Siemens sinumerik 840D sl Function Manual page 617

Detailed description
2.2 Speed/torque coupling (up to SW 5.x)
P controller
The P controller calculates a speed setpoint nset by multiplying the torque difference Mdiff
by a gain factor Kp. The resulting speed setpoint is added to the master and slave axes.
nset = Mdiff * Kp
The P gain Kp of the torque compensatory controller has the dimension [(mm/min)/Nm].
The P gain factor is entered in axial MD63560 $MA_MS_TORQUE_CTRL_P_GAIN as a
percentage value of the ratio:
Maximum drive speed [mm/min] to rated torque [Nm].
The maximum drive speed is the contents of MD32000 $MA_MAX_AX_VELO. The rated
torque is obtained from the product of the following machine data:
MD1113 $MD_TORQUE_CURRENT_RATIO
MD1118 $MD_MOTOR_STANDSTILL_CURRENT
Only the data of the slave axis are relevant for the torque controller.
Example:
Maximum drive velocity of the slave axis
Motor rated torque of the slave axis
MS_TORQUE_CTRL_P_GAIN
Kp: (30000/10) * 15%
I controller
The I controller calculates a speed setpoint nset by multiplying the torque difference Mdiff by
a gain factor Ki.
nset = Mdiff * Ki
The gain factor Ki of the I controller is parameterized via the reset time of the torque
compensatory controller I_TIME. Ki can only be calculated if the gain factor of the P
controller Kp ≠ 0. The I controller is not active unless the P component is also activated.
Ki = 1/ position controller cycle * I_TIME * Kp
The integral time is entered in the axial MD63565 $MA_MS_TORQUE_CTRL_I_TIME in
seconds.
The default setting 0 deactivates the I component if the P component already ensures
appropriate torque distribution.
Limiting the controller output
MD63600 $MA_MS_MAX_CTRL_VELO can be used to limit the output of the controller to a
maximum value. The value is entered as a percentage value relative to the maximum speed
of the slave-axis. The default is 100%. The limit works in both a positive and a negative
direction.
30
30000 mm/min
10 Nm
15%
450 (mm/min)/Nm
Special functions: Speed/Torque Coupling, Master-Slave (TE3)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0