July 2013 6.6 Gantry/synchronized axes 791
Test the P factor of the torque controller:
In MP10 reactivate the master and slave axes.
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.
MP2900.x Tensioning torque between master and slave for master-
slave torque control (entry for the slave axis)
Input: –100.00 to +100.00 [Nm]
MP2910.x P factor of the torque controller for master-slave torque
control (entry for the slave axis)
Input: 0.00 to 999.99 [1/(Nm · min)]
MP2920.x Factor for variable torque distribution for master-slave
torque control (entry for the slave axis)
Input: 0.000 to 100.000
1: Master and slave axes have identical motors
MP2912.x Speed compensation ratio for master-slave torque control
(entry for the slave axis)
Input: 0: The output of the torque-adjustment controller (= speed
compensation value) is distributed evenly to master and slave.
1: The output of the torque-adjustment controller (= speed
compensation value) is only distributed to the slave.
The tensioning torque entered in machine parameter MP2900.x applies for
the master and slave axis. If a torque of 10 Nm is entered, this results in a
total tensioning torque of 20 Nm between the master and slave.
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