Influence of axis parameters on the coupling process

Every SAI axis can be operated as a slave axis. The standard axis parameters below must be set in a slave axis both for actual and setpoint coupling:

• cam_gear.v_diff_percent     (P-AXIS-00289)
• cam_gear.time_in_window        (P-AXIS-00290)
• cam_gear.time_out_in_window  (P-AXIS-00291)
• cam_gear.v_max_slave           (P-AXIS-00303)
• cam_gear.a_max_slave           (P-AXIS-00304)
• getriebe[0].vb_min_null           (P-AXIS-00216)

Filtering the master actual values

With an actual value coupling, the parameters that refer to filtering master actual values must be set in the slave axis:

• cam_gear.mv_type: (P-AXIS-00300) Digital FIR filter on/off
• cam_gear.mv_nbr_cycles: (P-AXIS-00301) Number of values used to filter.

Dead time compensation for constant velocity during actual value coupling

• cam_gear.delay_time:n (P-AXIS-00302)

Dead time compensation ensures that constant speed and a coupling ratio of 1 always results in the same phase between the master and slave. Compensation involves errors in phases of speed that is not constant. Dead time should be determined by trial and error.

The behaviour at emergency stop is implemented as follows:

The MC is only signalled about an emergency stop situation by the drive interface. In the event of an emergency stop, the coupling is released and decelerated at the current limit which is entered in the axis MDS parameter getriebe[0].lslope_profil.a_grenz_stufe_1 (P-AXIS-00005). This default behaviour in the event of an emergency stop can be deactivated by using the parameter cam_gear.keep_coupling_on_lr_error (P-AXIS-00308). Then coupling is ensured even in the event of an emergency stop as long as the drive still follows the setpoints.

In conjunction with the safety function which triggers an unconditional feedhold [HLI//Watchdog with effect on feedhold] in the event of a watchdog trigger failure, the MC response to a watchdog trigger failure is to cancel the axis coupling and decelerate the axes at the current brake entered in the associated axis MDS parameter getriebe[0].lslope_profil.a_grenz_stufe_1 (P-AXIS-00005). This default behaviour in the event of an emergency stop can be deactivated by using the parameter cam_gear.keep_coupling_on_fe_drop (P-AXIS-00309). This safeguards the coupling even in the event of a watchdog trigger failure.

When automatic phasing is commanded (actual value or setpoint coupling), the following axis parameters must also be set in the slave:

• cam_gear.v_phasing (P-AXIS-00305)

Speed of the superimposed motion for phasing.

• cam_gear.a_phasing (P-AXIS-00306)

Acceleration of the superimposed motion for phasing.

• cam_gear.d_phasing (P-AXIS-00307)

Deceleration of the superimposed motion for phasing.

• cam_gear.j_phasing (P-AXIS-00376)

Jerk of the superimposed motion for phasing.