Baumuller b maXX BM5800 - Prodrive Friction Torque Compensation with PT Filter and Response

Controllers
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
410
of 814
3.7
Ramp with PT
1
filter and response 
Figure 106: ProDrive Friction torque compensation with PT
1
filter and response
The friction torque compensation is described by a symmetrical compensation. By the
friction torque value
Z154.7– and the speed threshold Z154.4– the friction torque com-
pensation increase is calculated. Additionally, the friction torque is smoothed by a PT
1
el-
ement. The friction torque is precontrolled till such time as the set values of the position
and the speed precede the actual values.
Compensation characteristic
The compensation characteristic is defined by the interpolation of six parameterized sup-
porting points P
1
-P
6
(refer to ZFig. 107–). The individual supporting points include com-
pensation torques regarding the accordant speed Z154.15–. The compensation
characteristic is symmetric to central point of the origin (n = 0, M
Friction
= 0), being firmly
defined and thereby is not parameterizable.
If the speed exceeds the speed value of P
6
, the compensation torque remains consistent-
ly on the value of P
6
.