Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 213
Friction Compensation Sliding
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C Set/SSV
REAL 0 0 100 % Motor Rated
Value added to the current/torque command to offset the effects of coulomb
friction.
Friction Compensation Static
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C Set/SSV
REAL 0 0 100 % Motor Rated
Value added to the current/torque command to offset the effects of static friction
(sometimes referred to "sticktion").
Friction Compensation Viscous
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C Set/SSV
REAL 0 0 100
% Motor Rated / (Motor
Units/Sec)
Value added to the current/torque command to offset the effects of viscous
friction, for example, friction that is proportional to speed.
Friction Compensation Window
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - P Set/SSV
REAL 0 0
Position Units
Defines a window around the command position. When the actual position is
within this window, the effective Friction Compensation value is reduced by a
factor of the ratio of the Position Error and the Friction Compensation Window.
When the actual position is outside the window, or when the axis is being
commanded to move, the normal friction compensation algorithm applies.
Torque Lead Lag Filter Bandwidth
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C Set/SSV
REAL 0 0 10
4
Filter Frequency Units
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