Setting Master-Slave Torque Contr. F/ Trq Distribution In Rigid Design - HEIDENHAIN iTNC 530 Technical Manual

Setting the master-
slave torque control
for torque
distribution in a
rigid design
February 2002
7 For the master and slave axes you must select in MP1040 the same or the
opposite direction of rotation, depending on the application (MP210 has no
effect on the slave).
7 Adjust the current controller for the master and slave axes See
"Commissioning" on page 6 – 218.
7 Enter the following temporary values in the machine parameters for the
slave axis:
MP2900.x = 0
MP2910.x = 3
MP2930.x = 0
7
In MP2920.x, enter the ratio of the mass moment of inertia of the master to
the mass moment of inertia of the slave. For identical motors, therefore, the
value to be entered is 1.
7
If you use a position encoder, in MP2930.x enter 100 for the slave axis; if
you do not use a position encoder, enter the value 0.
7 Enter MP2510.x (I factor of speed controller) = 50 or, if you have one, an
empirical value for your motor.
7 Deactivate the slave axis in MP10.
7 For the master axis, adjust the P and I factor of the speed controller See
"Commissioning" on page 6 – 218.
7
If you do not reach the desired rise time (approx. 10 ms), you can increase
the P factor with the aid of a filter. Here the band-rejection filter is preferable
to the low-pass filter.
7 To find the center frequency for the band-rejection filter, slowly increase the
P factor to the oscillation limit and find the frequency with the integrated
oscilloscope.
Note
For low-frequency oscillations (< approx. 200 Hz) you should not use a filter,
because it may have a negative influence on the dynamics of the control.
For the mid-range frequency (approx. 200 Hz to approx. 400 Hz) ensure that
you do not excite any low-frequency oscillation. The higher the frequency
of the oscillation (> approx. 400 Hz), the less negative will be the influence
of high damping on the dynamics.
7 Deactivate the master axis in MP10.
7 Set MP850.x and MP860.x to 0 for the slave axis.
7 Set the speed controller and the filter parameters for the slave axis in the
same manner as for the master axis.
Note
For identical motors, the factors of the speed controller should be identical
to ensure identical dynamic behavior.
Synchronized Axes 6 – 95