HEIDENHAIN MANUALplus 620 Technical Manual page 780

Setting the master-
slave torque control
for torque
distribution in a
rigid design
780
Test the P factor of the torque controller:
 With the integrated oscilloscope, record the actual speed value V (N ACTL)

Increase the P factor in MP_propGain for the slave axis up to the oscillation
limit
 Enter in MP_propGain for the slave axis 50% of the resulting value.
 For the master and slave axes you must select in MP_inverseVelocity the
same or the opposite direction of rotation, depending on the application
(MP_signCorrActualVal has no effect on the slave).
 Adjust the current controller for the master and slave axes. See see
"Commissioning" on page 1072.
 Enter the following temporary values in the machine parameters for the
slave axis:
MP_torqueBias = 0
MP_propGain = 3
MP_speedCorrectRatio = 0 (not on the CC 61xx)

Not on the CC 61xx:
In MP_torqueDistrFactor, 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.
 Not on the CC 61xx:
If you use a position encoder, enter 100 for the slave axis in
MP_speedCorrectRatio; if you do not use a position encoder, enter the
value 0 in MP_speedCorrectRatio
Note
The parameters MP_torqueDistrFactor and MP_speedCorrectRatio are
not evaluated if the CC 61xx and UEC 11x are used!
With the CC 61xx and UEC 11x, the shaft speed compensation value is
divided evenly between the master and slave axis.
 Enter MP_vCtrlIntGain (I factor of speed controller) = 50 or, if you have one,
an empirical value for your motor.
 Deactivate the slave axis in MP_axisMode

For the master axis, adjust the P and I factor of the speed controller. See see
"Commissioning" on page 1072.
 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.
 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
HEIDENHAIN Technical Manual MANUALplus 620