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The file $MACHINE.DAT (continued)
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Maschinendaten 12.0400 en
Valid values for $MASTER_LOOP are:
y
1--8
(1--9)
Control loop number of the master (only DSE no. 1)
10--17 (10--18)
Control loop number of the master (only DSE no. 2)
Master and slave loops cannot be distributed over two DSEs.
2.1.25 $SLAVE_TORQUE_RATIO[ ]
Torque--controlled slave: ratio between command torque and slave/master
Data type
real
min
Value
1
Unit
[ ]
Value
max 5
Assignment
----
This variable specifies the torque (or command current!) for the slave relative to the master.
It is only required for the control loop of a torque--controlled slave (“Slave Torq”).
2.1.26 $NINPUT_SENSORTYPE[Ln]
Sensor type for the speed input
Data type
int
min
Value
1
Unit
[ ]
Value
max 5
Assignment
----
$NINPUT_SENSORTYPE[Ln]=y defines the sensor type for the speed input of the DSE
control loop (Ln). This describes the hardware connection.
Valid values for $NINPUT_SENSORTYPE are:
y
1
Sensor (resolver) connected to RDC
2
Sensor with external resolver box connected via CAN--KSD and servo bus
3
Incremental encoder connected via CAN--KSD and servo bus
4
Servo bus encoder with IBS K3 protocol (multiple/single incremental encoder)
5
Servo bus encoder with IBS K2 protocol (multiple/single incremental encoder)
