Siemens SINAMICS G120 Operating Instructions Manual page 306

Advanced commissioning
6.21 Motor control
The droop function ensures even torque distribution between several mechanically coupled
drives.
The droop function reduces the speed setpoint as a function of the torque setpoint.
Figure 6-53
When droop is active, the ramp-function generators of all of the coupled drives must be set to
have identical ramp-up and ramp-down times as well as rounding-off.
Par.
r1482
p1488
p1489
r1490
p1492
After selecting application class "Dynamic Drive Control", droop is no longer possible.
You can find additional information in the List Manual, function block diagram 6030.
Special settings for a pulling load
For a pulling load, e.g. a hoisting gear, a permanent force is exerted on the motor, even when
the motor is stationary.
For a pulling load, we recommend that you use vector control with an encoder.
304
Effect of droop in the speed controller
Explanation
Speed controller I torque output
Droop input source (factory setting: 0)
0: Droop feedback not connected
1: Droop from the torque setpoint
2: Droop from the speed control output
3: Droop from the integral output, speed controller
Droop feedback scaling (factory setting: 0.05)
A value of 0.05 means: At the rated motor torque, the inverter reduces the speed by 5% of
the rated motor speed.
Droop feedback speed reduction
Droop feedback enable (factory setting: 0)
Converter with the CU250S-2 Control Units
Operating Instructions, 04/2018, FW V4.7 SP10, A5E31759476B AG