We have the Lloadbal blocks working correctly in the project. The documentation says that integration time and derivative are not required, even stating that sometimes a pure gain setting will work well. In our application it does work well with pure gain setting.

The issue is that the Follower block gives an error until you put a value other than "0". After you download it, the error goes away. You can then change it back to zero. This happens after each power down on the machine. Changing the value to anything other than "0" causes the torque to not share as effectively or we would leave it.

Seems this could be a bug in the block...

The application example is found at:

https://support.industry.siemens.com/cs/ww/en/view/109794291