Installation manual
CNC 8055
CNC 8055i
MACHINE PARAMETERS
6.
SOFT: V02.2X
·233·
Axis parameters
This parameter is used in the following cases:
• To identify the marks of the slave axis DRENA, SPENA, DRSTAF and DRSTAS. To refer to these
marks, it is recommended to use as indexes the name of the axis (DRENAX, SPENAZ, etc.).
Numerical indexes (DRENA1, SPENA2, etc.) follow a different criteria; they are the ones
following the rest of non-slave axes.
• Identify at the CNC the errors of the Tandem slave axis.
• Identify the parameter tables of the Tandem slave axis drive.
TORQDIST (P78)
Torque distribution. It indicates the torque supplied by each motor in order to obtain the necessary
total torque on the Tandem axis.
This parameter refers to the master axis. It is defined as the percentage of the total torque required
from the master axis. The difference between the value of this parameter and 100% is the
percentage applied to the slave axis.
If the motors are identical and they are to output the same amount of torque, their parameters must
be set to 50%.
PRELOAD (P79)
Preload between both motors. It is the torque difference to be applied between the master and the
slave axes. The pre-load sets a traction between both motors in order to eliminate the backlash in
resting position.
This parameter refers to the master axis. It is defined as the percentage of the rated torque to be
applied as preload.
In order for the two axes to supply opposite torques, the preload value must be greater than the
maximum torque needed at all times, including accelerations.
PRELFITI (P80)
Filter for pre-load. It sets the amount of time for gradually applying the pre-load. Setting it to zero
disables the 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.
TPROGAIN (P81)
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.
Possible values
Between 0 and 100% (both included).
Default value: 50
Possible values
Between -100% and 100%
Default value: 0 (pre-load is disabled)
Applying the preload necessarily implies mechanically joining the master and slave axes that make
up the Tandem axis. Otherwise, the motors will move even without the control velocity command.
Possible values
Integers between 0 and 65535 ms.
Default value: 1000
k
P
S
max
T
nom
------------
TPROGAIN=
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