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6.6
Synchronized and gantry axes
Depending on the type of connection, that the axis uses, the drive has to have two identical
axis numbers in the machine constants MK_HARDKONF (for analog axes), MK_CANDRIVES
(for axes at the CAN bus) or MK_ESABKONF (for axes at the SERCOS).
• This generates a compulsory coupling of the two axes. The axis with the first entry in
the MK, is automatically the master axis. The axis with the second entry is the slave
following axis. (synchronous axis, for details see /6/).
• The gantry axis (entry in MK_ACHSENART) is a special case of the synchronized axis.
The two axes have a mechanical compulsory coupling.
• Therefore, the Gantry axis (X’) is not entered in the machine constants a synchro-
nized axis with its values as axis of its own but only as reference to axis X.
• There is only one set of parameters for the master and the slave axis (MK_IMPULSE,
MK_ACHSENART etc.)
6.6.1
Example of synchronized axes at the CAN-Bus
The drive setup consists of three drives with the following characteristics
Tabelle 21:
Table 21:
Example of synchronized axis, drive configuration
Drive 1
Drive 2
Drive 3
Axis number
0
1
1
CAN node address
8
7
3
CAN Baud rate
500 kB
Axis denomination
C
X
(X’)
Type of axis
Axis of rotation
Linear axis
synchronized axis to drive 2
with equal characteristics
Resolution pulses
4096
8192
as drive 2
