ISTFR
ASCII - Command | ISTFR |
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Syntax Transmit | ISTFR [Data] |
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Syntax Receive | ISTFR <Data> | Available in |
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Type | Variable rw | MMI | No | |
ASCII Format | Float | CANBus Object Number | 36A4 (hex) | |
DIM | A | PROFIBUS PNU | 2020 (dec) IND = 0000xxxx (bin) | |
Range | 0 .. IPEAK | DPR | 420 (dec) | |
Default | 0 |
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Opmode | 0,1,4,5,6,7,8 | Data Type Bus/DPR | Integer32 | |
Drive State | Disabled | Weightning | 1000 | |
Start Firmware | 4.96 |
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Configuration | No | Revision | 1.7 | |
Function Group | Velocity Controller | EEPROM | Yes | |
Short Description | Velocity dependant Friction Compensation | |||
Description
The two objects ISTFR and VSTFR define the friction compensation curve. ISTFR enables the function if it is not "0". The friction compensation changes the additional current from -ISTFR to ISTFR if the velocity changes from -VSTFR to VSTFR.
It is a configuration parameter if it is changed from "0" to another value, other changes can be done online.
V=0 -> IFRICT = 0
V= 50% of VSTFR -> IFRICT = 50% of ISTFR
V>=VSTFR -> IFRICT = ISTFR
V= -50% of VSTFR -> IFRICT = -50% of ISTFR
V<=-VSTFR -> IFRICT = -ISTFR