Application Guidelines
52
8.1.3 Set-Up Procedure
It
is recommended that proper operation of the drive modules and motors is verified before beginning the
torque sharing set-up. Offsets
in
the
drives may
be
adjusted at this time. A drive which is trimmed in the
velocity
mode
wUI
stm
be
correctly adjusted when it is changed
to
torque mode.
8.1.3.1 Wiring Instructions
The recommended wiring for
the
master-slave configuration
is
"Shown
·
in
Figures
8-"2
and 8-3. There are two
wiring diagrams shown
for
the
two
cases illustrated in Figure 8-
1.
Figure 8-2 shows the wiring
for
the case
where master and slave motors rotate in the same direction, and Figure
8-3 is the wiring
for
the
case when
master and slave motors rotate in opposite directions. The wiring for these two cases is different because
the
polarity
of
the
slave command is reversed in the two situations.
The forward
and
reverse clamps (FAC and
RAC)
are
not
shown in Figures 8-2 and 8-3. If
it
is desired
to
connect limit switches
or
other
logic
to
these inputs, only
the
FAC
and
RAC
inputs
on
the
master drive
should be used. The FAC and RAC inputs
on
the slave drives should
be
disabled
by
connecting FAC+
to
FAC- and RAC+
to
RAC-.
NOTE:
It
is important that the SSO relay is wired in the enable circuit as shown, so that all drives
wm
be
disabled if there is a fault
on
any one of the drives. Otherwise, dangerous situations can
result
8.1.3.2 Tuning
NOTE:
The write protect jumper (P10)
on
the drive should
be
put in the write-enabled (2-3) position
so that after
the
tuning is complete the values can
be
saved into the non-volatile memory
on
the
BRU amplifier.
It
is recommended that after the set up is complete,
the
jumper
be
returned
to
the write-protected position.
All tuning
of
the master-slave system velocity control is accomplished
by
the velocity loop parameters of
the
master drive. The only adjustment required
on
the slave drives is setting the correct command scali
ng
and adjusting
the
offset
The command scaling for the slave drives was discussed previously in the Section
8.1.2.
If the offset of
the
slave drive has already been trimmed,
in
either velocity
or
torque mode, there is
no
need
to
adjust
it
again. Once the slave drive is set in the torque mode, the offset adjustment can
be
accomplished
by
the following procedure:
1.) Set
up
the slave drive in
the
torque mode, with the serial terminal connected, and with a command
of
zero;
2.) Set
the
programmable monitor
to
look
at
torque, and enable the drive;
3.) The torque displayed
on
the terminal is the offset in Amps;
4.) Calculate
the
offset in volts
by
dividing the offset in Amps from step 3
by
the command scaling in
Amps
per
Volt and enter the negative
of
the result into the terminal as offset;
5.) Repeat steps 2 and 3
to
check that the offset is correct, and then save the results with the 'S'
command
on
the
terminal.
The velocity
loop
of
the master drive is tuned as described
in
the tuning procedure
for
a standard drive.
The velocity
loop
tuning should
be
done with all slave drives connected and enabled, because the slave
drives will affect
the
velocity loop response.
BRU-200/BRU-500 Brushless Drives Instruction Manual
(
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