Siemens sinumerik 840D sl Function Manual page 619

Detailed description
2.2 Speed/torque coupling (up to SW 5.x)
Figure 2-14
PT1 filter
The tension torque is applied to the torque control via a PT1 filter. The PT1 filter ensures a
continuous increase or decrease of the tension torque when the tension torque value is
changed. Without the PT1 filter, changing the tension torque causes a step change in the
speed setpoint at the torque controller output when the controller is operated without an I
component. The PT1 filter is configured using the following machine data:
MD63585 $MA_MS_TENSION_TORQ_FILTER_TIME
The time is entered in seconds. Enter 0 to deactivate the PT1 filter.
Note
The function ensures distribution of the torque-producing currents (lq) and not distribution of
the torques.
This means that torque distribution is also assured on FSD synchronous motors (no field
weakening). In contrast, however, only current distribution is assured on MSD asynchronous
motors in the field-weakening range. Torque distribution is assured only on motors of the
same type operating simultaneously at the same speed. If MSD motors are not operated in
the field-weakening range, torque distribution can also be assured for different motor types
operating at different speeds.
32
Tension torque
Special functions: Speed/Torque Coupling, Master-Slave (TE3)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0