Adjustment
169
The parameters for setting the [viscous friction torque compensation] function are as follows.
Index
Name
Unit
Setting range
Default value
Become
effective
Period
0x2123
Application Switch
—
0-0xFFFFFFFF
0
Restart
Y
0x20E0
Friction
Torque
Viscosity
Coefficient Positive Value
0.001
0-1000
0
Immediately
Y
0x20E1
Friction
Torque
Viscosity
Coefficient Negative Value
0.001
0-1000
0
Immediately
Y
1.
Bit9 of the parameter [Application Switch] is used to control [friction torque compensation]. Friction torque
compensation can be enabled by ticking this option.
2.
The [Static Friction Torque Compensation Value] is used to specify the static friction compensation torque, and
the unit is one thousandth of the rated torque of the motor.
3.
The [Static Friction Torque Compensation Positive Velocity] is used to specify the velocity threshold at which
the static friction compensation takes effect. When the motor speed is greater than the threshold in the
corresponding direction, the static friction torque compensation takes effect.
4.
The viscous friction compensation value varies linearly with the actual speed, with the slope of the change
defined by the [Friction Torque Viscosity Coefficient Value]. The unit is one thousandth of the rated torque per
rated speed.
How to use
1.
Set relevant parameters of friction compensation. The [Static Friction Torque Compensation Value] and the [Friction
Torque Viscosity Coefficient Value] can be obtained through the system parameter identification function, or can be set
manually. To ensure the control accuracy, it is recommended to use the system parameter identification function to
automatically obtain relevant parameters. For applications where parameter identification cannot be conducted or in other
occasions with special requirements, relevant parameters can be set manually, but reasonable parameter ranges shall be
selected according to the actual situations. Abnormal parameter settings may cause the system to run abnormally.
2.
When the [static friction torque compensation] function is used, if the static friction torque compensation value is correct,
the static friction torque compensation velocity can be gradually increased from 0 and then adjusted by observing the
speed error and position error to obtain the best compensation effect.
3.
When viscous friction compensation is used, the torque compensation value varies linearly along with the motor speed, as
shown in the figure below.
Summary of Contents for CoolDrive Series
Page 29: ...Preface 17 T2 model ...
Page 30: ...Preface 18 T3 model ...
Page 31: ...Preface 19 T4 model ...
Page 230: ...Monitoring 218 ...
