Siemens SINUMERIK 840D sl Function Manual page 236

M3: Coupled axes
5.3 Master value coupling
Virtual leading axis/simulated master value
If the leading axis is not interpolated by the same NCU, the interpolator that is implemented in
the NCU for this particular leading axis can be used for master value simulation. The following
MD settings must be defined for this:
MD30132 $MA_IS_VIRTUAL_AX[n] = 1 (axis is virtual axis)
MD30130 $MA_CTRLOUT_TYPE[n] = 0 (simulation as output type of setpoint)
Properties of master value simulation:
• Separation of IPO and servo.
• Actual values of the axis are recorded.
• Setpoint values are produced by IPO but not passed on to the servo motor.
• When switching over to master value coupling, the simulation can be programmed with the
last actual value read, whereas the path of the actual value is generally outside the control
of the NCU.
• If, for purposes of master value simulation, the master value object is switched from
actual-value coupling to setpoint value coupling and a traversing command is issued for
the leading axis in the same interpolator cycle, the interpolator for the axis is initialized by
the NCK so that the master value produces a constant path in the first derivation.
Note
Virtual axes assigned to a real drive must remain unblocked.
Offset and scaling
The setpoint value for the following axis can be offset and scaled. The following setting data is
used for this:
SD43102 $SA_LEAD_OFFSET_IN_POS (offset of master value with coupling to this axis)
SD43104 $SA_LEAD_SCALE_IN_POS (scaling of master value with coupling to this axis)
SD43106 $SA_LEAD_OFFSET_OUT_POS (offset of function value of the curve table)
SD43108 $SA_LEAD_SCALE_OUT_POS (scaling of function value of the curve table)
If (x) is a periodic curve table and this is interpreted as oscillation, the offset and scaling can
also be interpreted as follows:
SD43102 $SA_LEAD_OFFSET_IN_POS[Y] offsets the phase of the oscillation.
SD43106 $SA_LEAD_SCALE_OUT_POS[Y] affects the amplitude.
SD43108 $SA_LEAD_OFFSET_OUT_POS[Y] offsets the center of the oscillation.
If the coupling is activated and synchronous, the new set position is approached as soon as
values are written to these setting data.
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions