Drive functions
5.4 Force control
Hydraulic Drive
System Manual, 04/2015, 6SL3097-4BA00-0BP1
169
I component force controller
If force limitation and/or stiction injection is activated in p1400, then the integral time of the
force controller is entered into parameter p1717. Entering a value of 0 for the integral time
deactivates the I component.
D component force controller
If force limitation and/or stiction input is activated in p1400, a smoothing time constant of the
force controller for derivative action is set in p1718 and, in addition to the force controller P
component (p1715), a D-action component (jerk feedback) for the force controller is entered
in p1719.
If the D-action component of the force controller is deactivated (p1719), then the smoothing
function (p1718) is also deactivated.
The derivative-action time (p1719) can be negative or positive. No D component is active if
zero is entered.
Precontrol filter force controller
The precontrol filter of the force controller is activated using p1721 = 1.
The type of precontrol filter in the force controller is entered in parameter p1722:
● p1722[x] = 0
Low-pass filter (see p1723/p1724)
● p1722[x] = 1
Bandstop filter (see p1725/p1726)
The main filter data are defined using p1724, p1725 and p1726.
● Enter damping for precontrol filter 1 (PT2 low-pass filter) in force controller (p1724)
● Enter the blocking frequency for precontrol filter 1 (bandstop) in force controller (p1725)
● Enter the -3 dB bandwidth for precontrol filter 1 (bandstop) in force controller (1726)
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