782 HEIDENHAIN Technical Manual MANUALplus 620
Test the P factor of the torque controller:
In MP_axisMode reactivate the master and slave axes
With the integrated oscilloscope, record the actual speed value V (N ACTL)
Increase the P factor in MP_propGain for the slave axis up to the oscillation
limit
Enter in MP_propGain for the slave axis 50% of the resulting value.
MP_torqueBias
Tensioning torque between master and slave for master-slave
torque control (entry for the slave axis)
Available from NCK software version: 597 110-04.
Format: Numerical value
Input: –1 000.00 to +1 000.00 [Nm]
Default: 0
Access: LEVEL3
Reaction: RUN
MP_propGain
P factor of the torque controller for master-slave torque control
(entry for the slave axis)
Available from NCK software version: 597 110-04.
Format: Numerical value
Input: 0 to 1666.666666667 [1/(Nm · min)]
Default: 0
Access: LEVEL3
Reaction: RUN
MP_torqueDistrFactor
Factor for variable torque distribution for master-slave torque
control (entry for the slave axis)
Available from NCK software version: 597 110-04.
Format: Numerical value
Input: 0 to 100.000000000
1: Master and slave axes have identical motors
Do not assign on CC 61xx – no evaluation.
Default: 1
Access: LEVEL3
Reaction: RUN
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