Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 361 / 488

9.2.7 Torque assisting function
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Dedic
ated func
tion
9.2.7 Torque assisting function
Torque assisting function is the function controlling master axis with position or velocity control
and sending torque command to slave axis to perform torque assisting.
Set parameters below to use torque assisting function.
■
Amplifier communication function selection
Selects a usage of communication function (CN2 connector).
"01: Tandem" shall be selected to use this function.
Be valid after control power cycle.
Index Sub-Idx Setting range Description
0x2035 0x0A 01 Tandem
Use for tandem operation function.
■
Axes sync compensation input polarity selection
Matches polarity of torque each other.
"01: Reverse" shall be selected when 2 axes rotation directions are different.
Index Sub-Idx Selection Standard set value Description
0x2035 0x06
00:Not_Reversed
00:Not_Reversed
Not reversed
01:Reversed
Reversed
■
Synchronization compensation enabled
Selects input condition of torque assisting function valid.
Torque assist works when "01: Tandem" is selected at Index 0x2035-A and this function is
enabled.
Index Bit Selection
Standard set
value
Description
0x2000 15
0:Disabled
0:Disabled
Invalid
1:Enabled
Valid
■
Assisting function selection
Selects a torque assisting function.
Index Sub-Idx Selection Standard set value Description
0x2035 0x0C
01: Torque assisting
function
00: Position
assisting function
Torque assisting
function
■
Assisting rate
With set value 100 % to torque assisting function, 1-multiplied torque command is added.
With set value 0 %, torque assist disabled.
Index Sub-Idx Setting range
Standard set
value
Unit
0x2035 0x0D 0 to 100 0
%