HEIDENHAIN iTNC 530 HSCI - Page 786

786 HEIDENHAIN Technical Manual iTNC 530 HSCI
Test the tensioning torque:
 With the integrated oscilloscope, record the nominal current (I nominal) of
the master and the slave axes at standstill.
 Send a step to the speed controller and, with the integral oscilloscope,
record the nominal current of the master and slave axes.
 If there is a discontinuity in the course of the nominal current, increase the
tensioning torque for the slave axis in MP2900.x.
Note
For low-frequency oscillations (< approx. 200 Hz) you should not use a filter,
because it may have a negative influence on the dynamics of the control.
For the mid-range frequency (approx. 200 Hz to approx. 400 Hz) ensure that
you do not excite any low-frequency oscillation.
The higher the frequency of the oscillation (> approx. 400 Hz), the less
negative will be the influence of high damping on the dynamics.
Note
For identical motors, the factors of the speed controller should be identical
to ensure identical dynamic behavior.
Discontinuity
I
noml master
I
noml slave
I
noml master
ΔI
noml
= I
noml master
– I
noml
ΔI
noml
= I
noml master
– I
noml
I
noml slave