January 2012 6.10 Axis Error Compensation 723
6.10.5 Compensation of static friction
The parameter object CfgSpeedControl is not required for:
Virtual axes (MP_axisMode=Virtual)
Axes that are for display only (MP_axisMode=Display)
Analog axes (MP_axisHw=Analog)
In machines with a great deal of static friction (stiction), a high integral-action
component can accumulate over time if there is a position error at standstill.
This can result in a jump in position when the axis begins moving. In such
cases you can limit the integral-action component of the speed controller in
MP_vCtrlIntTime:
Enter a limit in MP_vCtrlIntTime. Realistic input values: 0.1 to 2.0
MP_vCtrlIntTime
Limit of integral factor of the speed controller
Available from NCK software version: 597 110-01.
Format: Numerical value
Input: 0.000 000 000 to 30 [s]
Default: 0 [s]
Access: LEVEL3
Reaction: RUN
Settings in the configuration editor MP number
Axes
ParameterSets
[Key name of the parameter set]
CfgSpeedControl
vCtrlIntTime 400903
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