Controllers
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
414
of 814
3.7
154.8 Friction compensation actual output value
Connected friction compensation value at the moment .
154.9 Hysteresis speed threshold
Hysteresis for connection „Three-point with hysteresis and dead zone“ (Z154.1–
bit 2 ... 1 = 00), otherwise not effective, see ZFig. 103– on page 408.
154.10 Time constant friction torque
Time constant of the friction torque filter at the friction compensation ramp with PT
1
filter
and response.
154.11 Stick-slip controller adaption
Factor for the P term and the integral term of the speed controller, when a stick-slip effect
is detected.
154.12 State identification friction torque
Value Meaning
0 Deactivated
1 Init
2 Wait until there is negative speed
3 Measurement of Iq before acceleration
4 Wait until acceleration
5 Measurement
6 Identification control
7 Calculation
8 End
9 Error Time-out
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