December 2001 Synchronized Axes 6 – 95
Test the tensioning torque:
7
77
7 With the integrated oscilloscope, record the nominal current (I nominal) of
the master and the slave axes at standstill.
7
77
7 Send a step to the speed controller and, with the integral oscilloscope,
record the nominal current of the master and slave axes.
7
77
7 If there is an discontinuity in the course of the nominal current, increase the
tensioning torque for the slave axis in MP2900.x.
Test the P factor of the torque controller:
7
77
7 With the integrated oscilloscope, record the actual speed value V (N ACTL).
7
77
7 Increase the P factor in MP2910.x for the slave axis up to the oscillation
limit.
7
77
7 Enter in MP2910.x for the slave axis 50% of the resulting value.
Discontinuity
I
noml master
I
noml slave
I
noml master
∆I
noml
= I
noml master
– I
noml
∆I
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 is the
required tensioning torque (MP2900.x).
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