July 2013 6.6 Gantry/synchronized axes 785
Activation of
master-slave
torque control
Activate the master and slave axes with MP10.
In MP110.x, define the position encoder for the master.
Enter MP110.x = 0 for the slave.
In MP850.x, define the master axis as the main axis and the slave axis as
the tracking axis.
Activate the master-slave torque control by entering MP860.x bit 1 for the
slave axis.
Axes for which master-slave torque control is active can be switched by the
PLC to single-axis operation during operation by overwriting MP850.x.
MP860.x Datum for synchronous control
Input: %xxx
Bit 0 – Datum for synchronous control
0: Datum at position after switch-on
1: Datum at reference marks (machine datum)
Bit 1 – Master-slave torque control
0: Not a torque slave axis
1: Axis is torque-slave axis
Bit 2 – Brake test of synchronized axes
0: Test the brakes of a synchronized axis simultaneously
1: Test the brakes of a synchronized axis successively
Setting the master-
slave torque control
for minimizing
mechanical play
For the master and slave axes you must select in MP1040 the same or the
opposite direction of rotation, depending on the application (MP210 has no
effect on the slave).
Adjust the current controller for the master and slave axes “Commissioning"
on page 1004.
Enter the following temporary values in the machine parameters for the
slave axis:
MP2900.x = approx. 20% to 25% of the rated torque of the motor
MP2910.x = 0.2
MP2912.x = 0
If you use a position encoder, enter 1 in MP2912.x for the slave axis; if you
do not use a position encoder, enter the value 0 in MP2912.x for the slave
axis.
Enter MP2510.x (I factor of speed controller) = 50 or, if you have one, an
empirical value for your motor.
Adjust the P and I factors of the speed controller for the master and slave
axes at the same time, see "Commissioning" on page 1004. It is not
permissible to commission the master and slave axes separately, since the
motors must be tensioned during commissioning.
If you do not reach the desired rise time (approx. 10 ms), you can increase
the P factor with the aid of a filter. Here the band-rejection filter is preferable
to the low-pass filter.
To find the center frequency for the band-rejection filter, slowly increase the
P factor to the oscillation limit and find the frequency with the integrated
oscilloscope.
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