Image 7.31: “Position control” screen
ID
Index Name
Unit Description
386
CON_SCON_TFric
Dry friction comp., normalized to motor rated
torque
386
0
CON_SCON_TFric
%
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.
386
1
CON_SCON_TFric
%
Compensation value 1
386
2
CON_SCON_TFric
%
Compensation value 2
386
3
CON_SCON_TFric
%
Compensation value 3
386
4
CON_SCON_TFric
%
Compensation value 4
387
CON_SCON_TFricSpeed
Friction torque compensation: Speed limits
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
%
Friction torque compensation: Constant
(independent of direction)
Table 7.22: “Position controller - Feed-forward control” parameters (friction torque
compensation extract)
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
142
7 Control
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.