Fagor CNC 8060, Руководство по установке

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Installation manual.
CNC 8060
CNC 8065
MACHINE PA
RAMETERS.
2.
Gen
e
ral machin
e parameters.
·69·
(R
EF
: 1709)
In order for the two motors to supply opposite torques, the preload value must be greater
than the maximum torque needed at all times, including accelerations.
PRELFITI
Tandem pair. Filter time to apply the preload.
Possible values: From 0 to 65535 milliseconds (setting it to 0 disables the filter).
Default value: 0 ms.
Associated variable: (V.)MPG.PRELFITI[nb]
Parameter included in the TANDEM table.
First order filter that sets the time it takes the CNC to apply the preload gradually. This filter
eliminates the torque steps at the input of the tandem compensator when setting a preload
parameter, hence avoiding a step in the velocity command of the master motor and slave
motor of the tandem.
TPROGAIN
Tandem pair. Proportional gain (Kp) for the tandem.
Possible values: from 0 to 100%.
Default value: 0 (no proportional gain is applied).
Associated variable: (V.)MPG.TPROGAIN[nb]
Parameter included in the TANDEM table.
The proportional controller generates an output proportional to the torque error between the
two motors.
TINTTIME
Tandem pair. Integral gain (Ki) for the tandem.
Possible values: From 0 to 65535 milliseconds.
Default value: 0 (no integral gain is applied).
Associated variable: (V.)MPG.TINTTIME[nb]
Parameter included in the TANDEM table.
The integral controller generates an output proportional to the integral of the torque error
between the two motors.
Applying the preload necessarily implies mechanically joining the master and slave axes that make
up the tandem; otherwise, the motors will move even without control command.
S Speed.
S.max Maximum speed.
Kp Proportional gain.
T.nom Rated torque.
T.err Torque error between motors.
T.mst Torque of the master motor.
T.slv Torque of the slave motor.
Example:
A tandem axis has a maximum speed of 2000 rpm and a rated torque of 20 Nm. TPROGAIN
has been set to 10%.
Kp = (2000 rpm / 20 Nm) · 0.1= 10 rpm/Nm.
S Speed.
S.max Maximum speed.
Kp Proportional gain.
Ki Integral gain.
T.nom Rated torque.
T.err Torque error between motors.
S Kp T.err

=
Kp
S.max
T.nom
---------------
 
 
TPROGAIN

=
T.err T.mst – T.slv PRELOAD + +
 
=
S Ki T.err


=
Ki
ControlTime
IntegralTime
-------------------------------
 
 
Kp

=