10.

97 Technologies & Functions: Master-slave for drives

SINUMERIK 840D

Master-slave
Speed/torque coupling for drives

J For mechanically-coupled axes,

driven from 2 motors

J Different gearbox ratios possible

J Reversing without backlash using

a tensioning torque which can be
injected

The "master-slave for drives" function is required if two electric drives are mechanically coupled to an
axis. For a coupling such as this, a torque controller must ensure that both drives precisely provide
the same torque, as otherwise both motors would oppose each other.

Only the master drive is programmed;

the slave drive is controlled from the control system via a speed setpoint coupling.
You can assign every slave axis to a master, so that several master-slave couplings can be
simultaneously implemented.
You can also assign several slave axes to the same master.

Master- and slave axes do not have to be in the same CNC channel - couplings, handling several
channels are possible, for several active channels.

The master-slave coupling is also suitable for spindles, if both spindles are in the closed-loop position
control mode. Master and slave axes can also be rotary axes.

© Siemens AG 1997. All rights reserved. A & D MC V 1 1 of 2

Technologies & Functions: Master-slave for drives 10.97

If master and slave axes between the motors and the mechanical coupling have different gearbox
ratios, the system is normalized inside the control to the same load speed. This means, that the motor
speeds of the master and slave can differ, without having to set special machine data.

Control structure for a master-slave coupling as overview:

Master

Position Speed Current Motor Encoder

controller controller controller

Weighting

Torque controller Tensioning Mechanical

torque coupling

Weighting

Position Speed Current Encoder

controller controller controller Motor

Slave

The speed setpoint coupling is realized in the position control clock of the control system. The input
quantities of the torque controller can be weighted using machine data, which allows the torque to be
distributed between both axes which can be parameterized.
An adjustable tensioning torque can be injected into the torque controller per (axial) machine data, to
establish a tension between the master and slave.
The couplings can also be activated and de-activated from the PLC.

The "master-slave for drives" function is included on the technology PC card for the NCU
572/573/573.2 of SINUMERIK 840D.

APPLICATION EXAMPLES:
• Power gain and (occasionally) mechanical drive coupling
• Drive with 2 motors, which operate on a rack (rack-and-pinion drive)
• Machining wheel sets for track-based vehicles
• Reversing of tension drives without any backlash (via opposing electronic weight equalization)

Please refer to the documentation "SINUMERIK 840D/FM-NC function description special functions
(Part 3) master-slave for drives (TE3) - Edition 12.97/Order No. 6FC5297-4AC80-0BP1“
for a detailed description of the "master-slave for drives" function
(a preliminary edition can be requested from your sales/marketing partner).

Siemens AG
Automation & Drives Group
Motion Control Systems
Postfach 3180, D-91050 Erlangen We reserve the right to make changes

2 of 2 A & D MC V 1 © Siemens AG 1997. All rights reserved.