HEIDENHAIN MANUALplus 620 Technical Manual page 776

Method of function
Conventions
776
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 (MP_torqueBias) 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 factor
(MP_torqueDistrFactor; not with the CC 61xx). The result at the comparison
point is fed to a torque balancing controller that amplifies it proportionally
(MP_propGain). The manipulated variable of the balancing controller is a
speed compensation value that is added to the current speed value.
The following applies for a master-slave combination:
For a master-slave combination, no more than one common position
encoder is required.
Linear and nonlinear axis error compensation as well as temperature
compensation is not possible for both axis.
Nonlinear axis-error compensation cannot be entered separately for master
and slave axes. Here the values of the master axis are always used.
When operating with following error, the k
be used.
factor for the master axis must
v
HEIDENHAIN Technical Manual MANUALplus 620