Coupling and coupling factor
During coupling, a master axis (which may itself be a slave axis) will be assigned to the slave axis, and the coupling factor is set.
Coupling
Coupling can only occur when both axes are stationary. Coupling is therefore only a logical allocation and has (as long as the master is not moved) no dynamic consequences, but locks certain functionalities for the slave axis (e.g. start and stop). The coupling flag is set.
Coupling interfaces
System Manager: Coupling
PLC Blocks: Coupling
Linear path control
The slave follows the movement of the master according to the master positions, the coupling offset and the coupling factor.
Master start from 0.0 mm to 20,000.0 mm with V = 2000.0 mm/s at start override 30% and coupling factor 0.75. Then (master) override to 100%, then (master) stop.
Coupling factor
The coupling factor (gearing factor) must not equal zero, but may be negative. The following applies:
- Slave set position = coupling factor * master set position + offset, whereby the offset is determined from the coupling positions,
- Slave target velocity = coupling factor * master target velocity.
Coupling with fixed negative coupling factor:
Master start from 0.0 mm to 2000.0 mm with V = 2000.0 mm/s, coupling factor -0.5.
Coupling with variable coupling factor:
Master start from 0.0 mm to 2000.0 mm with V = 2000.0 mm/s, coupling factor -0.7, new coupling factor -0.8.
Changing the coupling factor
The coupling factor (not equal zero) may be changed online, but the effects (following error) are in the hands of the user. During travel, the coupling factor should only be changed moderately, since a following error is generated. Changing the coupling factor from plus to minus (of vice versa) causes a motion reversal of the slave axis.
Coupling factor interfaces
System Manager: coupling factor
PLC function blocks: coupling factor