Description of the Software Modules and Parameters
Parameter manual b maXX BM5800
Document No.: 5.16029.03
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of 814
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Figure 107: Exemplary presentation of the parameterizable friction torque-compensation characteristic
3.7.1.5.2 Reduction of the friction torque at 0 speed
If 0 speed is approached at motors with a high friction torque then in a lot of cases the
current is not reduced and remains at the torque current, which is required to overcome
the sliding friction. The friction torque reduction is switched on at speed 0 by bit
11 of
Z154.1–. The friction torque is reduced till such time as the current reaches 0. By the
waiting time Z154.13– can be set how long is waited after recognizing speed 0, until the
friction torque reduction is initiated.
3.7.1.5.3 Parameter overview
Functional block: FbReibmoment[154]
Number Name Type Min Max Default Value Unit Factor
Read only
Storage
DS Support
Cyclic Write
Axis-independent
154.1 Mode WORD 0 0xFFFF 0 1:1 X
154.3 Lower speed threshold FLOAT -50000000 50000000 -1 Grad/s 1:1 X
154.4 Upper speed threshold FLOAT -50000000 50000000 1 Grad/s 1:1 X
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
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