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8-50
Drive Functions
Determining the Compensation
Encoder Correction
Base package of all variants in closed loop characteristic
Pertinent Parameters
Pertinent Diagnostic Messages
The compensation value (S-0-0155) is determined in the following steps:
Value
1. Preset a positive command value for the axis and increase S-0-0092,
Bipolar torque/force limit value until the axis moves. The value
then contained in S-0-0092 corresponds to the static friction
component for positive direction (friction value_positive).
Repeat this procedure in the other direction of movement to
determine the static friction component for negative direction (friction
value_negative).
2. Derive the setting value for friction torque compensation from the
determined
value_negative). As there is no direction-dependent correction value,
the average value has to be calculated from these two values and
entered in parameter S-0-0155, Friction compensation.
Generating the average value for the entry in S-0-0155:
S
-
- 0
0155
Brief Description
The quality of machining or the precision with which an axis can follow a
given path is determined by several factors. One of the factors of
influence is the precision with which a measuring system can identify the
position of an axis or shaft.
IndraDrive controllers provide the possibility of improving inaccuracy
inherent in position measuring systems with sinusoidal signals. This
improves the ability of a drive or an axis to follow the position and velocity
command values. The bandwidth of the control loops can also be
improved in many cases by the possibility of setting the control loop gain
to a higher value.
• P-0-0340, C3500 Command Determine encoder correction values
• P-0-0341, Control word for encoder correction
• P-0-0342, Correction value table for encoder correction
• C3500 Command Determine encoder correction
• C3501 Acquisition velocity not allowed
• C3502 Motor encoder not available
• C3503 Optional encoder not available
• C3504 Measuring encoder not available
• C3505 No encoder selected
• C3506 Correction value table cannot be stored
Functional Description
The precision of the actual position values that the controller determines
from the signals of a measuring system depends, in the case of
sinusoidal signals, to a high degree on how well the measuring system
complies with the sine form.
values
(friction
value_positive
+
|
friction
value_posi
tive
|
|
friction
=
2
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
MPH-02, MPB-02, MPD-02
and
friction
value_nega
tive
|
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