Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 637)

Deskew Parameters
Chapter 36
gt
36-11
Function
The servos of a split axis are always given the same positioning and
contouring commands.
A well balanced split axis with equally sized motors operating on fairly
symmetric loads may not need to use this parameter. The normal deskew
velocity and positioning loops should adequately respond to keep any skew
to a minimum.
In some cases, however, the normal servo loop may allow too much skew
(motors are sized differently or one servo is under a higher load than
another). When the normal deskew positioning and velocity loops are not
sufficient to compensate for this difference in following error, the Deskew
Gain parameter should be used.
When a skew exists, the control detects a difference in following error
between the two servos. When using the Deskew Gain parameter, this
difference in the following error is controlled by increasing or decreasing
the gain of the slave servo. The net effect of this is that the control can
make the slave servo’s response more closely match that of the
master servo.
The slave servo’s gain is modified proportionally to the difference in
following errors between the master and slave servos (= skew error). The
ratio of this multiplier is controlled by this parameter. A value of 0 here
disables any gain modification of the slave servo. The higher the value set
here, the larger the gain modification for the same difference in
following error.
Deskew Axis Parameter Number
Single Process Process 1 Process 2
Set 1 All [662] [20662] [21662]
Set 2 All [642] [20642] [21642]
Range
0.00000 to 10.00000
36.3
Deskew Gain