Siemens sinumerik 840D sl Function Manual page 618

Connection of the torque control output
An addtional MD63570 $MA_MS_TORQUE_CTRL_MODE can be used to connect the
output of the torque controller freely to the master and slave axes. In most cases, the output
value is applied to the master and slave. The user is responsible for setting parameters
meaningfully. The MD of the slave axis is the important setting.
Meaning:
0: Switch controller output to master and slave.
1: Switch controller output only to slave.
2: Switch controller output only to master.
3: The controller is deactivated; if the coupling is active, only speed setpoint coupling
applies.
Even if the controller output is not connected to an axis, the controller is calculated.
Weighting
MD63575 $MA_MS_TORQUE_WEIGHT_SLAVE is used to apply a weighting to the input
variables of the torque compensatory controller in order to enable parameterizable torque
distribution over the two drives. If the motors are identical and the same drive parameters
are to be set for the motors to produce the same torque, the standard parameterization 50%
is recommended. The MD refers to the torque of the slave axis and the torque of the master
axis is weighted with the difference between the MD and 100%.
Example:
Slave is intended to be 30% involved in the total torque. 70% are provided the by master
axis.
MD37268 $MA_MS_TORQUE_WEIGHT_SLAVE = 30
Tension
An axiales MD63580 $MA_MS_TENSION_TORQUE can be used to apply a constant
tension torque as input to the torque control. This tension torque is applied continuously and
produces a mutual tensioning of the coupled drives.
The MD of the slave axis is relevant for the tension of a coupling.
The tension torque can be positive or negative. The value to be input is a percentage value
relative to the rated torque of the slave axis. The rated torque is obtained from the product of
the following drive machine data:
MD1113 $MD_TORQUE_CURRENT_RATIO
MD1118 $MD_MOTOR_STANDSTILL_CURRENT
The tension torque is active immediately after a change. In this way, it is possible to
implement various tension torques to suit individual machining situations.
Special functions: Speed/Torque Coupling, Master-Slave (TE3)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
Detailed description
2.2 Speed/torque coupling (up to SW 5.x)
31