Configuration
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
294
of 820
4.4
Figure 120: Speed controller gain at stick-slip effect
In addition the controller responds to the stick-slip effect, i.e. if the friction moment drops
abruptly at exceeding of the static friction. This adaption is switched on not before at least
80% of the friction torque is reached and responds, if the actual speed increases faster
than the set speed over several cycles. The speed controller is adapted and the compen
-
sation falls via the PT
1
filter to the output value 2 (Z154.6–), if the direction of revolution
is reversed.
At the speed controller the P term as well as the integral term are amplified shortly by the
same factor (
Z154.11–), in which the factor drops down linearly to the speed set value.
4.4.19.2 Identification of the friction torque curve
The friction torque compensation with PT
1
filter and ramp can be identified automatically.
For this the motor must move between a positive and a negative speed with a slowly in
-
creasing ramp. The settings and the identification can be done automatically in ProDrive.
The identification is started via bit 9 of parameter Z154.1– and their status is displayed
in parameter Z154.12–.
4.4.19.3 Parameter overview
Functional block: FbReibmoment[154]
Number Name Type Min Max Default Value Unit Factor
Read only
Storage
DS Support
Cyclic Write
154.1 Mode WORD 0 0xFFFF 0 1:1 X
154.3 Lower speed threshold FLOAT -50000000 50000000 0 Grad/s 1:1 X
154.4 Upper speed threshold FLOAT -50000000 50000000 0 Grad/s 1:1 X
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