Controllers
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
412
of 814
3.7
3.7.1.5.4 Description of the Parameters
154.1 Mode
Configuration of the friction compensation function
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 0 ms 1:1 X
154.11 Stick slip controller
adaption
FLOAT 1 100 1 1:1 X
154.12 State identification fric-
tion torque
DINT 0 10 0 1:1 X
154.13 Wait time friction torque
reduction
UINT 0 10000 1000 ms 1:1 X
154.14 Compensation charac-
teristic - torque
FLOAT 0 100000 0 Nm 1:1 X
154.15 Compensation charac-
teristic - speed
FLOAT 0 1200000 0 rpm 6:1 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
9 ... 8 Speed thresholds are related to
00: Speed set value
01: Speed actual value
10: Speed feedforward (position control)
10 Reserved
11 Friction reduction at speed 0
31 ... 12 Reserved
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