Friction Compensation; Description Of The Friction Compensation - Baumuller b maXX BM3000 Operating Manual

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Description of the Software Modules and Parameters

4.4.19 Friction compensation

The dynamic of a feed axis is influenced negatively from static friction (dry friction) at start

or inversion of the direction. The friction compensation enables the compensation of the

static friction by connecting an additional torque set value which is dependent on the mov-

ing direction and speed.

Functionality

In principle the friction compensation is, that the known static friction part is compensated

via an additional torque set value and must not be balanced by the speed controller.

Thus an improvement of the controller behavior (lower position error) can be obtained es-

pecially at reversal of the moving direction. This causes an increase of the drive control's

A certain compensation of the friction is achieved with the connection of a correction sig-

nal to the internal speed set value.

A speed controlled or position controlled operating mode must be activated (see

Z109.1–) for friction compensation.

A correction signal with selectable progression is connected depending on the set value

or actual value speed of the drive.

Three-point with hysteresis and dead zone:

Three-point with hysteresis and dead zone

Parameter manual b maXX BM3000

Document no.: 5.12001.07

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