CNC 8055 / CNC 8055i
Page 21 of 106
NEW FEATURES
(SOFT M: 9.0X)
PRELOAD (P79)
Pre-load between both motors. In other words, the torque difference
to be applied between the master and the slave axes. This sets a
traction between them in order to eliminate the rack-and-pinion
backlash when resting.
This parameter refers to the master axis. It is defined as a percentage
of the rated torque to be applied as pre-load.
In order for both axes to output opposite torques, the pre-load value
must be greater than the maximum torque needed at all times,
including accelerations.
This parameter can be modified from the oscilloscope and from the
PLC.
PRELFITI (P80) PRELoad FIlter TIme
Pre-load filter. It eliminates the torque steps (shoulders) at the input
of the tandem compensator when setting a pre-load value. This avoids
a step (shoulder or sudden change) in the velocity commands of the
master and slave axes of the tandem.
Setting to zero disables the filter.
This parameter can be modified from the oscilloscope and from the
PLC.
TPROGAIN (P81) Tandem PROGAIN
Value of the proportional gain (Kp) for the tandem axis. The
proportional controller generates an output proportional to the torque
error between the two motors.
This parameter can be modified from the oscilloscope and from the
PLC.
Example: A tandem axis has a maximum speed of 2000 rpm and a
rated torque of 20 Nm. TPROGAIN = 10%.
Kp = ( 2000 rpm / 20 Nm ) · 0.1= 10 rpm / Nm.
Possible values: from -100% to 100%.
By default: 0 (pre-load is disabled).
Applying the pre-load value involves necessarily joining the master
and the slave axes of the tandem axis mechanically. Otherwise, the
motors would move even without control command signal.
Possible values: from 0 to 65535 milliseconds.
By default: 1000 ms
Possible values: from 0 to 100%.
By default: 0 (proportional gain not applied)
k
P
S
max
T
nom
------- -----
TPROGAIN×=
T
error
T
master
–T
slave
Preload++()=
Speed k
P
T
error
•=
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