Festo CMMT-ST-SW, Оригинальное руководство пользователя

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ID Px. Parameters Description
The parameter can be used, for example, to assess the compon-
ent of the feedforward control from the friction compensation by
means of measured data recording (trace).
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974 Setpoint value friction
compensation
Unit Nm
The parameter can be used, for example, to assess the compon-
ent of the feedforward control from the inertia compensation by
means of measured data recording (trace).
Access read/−
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975 Setpoint value inertia
compensation
Unit Nm
Maximum of 16 support points via Index 0 - 15. Velocity [rad/s]
of the drive train (axis, gear unit, motor, load) based on the gear
unit output.
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976 Support point velocity
[rad/s]
Unit −
Maximum of 16 support points via Index 0 - 15. Torque [Nm] of
the drive train (axis, gear unit, motor, load) based on the gear
unit output.
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977 Support point torque
[Nm]
Unit Nm
Number of support points for which the look-up table friction
compensation is to be used.
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978 Number of support
points
Unit −
Tab. 374 Parameters
6.3.2 Inertia and friction compensation
For the inertia compensation it is multiplied with the setpoint acceleration. The value for the inertia is
the total inertia of the drive system. If the switchover is carried out on a different control parameter
set, also the respective inertia is superimposed from the control parameter set.
Control
377 Festo — CMMT-ST-SW — 2019-02