Setting the load distribution

The software module offers the option of setting a load distribution between certain group members. This setting allows you to assign a certain torque ratio between each of the 4 group members and the other group members.

  1. Set the MAC.Config.ePriority variable of the ASide to TorqueLeveling to activate "Torque priority" operating mode.
  2. Set the xGetAccessControl variable of the ASide to "TRUE" to request access to the user interface of the axis group member.
    • If the request was successful, the xControlActive variable provides the value "TRUE".
  3. In the Controller.CONFIG structure of the ASide, enter the value "0.65" for the TorqueRelation.lrAGMember1 variable and the value "0.433" for the TorqueRelation.lrAGMember2 variable.
  4. Set the xActivate and xStart variables to "TRUE" to carry out a movement.
    • Group member 1 delivers a torque of 0.65 Nm and group member 2 a torque of 0.433 Nm. The ratio can be set either by configuring a value between 0 and 100% or by specifying the torque.
  5. Turn A1 until it sets a torque of 50% of the nominal torque (corresponds to a torque of 0.65 Nm).
  6. Hold A2 firmly
    • A torque of 33% of the nominal torque is set (corresponds to a torque of 0.433 Nm).

    INFORMATION

    Note that you cannot manually set the torques with great precision.