Position controller-based axis couplings (#GEAR LINK)
The motion of a target axis by a position controller-based axis coupling is influenced additively or even exclusively by the motions of other axes. The target axis is either an additional interpolator axis or a spindle.
Axes that influence a target axis via coupling specifications are referred to as source axes. The motion part of sources axes are weighted accordingly by defining specific factors. This permits the implementation of an electronic gear.
This function can be controlled by the HLI and is described in detail in [FCT-A9]. The NC command #GEAR LINK parameterises and enables this type of axis coupling, even in a subroutine.
Syntax of GEAR-LINK programming, parameterisation by axis names: |
#GEAR LINK [ TARGET=<axis_name> AX<i>=<axis_name> NUM<i>=.. DENOM<i>=.. {AX<i>=<axis_name> NUM<i>=.. DENOM<i>=..} [MODE=<mode>] [ACC=..] { \ } ] |
TARGET=<axis_name> | Name of coupling target axis |
AX<i>=<axis_name> | Name of source axis i where i =1 .. 4 |
| Caution: Only channel-specific axis names may be programmed as they are the only ones that are unique. |
NUM<i>=.. | Coupling factor NUM<i> / DENOM<i> for source axis i, numerator and denominator are negative or positive integers. |
MODE=<mode> | Mode for coupling/decoupling: DIRECT: Coupling requires all the axes involved to be at standstill (default). If this is not the case, stop occurs with error message P-ERR-70200 SOFT: Soft coupling using slope; axes can move |
ACC=.. | Acceleration limit on the axis with coupling/decoupling in [mm/sec², inch/sec²]. If ACC is not specified, P-AXIS-00053 is used as default acceleration limit. |
\ | Separator ("backslash") for clear programming of the command over multiple lines. |
Syntax of GEAR-LINK programming, parameterisation by axis numbers: |
#GEAR LINK [ TARGETNR=.. AXNR<i>=.. NUM<i>=.. DENOM<i>=.. {AXNR<i>=.. NUM<i>=.. DENOM<i>=..} [MODE=<mode>] [ACC=..] { \ } ] |
TARGETNR=. | Logical number of coupling target axes, positive integer |
AXNR<i>=.. | Logical number of source axis i where i =1 .. 4, positive integer |
| Caution: All logical axis numbers known in the system may be programmed as they are always unique in multi-channel systems. |
NUM<i>=.. | Coupling factor NUM<i> / DENOM<i> for source axis i; numerator and denominator are negative or positive integers. |
MODE=<mode> | Mode for coupling: DIRECT: Coupling requires all the axes involved to be at standstill (default). If this is not the case, stop occurs with error message P-ERR-70200 SOFT: Soft coupling using slope; axes can move. If ACC is not specified, P-AXIS-00053 is used as default acceleration limit. |
ACC=.. | Acceleration limit on the axis with coupling/decoupling in [mm/sec², inch/sec²] |
\ | Separator ("backslash") for clear programming of the command over multiple lines. |
Syntax of Enabling and parameterising in one step: |
#GEAR LINK ON [ .. ] |
…or disable only
A previously parameterised coupling is enabled. An error message is output if no coupling was parameterised.
#GEAR LINK ON [ TARGET=<axis_name> | TARGETNR=.. ] |
…or disable only:
#GEAR LINK OFF [ TARGET=<axis_name> | TARGETNR=.. ] |
Response at program end and reset:
Active axis couplings are disabled at program end and reset.
Programing Example
Defining and selecting a coupling specification
Parameterisation by axis name:
#GEAR LINK [TARGET=U AX1=X AX2=Y NUM1=1 DENOM1=2 NUM2=-1 DENOM2=1\
MODE=SOFT ACC=400]
:
TARGET=U ;Target axis is U AXIS
AX1=X ;Source axis 1 is X axis
NUM1=1 DENOM1=2 ;Coupling factor for X axis is NUM1/DENOM1=0.5
AX2=Y ;Source axis 2 is Y axis
NUM2=-1 DENOM2=1 ;Coupling factor Y axis is NUM2/DENOM2=-1
MODE=SOFT ;Soft coupling/decoupling
ACC=400 ;Acceleration limit on the axis at 400 mm/sec2
Enable coupling:
#GEAR LINK ON [TARGET=U]
Disable coupling:
#GEAR LINK OFF [TARGET=U]
Alternative parameterisation by axis number:
#GEAR LINK [TARGETNR=4 AXNR1=1 AXNR2=2 NUM1=1 DENOM1=1 NUM2=-1 \
DENOM2=1]
Enable coupling:
#GEAR LINK ON [TARGETNR=4]
Disable coupling:
#GEAR LINK OFF [TARGETNR=4]