MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
137
7 Control
Fig. 7.30: “Position control” dialog box
ID
Index Name
Unit Description
386
CON_SCON_TFric
386
0
CON_SCON_TFric
%
386
1
%
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
386
2
%
386
3
%
386
4
CON_SCON_TFric
CON_SCON_TFric
CON_SCON_TFric
CON_SCON_TFric
%
387
Compensation value 2
Compensation value 3
Compensation value 4
Compensation value 5
387
0
rpm
387
1
rpm
387
2
rpm
387
3
rpm
Friction torque compensation: Speed limits
Friction torque compensation: Speed limit 1
Friction torque compensation: Speed limit 2
Friction torque compensation: Speed limit 3
387
4
rpm
388
0
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TConst
%
Friction torque compensation: Constant
(independent of direction)
Table 7.20: “Position controller - Feed-forward control” parameters (friction torque
compensation extract)
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.
Fig. 7.31: 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.