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Gantry axes in
master-slave
torque control
Gantry master axis
Axis 1
Torque master axis
Torque master axis
Axis 2
Gantry slave axis
December 2001
It is possible to run gantry axes in master-slave torque control. The gantry
master and gantry slave axes are at the same time torque master axes and
have one torque slave axis each.
Example for the MP entries:
MP850.0 = 0
Axis 1 is master axis
MP850.1 = 1
Axis 2 is slave to axis 1
MP850.2 = 1
Axis 3 is slave to axis 1
MP850.3 = 2
Axis 4 is slave to axis 2
MP860.0 = 0 or 1
Axis 1: Datum for synchronous control
MP860.1 = 0 or 1
Axis 2: Datum for synchronous control
MP860.2 = 2
Axis 3 is torque slave axis
MP860.3 = 2
Axis 4 is torque slave axis
Synchronized Axes
Axis 3
Torque slave axis
Torque slave axis
Axis 4
6 – 93
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