6 – 92 HEIDENHAIN Technical Manual TNC 426, TNC 430
Method of function Position control is deactivated in the slave axis. The nominal velocity of the
master axis is at the same time the nominal velocity of the slave axis. The
speed controllers of both axes remain independent. The manipulated variables
coming from the speed controllers, i.e. the nominal torque current values, are
weighted with the torque constants of the motors and compared with each
other. In addition, a tensioning torque (MP2900.x) can be introduced at this
comparison point. To permit a distribution of drive torque, the nominal torque
of the slave axis can be multiplied with a weighting factor (MP2920.x). The
result at the comparison point is fed to a torque balancing controller that
amplifies it proportionally (MP2910.x). The manipulated variable of the
balancing controller is a speed compensation value that is added to the current
speed value.
Position encoder
Speed
encoder
Speed
encoder
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