| ASCII - Command | ISTFR | |||
| Syntax Transmit | ISTFR [Data] | |||
| Syntax Receive | ISTFR <Data> | Available in | ||
| Type | Variable rw | MMI | No | |
| ASCII Format | Float | CANBus Object Number | 36A4 (hex) | |
| DIM | A | PROFIBUS PNU | 2020 (dec) IND = 1 (dec) | |
| Range | 0 ... DIPEAK | DPR | No | |
| Default | 0 | |||
| Opmode | 0, 1, 4...8 | Data Type Bus/DPR | Integer32 | |
| Drive State | Disable | Weighting | 1000 | |
| Start Firmware | 1.30 | |||
| Configuration | No | Last Change of this Object | 1.1 | |
| Function Group | other commands | EEPROM | Yes | |
| Short Description | Current Limit for velocity-dependent friction compensation | |||
Description
| The two parameters ISTFR and VSTFR define the friction compensation curve. If ISTFR is set to 0 the function is inactive. The friction compensation changes the additional current from -ISTFR to ISTFR if the velocity changes from -VSTFR to VSTFR. The current is added before the velocity filter, so the filter applies also to the friction compensation. 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 |
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