Fagor CNC 8055, Manual

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EATURES
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Steps to follow in the adjustment
1. Move both axes independently.
The first step is to ensure the perfect operation of both the master
and the slave axis separately. Also check that both axes move in
the same direction and with similar dynamics.
To do this, the following methods may be used:
• Define a master axis and a slave axis using a separate
parameter table for each axis. When adjusting the master axis,
set the slave axis as a dro axis and viceversa.
• Cancel the "drive enable" of the slave axis and move the master
axis. Change the parameter settings of the CNC to turn the
slave axis into the master axis and repeat the process.
2. Move one of the motors at a constant low speed.
2.1. Do not make jerky movements because the second motor
is being dragged by the first one. In this situation, any
acceleration or deceleration that takes place forces it to
switch from one side to the other of the backlash without
suffering jerks.
2.2. Check that the turning directions of both motors are
coherent once the movement has been made.
2.3. Verify that the gear ratio on both motors is the same (same
feedrate for the same turning speed).
2.4. Do a basic adjustment of the velocity loop so it lets the
machine move. Later on, readjust it with both motors at the
same time.
2.5. Do not set the friction parameters (enough torque is already
supplied to generate movement on the machine).
3. Repeat the process with the second motor.
When adjusting the loops, use the same parameters if the motors
are identical and the torque distribution is 50%. If the motors are
different, the axes must be adjusted so their dynamic response is
the same or similar. When using ACForward ("ACFGAIN" = YES),
remember that each motor has half the inertia for a torque
distribution of 50%.
4. Enable the tandem with both motors.
4.1. Disable the Pi of the tandem.
4.2. Apply power and check that the system is in rest mode.
4.3. Enter a low proportional value and eliminate the integral
value of the tandem's PI.
Note that a reversal of the turning direction of a motor reverses the
torque direction and, therefore, it will be necessary to change the sign
of its monitored values through drive parameters SP43 and TP85.
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