Siemens SINUMERIK Series Function Manual page 298

K3: Compensations
4.7 Measures for hanging (suspended axes)
"Electronic counterweight" function
A hanging (suspended) axis can almost be completely prevented from dropping (sagging)
using the "electronic counterweight" function.
The electronic counterweight prevents axes with a weight load from sagging when the
closed-loop control is switched on. After releasing the brake, the constant counterweight
torque maintains the position of the vertical axis.
Figure 4-20
Commissioning
Note
The "electronic counterweight" is commissioned through the drive!
Reference
For additional information, see the following:
SINAMICS S120 Function Manual Drive Functions
298
Lowering of a vertical axis with electronic weight compensation
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Extended Functions