6.3.8.4.4 Internal value range
The angle φ is between these two limits of 0 to 2π. Referencing is possible with the
homing function.
The minimum position range for non-linear torque pre-control is 2
10
increments. If
necessary, the position resolution can be adjusted with co03 position rotation scale
(bit).
The angle φ can be corrected with co42 speed angle offset proportional to the
speed setpoint.
There are two arrays, each with 64 entries which can preset a factor for J(φ) (co37
inertia reduce fact) and one for the first derivative of J‘(φ) (co38 inertia derivation
fact).
co37[1] corresponds to the angle φ = 0.
co37[64] corresponds to the angle
A compensation of a force can be made only as function of the angle φ with the 64
entries of co40 weight comp fact.
The precontrol is linearly interpolated from the table values in the time pattern of
the speed controller.
Output of this function is the object pretorque which is directly accessible via the aa
parameters. Scaling factor: 1024 -> rated motor torque
The inertia (virtual present at the motor) of motor + load is considered for the calcu-
lation of the precontrol. Load inertia after a gearbox must be converted accordingly.
The calculated precontrol torque is the direct torque in the motor. A gear factor is
considered with ps35/ps36.
The known precontrol can be reduced position-dependent via parameter co37 iner-
tia reduce fact. A value of 255 (1.0) corresponds to the value for deactivated non-
linear precontrol.
The proportion of the first derivative of J(φ) is formed via the factor of co38 * co39.
The value of the maximum value of the first derivative of J (φ) in [kgcm
2
] is directly
set in co39.
The data for the arrays co37, co38 and co40 can be determined from simulation
data for the actual application.
For further information and tools, please contact KEB.
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