindle: Type: AXIS

Range of values: All defined spindle names in the channel

Example:

Programming

Comment

CPLON[S2]=(S1) CPSETTYPE[S2]="COUP"

; Creates a coupling module for follow-

ing spindle S2 with leading spindle S1

and activates the coupling module. Cou-

pling properties are set such that

they correspond to the existing syn-

chronous spindle coupling type.

CPRES=(S2)

; Activates projected data of the syn-

chronous spindle coupling to following

spindle S2.

Boundary conditions

● CPRES is only allowed when the coupling type "Synchronous spindle"

(CPSETTYPE="COUP") is set.

● Application of CPRES to an already active coupling results in a new synchronization.

● Applying CPRES to an undefined coupling module does not result in any action.

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10.5 Generic coupling

10.5.8

Cross-channel coupling, axis replacement

The following and leading axes must be known to the calling channel.

Following axis

The following axis is requested for replacement in the channel when programming a CP

keyword in the part program, depending on the axis replacement projection (MD30552) with

the language command GETD.

Axis change of the following axis after activating the coupling module is only permitted in the

channel. Changing from channel to main run and vice versa is still possible, however a change

across channel boundaries is not. Supplementary conditions and properties still apply to axis

change. The axis replacement via channel axes is released again after deactivating the

coupling module.

Reference:

Function Manual, Extended Functions; Mode Groups, Channels, Axis Replacement (K5)

Leading axes

Axis change of leading axes can be performed independently of the state of the coupling.

10.5.9

Behavior with rotary axes

Rotary axes as leading or following axes

It is possible to couple rotary axes to a linear axis and vice versa. Note that a direct assignment

of degrees to mm must be performed using the coupling rule.

Example:

A = Rotary axis, X = Linear axis

Programming

Comment

N10 G0 A0 X0

; Traverse motion:

X = 0 mm, A = 0 degrees

N20 CPON=(A) CPLA[A]=(X) CPLNUM[A,X]=2

; A coupling module for rotary ax-

is A with linear axis X as lead-

ing axis is created and activa-

ted. The coupling value is 2.

N30 X100

; Traverse motion:

X = 100 mm, A = 200 degrees (=

100*2)

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10.5 Generic coupling

Modulo reduced rotary axes as leading axes

With modulo reduced rotary axes as leading axes, the input variable is not reduced during the

reduction of the leading axis. The non-reduced position is still taken as the input variable, i.e.

the traversed distance is considered.

Example:

A = Modulo reduced rotary axis, X = Linear axis

Programming

Comment

N10 G0 A0 X0

; Traverse motion:

X = 0 degrees, X = 0 mm

N20 CPON=(X) CPLA[X]=(A) CPLNUM[X,A]=0.5

; A coupling module for linear ax-

is X with rotary axis A as lead-

ing axis is created and activa-

ted. The coupling value is 0.5.

N30 A200

; Traverse motion:

A = 200 degrees, X = 100 mm

(= 200*0.5)

N40 A=IC(200)

; A traverses through 200 degrees

in a positive direction to 400

degrees, Display A = 40. X tra-

verses through 100 mm to 200.

N50 A=IC(100)

; A traverses from 40 degrees to

140 degrees, X traverses through

additional 50mm to 250.

N60 A=ACP(80)

; A traverses in the positive di-

rection to 50 degrees, the tra-

versing path is 300 degrees in

the positive direction. X traver-

ses correspondingly by 150 mm in

the positive direction. The end

position is therefore X = 400.

Special functions

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10.5 Generic coupling

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Figure 10-12

Example: Modulo reduced rotary axis to linear axis

(...)

Position indication for X, A

10.5.10

Behavior during POWER ON, ...

Power on

No coupling is active at power ON. Coupling modules are not available.

RESET

The behavior on RESET can be set separately for each coupling module (see CPMRESET).

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

Mode change

The coupling remains active during a mode change. The coupling is suppressed (not

deselected!) only in JOG-REF mode when referencing a following axis.

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10.5 Generic coupling

Reference point approach

G74 of the following axis is not possible with an active coupling. An alarm is output.

If the JOG-REF mode is selected and the following axis is traversed, the coupling is

suppressed. The coupling is only performed after JOG-REF mode is cancelled.

SERUPRO

The SERUPRO procedure will simulate the generic coupling and provide values for a restart.

With axial couplings, the simulation always assumes a setpoint coupling, which means, when

there is an actual value coupling, this is switched to setpoint coupling during the SERUPRO

procedure. This can mean that the simulation is not performed correctly.

Further deviations from the real procedure can occur due to increased simulation speed and

canceled axis dynamics limitations.

10.5.11

CP SW limit monitoring

10.5.11.1

Function

What is the purpose of the function?

The "CP-SW limit monitoring" function improves the braking response of a following axis or a

following spindle in axis operation when approaching a software limit switch.

Advantages:

● This avoids that the software limit switch is passed.

● If possible, synchronous operation of the coupling is kept.

Availability

The "CP SW limit monitoring" function can only be activated for following axes from:

● Generic couplings, type "Freely programmable (CPSETTYPE[FAx] = "CP")

● Couplings (generic coupling with CPSETTYPE[FAx] not equal to "CP", coupled motion,

electronic gearbox, master value coupling or synchronous spindle) with a maximum of one

active leading axis/spindle

In all other cases (and when "CP SW limit monitoring" is not activated) the previous function

of the software limit switch monitoring is active (see Chapter "Limit switch monitoring" in the

Function Manual, Basic Functions, A3: Axis Monitoring, Protection Areas).

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10.5 Generic coupling

Monitoring and setting the brake

The "CP-SW limit monitoring" function checks, in every IPO cycle, as to whether the movement

of the following axis/spindle can be enabled for the following IPO cycle, so that the axis can

always stop in plenty of time before the software limit switch. If this is not the case, for the

following axis, a "CP-SW limit stop" is set; this signifies unconditional direction-specific braking

along the contour.

Transferring the brake to the axes

Setting the brake means that the coupling-independent motion component (CMD and CORR

component) of the following axis is stopped. On the other hand, the coupling-dependent motion

component (DEP component) of the following axis can only be braked by braking the leading

axes.

For couplings (generic coupling with CPSETTYPE[FAx] not equal to "CP", coupled motion,

electronic gearbox, master value coupling or synchronous spindle) with a maximum of one

active leading axis/spindle, the brake is also set for the (only) active leading axis in the collision

direction (depending on the coupling factor).

For generic couplings, type "freely programmable (CPSETTYPE[FAx] = "CP"), the brake is

only transferred to all of the active leading axes, if the coupling property CPMBRAKE[FAx]

Bit 0 = 1 has been programmed (see "Reaction to stop signals and commands

(CPMBRAKE) (Page 513)").

The collision direction depends on the coupling factor for the specific leading axis: With a

negative coupling factor, the collision direction reverses, there is no transfer for a coupling

factor of "zero". For non-linear couplings (e.g. curve table), the coupling factor is derived from

the gradient, determined as linear approximation.

Note

A brake set for a following axis can only influence its leading axes as long as the coupling is

active.

Braking behavior

The normal acceleration ramp is used when braking the axes towards the software limit switch

along the contour, maintaining the coupling definition.

When braking, the stop state 75 "brake request" and situation-dependent, the higher priority

stop states 22 "wait: spindle enable missing", 12 "wait for axis/spindle release" or 71 "wait for

enable, transformation axis" are displayed.

If the following axis is stationary as result of the "CP-SW limit stop", and cannot approach the

software limit switch any closer, then the following alarm is displayed:

10625 "%?C{channel %1: %}block %3 following axis/spindle %2 with CP-SW limit stop %4"

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This means that up to the "final" stopping position, the situation can be somewhat relieved by

moving the following axis in the opposite direction.

Note

For the "CP-SW limit monitoring", coupling involves maintaining synchronous operation. As a

consequence, it cannot be guaranteed that the axis stops at precisely the correct position, if

the coupling rule is to be maintained. If the brake is to be transferred to the leading axes, and

the interpolators brake as required, then the leading axis comes to a standstill in front of the

software limit switch. The maximum distance to the software limit switch is then obtained from

the actual maximum acceleration rate of the following axes multiplied by the square of the

interpolation cycle time.

Retraction

The user is responsible for retraction.

For diagnostic purposes, there are:

● the stop state 75 "brake request"

(if an axis has a travel command, but stops or may not traverse as a result of a braking

request)

● and the system variables:

$AA_BRAKE_STATE (actual brake status)

$AA_BRAKE_CONDB (context-sensitive conditions for the interpolator stop in the BCS)

$AA_BRAKE_CONDM (context-sensitive conditions for the interpolator stop in the MCS)

including the OPI variables aaBrakeState, aaBrakeCondB and aaBrakeCondM derived

from these.

Example for retraction:

1. acknowledge alarm 10625.

2. Switch to the JOG mode.

3. Traverse the leading axis using the traversing keys so that the following axis moves away

from the software limit switch.

10.5.11.2

Parameterization

Activation

The "CP SW limit monitoring" function is activated on an axis-for-axis basis using machine

data:

MD30455 $MA_MISC_FUNCTION_MASK (axis functions)

Bit

Value

Meaning

CP SW limit monitoring is not active.

CP SW limit monitoring is active.

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10.5.11.3

Programming

Transferring the brake to the leading axes

For generic couplings, type "freely programmable" (CPSETTYPE[FAx] = "CP"), by

programming the coupling property CPMBRAKE (see "Reaction to stop signals and commands

(CPMBRAKE) (Page 513)") it can be set as to whether the brake of the following axis, initiated

using the "CP-SW limit monitoring" function, should also be transferred to the leading axes.

10.5.11.4

Boundary conditions

Possible fault sources

If the axes do not brake as required, this could be due to the following reason:

At least one leading axis does not react to the brake, because it is also a leading axis in its

own right (cascade), and the brake is not transferred to its leading axes. A brake is only

transferred to the leading axes (recursive), if the following applies for the following axes

involved: CPSETTYPE[FAx] = "CP" and CPMBRAKE[Fax] bit 0 = 1

Even if all of the axes brake as required, the contour can be violated as a result of different

acceleration rates and/or coupling factors if these values have not been appropriately

configured and/or programmed.

Even if all of the previous preconditions are fulfilled, there are still some reasons why it cannot

be avoided that a following axis passes a software limit switch:

● The actual maximum acceleration of a leading axis changes.

● The actual maximum acceleration of the following axis becomes smaller.

● The velocity of the following axis when switching in the coupling or when the CP-SW limit

monitoring responds is already so high that with the actual

maximum acceleration it is no longer possible to stop the axis in the appropriate time.

If the axis cannot be stopped in the appropriate time, then as before, the previous software

limit switch monitoring responds, and stops the following axis at the software limit switch.

Braking response for transformations

If the axis to be braked is the output of a transformation, and it has a (MCS) travel command

in the collision direction, then the brake is transferred to all input axes of the transformation in

both directions, and a path stop is executed for this transformation. However, the following

exceptions apply: It does not apply to the independent axes of the transformation. For

TRANSMIT and TRAANG, these are the axes specified in machine data

$MC_TRAFO_AXES_IN_*[2]. For the transformations, braking is only transferred to their

dependent input axes.

DRF offset

Setting a CP-SW limit stop can cause a DRF movement to be canceled, as shown in the

following example:

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The basic motion is path motion with extremely low velocity in the positive direction. A larger

DRF correction motion applies to this in the opposite direction. This results in a travel command

in the negative direction. If these movements are now stopped using a CP-SW limit stop, then

for standard machine data, this means that DRF motion is canceled, and only path motion is

continued after the stop is withdrawn.

NCU link

The following restriction must be taken into account for cross-NCU couplings based on lead-

link axis and axis container:

As the leading axis can be interpolated on another NCU, it can take between one and two IPO

cycles for the brake to be transferred to the NCU of the leading axis.

10.5.11.5

Examples

Example 1: Generic coupling type "freely programmable" (CPSETTYPE[FAx] = "CP")

Configuration:

MD26110 $MA_POS_LIMIT_PLUS[AX2]=15 ;

Position of the 1st software limit

switch of the following axis for the tra-

versing range limit in the positive di-

rection

MD30455 $MA_MISC_FUNCTION_MASK[AX2] =

Bit 11 = 1 (CP-SW limit monitoring is

'H800' ;

activated)

Programming:

; start position of X and Y

N100 G0 X0 Y0

; coupling activation FA=Y LA=X

; set with CPMBRAKE bit 0 (transfer of the brake to the leading axis)

N120 CPON=Y CPSETTYPE="CP" CPLA=X CPLDEN=2 CPMBRAKE B_OR='H1'

N140 G4 F2

; traverse leading axis X

N200 G1 X=1000 F1000

Example 2: Couplings with a maximum of one active leading axis/spindle

With the following calls, the CP-SW limit monitoring is executed - including the transfer of the

brake to the leading axis - if MD30455 MA_MISC_FUNCTION_MASK[AX2] bit 11 is set:

TRAILON(Y,X,0.5) ;

Definition and switching in the coupling of the coupled motion

axis Y two leading axis X.

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EGDEF(Y,X,1) ;

Definition of an EG axis group with setpoint coupling

from X to Y (following axis).

EGON( Y,"FINE",X,1,2) ;

Activating coupling.

10.5.12

Disturbance characteristic

10.5.12.1

Rapid stop

Function

The rapid stop stops the axis / spindle without ramp, i.e. the velocity setpoint value is specified

as zero. This default applies the brakes at the current limit. The servo enable is retained.

The rapid stop is set at:

● Stop A and Stop C (Safety Integrated)

● Alarms with rapid stop as configured braking behavior

● Reaching the hardware limit switch and rapid stop as configured braking behavior:

MD36600 $MA_BRAKE_MODE_CHOICE = 1

Switchover to actual-value coupling.

The actual values of the leading spindle are used to calculate the setpoint values as soon as

the rapid stop of the leading spindle is reported to a generic coupling.

The changeover to actual value coupling takes place smoothly and remains active till the servo

enable as well as the pulse enable is available again to the leading spindle and no more position

offset takes place. The setpoint value calculation is programmed as with CPLSETVAL only if

these conditions are fulfilled.

Note

A rapid stop that was initiated on reaching the hardware limit switch does not changeover the

actual value coupling.

Response of the following spindle

If a rapid stop is detected for a leading spindle and the following spindle does not execute any

rapid stop by itself, then the following spindle tries to follow the dynamics of the movement of

the leading spindle defined within its framework. As position synchronization is generated,

there may be oscillations in the following axis in relation to the position to be approached.

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The start of a rapid stop for a leading axis/spindle is detected across NCUs.

Note

A simultaneous rapid stop of the leading and following spindle is executed in the synchronized

spindle coupling type (CPSETTYPE="COUP") during a servo alarm.

10.5.13

Tracking the deviation from synchronism

10.5.13.1

Fundamentals

Deviation from synchronism

Workpiece machining operations which are to be carried out both on the face front and the

face rear require a workpiece transfer to another workpiece receptacle (e.g. a counterspindle

chuck).

When workpieces are transferred from front to rear machining, a position offset may result

from the closing of the workpiece receptacle. This could be down to square-edged workpieces

or due to the generation of an angular momentum when the workpiece receptacle (chuck) is

closed quickly during a movement. Depending on the resistance of the workpiece, the tension

can be detected by means of an increase in the current consumption of both the motors

involved in the coupling and/or by means of the workpiece being subjected to torsion.

This could lead to the following NC/PLC interface signals being reset, according to the

synchronism tolerance which has been set, and the magnitude of the offset:

DB31, ... DBX98.1 (coarse synchronous operation) and/or

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

For the setpoint coupling, the position and velocity setpoints are calculated precisely in

accordance with the programmed coupling rule and output to the Control Units. If identical

drives and a rigid workpiece are used, this will lead to a regulative deviation at the leading and

following spindle, half due to a setpoint difference and half due to an actual value difference.

Function

The "track the deviation from synchronism" function serves to detect the position offset which

has been imposed on the actual value and to correct the following spindle when calculating

the setpoint.

Requirement

A coupling closed via the part/chuck must be in place in order to use this function.

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Versions

There are two different options for determining the deviation from synchronism:

1. The deviation from synchronous operation is determined by the NC (see "Measuring the

deviation from synchronism (Page 537)").

2. The deviation value is already known and entered by the user directly (see "Entering the

deviation from synchronism directly (Page 540)").

In both cases, the deviation value is then incorporated into the setpoint value calculation for

the following spindle, as a correction value.

Availability

The "track the deviation from synchronism" function was developed for machine couplings

(CPFRS="machine"). This means that it is also available for the "synchronous spindle"

coupling type (CPSETTYPE="COUP").

Like the other higher-level movements, the availability of the function (e.g. speed difference)

depends on the option (see "Requirements (Page 470)").

10.5.13.2

Measuring the deviation from synchronism

The controller measures the difference between the setpoint positions and actual positions

when the following spindle is operating in synchronism. This results in a correction value, which

is saved in a system variable.

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Requirements

The following requirements must be met to enable the controller to calculate the correction

value:

●

Requirements if the set coupling type is "synchronous spindle" (CPSETTYPE="COUP"):

- The coupling has precisely one leading spindle (requirement is met if

CPSETTYPE="COUP").

- The coupling factor (quotient from CPLNUM and CPLDEN) is 1 or -1.

- The following value is derived from the setpoint position ("DV") or the actual position

("AV") of the leading spindle.

- Setpoint synchronism must be achieved:

DB31, ... DBX99.4 (synchronization running) = 0

- Setpoint synchronism must not decline again.

- No overlaid movement (DB31, ... DBX98.4 = 0) must be present.

- A dynamics limit is required for the leading spindle, in order to exclude the possibility of

the following spindle being subjected to excessive demands.

●

Requirements for a free generic coupling with CPFRS="machine":

- The configured spindles are coupled.

- The coupling has precisely one leading spindle.

- The coupling factor (quotient from CPLNUM and CPLDEN) is 1 or -1.

- The following value is derived from the setpoint position (CPLSETVAL="CMDPOS") or

the actual position (CPLSETVAL="ACTPOS") of the leading spindle.

- Setpoint synchronism must be achieved:

DB31, ... DBX99.4 (synchronization running) = 0

- Setpoint synchronism must not decline again.

- No overlaid movement (DB31, ... DBX98.4 = 0) must be present.

- A dynamics limit is required for the leading spindle, in order to exclude the possibility of

the following spindle being subjected to excessive demands.

Note

Dynamics limit for the leading spindle

The "dynamics limit for the leading spindle" property is specified automatically when the

"synchronous spindle" coupling type (CPSETTYPE="COUP") is set. In the case of other

coupling types, it is the particular responsibility of the user/machine manufacturer to provide

suitable measures to ensure that the following spindle cannot become dynamically overloaded.

Activation

Measuring and tracking of the deviation from synchronism are activated by setting the following

NC/PLC interface signal to "1":

DB31, ... DBX31.6 (track synchronism)

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The signal only has an effect on the following spindle.

Note

In the following cases, signal DB31, ... DBX31.6 (track synchronism) is ignored:

● Axis/spindle disable is active (DB31, ... DBX1.3 = 1).

● Program test is selected.

● SERUPRO is active.

If one of these situations arises when the "track the deviation from synchronism" function is

already active, the function will be deactivated.

Time when measurement is performed

The time when the measurement is performed and the correction value is calculated depends

on the bit 7 setting made in the following item of machine data:

MD30455 $MA_MISC_FUNCTION_MASK (axis functions)

Bit

Value

Meaning

The correction value is calculated continuously, as long as the NC/PLC interface signal

DB31, ... DBX31.6 (track synchronism) is set and setpoint synchronism is active (cyclic

calculation).

The correction value is only calculated at the time when the NC/PLC interface signal

DB31, ... DBX31.6 (track synchronism) changes from 0 to 1 (edge evaluation).

Note

If a temporal extension is taken into account when relieving the tension between the leading

and the following spindle, bit 7 should be set to 0. The interface signal is then state-controlled.

The time required to relieve the tension can depend on various factors (e.g. K_V factor of position

control, accelerating power of the motors) and must be determined by way of experiment.

Measuring sequence

The NC/PLC interface signal DB31, ... DBX31.6 (track synchronism) can only become effective

once setpoint synchronism has been achieved:

DB31, ... DBX99.4 (synchronization running) = 0

The actual values of the following spindle are read within the interpolation cycle and the

difference between them and the setpoint position is calculated, either for as long as signal

DB31, ... DBX31.6 is activated, or just once on that signal's rising edge (the frequency will

depend on the setting of bit 7 in MD30455; see the section titled "Time when measurement is

performed").

The correction value is the difference between the setpoint and actual-value synchronism

positions. This value is saved for the corresponding following spindle in the following system

variable:

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10.5 Generic coupling

$AA_COUP_CORR[S<n>] (following spindle: correction value for synchronous spindle

coupling)

Note

You must ensure that the velocity of the leading and following axes is kept as constant as

possible and that no acceleration jump occurs for the duration of the measurement.

Example

When the coupling of the synchronous spindle [S2] is activated, a position offset of 77 degrees

is also programmed:

CPON=S2 ... CPFPOS[S2]=AC(77)

When the workpiece receptacle is closed, this results in a mechanical position offset, which

leads to an actual-value position offset of 81 degrees.

When the "track the deviation from synchronism" function is activated (DB31, ... DBX31.6 = 1)

and setpoint synchronism has been achieved (DB31, ... DBX99.4 = 0), the actual-value position

offset ($VA_COUP_OFFS[S2] = 81) is compared with the setpoint position offset

($AA_COUP_OFFS[S2] = 77). This results in a correction value of 4 degrees, which is saved

in system variable $AA_COUP_CORR[S2].

10.5.13.3

Entering the deviation from synchronism directly

If the deviation value is known, it can be written directly to the system variable

$AA_COUP_CORR for the corresponding following spindle. This is executed via a part

program or synchronized action.

Note

Please note that the system variable can only be written once the mechanical coupling has

been created. Otherwise a new offset may arise when closing the chuck.

Requirements

To enable the system variable $AA_COUP_CORR to be written from the part program or

synchronized actions, a generic machine coupling must have been activated at least once for

the corresponding following spindle since the most recent controller power-up was performed.

10.5.13.4

Synchronism correction

If correction value $AA_COUP_CORR[S<n>] is a value other than zero and a generic machine

coupling has been active for following spindle S<n> (by means of CPFRS="machine" or

CPSETTYPE="COUP"), the following NC/PLC interface signal is set:

DB31, ... DBX103.0 (synchronism correction is taken into account)

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10.5 Generic coupling

The correction value is incorporated into the setpoint value calculation for the following spindle,

in the coupling module. Resetting the setpoint by the coupling offset relieves the tension

between the leading and following spindles.

The synchronism signals are produced by comparing the actual values with the corrected

setpoints. Once a correction process has been undertaken, the synchronism signals should

be present again:

DB31, ... DBX98.1 (coarse synchronism) and/or

DB31, ... DBX98.0 (fine synchronism)

The correction value can be implemented and the synchronism signals produced as well, since

the whole point of the "tracking the deviation from synchronism" function is to improve

synchronism when tension is present. When implementing this value, the accelerating power

is restricted to no more than 10% of the maximum acceleration and velocity.

When $AA_COUP_CORR[S<n>] has been implemented in full, the following NC/PLC interface

signal is set:

DB31, ... DBX99.2 (synchronism correction implemented)

This still applies even if $AA_COUP_CORR[S<n>] is zero and no correction needs to be

implemented.

When synchronism correction is complete, the NC/PLC interface signal DB31, ... DBX31.6

(track synchronism) must be reset to "0" in order to restore the rigidity of the coupling.

The correction value is not changed again once signal DB31, ... DBX31.6 has been reset or

once the coupling has been deactivated (with CPOF). The system variable

$AA_COUP_CORR[S<n>] then returns a constant value.

The correction value is taken into account until it is reset by setting system variable

$AA_COUP_CORR[S<n>] to "0", which must be done, at the very latest, once the workpiece

is removed from the spindle.

Note

The setpoint correction by means of the system variable $AA_COUP_CORR[S<n>] impacts

on all subsequent following spindle programming in the same way as a position offset, similar

to a DRF offset in the machine.

10.5.13.5

Diagnostics for synchronism correction

The current value of $AA_COUP_CORR (correction value for tracking the deviation in

synchronism) is displayed in the "Axis/Spindle Service" window, under the "Position offset for

the leading axis/spindle setpoint" line, for the purposes of diagnostics.

System variable $AA_COUP_CORR_DIST ($AA_COUP_CORR distance-to-go) can be used

to determine how much of the correction value is still be implemented.

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10.5 Generic coupling

10.5.13.6

Resetting synchronism correction

Versions

Synchronism correction can be reset in the following ways:

● Writing value "0" to variable $AA_COUP_CORR[S<n>].

Synchronism correction is suppressed via a ramp with reduced accelerating power (just as

when a correction value is implemented).

● Resetting synchronism correction via the PLC.

On the rising edge of the NC/PLC interface signal:

DB31, ... DBX31.7 (reset synchronism correction)

, the variable $AA_COUP_CORR[S<n>] is set to zero and synchronism correction is reset

as follows:

- If the spindle is in speed control mode, the correction movement is stopped. The existing

synchronism correction is then transferred to the setpoint position.

- In all other cases, the synchronism correction that has already been implemented is

reset in exactly the same way as when variable $AA_COUP_CORR[S<n>] is set to zero.

Requirements

A requirement for resetting synchronism correction is that the correction value is not currently

being calculated (see Section "Measuring the deviation from synchronism (Page 537)").

End of the reset procedure

When the reset procedure is complete, the following NC/PLC interface signal is set:

DB31, ... DBX99.2 (synchronism correction implemented)

If the NC/PLC interface signal DB31, ... DBX103.0 (synchronism correction is taken into

account) is also reset, so too can the NC/PLC interface signal DB31, ... DBX31.7 (reset

synchronism correction) be reset.

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10.5 Generic coupling

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Time diagram for synchronizing and resetting synchronism correction

Note

If the correction path has not been traversed in full and the NC/PLC interface signal

DB31, ... DBX31.7 (reset synchronism correction) has not been reset, writing to variable

$AA_COUP_CORR[S<n>] will not have any effect.

10.5.13.7

Limitations and constraints

Several following spindles

If a leading spindle has several following spindles, each of these following spindles can be

processed with the axial NC/PLC interface signal DB31, ... DBX31.6 (track synchronism)

separately from one another.

Writing variable $AA_COUP_CORR

System variable $AA_COUP_CORR is only written from the part program or synchronized

actions when a generic machine coupling has been activated for the corresponding axis/

spindle at least once.

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10.5 Generic coupling

Correction value

If the correction value $AA_COUP_CORR is being written via a part program/synchronized

action, as well as being determined due to the "track the deviation from synchronism" function

being activated (DB31, ... DBX31.6 = 1), the most recent event to occur is always the one that

takes effect.

Resetting synchronism correction

Writing correction value $AA_COUP_CORR (via a part program or synchronized action or

when performing a calculation) has no effect when synchronism correction is being reset.

Response to channel/mode group reset

Synchronism correction is not reset in the event of a channel/mode group reset, it is retained

instead.

Response to search for reference and zero mark synchronization

If a search for reference or zero mark synchronization procedure is performed for spindles,

synchronism correction is reset automatically.

The system variable $AA_COUP_CORR must not be set during the search for reference/zero

mark synchronization and, as a result, no measurement may be taken for the deviation from

synchronism either.

Furthermore, the synchronism correction must have been implemented in full before the search

for reference/zero mark synchronization is started.

Response to an interruption

If an interruption occurs (e.g. emergency stop), synchronism correction is reset automatically,

the existing synchronism correction is transferred to the setpoint position, and the NC/PLC

interface signal DB31, ... DBX99.2 (synchronism correction implemented) is set.

If, once the interruption has been dealt with, the generic machine coupling remains active and

the NC/PLC interface signal DB31, ... DBX31.6 (track synchronism) is set, the following applies:

● If the signal is level-triggered (MD30455 $MA_MISC_FUNCTION_MASK, bit 7 = 0), the

deviation from synchronism is measured and written to $AA_COUP_CORR; the setpoints

are corrected accordingly.

● If the signal is edge-triggered (MD30455 $MA_MISC_FUNCTION_MASK, bit 7 = 1) and

the deviation from synchronism is to be measured, a new rising edge of the NC/PLC

interface signal DB31, ... DBX31.6 (track synchronism) needs to be executed.

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10.5.14

Examples

10.5.14.1

Programming examples

Direct switch on/off with one leading axis

A coupling module is created and activated with following axis X2 and leading axis X1. The

coupling factor is 2.

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

CPOF=(X2)

; The coupling is deactivated and the created

coupling module is deleted with CPOF.

Direct switch on/off with two leading axes

A coupling module is created and activated with following axis X2 and leading axes X1 and Z.

The coupling factor regarding leading axis X1 is 2, the coupling factor regarding leading axis

Z is 3.

CPON=(X2) CPLA=(X1) CPLNUM[X2,X1]=2 CPLA=(Z) CPLNUM[X2,Z]=3

CPOF=(X2)

; The coupling is deactivated and the created

coupling module is deleted with CPOF.

Selective switch-off with two leading axes

A coupling module is created and activated with following axis Y and leading axes X and Z.

The coupling factor regarding leading axis X is 2, the coupling factor regarding leading axis Z

is 1.2.

CPON=(X2) CPLA[X2]=(X1) CPLNUM[X2,X1]=2 CPLA[X2]=(Z) CPLNUM[X2,Z]=1.2

CPOF=(X2) CPLA[X1]=(Z)

; The coupling with leading axis Z is deactiva-

ted with CPOF, the coupling with leading axis

X1 is retained. The created coupling module

remains created.

Selective switch-on/off with three leading axes

A coupling module is created and activated with following axis X2 and leading axes X1, Z and

N10 CPDEF=(X2) CPLA[X2]=(X1) CPLA[X2]=(Z) CPLA[X2]=(A)

N20 CPON=(X2)

; All leading axes become active, i.e. all

contribute a position component accord-

ing to the coupling rule (coupling com-

ponent) to axis X2.

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N30 CPOF=(X2)

; All leading axes are deactivated.

N40 CPLON[X2]=(X1)

; Leading axis X1 is activated, only this

axis supplies a coupling component.

Leading axes Z and A remain deactivated.

N50 CPLON[X2]=(A)

; Leading axis X1 remains active, leading

axis A is deactivated, X1 and A contrib-

ute coupling components (→ selective

switch-on is additive, the condition of

the other leading axes is retained).

N60 CPLON[X2]=(Z) CPLOF[X2]=(A)

; Leading axis Z is activated, leading ax-

is A deactivated. Leading axes X 1and Z

are now active.

N70 CPLOF[X2]=(X1)

; Leading axis X1 is deactivated. Leading

axis Z remains active.

Definition/deletion of a coupling module

With CPDEF a coupling module is created and activated with following axis X2 and leading

axes X1 and Z. The coupling is not activated. Following axis X2 does not follow the coupling

rule!

CPDEF=(X2) CPLA[X2]=(X1) CPLNUM[X2,X1]=2 CPLA[X2]=(Z) CPLNUM[X2,Z]=3

Activation can be done with CPON, deactivation with CPOF.

After the deactivation of the coupling relationship to all leading axes, the coupling object can

be deleted. Reserved memory is released:

CPDEL=(X2)

10.5.14.2

Adapt adaptive cycle

Target

Coupled motion in the machine co-ordinate system must be possible with the existing coupling

command TRAILON. The adaptive cycle for TRAILON is supplemented with the coupling

characteristic "Co-ordinate reference" (CPFRS).

Procedure

1. Copy adaptive cycle 700 from directory "CST" to directory "CMA".

2. Supplement cycle 700 with the following entry:

CPFRS[_FA]="MCS"

3. Comment to cycle changes (e.g. user version number and change date).

4. Save cycle.

Special functions

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M3: Coupled axes

10.6 Dynamic response of following axis

&+$1*(

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Figure 10-14

Cycle 700 after adaption. Changes are indicated by a colored bar.

10.6

Dynamic response of following axis

10.6.1

Parameterized dynamic limits

The dynamics of the following axis is limited with the following machine data values:

MD32000 $MA_MAX_AX_VELO (maximum axis velocity)

MD32300 $MA_MAX_AX_ACCEL (Maximum axis acceleration)

Special functions

Function Manual, 12/2018, A5E40874099B AB

547

M3: Coupled axes

10.6 Dynamic response of following axis

10.6.2

Programmed dynamic limits

10.6.2.1

Programming (VELOLIMA, ACCLIMA)

Reducing or increasing dynamics limits

The dynamic limits of the following axis (FA) specified through MD32000 and MD32300 can

be reduced or increased from the part program:

Command

Meaning

VELOLIMA[FA]

Reducing or increasing the maximum Axis velocity

ACCLIMA[FA]

Reducing or increasing the maximum Axis acceleration

The values specified during the programming of VELOLIMA[FA] and ACCLIMA[FA]are

process values. They define the proportion with which the parameterized dynamic limits

(MD32000 and MD32300) are to be considered:

Range of values

Meaning

1 ≤ value < 100

effects a Reduction in the dynamic limit

100 ≤ value < 200

effects an increase in the dynamic limit

The dynamic limits for the velocity and acceleration of the following axis are then calculated

as follows:

Maximum axis velocity = MD32000 $MA_MAX_AX_VELO * VELOLIMA[FA]

Maximum axis acceleration = MD32300 $MA_MAX_AX_ACCEL * ACCLIMA[FA]

Note

The reduction / increase is effected on the overall dynamics of the axis, i.e., on the sum of the

axis component from overlay and coupling.

Programming in synchronized actions

The possibility of programming VELOLIMA[FA] and ACCLIMA[FA]in synchronized actions

depends on the coupling type:.

Coupling type

Part program

Synchronized actions

Tangential correction

Coupled motion

Master value coupling

Electronic gearbox

Synchronous spindle

Generic coupling

Special functions

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Function Manual, 12/2018, A5E40874099B AB

SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 68