July 2013 6.14 Commissioning 1051
Step 10: Compensate the sliding friction
Select operation with velocity feedforward control.
Enter the following test program (sliding friction in the X axis):
LBL 1
L X+2 R0 F50
L X-2 R0 F50
CALL LBL 1/10
Use the integrated oscilloscope to record the actual shaft speed (ACT RPM)
and the nominal current value (I NOMINAL).
Start the test program.
With the feed rate override knob, adjust the motor speed to 10 min
–1
(MP1054.x).
Determine the current (I NOMINAL) in both directions of rotation.
Calculate MP2610.x:
Change the test program so that the motor rotates at its rated speed.
Restart the test program.
Determine the current (I NOMINAL) for the rated shaft speed.
MP2610.x =
I NOMINAL
1
+ I NOMINAL
2
2
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