B. Basic controlling principles
B−50
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B.8.9 Influence of the static identification on force control
Key parameters for force control are determined during static
identification. These are:
Friction hysteresis
Standstill force F
0
If no static identification is carried out, these parameters will
be assigned default values. The control quality is limited in
this case, and the following effect may occur:
The real standstill force deviates from the calculated de
fault value. This may lead to uncontrolled force control
behaviour.
With non−horizontal applications, the default value
for the
standstill force can be influenced via the mass. The de
fault value is set correctly if, in a force record with 0 N and
speed and stroke monitoring switched off, the drive is at a
standstill and can be moved in both directions by man
ually applying approximately the same force.
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