Siemens Sinamics CU240D-2 DP Operating Instructions Manual page 205

Droop
The droop function reduces the speed setpoint as a function of the torque setpoint.
Figure 6-40
The droop function ensures even torque distribution between two or more mechanically
coupled drives. Load distribution using the droop function also masters soft mechanical
couplings or a permanent speed difference as a result of slip.
Preconditions for using the droop function
● All coupled drives must be operated in vector control, with or without an encoder.
● Only a one common ramp-function generator may be used for mechanically coupled
drives.
Par.
r1482
p1488
p1489
r1490
p1492
You can find additional information in the List Manual, function block diagram 6030.
Special settings for a pulling load
For a pulling load, e.g. a hoisting gear, a permanent force is exerted on the motor, even
when the motor is stationary.
For a pulling load, we recommend that you use vector control with an encoder.
Converter with the control units CU240D-2
Operating Instructions, 04/2018, FW V4.9 SP10, A5E34262100B AF
Effect of droop in the speed controller
Explanation
Speed controller I torque output
Droop input source (factory setting: 0)
0: Droop feedback not connected
1: Droop from the torque setpoint
2: Droop from the speed control output
3: Droop from the integral output, speed controller
Droop feedback scaling (factory setting: 0,05)
A value of 0.05 means: At the rated motor torque, the inverter reduces the speed by 5% of
the rated motor speed.
Droop feedback speed reduction
Droop feedback enable (factory setting: 0)
Advanced commissioning
6.15 Motor control
203