动态反映适配：
主动轴和从动轴对设定点的改变必须具有相同的动态反应。这意味着当轴以相同的速度运行时，它们在下列幅度中具有相同的错误。
在设定点中动态反应适配功能有可能在对设定点改变时，使具有不同动态特性的两个轴获得最优的配合。在动态性能最差的轴和其它轴在任何情况下，必须指定相同时间变量的差别作为动态反映适配的时间常量。
例如：当激活轴反馈控制时 ，动态反映主要是由“最慢”的速度控制环的相同时间变量所决定。
主动轴：32810：EQUIV_SPEEDCTRL_TIME[n]=5ms
从动轴：32810：EQUIV_SPEEDCTRL_TIME[n]=3ms
从动轴的动态反映适配功能的时间常量为：32910：DYN_MATCH _TIME[n]=5ms-3ms=2 ms
动态反映适配功能必须由32900：DYN_MATCH _ENABLE 来激活。
Check of dynamic response adaptation:
The following errors of the leading and synchronized axes must be equal in
magnitude when the axes are operating at the same speed!
For the purpose of fine tuning, it may be necessary to adjust servo gain factors
or feedforward control parameters slightly to achieve an optimum result.
Referencing gantry
axes

The positions of the reference points of the leading and synchronized axes
must first be set to almost identical values.
To ensure that the synchronization compensatory motion of the gantry axes is
not started automatically, the gantry warning limit (MD 37100:
GANTRY_POS_TOL_WARNING) must be set to 0 prior to referencing on first
start-up. This will prevent a warning message being output during traversing
motion.
In cases where an excessively high additional torque is acting on the drives due
to misalignment between the leading and synchronized axes, the gantry
grouping must be aligned before the axes are traversed. The gantry axes must
then be referenced as described in Section 2.2 and
References: /FB/, R1 “Reference Point Approach”.
After the leading and synchronized axes have been referenced, the difference
between them must be measured (comparison of position actual value
indication in “Service axes” display of “Diagnosis” operating area). This
difference must be applied as the reference point offset (MD34080:
REFP_MOVE_DIST and MD 34090: REFP_MOVE_DIST_CORR).
The differences in distance between the zero mark and reference point must
also be calculated for each gantry axis and adjusted in MD 34080:
REFP_MOVE_DIST and MD 34090: REFP_MOVE_DIST_CORR in such a way
that the position actual values of the leading and synchronized axes are
identical after execution of the compensatory motion.
Synchronizing
gantry axes
The gantry synchronization process must be activated with IS “Start gantry
synchronization” (see Section 2.2). Once the axes have been synchronized (IS
“Gantry grouping is synchronized” = 1), the dimensional offset between the
leading and synchronized axes must be checked to ensure that it equals 0.
Corrections may need to be made in the machine data mentioned above.
Input of gantry
warning limit
Once the reference point values for the leading and synchronized axes have
been optimized so that the gantry axes are perfectly aligned with one another
after synchronization, the warning limit values for all axes must be entered in
MD 37110: GANTRY_POS_TOL_WARNING.
To do this, the value must be increased incrementally until the value is just
below the alarm (limit exceeded) response limit. It is particularly important to
check the acceleration phases.
This limit value also determines the position deviation value at which gantry
synchronization is automatically started in the control.
Calculating and
activating
compensations
In cases where the gantry axes require compensation (backlash, sag,
temperature or leadscrew error), the compensation values for the leading axis
and the synchronized axis must be calculated and entered in the appropriate
parameters or tables.
References: /FB/, K3 “Compensations”
Special cases
If individual axes have to be activated, the gantry groups must be temporarily canceled. As the second axis no longer travels in synchronism with the first axis, the activated axis must not be allowed to traverse beyond the positional tolerance.If the gantry grouping is canceled, the following points must be noted:
_ Always activate the traversing range limits and set them to the lowest possible values (position tolerance)
_ Synchronize the gantry grouping first if possible and then execute a POWER-ON-RESET without referencing the axes again. This ensures that the traversing range limits always refer to the same position (i.e. that which was valid on power ON).
_ Avoid using the step-change function. Position step changes are only permissible if they stay within the permitted tolerance.
_ Always use an offset of 0 for the function generator and measuring function in contrast to the recommendations for normal axes.
_ Set the amplitudes for function generator and measuring function to such low values that the activated axis traverses a shorter distance than the position tolerance allows. Always activate the traversing range limits as a check (see above).
References: /FBA/, DD2 “Speed control loop”
Start-up support
for gantry
groupings
SW 5.1 and higher
The start-up functions “Function generator” and “Measurement” are
parameterized via PI services, as in earlier SW. All parameterized axes
commence traversing when the NC Start key on the MCP panel is pressed in
JOG mode.
A window is displayed in the “Measuring function and function generator in
gantry grouping” operator interface. Two amplitude values, each with an offset
and bandwidth, must be entered in this window. The first amplitude value
applies to the measuring axis and the second to the other coupled axes.
PLC接口信号
可以通过主/从动轴的PLC接口获得耦合轴的特定的接口信号。下表显示了带有编码的所有龙门的PLC的接口信号，并表明了是主动轴还是从动轴。

点击此处查看附件

a) PLC –> NCK
PLC到轴的接口信号可以应用与龙门组所有的轴，因此龙门组所有的轴具有相同的优先权。例如：如果主动轴的“Servo enable” (DB31, ... ; DBX2.1) =“0” 则龙门组其他所有的轴同时关闭。

点击此处查看附件

点击此处查看附件

无论是在“跟随模式”状态(IS of one gantry axis = 1)还是在“停止”状态(IS of allgantry axes = 0)，“跟随模式”的功能都可以为所有龙门轴激活。
b) NCK –> PLC
主动轴和从动轴到PLC的接口信号是基于特定轴的基础上进行设置的并输出到PLC，例如“Referenced/Synchronized 1/2” (DB31, ... ; DBX60.4/60.5)。
在JOG方式下，不可能直接移动从动轴。移动键命令在控制系统内部给忽略了。手轮也是如此。
手轮的附加运动只能应用于耦合模式的主动轴。从动轴跟随主动轴移动。
DRF偏移只能应用于耦合模式的主动轴。从动轴跟随主动轴移动。
只能对主动轴编程，对从动轴的编程将有报警输出。
使用FC18的PLC只能移动主动轴，或者从动轴作为一个命令轴。
预置功能（ PRESET function）只能应用于主动轴。当预置功能激活时，在控制器内部，龙门组的所有轴重新评估 。此时，龙门组失去参考点和同步(IS“Gantry grouping synchronized” = “0”).
RELEASE 命令将自动释放龙门组中所有的轴。
实际位置值显示区域将显示主动轴和从动轴的实际值，这同样适合“诊断”区域的服务显示值。
SW限位开关（SW limit switch）监测功能只适用于主动轴，如果主动轴超限。龙门组中所有的轴停止运动。