MultiAxisController – control function

Parameter name

Description

Operating mode setting

Balancing priority

  • Torque
  • Skew
  • Skew without overload guard
  • User-defined skew error
  • User-defined speed correction values
  • User-defined speed correction values with diagnostics

Index: 50011.11

IEC name: Controller.MAC.Config.ePriority

 

Depending on the selected operating mode, additional configuration options are available.

Balancing priority: "Torque" or "User-defined speed correction values with diagnostics"

Parameter name

Description

Operating mode setting

P gain

 

Factor for increasing torque balancing

Default value: 100%

Index: 50011.15

IEC name: Controller.MAC.Config.TorqueLeveling.lrScaleFactor

Slip limiter

Enable anti-slip control.

  • Not active
  • Active

Index: 50011.12

IEC name: Controller.MAC.Config.TorqueLeveling.xSlipVelLimiterON

Curve travel

Optimization of torque balancing for cornering:

  • None
  • In positive direction of travel
  • In negative direction of travel

Index: 50011.27

IEC name: –

Maximum slip speed

 

INFORMATION: Only visible when the slip limiter is active.

Speed limitation for the slip limiter (in user units)

Default value: 5% of the "Speed" application limit

Index: 50011.13

IEC name: Controller.MAC.Config.TorqueLeveling.lrSlipVelMaxMin

Advanced settings

Actual torque filter time

 

INFORMATION: Only visible in expert mode.

Filter for smoothing the actual torque of all axis group members in [s]

Index: 50011.28

IEC name: –

Time constant

 

INFORMATION: Only visible in expert mode.

Time constant of the balance controller in [s]

Calculation: 1/P gain2

Index: 50011.14

IEC name: Controller.MAC.Config.TorqueLeveling.lrTimeConstant

Torque ratios

The ratio between the torque of one axis group member and the torque of the remaining axis group members. The number of setting fields displayed depends on the number of subordinate axis group members. See also Torque ratios.

INFORMATION: The value does not have a unit, i.e. the value 50% : 50%, 2 : 2 or 3 Nm : 3 Nm have the same effect.

Index: 50011.1-4

IEC name: Controller.Config.TorqueRelation.lrAGMember1-4

Torque between axis group members

Torque difference (preload) between the respective axis group members in [%/nominal motor torque]. The number of setting fields displayed depends on the number of subordinate axis group members. See also Torque between axis group members.

Index: 50011.5-8

IEC name:

Controller.Config.TorqueBetween.lrAGMember1_2

Controller.Config.TorqueBetween.lrAGMember2_3

Controller.Config.TorqueBetween.lrAGMember3_4

Controller.Config.TorqueBetween.lrAGMember4_1

Balancing priority: "Skew with/without overload guard" or "User-defined skew error"

Parameter name

Description

Operating mode setting

Allow skew balancing

INFORMATION: Only visible in the "Skew with/without overload guard" operating mode.

  • Manual – Skew correction must be enabled in the IEC/fieldbus using xEnableSkewing.
  • With setpoints active – Skew correction starts automatically when the inverters switch to control.

Index: 50011.25

IEC name: Controller.MAC.Config.SkewLeveling.eEnableSkewing

P gain

Factor for increasing skew balancing

Index: 50011.18

IEC name: Controller.MAC.Config.SkewLeveling.lrPGain

Encoder source of skew balancing

INFORMATION: Only visible in the "Skew with/without overload guard" operating mode.

  • Motor encoder
  • Mean position value for the motors
  • External encoders
  • Mean position value for the external encoders
  • Motor encoders and external encoders
  • Mean position value for the motors and external encoders

Index: 50011.16

IEC name: Controller.MAC.Config.SkewLeveling.eEncSelector

Speed source for calculating the overload guard

INFORMATION: Only visible in expert mode and in the "Skew with overload guard" operating mode.

SEW‑EURODRIVE recommends the "Motor encoder" setting if there is a positive connection, otherwise a variant with an external encoder is recommended.

  • Motor encoder
  • Actual speed of the motors
  • External encoders
  • Actual speed of the external encoders
  • Motor encoders and external encoders
  • Actual speed, motors and external encoders combined
  • External encoders filtered
  • Actual speed of the external encoder filtered by the time constant of encoder evaluation (lrInputFilterTime_ExtEnc).

Index: 50011.17

IEC name: Controller.MAC.Config.SkewLeveling.eOverloadGuard_EncSelector

Limit speed and limit deceleration for skew balancing

Limit the speed and deceleration of the "Skew priority" operating mode (lrSkewMaxMin and lrAccDecSkewMaxMin)

  • Not active
  • Active

Index: 50011.19

IEC name: Controller.MAC.Config.SkewLeveling.xVelDecLimiterON

Limit acceleration for skew balancing

Activation of limit acceleration of skew balancing

  • Not active
  • Active

Index: 50011.20

IEC name: Controller.MAC.Config.SkewLeveling.xAccLimiterON

Maximum balancing acceleration/deceleration

 

INFORMATION: Only visible when limit speed and deceleration of skew balancing is active or limit acceleration of skew balancing is active.

Acceleration or deceleration limitation for skew balancing (in user units)

Default value: 10% of the "Acceleration/deceleration" application limit

Index: 50011.21

IEC name: Controller.MAC.Config.SkewLeveling.lrAccDecMaxMin

Maximum balancing speed

 

INFORMATION: Only visible with active limit speed and deceleration of skew balancing.

Speed limitation for skew balancing (in user units)

Default value: 10% of the "Speed" application limit

Index: 50011.22

IEC name: Controller.MAC.Config.SkewLeveling.lrVelMaxMin