Siemens SINUMERIK 840D sl Function Manual page 330

M3: Coupled axes
8.3 Master value coupling - 840D sl only
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
machine data 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 clock 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 this setting data.
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions