Torque Compensatory Controller - Siemens SINUMERIK 840D sl Function Manual

General supplementary conditions
Please note the following general supplementary conditions:
● A slave axis can only be assigned to one master axis
● A master axis can be assigned several slave axes
● A slave axis must not be a master axis or be in another master-slave relationship.
Note
Drive optimization
At a SINAMICS S120 drive unit, a maximum of three drives can be optimized or measured
at the same time (speed controller optimization / function generator). Therefore, for a
coupling with more than three coupled drives at the same time, we recommend that these
are distributed over several drive units.
16.4

Torque compensatory controller

The torque equalization controller (PI control) calculates a load-side initial speed setpoint. The
additional speed setpoint can be differently entered via the following machine data:
MD37254 $MA_MS_TORQUE_CTRL_MODE[<slave axis>] = <value>
<value>
Note
Several slave axes
For a master-slave grouping with one master and several slave axes, the input of the additional
speed setpoint to the master and slave axes - set as standard in MD37254 - can result in
instability. For several axes, the input of an additional speed setpoint should only be done in
the slave axes:
MD37254 $MA_MS_TORQUE_CTRL_MODE = 1
SINAMICS S120: Current setpoint filter
Up to four current setpoint filters (p1656 - p1674, function block diagram [5710]) can be
activated in the SINAMICS S120. In a master-slave group, it is recommended that for the
master and all of the slave axes, only filters with the same data are activated at any instant in
time.
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Input of the additional speed setpoint at:
0 Master and slave axis (default value)
1 Slave axis
2 Master axis
3 is not input at any of the axes
TE3: Speed/torque coupling, master-slave
16.4 Torque compensatory controller
609