Identification Of The Friction Torque Curve; Parameter Overview - Baumuller b maXX BM3000 Operating Manual

4.4
Configuration
Figure 120:
In addition the controller responds to the stick-slip effect, i.e. if the friction moment drops
abruptly at exceeding of the static friction. This adaption is switched on not before at least
80% of the friction torque is reached and responds, if the actual speed increases faster
than the set speed over several cycles. The speed controller is adapted and the compen-
sation falls via the PT
is reversed.
At the speed controller the P term as well as the integral term are amplified shortly by the
same factor (Z154.11–), in which the factor drops down linearly to the speed set value.

4.4.19.2 Identification of the friction torque curve

The friction torque compensation with PT
For this the motor must move between a positive and a negative speed with a slowly in-
creasing ramp. The settings and the identification can be done automatically in ProDrive.
The identification is started via bit 9 of parameter
in parameter Z154.12–.

4.4.19.3 Parameter overview

Functional block:
Number Name
154.1 Mode
154.3 Lower speed threshold
154.4 Upper speed threshold
294 Parameter manual b maXX BM3000
Document no.: 5.12001.07
of 820
Speed controller gain at stick-slip effect
filter to the output value 2 (Z154.6–), if the direction of revolution
1
FbReibmoment[154]
Type Min Max
WORD 0 0xFFFF
FLOAT -50000000 50000000
FLOAT -50000000 50000000
filter and ramp can be identified automatically.
1
Z154.1–
and their status is displayed
Default Value Unit
0
0 Grad/s 1:1
0 Grad/s 1:1
Baumüller Nürnberg GmbH
Factor
1:1 X
X
X