Keba ServoOne User Manual

ID Index Name Unit Description
372 0 CON_IP_SFFTF ms Speedfeedforwardfiltertimeconstant(PCON
mode)
374 0 CON_IP_EpsDly ms Delaypos.referencebyintegerno.ofcycles
CON_PConTS
375 0 CON_IP_SFFScale % Scalingofspeedfeedforward
376  CON_IP_TFFScale  Scalingoftorquefeedforward
376 0 TFFScale_PCON  Scalingoftorquefeedforward(PCONmode)
376 1 TFFScale_SCON  Scalingoftorquefeedforward(SCONmode)
377  CON_IP_EnableFF  Enablefeedforward
377 0 CON_IP_EnableFF  Enablefeedforward
377 1 CON_IP_EnableFF  Enablefeedforward
378 0 CON_IP_ACCFFTF ms Accelerationfeedforwardfiltertimeconstant
(PCON,SCONmode)
379  CON_IP_FFMode  Feed-forwardcalculationmode
379 0 PosHighRes  Positionhighresolution
379 1 Speed  Speedpre-control
379 2 Torque  Torquepre-control
386  CON_SCON_TFric  Dryfrictioncomp.,normalizedtomotorrated
torque
386 0 CON_SCON_TFric % Frictiontorquecompensationsettings
Thetablevalues0to2arealwaysapplicable
whiletablevalues3to4onlytakeeffectinthe
accelerationrange.
386 1 CON_SCON_TFric % Compensationvalue1
386 2 CON_SCON_TFric % Compensationvalue2
386 3 CON_SCON_TFric % Compensationvalue3
386 4 CON_SCON_TFric % Compensationvalue4
387  CON_SCON_TFricSpeed  Frictiontorquecompensation:Speedlimits
387 0 CON_SCON_TFricSpeed rpm Frictiontorquecompensation:Speedlimits
387 1 CON_SCON_TFricSpeed rpm Frictiontorquecompensation:Speedlimit1
387 2 CON_SCON_TFricSpeed rpm Frictiontorquecompensation:Speedlimit2
387 3 CON_SCON_TFricSpeed rpm Frictiontorquecompensation:Speedlimit3
387 4 CON_SCON_TFricSpeed rpm 
388 0 CON_SCON_TConst % Frictiontorquecompensation:Constant
(independentofdirection)
1516 0 SCD_Jsum kg
m*m
Totalinertiaofmotorandplant
Table 7.21: “Position controller - Pre-control” parameters
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
143
7 Control
NOTE
l Torquefeed-forwardcontrolwillbedisablediflinearinterpolation
isused.
l TheoverallmomentofinertiainP 1516[0] - SCD_Jsummustnot
bechangedtooptimizethepre-control,becausethiswouldalso
haveaneffectonothercontrollersettings!
l Inmulti-axisapplicationsrequiringprecisethree-dimensionalaxis
coordination,suchasinthecaseofmachinetools,thedelayof
thepositionsignalmustbeequallysetonallaxesviaP 374[0] -
IP_EpsDly.Otherwisethesynchronizationoftheaxesmaysuffer,
leadingtothree-dimensionalpatherrors.
7.5.2Frictiontorquecompensation(friction)
Two types of friction influence the variables of the position tracking error:
l Dryfriction(grip),whichactsdependingonthedirectionofmotion,but
independentlyofthespeed’smagnitude.
l Fluidfriction(viscosity),whichactsproportionallytospeed.
Friction torque compensation can be used for both types of friction. Both types of
friction are described in the compensation table by a function starting from speed = 0
or force = 0 up to a defined speed or force. Above the specified limit, the speed or
force remains constant. Compensation is performed as a percentage of rated motor
torque and power.

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English