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=..] [MCH] { \ } ] |
TARGETNR=. | Logical number of coupling target axes, positive integer |
AXNR<i>=.. | Logical number of source axis i where i =1 .. 4, positive integer |
| Caution: With cross-channel axis couplings using the keyword MCH, 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] |
MCH | Cross-channel axis couplings may be defined when MCH is set. Target and sources axes may then originate from different channels. Channel-specific monitors (active coupling at program end or on axis release) are not active. In DIRECT coupling mode, the user must ensure that axes outside the commanded channel are at standstill. Channel.-specific and cross-channel axis couplings are managed separately. |
\ | 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=.. [MCH] ] |
or disable only:
#GEAR LINK OFF [ TARGET=<axis_name> | TARGETNR=.. [MCH] ] |
The coupling state of an axis is determined in the NC program by the following variables:
V.A.GEAR_LINK_ACTIVE.X or does axis participate in a coupling? V.A.GEAR_LINK_ACTIVE[i] |
V.G.GEAR_LINK_ACTIVE Was an axis coupling commanded in the channel? |
Behaviour at program end and reset:
If channel-specific axis couplings are active at program end, error message P-ERR-70554 is output.
All active channel-specific axis couplings are disabled at reset.
Cross-channel axis couplings are disabled at reset if the target axis is in the reset channel or is not assigned to a channel at this time.
Programming Example
Defining and selecting a channel-specific coupling specification:
MODE=SOFT ACC=400]
 | If the target axis must still move through the channel itself, it must also be specified as the source axis: |
Programming Example
Defining and selecting a cross-channel coupling specification:
DENOM2=1 MODE=SOFT ACC=400 MCH]