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Installation manual
CNC 8060
CNC 8065
2.
MACHINE PARAMETERS.
(REF: 1402)
General machine parameters.
PRELOAD
Tandem pair. Preload between both motors.
Possible values: Within ±100%.
Default value: 0 (it disables the preload).
Associated variable: (V.)MPG.PRELOAD[nb]
Parameter included in the TANDEM table.
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. The parameter indicates the percentage of the rated torque of the master
motor that will be applied as preload.
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.
PRELFITI
Tandem pair. Filter time to apply the preload.
Possible values: From 0 to 65535 milliseconds (setting it to 0 disables the filter).
Default value: 0 ms.
Associated variable: (V.)MPG.PRELFITI[nb]
Parameter included in the TANDEM table.
First order filter that sets the time it takes the CNC to apply the preload gradually. This filter
eliminates the torque steps at the input of the tandem compensator when setting a preload
parameter, hence avoiding a step in the velocity command of the master motor and slave
motor of the tandem.
TPROGAIN
Tandem pair. Proportional gain (Kp) for the tandem.
Possible values: from0 to 100%.
Default value: 0 (no proportional gain is applied).
Associated variable: (V.)MPG.TPROGAIN[nb]
Parameter included in the TANDEM table.
The proportional controller generates an output proportional to the torque error between the
two motors.
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.
S Speed.
S.max Maximum speed.
Kp Proportional gain.
T.nom Rated torque.
T.err Torque error between motors.
T.mst Torque of the master motor.
T.slv Torque of the slave motor.
Example:
A tandem axis has a maximum speed of 2000 rpm and a rated torque of 20 Nm. TPROGAIN
has been set to 10%.
Kp = (2000 rpm / 20 Nm) · 0.1= 10 rpm/Nm.
Kp
S.max
T.nom
---------------
TPROGAIN×=
T.err T.mst– T.slv PRELOAD++()=
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