2
The file $MACHINE.DAT (continued)
11 of 91
Maschinendaten 12.0400 en
Infinitely rotating axes are also limited, according to the gear ratio.
The software limit switches for rotational axes can only be set between [--358 degrees] and
[+358 degrees].
Infinitely rotating axes turn modulo 360 degrees, i.e. PTP {A6 3610} results in a motion of
A6 from 0 degrees to 10 degrees.
An infinitely rotating axis can move max. 180 degrees in a single motion block.
Example
In the example, external axis 7 is defined as a linear traversing unit, i.e. axis type 1:
$AXIS_TYPE[7]=1
The type of axis is not automatically defined by the definition of the main axis type.
In the case of a SCARA (#CC), axis 1 must be explicitly identified as a linear axis.
2.1.5
$COUP_COMP[ ]
Compensation of the mechanical coupling between the wrist axes
Data type
frame
min
Value
----
Unit
----
Value
max ----
Assignment
[A x, A y] = Nn, Dn
An axis “m” is rotated through a defined angle and the angle change at axis “n” is measured.
$COUP_COMP= (reaction axis n)/(angle axis m)
2.1.6
$EXCOUP_COMP[ ]
Compensation of the mechanical coupling between the external axes
Data type
frame
min
Value
----
Unit
----
Value
max ----
Assignment
[A x, A y] = Nn, Dn
Axis “m” is rotated through a defined angle and the rotation of axis “n” is measured.
