Keba ServoOne User Manual

Image 7.31: “Position control” screen
ID Index Name Unit Description
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limits
387 2 CON_SCON_TFricSpeed rpm Frictiontorquecompensation:Speedlimits
387 3 CON_SCON_TFricSpeed rpm Frictiontorquecompensation:Speedlimits
387 4 CON_SCON_TFricSpeed rpm Frictiontorquecompensation:Speedlimits

388 0 CON_SCON_TConst % Frictiontorquecompensation:Constant
(independentofdirection)
Table 7.22: “Position controller - Feed-forward control” parameters (friction torque
compensation extract)
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
144
7 Control
The screen view can only be used to configure P386[0] - CON_SCON_TFric. In
order to access all the friction torque compensation parameters, please switch to the
list view by using the “CTRL + L” key combination.
Image 7.32: Friction torque compensation for position control
The friction torque compensation is derived from the forward-fed speed nref_FF. It
has five basic functions, each having the Torque and Speed parameters. The basic
function runs proportionally up to the point (Speed, Torque), the function value
remains constant at higher speeds.

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English