Siemens SINUMERIK 840D sl Function Manual page 612

TE3: Speed/torque coupling, master-slave
16.5 Tension torque
Setting
The tension torque is entered as a percentage of the rated torque of the slave axis and is active
immediately:
MD37264 $MA_MS_TENSION_TORQUE[<slave axis>] = <tension torque>
As can be seen from the structure of the torque equalization controller (Chapter "Torque
compensatory controller (Page 609)"), the tension torque is entered via a PT1 filter. The filter
time constant is set using the following machine data:
MD37266 $MA_MS_TENSION_TORQ_FILTER_TIME[<slave axis>] = <time constant>
A value for the filter time constant greater than 0 activates the filter.
NOTICE
No axis equalization
If a tension torque is entered without a mechanical coupling between the master and slave
axis then this causes the axes to move.
Note
Minimum tension torque
The tension torque chosen must be high enough to ensure that the resulting torque does not
drop below the minimum required tension even during acceleration.
Reducing the motor temperature rise
The tension torque can be reduced when the motor is at a standstill to reduce the motor
temperature rise.
Example 1 (840D sl): Static coupling and establishing a tension in pairs
A master-slave application is parameterized so that one master axis is assigned three slave
axes and a tension torque is entered for one axis pair. As a consequence, the master axis
alone does not have to establish the tension torque with respect to all of the slave axes.
Assumption regarding machine axes:
● 1st to 4th machine axis: AX1, AX2, AX3, AX4
Static coupling for all slave axes
● MD37262 $MA_MS_COUPLING_ALWAYS_ACTIVE[AX2] = 1
● MD37262 $MA_MS_COUPLING_ALWAYS_ACTIVE[AX3] = 1
● MD37262 $MA_MS_COUPLING_ALWAYS_ACTIVE[AX4] = 1
Axis Reference axis of the speed set‐
point coupling
MD37250 = value
Value
AX1 0
AX2 1
612
Reference axis of the torque equal‐
Description Value
No reference axis
Master axis, AX1
ization controller
MD37252 = value
Description
0 No reference axis
1 Master axis, AX1
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Input of the torque equalization
contr.
MD37254 = value
Value Description
0 Master and slave
0 Master and slave
Special functions