Siemens SINUMERIK 840C User Manual

Page 1085

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12 Functional Descriptions

09.95

12.30.5 Response in the event of an error

So that all axes of a master/slave grouping exit the follow-up control at the same time, they
must be reset internally at the same moment. For this reason, all axes of a master/slave
grouping must be defined in the same mode group.

Incorrect parameterization of the master/slave torque compensation control causes the alarm
1012*/2019* "Parameterization error NC-MD" and the service number 330.

Change from SW 5, position-controlled follow-up in the event of an error

SW 5 gives the user the option of setting bit 3 in MD 1812* (or 523* for spindles) to initiate
switchover to position-controlled follow-up for following axes (FA) in the event of an error. This
function must not be used if the master is also the leading axis for the slave because this
creates an unstable control loop.

Error occurred
during:

1.) Normal
functionality
without ESR

2.) ESR not
active, axes are
FA and MD
1812*, bit 3=1

3.a) ESR active,
axes are not FA
or MD 1812*,
bit 3 = 0

3.b) ESR active,
axes are FA and
MD 1812*,
bit 3=1

Master

Immediate
initiation of follow-
up with
parameterized
stopping times