Fagor CNC 8055, Manual

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PI of the tandem PI whose function is to guarantee that each motor outputs its
corresponding amount of torque. It increases the velocity command
if the supplied torque is too low and it decreases it if it is too high.
When defining a tandem axis, the CNC reads through Sercos in each
loop the torque supplied by the master and slave axes. This may result
in a smaller number of read-write variables in the fast Sercos channel,
through PLC parameters.
Pre-load application in different situations
Pre-load in rest mode
Pre-load with acceleration
This situation may generate a "Sercos ring error", even when using the
same variables and number of axes as in a non-tandem configuration.
This situation is especially critical for a loop time of 2 milliseconds.
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