Siemens SINUMERIK 840C - Manual (Page 386)

09.95 6 NC Machine Data (NC MD), NC Setting Data (NC SD)
6.9 MDs for parameter set switchover
Torque distr. torque comp. controller 1) 2702*
Default value Lower input limit Upper input limit Units
500 0 984 ‰
Active on
Power On
With MD 2702*, the input variables of the torque compensation controller are weighted to
permit a parameterizable torque distribution over both drives according to the respective
moments of inertia.
The standard parameterization of 500 ‰ produces a distribution according to the values in
drive machine data 1725 (normalization torque setpoint interface) for both axes. If a different
distribution is to be used, MD 2702* must be calculated according to the following formula:
M
desired
slave
MD 2702* = –––––––––––––––––––––––––––––––––––––––––– · 1000 ‰
MD 1725
slave
M
desired
slave
+ M
desired
master
+ ––––––––––––––
MD 1725
master
M
desired
is the ideal torque distribution between master and slave.
Torque compensation controller P component 1) 2703*
Default value Lower input limit Upper input limit Units
100 0 1 000 000 0.0001%
Active
at once
The P gain of the torque compensation controller is parameterized in % of the ratio drive
maximum speed to nominal torque of the slave drive. The input variable of the torque
compensation controller is the difference in torque between master and slave, the output
variable is a speed setpoint. See also MD 1812* and 523*.
Formula:
Output variable = P gain * control difference
Example:
A torque difference of 10 % of the slave nominal torque and standard parameterization 100
(= 0.01%) produces an output variable of the controller of 0.001 % of the maximum speed of
the slave drive (0.01 % * 10 % = 0.001 %).
Torque comp. controller integral action time 1) 2704*
Default value Lower input limit Upper input limit Units
0 0
1 000 000
99 999 999 (as from
SW 4.4)
ms
Active
at once
The integral action of the torque compensation controller is parameterized in the integral action
time. The integral action is deactivated if set to the default value 0 because the proportional
action (MD 2703*) already ensures an adequate static distribution of torque.
The additional integral action can produce a better distribution in multi-slave operation. Useful
values are in whole seconds. See also MD 523*.
_______
1) As from SW 4.4
© Siemens AG 1992 All Rights Reserved 6FC5197- AA50 6–201
SINUMERIK 840C (IA)