Keba ServoOne Device Help page 144

Image 7.31: "Position control" screen
ID Index Name
386 CON_SCON_TFric
386 0 CON_SCON_TFric
386 1 CON_SCON_TFric
386 2 CON_SCON_TFric
386 3 CON_SCON_TFric
386 4 CON_SCON_TFric
387 CON_SCON_TFricSpeed
387 0 CON_SCON_TFricSpeed rpm Friction torque compensation: Speed limits
387 1 CON_SCON_TFricSpeed rpm Friction torque compensation: Speed limits
387 2 CON_SCON_TFricSpeed rpm Friction torque compensation: Speed limits
387 3 CON_SCON_TFricSpeed rpm Friction torque compensation: Speed limits
387 4 CON_SCON_TFricSpeed rpm Friction torque compensation: Speed limits
388 0 CON_SCON_TConst
Table 7.22: "Position controller - Feed-forward control" parameters (friction torque
compensation extract)
ID No.: 0842.26B.5-01 Date: 09.2020
7 Control
Unit Description
Dry friction comp., normalized to motor rated
torque
% Friction torque compensation settings
The table values 0 to 2 are always applicable
while table values 3 to 4 only take effect in the
acceleration range.
% Compensation value 1
% Compensation value 2
% Compensation value 3
% Compensation value 4
Friction torque compensation: Speed limits
% Friction torque compensation: Constant
(independent of direction)
The screen view can only be used to configure P 386[0] - CON_SCON_TFric. In
order to access all the friction torque compensation parameters, please switch to the
list view by using the "CTRL + L" key combination.
Image 7.32: Friction torque compensation for position control
The friction torque compensation is derived from the forward-fed speed nref_FF. It
has five basic functions, each having the Torque and Speed parameters. The basic
function runs proportionally up to the point (Speed, Torque), the function value
remains constant at higher speeds.
ServoOne - Device Help 144