Control functions

Parameter designation	Description
Position controller
Position controller	Switching the position controller on/off Default value: On
	Index: 50012.1
	IEC name: Controller.PositionController.Config.xDisable
P gain	Position controller gain for minimizing lag errors
	Index: 50012.2
	IEC name: Controller.PositionController.Config.lrPGain
Maximum negative acceleration INFORMATION: Only visible in expert mode.	Maximum negative acceleration
	Index: 50012.4
	IEC name: _fbController._fbPositionController.stConfig.lrAccDecMin
Maximum positive acceleration INFORMATION: Only visible in expert mode.	Maximum positive acceleration
	Index: 50012.5
	IEC name: _fbController._fbPositionController.stConfig.lrAccDecMax
Balance controller
Priority of compensation	Torque (0) Skew (1) Skew without overload guard (2) User-defined skew error (5) User-defined speed correction values (3) User-defined speed correction values with diagnostics (6)
	Index: 50011.11
	IEC name: Controller.MAC.Config.ePriority

Depending on the selected compensation priority, additional configuration options are available.

Priority for the compensation: "Torque" or "User-defined speed correction values with diagnostics"

Parameter designation	Description
Balance controller
P gain	Factor for increasing torque compensation 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 compensation for curve travel: Off On
	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
Filter time actual torque 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 settings fields displayed depends on the number of subordinate axis group members. INFORMATION: The value does not have a unit, i.e. the information 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 the members
Torque difference (preload) between the respective axis group members in [%/nominal motor torque]. The number of settings fields displayed depends on the number of subordinate 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

Priority for the compensation: "Skew with/without overload guard" or "User-defined skew error"

Parameter designation	Description
Balance controller
Allow skew compensation INFORMATION: Only visible in the compensation priority "Skew with/without overload guard".	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 compensation It is recommended to select the same value as for the P gain of the position controller.
	Index: 50011.18
	IEC name: Controller.MAC.Config.SkewLeveling.lrPGain
Limit speed and limit deceleration for skew compensation	Limit the speed and deceleration of the "Skew" priority (lrSkewMaxMin and lrAccDecSkewMaxMin) Not active Active
	Index: 50011.19
	IEC name: Controller.MAC.Config.SkewLeveling.xVelDecLimiterON
Limit acceleration for skew compensation	Activation of limit acceleration of skew compensation Not active Active
	Index: 50011.20
	IEC name: Controller.MAC.Config.SkewLeveling.xAccLimiterON
Maximum compensation acceleration/deceleration INFORMATION: Only visible when limit speed and deceleration of skew compensation is active or limit acceleration of skew compensation is active.	Acceleration or deceleration limitation for skew compensation (in user units) Default value: 10% of the "Acceleration/deceleration" application limit
	Index: 50011.21
	IEC name: Controller.MAC.Config.SkewLeveling.lrAccDecMaxMin
Maximum compensation speed INFORMATION: Only visible with active limit speed and deceleration of skew compensation.	Speed limitation for skew compensation (in user units) Default value: 10% of the "Speed" application limit
	Index: 50011.22
	IEC name: Controller.MAC.Config.SkewLeveling.lrVelMaxMin
Skew offset
Offset	Position offset of the axis group members to the actual position of the axis group. It is only possible to enter a value if the offset mode "Forms actual position" has been selected for all members or if the offset mode is set to "Travels offset" for the member.
	Index: 50011.31-50011.34
	IEC name: Controller.Config.SkewOffsetToMean.lrAGMemberX
Offset mode	Mode in which the set skew offset is implemented by the individual axis group members. Forms actual position: If this setting is set for all axis group members, a symmetrical offset must be selected for the axis group. The sum of all the offsets is then 0. At least one axis group member must always form the actual position. Moves offset: The axis group member travels the offset independently of the other axis group members.
	Index: 50011.32
	IEC name: