Configuration
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
280
of 820
4.4
4.4.18 Master-Slave Torque Coupling
By means of the function „Master-Slave Torque Coupling“ the loading of two drives, which
carry load together, can be divided in a defined ratio.
Structure of the control
A direct communication between the axes is necessary for this function via a fieldbus
(cross communication between the axes or via a controller). In any case a controller is
required which sends the same speed set value to the involved axes.
Requirements:
The following requirements must be fulfilled for the torque coupling:
m Drives are rigidly coupled
m Master and slave are in speed control
m Master and slave get the same speed set value, e.g. over EtherCAT
m Cross communication between master and slave is possible
A compensating controller on the slave drive calculates an additional speed set value
from the torque set value of the master (receiving over cross communication) and the
torque set value of the slave corresponding to the torque weighting. Over a rigid coupling
the torque are set corresponding to the torque weighting (see
ZFig. 112– on page 281 or
ZFig. 113– on page 282).
The coupling is activated on the master (Z147.1– Bit 8), slave-side this setting is efficient-
ly not before master and slave are enabled (Z147.3– Bit 4 = 1), because the servo loops
are closed then.
For stressing the drives in standstill and if applicable also during the motion an additional
torque init stress can be connected.
Two options are available for the connection of the torque init stress:
NOTE!
The slave can accelerate possibly up to the overspeed limit (Z6.5– or Z6.6–), if the
mechanical coupling is removed during the torque coupling is active (Z147.3–
Bit 4 = 1).
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