Examples; Master-Slave Coupling Between Ax1=Master And Ax2=Slave; Close Coupling Via The Plc - Siemens SINUMERIK 840D sl Function Manual

TE3: Speed/torque coupling, master-slave

12.9 Examples

12.9 Examples
12.9.1

Master-slave coupling between AX1=Master and AX2=Slave.

Configuration
Master-slave coupling between AX1=Master and AX2=Slave.
1. Machine axis number of master axis for speed setpoint coupling
MD37250 $MA_MS_ASSIGN_MASTER_SPEED_CMD[AX2] = 1
2. Master axis with torque distribution identical to master axis with speed setpoint coupling
MD37252 $MA_MS_ASSIGN_MASTER_TORQUE_CTR[AX2] = 0
3. Permanent coupling
MD37262 $MA_MS_COUPLING_ALWAYS_ACTIVE[AX2] = 1
4. Torque is injected in both the master and slave axes
MD37254 $MA_MS_TORQUE_CTRL_MODE[AX2] = 0
5. Torque distribution between the master and slave axes is 50% to 50%
MD37268 $MA_MS_TORQUE_WEIGHT_SLAVE[AX2] = 50
6. Parameters of the torque compensatory controller
MD37256 $MA_MS_TORQUE_CTRL_P_GAIN[AX2] = 0.5
MD37258 $MA_MS_TORQUE_CTRL_I_TIME[AX2] = 5.0
12.9.2

Close coupling via the PLC

This application allows you to close or separate a master-slave coupling between the
machine axes AX1=Master axis and AX2=Slave axis during operation.
Preconditions
• One configured master axis
MD37250 $MA_MS_ASSIGN_MASTER_SPEED_CMD ≠ 0
• Activation of a master-slave coupling via
MD37262 $MA_MS_COUPLING_ALWAYS_ACTIVE=0
• The coupling is open.
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions