58 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011
Chapter 1 Detailed Drive Operation
Example: [FricComp Setup] = 524 means:
5 time steps between stick and slip, each of 0.002 sec. duration, 2 counts of
hysteresis or 0.001 pu_speed (each count is 0.0005 pu speed), and 4 counts
or 0.002 pu_speed is the trigger threshold (each count is 0.0005 pu speed).
Parameter 66 [FricComp Stick] sets the torque reference needed to break away
from zero speed. Breakaway torque due to friction is always greater than running
torque due to friction. This parameter is in per unit, so a value of 1 equals 100%
motor torque.
Parameter 67 [FricComp Slip] sets the torque level to sustain very low speed once
breakaway has been achieved. Again, the torque required to run very close to 0
speed due to friction will be greater than the torque required to run at higher
speeds due to friction. This parameter is in per unit, so a value of 1 equals 100%
motor torque.
Parameter 68 [FricComp Rated] sets the torque needed to keep the motor
running at base motor speed and with no process loading. This parameter is in
per unit, so a value of 1 equals 100% motor torque. The friction compensation
algorithm assumes a linear or viscous component of friction between [FricComp
Slip] and [FricComp Rated].
The friction compensation block calculates the torque needed due to friction,
which shows up in parameter 69 [FricComp Trq Add]. [FricComp Trq Add] is
summed with the output of the inertia compensation block and the torque
generated by the speed reference loop. That summed torque enters the torque
selection block refer to Torque Reference
on page 193 for more information).
Fuses and Circuit Breakers
See the PowerFlex 700S AC Drives, Phase II Control Technical Data, publication
20D-TD002
for detailed information.
Grounding, General
Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated
(PWM) AC Drives Installation Instructions, publication DRIVES-IN001
, for
detailed information.
HIM Memory
See Copy Cat on page 34
64
65
68
66
67
151 11 Friction Comp
Logic Command
(Frict Comp)
FricComp Trq Add
FricComp Setup
FricComp Stick
FricComp Slip
FricComp Rated
69
FricComp Spd Ref
to Torque
Control [7B3]
43
Ramped Spd Ref
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