Siemens sinumerik 840D sl Function Manual page 599

Detailed description
2.1 Speed/torque coupling, master-slave (SW 6 and higher)
Activation/deactivation via the PLC SW 6.4 and higher
The torque compensatory controller can be switched on and off directly via the PLC interface
signal DB31, ... DBX24.4.
For this, the following machine data must be set:
MD37255 $MA_MS_TORQUE_CTRL_ACTIVATION=1
The activated status can be read back in DB31, ... DBX96.4. MS_TORQUE_CTRL_MODE is
then only used for configuring the torque distribution.
2.1.5 Tension torque
By specifying a additional torque MD37264 $MA_MS_TENSION_TORQUE, you can achieve
a tension between the master and slave axis when the torque compensatory controller is
active. The tension torque is entered as a percentage of the rated torque and is active
straight away.
The tension torque tension torque is applied via a PT1 filter. Specifying a filter time constant
MD37266 $MA_MS_TENSION_TORQ_FILTER_TIME > 0 activates the filter.
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. To prevent unnecessary
heating in the motor, you can reduce the tension torque when the motor is at standstill.
Specifying a tension torque without a mechanical coupling produces axis movement.
Figure 2-6
12
Resulting tension torque
Special functions: Speed/Torque Coupling, Master-Slave (TE3)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0