HEIDENHAIN MANUALPLUS 620 - Page 779

January 2012 6.14 Synchronized Axes (Option 24) 779
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 MP_torqueBias.
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
Note
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 (MP_torqueBias).