Siemens SINUMERIK 840C Installation Instructions Manual page 1081

12 Functional Descriptions
12.30.3 Function description
The output can now be injected either only to the slave or only to the master of the torque
compensation control (see switch in the diagram).
Position controller, master
X
act
K
X
set
MD 1384*, 1288*
or
MD 2703*, 2704*
Vr, Tr
Torque com-
pensation
control,
MD 1344* or
MD 2702*
Structure of master/slave with torque compensation control
Static pretensioning torques can be set on the master and the slave with electrical weight
compensation (MD 1292*, MD3188*) of the parameter set. This torque is not eliminated by the
torque compensation controller. There is no equivalent machine data for spindles.
Setting the speed control parameters
The installation of the speed control loop described in Section 9.1.3 is performed separately
for the master and the slave drives. If all drives are mechanically coupled all the time, the
drives not involved must be disabled, e.g. via terminal 663. These drives then also rotate as
inertial masses. If the mechanical coupling is made via a wormgear it might be advisable to
operate all axes not involved by actual-value coupling via an ELG grouping.
The speed control gains that can be achieved are adapted via the ratios of the moments of
inertia.
Example:
Master/slave grouping with three drives
Drive 1:
Drive 2:
Drive 3:
The smallest factor K
rive 1:
Drive 2:
Drive 3:
12–306
More user manuals on
N
Kp, Ki
act
v
N
set
MD 1812*/523* bit 6
MD 1812*/523* bit 5
Kp, Ki
slave
MD 1812*, bit 7
or MD 523* bit 7
-4 2
J = 50 · 10 kgm
to
-4 2
J = 100 · 10 kgm
to
J = 200 · 10 -4 kgm 2
to
/J now determines the further adaptation of the speed control gain.
P to
K
P
K =J · =50 · 10
P to
J
new
to
min
K =10 Nms/rad
P
new
K =20 Nms/rad
P
new
ManualsBase.com
Speed controller, master
Tersi TM1
Weigth compensation
MD 1292*, 3188* ff
Speed controller, slave
N
act Tersi TM2
Weight compensation
MD 1292*, 3188* ff
; K = 6 Nms/rad, T =10ms; K
P N
; K = 10 Nms/rad, T =10ms; K
P N
; K = 20 Nms/rad, T =10ms; K
P N
-4 2
kgm · 1000=5 Nms/rad
© Siemens AG 1992 All Rights Reserved
09.95
Tx
Mechanical
coupling
Tx
/J =1200
P to
/J =1000
P to
/J =1000
P to
6FC5197- AA50
SINUMERIK 840C (IA)