Siemens SINUMERIK 840D sl Programming Manual page 574

Axis couplings
9.1 Coupled motion (TRAILON, TRAILOF)
Further information
Axis types
A coupled axis grouping can consist of any desired combinations of linear and rotary axes. A
simulated axis can also be defined as a leading axis.
Coupled-motion axes
Up to two leading axes can be assigned simultaneously to a trailing axis. The assignment is
made in different combinations of coupled axes.
A coupled-motion axis can be programmed with the full range of available motion commands
(G0, G1, G2, G3, etc.). The coupled axis not only traverses the independently defined paths,
but also those derived from its leading axes on the basis of coupling factors.
Dynamics limit
The dynamics limit is dependent on the type of activation of the coupled axis grouping:
● Activation in part program
● Activation in synchronized action
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If activation is performed in the part program and all leading axes are active as program
axes in the activated channel, the dynamic response of all coupled-motion axes is taken
into account during traversing of the leading axis to avoid overloading the coupled-motion
axes.
If activation is performed in the part program with leading axes that are not active as
program axes in the activating channel ($AA_TYP ≠ 1), then the dynamic response of the
coupled-motion axes is not taken into account during traversing of the leading axis. This
can cause the overloading of coupled-motion axes with a dynamic response which is less
than that required for the coupling.
If activation is performed in a synchronized action, the dynamic response of the coupled-
motion axes is not taken into account during traversing of the leading axis. This can
cause the overloading of coupled-motion axes with a dynamic response which is less
than that required for the coupling.
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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