6.3.8.4 Not linear torque precontrol
6.3.8.4.1 Principle
The precontrol has not the desired effect proportional to the acceleration (e.g. at
crank operation). Here observe non-linear relations.
0 … 255 -> 0 … 1.0, Array 64
-127 … 0 … 127 -> -1 …0…1, Array 64
inertia derivation [kg*cm^2]
-127 … 0 … 127 -> -1…0…1, Array 64
0 … 255 -> 0 … 1.0, Array 64
Scaling of the precontrol with the factor from co37(φ)
Modification of the precontrol with co38(φ) * co39
Compensation of weights Mw = co40[φ] * co41
Scaling of the gain of the speed controller with the factor from co37(φ)
0: off
1: on with the factor from co37
2: on with the factor from co43
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