Linear Slave Axes
A slave axis whose position setpoints are determined from the position setpoints of another axis by an affine transformation is called Linear slave axis.
The following applies: slave set position = coupling factor * master set position + offset, whereby the offset results from the coupling position and the coupling factor is determined during coupling. The coupling factor can be changed online.
While the coupling of the slave to the master takes place offline (master and slave are stationary), the decoupling can take place online: the slave is thereby converted into a master, which continues to run as if it were still a slave, but which can also be stopped independently of the former master.
Glossary
Decoupling: offline: logical decoupling of the slave axis from the master axis while both axes are stationary.
Decoupling: online: conversion of a slave axis in motion into a pseudo master axis.
Control axis: axis, from which a slave axis receives its control values (it can be a master axis, a slave axis, a pseudo master axis or a virtual axis).
Basic dynamics: slave-dynamics without consideration of compensations.
Compensation: additional positioning of an axis which is given additively (may be negative) to the positioning preset by the start.
Master axis: axis with full functionality (start/ stop/ override/ new target position/ compensation).
Masterslave: slave axis whose control axis is a master axis, virtual axis or pseudo master axis.
Pseudo master axis: axis with limited functionality (stop, [override],[compensation]), generated through the conversion of a slave axis into a master axis.
Interfaces
The interfaces consist of the System Manager, PLC blocks and the cyclic NC-PLC axis interface.
Coupling and coupling factor
During coupling, a master axis (which may itself be a slave axis) will be assigned to the slave axis, and the coupling factor is set.
Decoupling and new end position
Decoupling is possible in every dynamic state of the master axis - the slave axis is converted into a master axis and continues to travel as if it was still a slave axis, although it can be stopped individually. The coupling flag is reset.
During offline decoupling (decoupling at standstill), the slave axis is transformed into a PTP master axis.
During online decoupling (decoupling in motion), the slave axis is converted back into a PTP master axis. A new end position in the direction of movement may be aimed for. See: Decoupling and new end position
Position compensation
Online position correction of the slave axis, during which the slave axis is moved along a specified path by a certain additional or reduced distance compared with the coupling to the master axis. The compensation dynamics must be parameterized. If the desired compensation cannot be carried out with the specified compensation start data, the maximum possible compensation will automatically be carried out. Compensation may be terminated prematurely via a compensation stop. See: Position compensation