Torque Compensatory Controller - Siemens SINUMERIK 840D sl Function Manual

TE3: Speed/torque coupling, master-slave

12.4 Torque compensatory controller

12.4 Torque compensatory controller
The torque equalization controller (PI control) calculates a load-side initial speed setpoint.
The additional speed setpoint can be differently entered via the following machine data:
MD37254 $MA_MS_TORQUE_CTRL_MODE[<slave axis>] = <value>
<value>
NOTICE
Several slave axes
For a master-slave grouping with one master and several slave axes, the input of the
additional speed setpoint to the master and slave axes - set as standard in MD37254 - can
result in instability. For several axes, the input of an additional speed setpoint should only be
done in the slave axes:
MD37254 $MA_MS_TORQUE_CTRL_MODE = 1
SINAMICS S120: Current setpoint filter
Up to four current setpoint filters (p1656 - p1674, function block diagram [5710]) can be
activated in the SINAMICS S120. In a master-slave group, it is recommended that for the
master and all of the slave axes, only filters with the same data are activated at any instant in
time.
Scaling
Scaling the machine data:
• MD37256 $MA_MS_TORQUE_CTRL_P_GAIN (gain factor (P component))
• MD37260 $MA_MS_MAX_CTRL_VELO (speed setpoint limiting)
Must be entered using the following machine data:
MD37253 $MA_MS_FUNCTION_MASK[<slave axis>], bit 0 = <value>
<value>
Note
It is recommended to set MD37253 $MA_MS_FUNCTION_MASK[<slave axis>], bit 0 = 1.
512
Input of the additional speed setpoint at:
0 Master and slave axis (default value)
1 Slave axis
2 Master axis
3 is not input at any of the axes
Description
0 MD37256 and MD37260 are internally multiplied with the following factor: 1 / Ipo cycle[s]
1 MD37256 and MD37260 are accepted unchanged
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions