Extended programming ofaxes couplings (SOFT-GANTRY)
 | The availability of this function depends on the configuration and the concrete scope of version. |
Besides contouring axes, spindles can also be run in the synchronous mode. An exact description can be found in Chapter 14.5.
Besides this, contouring axes can also be operated as so-called gantry axes. Contrary to normal synchronous operation, additional monitoring mechanisms with regard to position deviations are active and specific error reactions apply. Due to the machine structure, during mechanical (also static) gantry operation the axes are permanently coupled to one another and are defined by the configuration of the machine. Dynamic changing of the gantry coupling after starting up the control system is not possible.
Machines that do not permit any mechanical gantry operation because of their basic structure, e.g. milling machines with two independent slides, can be operated in the gantry mode by programming. For example, this is necessary whenever such slides have to be coupled with one another for clamping and machining large workpieces.
The #SET AX LINK command described in Chapter 11.12.1 is available with extended syntax for this purpose:
#SET AX LINK [ < coupling_group> , [ <slave>=<master>,G [,<limit_1>,limit_2>] ]
{, [ <slave>=<master>,G [,<limit_1>,limit_2>] ] } ]or alternative
#AX LINK [NBR] [<coupling_group>, [ <slave>=<master>,G [,<limit_1>,limit_2>] ]
{, [ <slave>=<master>,G [,<limit_1>,limit_2>] ] } ]<coupling_group> Number of the coupling group
1 ... [Max. number of coupling groups(1) -1] , Positive integer.
<slave> Designation or logical axis number of the slave axis of coupling pair i
<master> Designation or logical axis number of the master axis of coupling pair i
i Max. number of coupling pairs(2)
NBR With the logic switch NBR the evaluation can be changed from logical axes names to axes numbers. Then the axes couplings (resp. coupling pairs) have to be defined with logical axis numbers. At that time of definition the axes must not exist in NC channel. Their availability in NC channel is checked only at activation of the coupling group!
G Key word for "gantry coupling"
When gantry coupling is used, the following values serve to monitor, in two stages, the permissible position difference of the gantry axes. Specified in [mm]. Positive real number:
<limit_1> First monitoring limit. If this limit is exceeded, the motion is aborted and the control system assumes the error state. In the case of the default, the position difference is dissipated during RESET. Depending on the specific application, deviating motion can still be realised.
<limit_2> Second monitoring limit. An error that is not capable of reset is output if this limit is exceeded. The control system must be switched off and the position difference must be remedied manually.
| If the monitoring limits are not programmed, the defaults from the axis parameter record[2]-14/-15 of the slave axis apply. |
(1)see[6]-2.11
(2)see [6]-2.12
Additions to general handling and the operating principle
- Gantry coupling takes place precisely at the positions where the axies are located at the time of selection (see Chapter 11.12.3) of coupling. There is no need to specify an offset in the NC command because the offset is calculated internally in the position controller via the position setpoints.
- The dynamic data of the slave axis is taken into account in the contouring motion.
- For safety reasons, a coupling still active on reset or at the end of the program is implicitly restored the next time the program is started. This behaviour is parameter-definable [1]-14, [1]-39.
Programming example
:
N10 #SET AX LINK[1, [Y2 = Y1,G,0.01,0.25]] Gantry coupling of Y1 as
master axis and Y2 as slave
axis. First limit is 10µm,
second limit is 250 µm.
N20 #SET AX LINK[2, [Y2 = Y1,G]] Gantry coupling of Y1 (master) and
Y2 (slave). The monitoring limits
of the axis parameter record of the
Y2-axis are valid.
N30 #SET AX LINK [3,[Y2 = Y1]] Standard coupling of Y2 and Y1.
No gantry operation.
or alternative
N10 #AX LINK[1, [Y2 = Y1,G,0.01,0.25]]
N20 #AX LINK NBR[2, [8 = 2,G]] Gantry coupling via log. axis numbers Parallel machining of workpieces with a symmetrical or scaled contour can also be programmed by means of an extended syntax of the #SET AX LINK command. Position differences are not monitored in these modes (mirroring or scaling).
#SET AX LINK [ <coupling_group> , [ <slave>=<master>,<numerator>, <denominator>]
{, [ <slave>=<master>,<numerator>,<denominator>] } ]or alternative
#AX LINK [NBR] [<coupling_group>, [ <slave>=<master>,<numerator>, <denominator>]
{, [ <slave>=<master>,<numerator>,<denominator>] } ]<coupling_group> Number of the coupling group
1 ... [Max. number of coupling groups(1) -1] , Positive integer.
<slave> Designation or logical axis number of the slave axis of the coupling pair i
<master> Designation or logical axis number of the master axis of the coupling pair i
i Max. number of coupling pairs(2)
NBR With the logic switch NBR the evaluation can be changed from logical axes names to axes numbers. Then the axes couplings (resp. coupling pairs) have to be defined with logical axis numbers. At that time of definition the axes must not exist in NC channel. Their availability in NC channel is checked only at activation of the coupling group!
<numerator>, <denominator> Integers. These serve to calculate a coupling factor between the
master and slave axes.
The following applies to the resulting coupling factor:
- -1 : Mirror coupling
- 1 : Standard coupling; equivalent to the previous syntax
- 0 : Output of an error message
Notice | |
Factors that result in pure scaling (factor≠1) or in scaling with simultaneous mirroring (factor≠-1) are currently not permitted. A warning is output and the coupling is handled as standard coupling. This means, only the coupling factors 1 and 1 are permissible (see examples). |
(1)see[6]-2.11
(2)see [6]-2.12
Programming example
:
N10 #SET AX LINK[1, [Y2 = Y1,1,-1]] Mirroring coupling (Factor -1)
N20 #SET AX LINK[1, [Y2 = Y1,-1,1]] Mirroring coupling (Factor -1)
N30 #SET AX LINK[1, [Y2 = Y1,-2,2]] Mirroring coupling (Factor -1)
N40 #SET AX LINK[1, [Y2 = Y1,1,1]] Standard coupling
N50 #SET AX LINK[1, [Y2 = Y1,2,2]] Standard coupling
N60 #SET AX LINK[1, [Y2 = Y1,0,1]] Error, Program abortion
N70 #SET AX LINK[1, [Y2 = Y1,1,0]] Error, Program abortion
N80 #SET AX LINK[1, [Y2 = Y1,1,2]] Warning (Factor 0.5), Standard cpl.
N90 #SET AX LINK[1, [Y2 = Y1,2,3]] Warning(Factor 0.666), Standard cpl.
N100 #SET AX LINK[1, [Y2 = Y1,3,2]] Warning (Factor 1.5), Standard cpl.
N110 #SET AX LINK[1, [Y2 = Y1,-1,2]] Warning (Factor -0.5), Standard cpl.
N120 #SET AX LINK[1, [Y2 = Y1,-3,2]] Warning(Factor -1.5), Standard cpl. or alternative
N40 #AX LINK[1, [Y2 = Y1,1,1]] Standard coupling
N50 #AX LINK NBR[1, [8 = 2,2,2]] Standard coupling via log. axis numbers