Siemens sinumerik 840D sl Function Manual page 632

Examples
4.1 Speed/torque coupling
4.1.1 Master-slave coupling between AX1=Master and AX2=Slave.
Configuration
Master-slave coupling between AX1=Master and AX2=Slave.
1. Machine axis number of master axis for speed setpoint coupling
2. Master axis with torque distribution identical to master axis with speed setpoint coupling
3. Permanent coupling
4. Torque is injected in both the master and slave axes
5. Torque distribution between the master and slave axes is 50% to 50%
6. Parameters of the torque compensatory controller
Special functions: Speed/Torque Coupling, Master-Slave (TE3)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
MD37250 $MA_MS_ASSIGN_MASTER_SPEED_CMD[AX2] = 1
MD37252 $MA_MS_ASSIGN_MASTER_TORQUE_CTR[AX2] = 0
MD37262 $MA_MS_COUPLING_ALWAYS_ACTIVE[AX2] = 1
MD37254 $MA_MS_TORQUE_CTRL_MODE[AX2] = 0
MD37268 $MA_MS_TORQUE_WEIGHT_SLAVE[AX2] = 50
MD37256 $MA_MS_TORQUE_CTRL_P_GAIN[AX2] = 0.5
MD37258 $MA_MS_TORQUE_CTRL_I_TIME[AX2] = 5.0
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