Friction compensation (frict_comp.*)
The purpose of friction compensation is to compensate actually existing friction torque by way of an additional torque. Therefore, it works like speed-dependent feed forward control of motor current.
Friction compensation reduces following error and backlash. For more information see [FCT-C25].
Friction compensation parameters are defined in the compensation value list and is currently available for drive types CANopen and SERCOS. It includes the following elements.
Additional information
- Maximum number of table entries for friction compensation (P-COMP-00062)
- Friction interpolation mode (P-COMP-00041)
- Number of elements in the compensation value table (P-COMP-00042)
- Delay value for current build-up (P-COMP-00043)
- Reversal look ahead (P-COMP-00044)
- Scaling factor for the compensation values (P-COMP-00045)
- Velocity input variable (P-COMP-00046)
- Measured friction (motor current) – output variable (P-COMP-00047)
- Delay time for the compensation values (P-COMP-00058)