Siemens SINUMERIK 840D sl Function Manual page 530
Special functions
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- Function manual (2184 pages) ,
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TE3: Speed/torque coupling, master-slave
12.8 Constraints
The master axis controls the movement away from the limit switch, since the coupling cannot
be disconnected until the cause of the alarm has been eliminated.
Block search
Static coupling
The "block search with calculation" function (SERUPRO) can be used without any restrictions
in conjunction with a static master-slave coupling.
Dynamic coupling
For a dynamic coupling, regarding the program commands MASLON and MASLOF, the
following restrictions must be observed:
•
The coupled axes must be on the same NCU.
•
The coupled axes must be in the same channel when the block search is executed.
•
After the block search has been completed, the coupling state, the associated axis
positions and speeds must be subsequently influenced by the user via the system ASUB
"PROGEVENT.SPF". System variables are available for this purpose.
-
-
-
-
•
The system ASUB "PROGEVENT.SPF" must be saved under the following path: /
_N_CMA_DIR/_N_PROG_EVENT_SPF
•
The following machine data should be parameterized so that PROGEVENT.SPF is
started:
-
-
-
Table 12-1
Program code
N10 IF $P_PROG_EVENT==5
N20
N30
N40
N50
N60
530
$P_PROG_EVENT: This variable provides information about the event, which
activated the subroutine. A value of 5 stands for block search.
$P_SEARCH_MASLC[following axis identifier]: The variable stands for alteration of the
coupling status during a block search.
$P_SEARCH_MASLD[following axis identifier]: This variable indicates the positional
offset calculated in the block search between the slave and master axes at the instant
the coupling was closed.
$AA_MASL_STAT[following axis identifier]: This variable indicates the current coupling
status.
MD11450 $MN_SEARCH_RUN_MODE = H02
MD11602 $MN_ASUP_START_MASK = H03
MD11604 $MN_ASUP_START_PRIO_LEVEL = 100
PROGEVENT.SPF: Example 1
IF (($P_SEARCH_MASLC[Y]<>0) AND
($AA_MASL_STAT[Y]<>0))
MASLOF(Y)
SUPA Y=$AA_IM[X]-$P_SEARCH_MASLD[Y]
MASLON(Y)
ENDIF
Comment
; Block search active
;
In the block search,
;
the coupling state
;
has changed AND the actual
;
state is "coupled"
; Open coupling
;
Move through the position
;
offset
using the slave axis
; Close coupling
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions
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