Siemens SINUMERIK 840D sl Function Manual page 439

Required adjustments
The torque/force limit is entered for the different drive types in the drive machine data
provided for this purpose.
Drive machine data
MD1192 $MD_TORQUE_LIMIT_WEIGHT
(weight torque)
MD1192 $MD_FORCE_LIMIT_WEIGHT
(weight force)
MD5231 $MD_FORCE_LIMIT_WEIGHT
(weight force limitation)
Relationships for adjustment
Limit values of NC symmetrical to SIMODRIVE
The machine data MD1192 has the same unit in per cent (%) as NC machine data:
MD32460 $_MA_TORQUE_OFFSET[n] (Additional torque for electronic counterbalance).
The torque/force limit of the NC therefore acts symmetrically above and below this weight
torque/force. The resulting static torque/static force relationship is as follows:
M
0
(in synchronous motors (2) or rated torque M
k = torque constant [Nm/A]
T
I = stall current [A]
0
Manual NC format adjustment with SIMODRIVE
MD1728 $MD_DESIRED_TORQUE (torque setpoint)
To facilitate setting, the momentary torque/force setpoint is displayed in the above machine
data in the same format as in machine data:
MD1192 and MD32460 $MA_TORQUE_OFFSET[n]
(additional torque for electr. weight compensation)
If only the force due to weight is active, the value can be read and machine data
MD1192 and MD32460
transferred. If the value of the force due to weight is greater than the torque/force limit of the
NC, then the upper and lower torque/force limit has the same leading sign. If the force due to
weight is entered incorrectly, it can result in constant acceleration once the NC force limit is
reached!
Extended Functions
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
= kT * I
0
5.9 Electronic weight compensation (vertical axis)
Drive type Description
FSD/MSD The torque corresponding to the
force due to weight
1FN1 and 1FN3 The force due to weight with
linear motors
HLA module The force due to weight with
hydraulic drives
for asynchronous motors)
nominal
Compensations (K3)
439