Siemens SINUMERIK 840C Installation Instructions Manual page 386

09.95
2702*
Default value
500
With MD 2702*, the input variables of the torque compensation controller are weighted to
permit a parameterizable torque distribution over both drives according to the respective
moments of inertia.
The standard parameterization of 500 ‰ produces a distribution according to the values in
drive machine data 1725 (normalization torque setpoint interface) for both axes. If a different
distribution is to be used, MD 2702* must be calculated according to the following formula:
MD 2702* = ––––––––––––––––––––––––––––––––––––––––––
M
desired
slave
M is the ideal torque distribution between master and slave.
desired
2703*
Torque compensation controller P component
Default value
100
The P gain of the torque compensation controller is parameterized in % of the ratio drive
maximum speed to nominal torque of the slave drive. The input variable of the torque
compensation controller is the difference in torque between master and slave, the output
variable is a speed setpoint. See also MD 1812* and 523*.
Formula:
Output variable = P gain * control difference
Example:
A torque difference of 10 % of the slave nominal torque and standard parameterization 100
(= 0.01%) produces an output variable of the controller of 0.001 % of the maximum speed of
the slave drive (0.01 % * 10 % = 0.001 %).
2704*
Torque comp. controller integral action time
Default value
0
The integral action of the torque compensation controller is parameterized in the integral action
time. The integral action is deactivated if set to the default value 0 because the proportional
action (MD 2703*) already ensures an adequate static distribution of torque.
The additional integral action can produce a better distribution in multi-slave operation. Useful
values are in whole seconds. See also MD 523*.
_______
1) As from SW 4.4
©
Siemens AG 1992 All Rights Reserved
SINUMERIK 840C (IA)
6 NC Machine Data (NC MD), NC Setting Data (NC SD)
Torque distr. torque comp. controller
Lower input limit
0
M
desired
slave
MD 1725
+ M + ––––––––––––––
desired
master
MD 1725
Lower input limit
0
Lower input limit
0 99 999 999 (as from
6FC5197- AA50
6.9 MDs for parameter set switchover
1)
Upper input limit
984
· 1000 ‰
slave
master
1)
Upper input limit
1 000 000 0.0001%
1)
Upper input limit
1 000 000
SW 4.4)
Active on
Power On
Units
‰
Active
at once
Units
Active
at once
Units
ms
6–201