Siemens SIMODRIVE 611 universal Function Manual page 470

6 Description of the Functions
6.3 Axis couplings (from SW 3.3)
6-470
Settings for the slave axis:
S
P1491 P gain, equalization controller
Recommended setting: V
S
P1492 Integral action time, equalization controller
Recommended setting: T
S
P1493 Pre–tensioning torque (pre–tensioning force) equal-
ization controller
If a pre–tensioning torque is required (e.g. gearbox, play), a supple-
mentary torque can be added at the torque comparison point using
P1493. When the equalization controller is activated, this supple-
mentary torque gradually increases. This delay is achieved using a
PT1 element which can be set using P1494.
S
P1494 Pre–tensioning torque (pre–tensioning force)
equalization controller
P1494 is used to enter the time constant for the PT1 element which
ensures that the pre–tensioning torque gradually increases (pre–
tensioning force) when the equalization controller is activated.
S
P1495 Torque weighting, equalization controller – master
If different motors are involved in the closed–loop equalization con-
trol, then a torque weighting of the torque setpoint (or force weight-
ing of the force setpoint (SLM)) of the master axis can be set using
P1495.
S
P1496 Torque weighting, equalization controller – slave
If various motors are involved in the closed–loop equalization con-
trol, then a torque weighting of the torque setpoint or force weighting
of the force setpoint (SLM) of the slave axis can be set.
The equalization controller is computed in the 1 ms clock cycle time
and the speed controller is computed in the speed controller clock
cycle. In order to achieve a softer transition between these times slices,
the setpoint steps (jumps) can be smoothed using a speed setpoint
filter as PT1 system (1 ms time constant).
SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
= 0.5/V
p equalization controller
= 10 S T
N equalization controller
E Siemens AG 2005 All Rights Reserved
07.03 01.99
p speed controller
N speed controller