December 2001 Synchronized Axes 6 – 91
6.6.2 Master-Slave Torque Control
In master-slave torque control, two motors (master and slave) are
mechanically coupled. Because of the coupling, only one position encoder is
required. The motor to which the position encoder is assigned is the master.
From a maximum of nine controlled axes, four times two axes can be
controlled in the torque-master-slave-control, whereby you must keep in mind
that the master and slave axis are on the same speed controller PCB.
First speed controller PCB: X15 to X20
Second speed controller PCB: X62 to X64
In principle there are two applications:
n Minimization of mechanical play through mutual tensioning
n Distribution of torque with a rigid coupling
Minimization of mechanical play through mutual tensioning
Distribution of torque with a rigid coupling
Motor
Gear
Rack
Motor
Motor
Coupling
Shaft
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