July 2013 6.6 Gantry/synchronized axes 787
Test the P factor of the torque controller:
With the integrated oscilloscope, record the actual speed value V (N ACTL).
Increase the P factor in MP2910.x for the slave axis up to the oscillation
limit.
Enter in MP2910.x for the slave axis 50% of the resulting value.
Notes on the tensioning torque in MP2900.x:
If a tensioning torque of e.g. 10 Nm is entered in MP2900.x of the slave axis,
the slave axis and the master axis must each generate a torque of 10 Nm.
The actual tensioning torque corresponds to the entry in MP2900.x, i.e.
10 Nm.
The figures below show the correlation between torque, acceleration and
tooth-flank change for master-slave torque control. The figures show the
behavior for different moments of inertia or accelerations using the following
points in the characteristic curves:
1: Operating point at which a static tooth-flank change takes place (a-tot = 0)
2: Operating point at which a dynamic tooth-flank change takes place. This
point depends on the ratio of the motor's moment of inertia to the total
mass moment of inertia.
3: Linear operating range of master-slave drive.
The lower the ratio of the total mass moment of inertia (transmission,
machine table, etc.) to the motor mass moment of inertia, the smaller the
required tensioning torque is (MP2900.x).
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