Parker EME Setting up Compax3192-120113 N08 C3I12T11 - December 2010 227Friction compensationThe activation of the friction compensation (end of the velocity loop)K IpvKDK- - -pvKT681.6 SpeedTracking error 2100.7 Velocity loop - "D" term2100.2 Stiffness2100.3 Damping681.10 Setpoint Speed688.14 Current &jerk feed-forward RMSf(n SG , n, O2200.24, Obj. 2200.20)Filter tracking errorThe friction compensation helps the control to surmount static friction at lowsetpoint speeds. The non linear characteristic line is partly compensated by thisand a smaller deadband can be chosen, which will increase the position accuracy.The amplitude of the friction compensation depends on the application and must becalculated if needed. If the value is set too high, corrective movements may resultand the tendency to oscillate is increased.Commissioning windowIn this chapter you can read about:Load identification.......................................................................................................... 227Setpoint generation ....................................................................................................... 227Commissioning windowWith the aid of the setup window, the drive can be set up in a simple way.Load identificationIf you do not know the mass moment of inertia, it can be determined. For this, youclick on the corresponding button (see setup window no. 13). After the followingparameter entry, the identification can be started via the same button. For more detailed information on the load identification, see the device help,chapter "load identification". This measurement requires the correct EMC or torque constant value Kt.Setpoint generationIn this chapter you can read about:Internal setpoint generation ........................................................................................... 227External setpoint generation .......................................................................................... 229The setpoints for the control loops are provided in two different ways - internally orexternally. The setpoint generation depends on the technology option of the device.Internal setpoint generationThe internal setpoint generation can be used for the technology options >T10. Inthis case, the internal setpoint generator generates the entire motion profile withposition, velocity, acceleration and jerk.
