NEW FEATURES
(SOFT M: 9.0X)
CNC 8055 / CNC 8055i
Page 22 of 106
TINTTIME (P82) Tandem INTegral TIME
Integral gain (Ki) for the tandem axis. The integral controller generates
an output proportional to the integral of the torque error between the
two motors.
This parameter can be modified from the oscilloscope and from the
PLC.
TCOMPLIM (P83) Tandem COMPensation LIMit
This parameter limits the maximum compensation applied by the
tandem axis. This limit is also applied to the integral.
This parameter refers to the master axis. It is defined as percentage
of the maximum speed of the master axis.
This parameter can be modified from the oscilloscope and from the
PLC.
4.4 Variables
TPIOU(X-C) Tandem PI OUtput
Output of the PI of the tandem master slave in rpm.
Variable that may be read from the CNC, PLC and DNC and it may
be accessed from the oscilloscope.
4.5 Tandem adjustment
Adjustment procedure
In this process, bear in mind the type of machine being used. In
general, a tandem machine has a low resonance frequency.
Therefore, the CNC must generate position commands without
frequency components higher than resonance frequency.
It is recommended to begin the process with low jerk values (lower
than 10 m/sec3) and low Kv. They can always be increased in later
readjustments.
Possible values: from 0 to 65535 milliseconds.
By default: 0 (integral gain not applied)
k
i
ControlTime
IntegralTime
------ ------------ -----------------
k
p
×=
T
error
T
master
–T
slave
Preload++()=
Speed k
i
T
error
∑
⋅=
Possible values: from 0 to 100%.
By default: 0
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