B--63003EN--1/02
1. AXIS CONTROL
103
2087 Preload of each axis (Tcmd offset)
[Data type] Word axis
[Unitofdata] (Preamplifier limit) /7282
[Valid data range] --1821 to 1821
An offset is added to a torque command to reduce backlash.
Set a slightly large value than friction torque.
As a reference set a value one--third the rated torque.
[Example] To set a torque of 3A in the opposite direction under amplifier limit of
40A:
3 / (40 / 7282) = 546
Master side = 546
Slave side = --546
2021 Load inertia
[Data type] Word axis
Set the same value to the master and slave axes.
[Unitofdata] (All load inertia) / (Motor inertia) × 256 / 2
2022 Direction of rotation of motor
[Data type] Word axis
Set the direction of motor rotation.
If the rotation directions of master and slave axes are opposite, set them
by this parameter.
Number Message Description
417
SERVO ALARM:
n AXIS DGTL PARAM
Illegal values are set for parameter 1010,
1023, or 1817 when tandem control is per-
formed.
Series
16i/160i/18i/180i
OPERATOR’S MANUAL
(For Machining Center)
(B--63014EN)
II.20.4 Tandem control
Alarm and message
Reference item