Siemens SINUMERIK 840D sl Function Manual page 610

TE3: Speed/torque coupling, master-slave
16.4 Torque compensatory controller
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.
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
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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, 01/2015, 6FC5397-2BP40-5BA2
Special functions