January 2012 6.14 Synchronized Axes (Option 24) 777
Gantry axes in
master-slave
torque control
It is possible to run gantry axes in master-slave torque control. The gantry
master and gantry slave axes are at the same time torque master axes and
have one torque slave axis each.
A gantry axis can also serve as a torque master axis at the same time, but a
torque slave axis cannot at the same time be a gantry master axis.
Activation of
master-slave
torque control
A torque coupling is supported at present only as a "static coupling." If you
have configured a torque-master-slave coupling, it will be automatically
activated after the control startup.
Assign the appropriate master axis to the slave axis. In MP_masterAxis,
enter the key name of the master axis from the list parameter MP_axisList
of the entity CfgAxes. It must be noted that the master and slave axis must
be on the same speed controller circuit board.
Axis 1
Axis 2
Axis 3
Axis 4
Torque master axis
Torque slave axis
Gantry master axis
Gantry slave axis
Torque slave axis
Torque master axis
Settings in the configuration editor MP number
Axes
ParameterSets
[Key name of the parameter set]
CfgAxisCoupling
masterAxis
mode
type
torqueBias
propGain
torqueDistrFactor
speedCorrectRatio
inverseVelocity
402301
402302
402303
402310
402311
402312
402313
402314
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