Siemens SINUMERIK 840D sl Function Manual page 513

Gain factor (P component)
The gain factor of the torque equalization controller is set in the following machine data as a
percentage of the ratio of the maximum load-side axis velocity of the slave axis (MD32000
$MA_MAX_AX_VELO) to its rated torque (SINAMICS S120: p2003):
MD37256 $MA_MS_TORQUE_CTRL_P_GAIN[<slave axis>]
Note: Scaling via MD37253 $MA_MS_FUNCTION_MASK[<slave axis>], bit 0
Integral time (I component)
The integral time of the torque equalization controller is set in the following machine data:
MD37258 $MA_MS_TORQUE_CTRL_I_TIME[<slave axis>]
The I component is deactivated as standard.
Speed setpoint limiting
The speed setpoint calculated by the torque equalization controller can be limited using the
following machine data. The input is a percentage referred to the maximum, load-side axis
velocity of the slave axis (MD32000 $MA_MAX_AX_VELO).
MD37260 $MA_MS_MAX_CTRL_VELO[<slave axis>]
Note: Scaling via MD37253 $MA_MS_FUNCTION_MASK[<slave axis>], bit 0
Deactivating the torque equalization controller
If the following settings are made, the torque compensatory controller will be inactive:
• MD37254 $MA_MS_TORQUE_CTRL_MODE[<slave axis>] = 3
• MD37256 $MA_MS_TORQUE_CTRL_P_GAIN[<slave axis>] = 0
Torque weighting
The percentage of the torque generated by the slave axis of the total torque can be set using
the torque weighting.
MD37268 $MA_MS_TORQUE_WEIGHT_SLAVE[<slave axis>]
Using the torque weighting, it is possible to configure a different torque distribution between
the master and slave axes for motors with different rated torques. For motors of the master
and slave axes with the same rated torques, it makes sense to have a 50% torque distribution
(default setting).
The torque provided by the master axis is given by:
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Torque provided by the master axis = 100% - MD37268
TE3: Speed/torque coupling, master-slave
12.4 Torque compensatory controller
513