Parker EME
Motion control
192-121102 N04 June 2008 251
Quadratic coupling (CouplingMode = 1)
The quadratic coupling results in a quadratic position course of the slave axis
without velocity superelevation:
The synchronous position with master reference (MS) is ideally stated within the
hind range of the master clock distance, so that the coupling movement takes
place within one single cycle.
For this, the start position (activating the coupling sequence with C3_CamIn:
Execute) must also be near the curve zero point.
The master-related coupling position (ME) is calculated from the slope of the curve
in the synchronization point and the actual slave position (Sa) so that it results in a
quadratic position course.
For this, there must be a positive slope (gradient) at the synchronization position.
The master speed must be positive, i.e. the master position must be rising.
Coupling via a slave clock distance
M
S
Sa
0
M
ST
MT
SS
ME MS
0
e(M)
1
SS: Slave synchronization position
Sa: current slave position before start of curve
ME: Master coupling position calculated from MS, slope in MS/SS and Sa
MS: Master synchronous position
MT: Master clock distance
ST: Slave clock distance
e(M): quadratic coupling function
1: gradient triangle: determines the duration of the coupling sequence (the steeper,
the faster is the coupling sequence)
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