Hello,

There are 2 motors mechanically connected to the same load. Motor 1 is master in Speed Controlled mode (p1300 = 21). Motor 2 is slave in torque controlled mode (p1300 =23).

Torque setpoint of Motor 1 (r1509)  assigned as torque reference for Motor 2.

Normally we move a motor with MC commands MC_Power and then MC_MoveVelocity as an example.

How should torque controlled axis be moved after MC_Power? 

Is MC_Power enough to make slave motor to move in torque controlled mode?

Thank you..

Hello,

please check to use FB 437 "MC_SetTorqueLimit" for slave axis...

See manual (Chapter 6.2.13. - page 610):
https://support.industry.siemens.com/cs/ww/en/view/30119663

 Thanks for the link but this FAQ topic is about configuration. No information about how to initiate motion.

TechTeam

Hello,

it should be similar like Simotion.

https://support.industry.siemens.com/cs/ww/en/view/103603156

It seems that there is no special MC command for this purpose.

I think MC_Power is enough, maybe with a special mode. I expect slave motor to follow master motor if it is enabled.

Unfortunately I dont have a test chance before going to field. 

 Thank you TechTeam,

I checked contents of scripts, parameter settings are clear.

TechTeam

Hello,

yes, the coupling between master and slave is done on drive side. When enabling master (MC_Power), slave get's the signals from master. There is only one TO on S7-300T side.

You can use the script in an offline project, to test it and understand the functionality.

For using the script telegram of master has set from 105  to userderdefined (P922 = 999).