Description of the Software Modules and Parameters
Parameter manual b maXX BM3000
Document no.: 5.12001.07
295
of 820
4
4.4.19.4 Description of the Parameters
154.1 Mode
Configuration of the friction compensation function
154.5 Output value 1 FLOAT -50000000 50000000 0 Nm 1:1 X
154.6 Output value 2 FLOAT -50000000 50000000 0 Nm 1:1 X
154.7 Output value 3 FLOAT -50000000 50000000 0 Nm 1:1 X
154.8 Friction compensation actual
output value
FLOAT -50000000 50000000 0 Nm 1:1 X
154.9 Hysteresis speed threshold FLOAT 0 1000 0 Grad/s 1:1 X
154.10 Time constant friction torque FLOAT 0 1000 15 ms 1:1 X
154.11 Stick slip controller adaption FLOAT 1 100 1 1:1 X
154.12 State identification friction
torque
DINT 0 10 0 1:1 X
Bit Meaning
0 0: Friction compensation function is switched off
1: Friction compensation function is switched on
2 ... 1 Connection
00: Three-point with hysteresis and dead zone
Output Value 1 ... 3, hysteresis speed threshold effective
01: Three-point with ramp
Output Value 1, 2 effective, in between continuous with ramp
10: Two-point with hysteresis
Output Value 1, 3 effective, hysteresis is due to the speed thresholds
11: Ramp with PT
1
filter and response
7 ... 3 Reserved
8 Speed thresholds are related to
0: Speed set value
1: Speed actual value
9 Start identification of the friction torque curve
31 ... 10 Reserved
NOTE!
The friction compensation must not used in combination with the torque coupling
function.
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