Fagor ACSD series, Original Instructions Manual

Page: 70 / 82

ACSD-70/80 Digital Brushless AC S ervo D rive system - Ref.1609
Function Amplitude of the hysteresis in friction torque compensation.
Valid values 0.2000 ... 1 000.0000 rpm.
Default value 0.0000 rpm.
Function Displays the values of the command and torque feedback.
Valid values - 99.9 ... 99.9 N·m.
Function Output of the velocity PI integrator. When the acceleration is
not extremely high, it is the same as the friction torque.
When compensating for friction, the value of this variable
must be reduced to near zero.
Valid values - 1 000.0 ... 1 000.0 N·m.
TP15 USER, RW S34677 TorqueCompensationSpeedHysteresis
NOTE. With TP15=0, the drive internally sets a fixed
Hysteresis amplitude of about SP10 rpm /10 000 to
compensate the friction torque. Remember that SP10 is
the maximum speed of the application; therefore, it will be
set to at least 0.2000 rpm which corresponds to a motor of
2 000 rpm.
TV1 USER, RO S00080 TorqueCommand
TV2 USER, RO S00084 TorqueFeedback
TV4 USER, RO S34380 SpeedIntegralAction
TV1
TV2
_D_rel