Rockwell Automation 1756-DMF30 ControlLogix Drive Module - Manual (Page 119)

Publication 1756-UM522B-EN-P - February 2003
1756-DMD30 Specific Information B-39
131 Torq Ref TP Data
Displays the data selected by parameter 130 [Torque Ref TP
Sel]. Units:
Default:
Min:
Max:
Type:
File:
Group: P.U.
0
-8
8
Non-Linkable, Read Only, Floating Point
Utility
Test Points
140 FricComp Spd Ref
Supplies a speed input to the Friction Compensation algorithm.
This input is normally a speed reference from a motion planner
or ramped speed reference. It will trigger a torque feed
forward response depending on its value. Units:
Default:
Min:
Max:
Type:
File:
Group: RPM
0
-14000
14000
Linkable, Read-Write, Floating Point
Speed Control
Reference
141 FricComp Setup
Enter or write a value to configure the friction compensation algorithm.
This is a packed word of 3 digits. Each digit has a possible selection of
10 levels.
• The most significant digit sets the number of time steps from stick to
slip, each step is 0.002 sec.
• The least significant digit sets the speed threshold in intervals of
0.0005 pu speed.
• The next (middle) digit sets the hysteresis band for the “units” digit in
intervals of 0.0005 pu velocity.
Example: FricComp Setup = 324 means: 3 time steps between stick and
slip, each of 0.002 sec. duration, 2 counts of hysteresis or 0.001
pu_speed (each count is 0.0005 pu speed), and 4 counts or 0.002
pu_speed is the trigger threshold (each count is 0.0005 pu speed).
Default:
Min:
Max:
Type:
File:
Group: 325
0
999
Non-Linkable, Read-Write, 16-bit Integer
Speed Control
Reference
142 FricComp Stick
The torque needed to break away from zero speed. By nature
of friction, the break away friction will always be greater than
the running friction. Units:
Default:
Min:
Max:
Type:
File:
Group: P.U.
0.15
0
8
Linkable, Read-Write, Floating Point
Speed Control
Reference
143 FricComp Slip
The torque level to sustain very low speed – once “break
away” has been achieved. By nature of friction, running torque
(slip) will always be less than break away torque. Units:
Default:
Min:
Max:
Type:
File:
Group: P.U.
0.1
0
8
Linkable, Read-Write, Floating Point
Speed Control
Reference
144 FricComp Rated
The torque needed to keep the motor running at base motor
speed and with no process loading. The friction compensation
algorithm assumes a linear or viscous component of friction
between parameter 143 [FricComp Slip] and parameter 144
[FricComp Rated]. Units:
Default:
Min:
Max:
Type:
File:
Group: P.U.
0.2
0
8
Linkable, Read-Write, Floating Point
Speed Control
Reference
No. Name
Description Values
N N N
Units
Hysteresis
Number of
Time Steps