July 2013 6.8 The control loop 857
Holding torque The holding torque is the torque that is required to keep a vertical axis at a
standstill.
The holding torque is given by the iTNC through the integral-action component
of the nominal current value. In most cases the holding torque is constant. The
required holding current can therefore be fed forward through MP2630.x. This
relieves the speed controller.
To prevent the effect of stiction, measure the current at low speed in both
directions (e.g. 10 min
–1
).
Calculate the holding current from the mean of the measured current values
and enter the result in MP2630.x.
Mean:
MP2630.x Holding current
Input: –100.000 to +100.000 [A]
MP2630.x =
I NOMINAL
1
+ I NOMINAL
2
2
Please note that when reading the current via the internal oscilloscope,
on the CC 6xxx you are seeing the effective value of the current.
If the ready signal (RDY) is missing from the speed encoder inputs of
vertical axes, the DSP error message 8B40 No drive< release> appears.
A vertical axis is defined with an entry in MP2630.x.
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