Siemens SIMATIC ET 200pro Series Operating Instructions Manual page 151

Adding friction characteristic for the torque setpoint
If you enable the friction characteristic (p3842 = 1), the inverter adds the output of the friction
characteristic r3841 to the torque setpoint.
Parameter
Parameter
p3820
...
p2839
r3840
r3841
p3842
p3845
p3846
p3847
You will find more information in the List Manual.
SIMATIC ET 200pro FC-2 converter
Operating Instructions, 09/2017, FW V4.7 SP9, A5E34257324B AE
Explanation
Intermediate points of the friction characteristic [rpm; Nm]
Friction characteristic status word
.00 1 signal: Friction characteristic OK
.01 1 signal: Determination of the friction characteristic is active
.02 1 signal: Determination of the friction characteristic is complete
.03 1 signal: Determination of the friction characteristic has been aborted
.08 1 signal: Friction characteristic positive direction
Friction characteristic, output [Nm]
Activate friction characteristic
0: Friction characteristic deactivated
1: Friction characteristic activated
Activate friction characteristic plot (factory setting: 0)
0: Friction characteristic plot deactivated
1: Friction characteristic plot activated, both directions
2: Friction characteristic plot activated, positive direction
3: Friction characteristic plot activated, negative direction
Friction characteristic plot ramp-up/ramp-down time (factory setting: 10 s)
Ramp-up/ramp-down time for automatic plotting of the friction characteristic.
Friction characteristic plot warm-up period (factory setting: 0 s)
At the start of automatic plotting, the inverter accelerates the motor up to the speed =
p3829 und keeps the speed constant for this time.
Advanced commissioning
7.11 Motor control
151