Master-Slave Torque Control - HEIDENHAIN iTNC 530 HSCI Technical Manual

6.6.2 Master-slave torque control

Motor
782
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.
Note
The master and slave axes must be on the same drive-control main board,
which means that both axes need to be controlled by the same DSP. In this
way, you can flexibly assign the master and slave axes to the PWM outputs
X51 to X56 of a CC 6106. On controller units with more than one drive
control board (CC 6108, CC 6110), the master axis and the slave axis both
need to be assigned to either the A connections or the B connections.
Mixed connection is not permitted.
In principle there are two applications:
Minimization of mechanical play through mutual tensioning

Distribution of torque with a rigid coupling

Gear
Motor
Minimization of mechanical play through mutual tensioning
Coupling
Shaft
Distribution of torque with a rigid coupling
Rack
HEIDENHAIN Technical Manual iTNC 530 HSCI
Motor