Referencing of coupled axes

TwinCAT enables axis coupling during referencing. The coupled axes do not necessarily have to be referenced. Axis coupling enables referencing of gantry axes, for example, provided the system can ensure that the two axes are suitably oriented relative to each another before homing. In this case the procedure is as follows:

• Ensure that both axes can be moved in coupled mode. (Position comparison is not possible at this stage, because none of the axes is referenced.)
•  Couple axis 2 with axis 1.
• Start homing for axis 1. Slave axis 2 will travel with axis 2.
• Decouple the axes after the homing procedure.
•  Couple axis 1 with axis 2.
• Start homing for axis 2. Slave axis 1 will travel with axis 2.
• Decouple the axes after the second homing procedure.
• Move both axes to a set position for alignment. The travel path for both axes should be minimal and may correspond to the mean value from both positions, for example.
• Couple the axes. The coupled system is now referenced.