Installation manual
CNC 8060
CNC 8065
CONCEPTS.
9.
(REF: 1402)
·451·
Configure two axes as a tandem axis.
Apply a preload value in the tandem.
The preload is the amount of torque applied before, in both directions, to both motors of the
tandem to set a traction between them in order to eliminate the backlash when the tandem
is in rest position. In order for the two motors to supply opposite torques, the preload value
must be greater than the maximum torque needed at all times, including accelerations.
The preload is defined with parameter PRELOAD that indicates the percentage of the rated
torque of the master motor that will be applied as preload.
Time to apply the preload.
Parameter PRELFITI may be set in order to apply the preload gradually avoiding torque steps
at the tandem compensator. This parameter enables a frst order filter that sets the time it
takes the CNC to apply the preload gradually.
Proportional gain (Kp) for the tandem.
The proportional controller generates an output proportional to the torque error between the
two motors. The proportional gain may be set with parameter TPROGAIN.
Integral gain (Ki) for the tandem.
The integral controller generates an output proportional to the integral of the torque error
between the two motors. The integral gain may be set with parameter TINTTIME.
Applying the preload necessarily implies mechanically joining the master and slave axes that make
up the tandem; otherwise, the motors will move even without control command.
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