Siemens SINUMERIK 840D sl Function Manual page 458

Compensations (K3)
Electronic weight compensation (vertical axis)
Required adjustments
The torque/force limit is entered for the different drive types in the drive machine data
provided for this purpose.
Drive machine data
MD1192 $MD_TORQUE_LIMIT_WEIGHT
(Weight torque)
MD1192 $MD_FORCE_LIMIT_WEIGHT
(weight force)
MD5231 $MD_FORCE_LIMIT_WEIGHT
(weight force limitation)
Relationships for adjustment
Limit values of NC symmetrical to SIMODRIVE
The machine data MD1192 has the same unit in per cent (%) as NC machine data:
MD32460 $_MA_TORQUE_OFFSET[n] (Additional torque for electronic counterbalance).
The torque/force limit of the NC therefore acts symmetrically above and below this weight
torque/force. The resulting static torque/static force relationship is as follows:
M
0
(in synchronous motors (2) or rated torque M
k = torque constant [Nm/A]
T
I = stall current [A]
0
458
= kT * I
0
Drive type Description
FSD/MSD The torque corresponding to the
force due to weight
1FN1 and 1FN3 The force due to weight with
linear motors
HLA module The force due to weight with
hydraulic drives
for asynchronous motors)
nominal
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
Extended Functions