Description of the Software Modules and Parameters
Parameter manual b maXX BM3000
Document no.: 5.12001.07
291
of 820
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4.4.19 Friction compensation
4.4.19.1 Description of the friction compensation
The dynamic of a feed axis is influenced negatively from static friction (dry friction) at start
or inversion of the direction. The friction compensation enables the compensation of the
static friction by connecting an additional torque set value which is dependent on the mov
-
ing direction and speed.
Functionality
In principle the friction compensation is, that the known static friction part is compensated
via an additional torque set value and must not be balanced by the speed controller.
Thus an improvement of the controller behavior (lower position error) can be obtained es-
pecially at reversal of the moving direction. This causes an increase of the drive control’s
accuracy.
A certain compensation of the friction is achieved with the connection of a correction sig-
nal to the internal speed set value.
A correction signal with selectable progression is connected depending on the set value
or actual value speed of the drive.
Three-point with hysteresis and dead zone:
Figure 116: Three-point with hysteresis and dead zone
HINWEIS!
A speed controlled or position controlled operating mode must be activated (see
Z109.1–) for friction compensation.
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Output
Speed
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