Coupling table

Configuration menu for configuring coupling factors between single axes (axis) and joint axes (joint). The coupling factor indicates how much impact a single axis has on a joint axis that is not directly assigned to it, which means that it does not have the same index. If there is no coupling, you can set the number of couplings to 0. If you set the couplings to greater than 0, a table will be displayed showing one row per coupling. For each coupling, you can set the input index, the output index, and the coupling factor.

Example

If single axis 4 rotates by 20 °, only the joint axis 4 would rotate by 20 ° when coupled with input index 4, output index 5, and a (only theoretically possible) coupling factor of 0. However, if the coupling factor is 1, for example, both joint axis 4 and joint axis 5 rotate by 20°. Joint axis 5 is additionally rotated by the value of single axis 5.

Couplings between the axes are implemented, for example, using parallelograms or belt constructions. The hand axes of typical ARTICULATED arm robots are also usually coupled.

If, for example, on a SCARA RR M10 the elbow motor (drive 2) is mounted on the shoulder axis (joint 1) and the movement is transmitted to the elbow (joint 2) by means of a parallelogram or belt with belt pulleys of the same size, the following coupling must be set: Input index 1, output index 2, factor -1.

If the number of couplings is > 1, the output index must be greater than the input index of the same coupling. Furthermore, the input index of a coupling must not be smaller than the input index of a preceding coupling, i.e. coupling entered further up in the coupling factor table. Reference the coupled single axes in ascending order. The preceding coupled single axes must be in zero position when referencing a single axis.

Parameterization