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Configuration
CPU 317T: Technology Functions
A5E00251798-03
4-69
4.5.9.4 Friction compensation
You can enable friction compensation in the "Friction compensation" tab of the
Axis > Closed-loop control dialog box. The "Friction compensation" tab is
available when expert mode is set on the "Static data of closed loop control" tab.
A simple method of compensation is available to overcome the forces of static
friction. At the start of the axis from zero velocity, a DT1 element adds a static
friction compensation signal to the manipulated variable. You configure static
friction compensation by setting the amplitude and attenuation time.
- A5E00251798-03 1
- Safety Guidelines 2
- Qualified Personnel 2
- Correct Usage 2
- Trademarks 2
- Preface 3
- Further Support 5
- Training Centers 5
- Technical Support 6
- Contents 7
- Extended project data volume 13
- 2 Application and usage 17
- PROFIBUS DP(DRIVE) 19
- DP-V0 slaves on DP(DRIVE) 20
- Positioning drive POSMO A 20
- Operating conditions 21
- 2.6.1 Hardware components 22
- 2.6.2 Engineering tools 23
- Technology DBs 25
- Technology objects 25
- Technology DB 27
- MCDevice DB 27
- Trace DB 27
- Application and usage 28
- 2-12 A5E00251798-03 28
- 3 Technology objects 29
- Special operating modes 30
- 3.1.2 Axis types 31
- 3.1.6 Homing 36
- Homing modes 37
- absolute 38
- 3.1.8 Data set changeover 39
- Operating modes 40
- Functions 40
- Positioning 41
- Synchronization compound 45
- Control value coupling 46
- Cam disk coupling 46
- Superimposing synchronism 47
- 3.4.3 Gearing 48
- = offset 48
- 3.4.4 Camming 50
- Superimposed motion 54
- Coordinates 54
- Monitoring 55
- 3.5.1 Normalization 57
- 3.5.2 Using a cam disk 58
- 3.5.3 Scaling and Offset 59
- 3.5.4 Interpolation 59
- Interpolation modes 60
- Interconnections 61
- 3.6.1 Position-based cam 63
- Switching response 64
- Inverted output 64
- 3.6.2 Switching cams 65
- 3.6.3 Time-based cam 66
- Response 67
- Effective direction 67
- 3-40 A5E00251798-03 68
- 3.6.5 Hysteresis 69
- Hysteresis 70
- Enabling / disabling 73
- 3.7.2 Measuring range 74
- Interconnection 75
- Examples 75
- 4 Configuration 77
- HW Config 78
- 4-4 A5E00251798-03 80
- Basic procedure 82
- Toolbar 88
- Working area 88
- Starting S7T Config 89
- 4.4 Using S7T Config 92
- Navigator 93
- Detail view 94
- Title bar 94
- Menu bar 94
- Status bar 95
- 4.5 Configuring axes 96
- 4-22 A5E00251798-03 98
- Configuration 100
- 4-24 A5E00251798-03 100
- Configuration 101
- 4-28 A5E00251798-03 104
- Introduction 105
- Requirements 105
- Adding a new data record 106
- 4.5.2 Configuration - Axis 109
- 4.5.4 High resolution 112
- 4.5.5 Default 113
- Stop time 114
- Velocity profile 114
- 4.5.6 Limits 115
- Connection 116
- Traversing range 116
- Release motion 116
- Safety range 117
- 4.5.6.4 Dynamic response 118
- 4.5.6.5 Fixed end stop 119
- Torque over maximum 120
- Approach to fixed end stop 120
- 4.5.7 Homing 121
- 4.5.7.1 Introduction 121
- 4.5.7.2 Active homing 121
- 4.5.7.4 Direct homing 134
- 4.5.7.5 Position correction 134
- 4.5.8 Monitoring functions 136
- Positioning axis monitoring 137
- Positioning monitoring 138
- Standstill monitoring 138
- 4.5.8.4 Standstill signal 140
- 4.5.9 Control 142
- 4.5.9.1 Position control 142
- Fine interpolator 143
- View in the Navigator 147
- Further procedure 147
- 4-74 A5E00251798-03 150
- 4.6.3 Synchronization 152
- Advanced synchronization 156
- Retarded synchronization 156
- 4.6.4 Synchronization 157
- Effective immediately and 158
- Synchronization direction 159
- 4.6.5 Desynchronization 161
- 4.6.6 Monitoring functions 162
- 4.7 Configuring cam disks 163
- 4.7.1 Inserting a cam disk 164
- 4.7.2 Defining cam disks 166
- 4.7.3.1 Interpolation 168
- Correction options 170
- Overlapping segments 170
- 4.7.3.2 Interpolation (2) 171
- 4.7.3.3 Scaling 172
- Example 173
- 4.7.5 Motion laws to VDI 175
- Motion transitions 176
- Defining the working ranges 177
- Creating motion transitions 177
- References 177
- 4.8 Configuring cams 178
- 4.8.2 Configuration 180
- HW address 181
- Logical operation 181
- 4-110 A5E00251798-03 186
- 4-112 A5E00251798-03 188
- 4-114 A5E00251798-03 190
- 4-116 A5E00251798-03 192
- 4-118 A5E00251798-03 194
- 4-120 A5E00251798-03 196
- 5 Programming 199
- Control cycles 200
- Runtime model 204
- Programming model 205
- Acknowledging errors 210
- Acknowledging warnings 211
- 6 Technology functions 217
- Technology functions 218
- 6-2 A5E00251798-03 218
- Purpose 219
- Applicable to 219
- Overriding commands 219
- Input parameters 220
- Output parameters 220
- • DriveEnable 221
- • FollowUpControl 221
- • Simulation 221
- MC_Power, MC_Reset - Example 223
- Corresponding signal diagram 224
- MC_Power - ErrorIDs 225
- 6-10 A5E00251798-03 226
- Override characteristics 228
- MC_Home - Example 232
- MC_Home - ErrorIDs 233
- 6-18 A5E00251798-03 234
- MC_Stop - Example 238
- MC_Stop - ErrorIDs 239
- 6-24 A5E00251798-03 240
- MC_Halt - Example 244
- MC_Halt - ErrorIDs 245
- 6-30 A5E00251798-03 246
- Data record changeover time 249
- Encoder calibration 249
- MC_ChangeDataset - Example 250
- MC_ChangeDataset - ErrorIDs 251
- 6-36 A5E00251798-03 252
- Phase "a" 256
- Phase "b" 256
- Technology functions 257
- Reversal 264
- MC_MoveAbsolute - ErrorIDs 266
- 6-56 A5E00251798-03 272
- 6-58 A5E00251798-03 274
- Current speed > new speed 275
- 6-60 A5E00251798-03 276
- Current speed new speed 277
- 6-62 A5E00251798-03 278
- 6-64 A5E00251798-03 280
- MC_MoveRelative - ErrorIDs 281
- 6-66 A5E00251798-03 282
- MC_MoveAdditive - Example 286
- Signal profile 286
- 6-72 A5E00251798-03 288
- 6-78 A5E00251798-03 294
- Phase - relative positioning 302
- MC_MoveVelocity - ErrorIDs 304
- Dynamic parameter Velocity 309
- MC_MoveToEndPos - Example 309
- 6-94 A5E00251798-03 310
- MC_MoveToEndPos - ErrorIDs 311
- 6-96 A5E00251798-03 312
- MC_SetTorqueLimit - ErrorIDs 315
- 6-100 A5E00251798-03 316
- Parameter Mode = 1 320
- 6-108 A5E00251798-03 324
- MC_GearIn - ErrorIDs 325
- the leading and 329
- MC_GearOut - ErrorIDs 330
- 6-122 A5E00251798-03 338
- 6-124 A5E00251798-03 340
- 6-126 A5E00251798-03 342
- Sequence 343
- MC_CamIn - ErrorIDs 346
- MC_CamOut - Example 350
- MC_CamOut - ErrorIDs 351
- MC_Phasing - Example 355
- MC_Phasing - ErrorIDs 356
- 6-146 A5E00251798-03 362
- 6-148 A5E00251798-03 364
- 6-150 A5E00251798-03 366
- 6-154 A5E00251798-03 370
- 6-168 A5E00251798-03 384
- 6-176 A5E00251798-03 392
- MC_CamClear - ErrorIDs 394
- Relative 399
- MC_CamSectorAdd - ErrorIDs 401
- 6-190 A5E00251798-03 406
- MC_GetCamPoint - ErrorIDs 410
- MC_CamSwitchTime - ErrorIDs 417
- 6-202 A5E00251798-03 418
- MC_MeasuringInput - ErrorIDs 421
- 6-210 A5E00251798-03 426
- MC_Reset - ErrorIDs 429
- 6-214 A5E00251798-03 430
- MC_WriteParameter - ErrorIDs 440
- MC_ReadPeriphery - ErrorIDs 445
- MC_WritePeriphery - ErrorIDs 450
- MC_ReadRecord - ErrorIDs 453
- 6-238 A5E00251798-03 454
- MC_WriteRecord - ErrorIDs 457
- 6-242 A5E00251798-03 458
- Parameter Data 460
- Start value Description 460
- 6-246 A5E00251798-03 462
- 6-250 A5E00251798-03 466
- Parameter value 469
- Meaning 469
- Range of REAL values 470
- 7 Technology DBs 473
- Variable ErrorStatus.xxx 474
- Variable Statusword.xxx 475
- Value Function Comments 486
- Variable ActualPosition 490
- Value Function 496
- Variable DoneFlag[1..32] 499
- Variable DIStatus[0..3] 499
- Variable DOStatus[0..7] 499
- Warnings 502
- Technology DBs 503
- 7-32 A5E00251798-03 504
- • The velocity was out of 505
- S7T Config* 506
- 7-38 A5E00251798-03 510
- 7-40 A5E00251798-03 512
- • The velocity was too 512
- 7-42 A5E00251798-03 514
- 7-46 A5E00251798-03 518
- 7-48 A5E00251798-03 520
- 7-50 A5E00251798-03 522
- 7-56 A5E00251798-03 528
- 7-58 A5E00251798-03 530
- 8.1 Connecting the PG / PC 531
- Assignment of system clocks 538
- 8.6 Testing with breakpoints 540
- 8.8 Testing with TraceTool 542
- 8.8.3 Starting TraceTool 543
- Function Description 544
- "Trace" toolbar 546
- Function Control 547
- Meaning/description 547
- 8-18 A5E00251798-03 548
- Function Meaning/description 549
- 8.8.8 "Trace" tab 550
- Field / button Description 551
- Isochronous recording 551
- Comment: 552
- Trigger 553
- 8-24 A5E00251798-03 554
- Field Description 558
- Name Control 561
- Tool Description 564
- and overlaying each 565
- Command Control 571
- Description 571
- Warning: 572
- A Appendix 575
- A.2 FAQs, Tips & Tricks 581
- Converting the technology 583
- Appendix 584
- A-10 A5E00251798-03 584
- Appendix 585
- Creating new technology DBs 586
- A.3.1 Using the Expert list 593
- Calling the expert list: 594
- Effect of ONLINE changes 595
- Effect of OFFLINE changes 595
- A.3.2 Axis settings 596
- A.3.2.3 Torque settings 598
- Extrapolation 599
- Filtering 599
- Display 600
- Actual value smoothing 600
- A.3.4 Monitoring functions 604
- A.4 Technology parameters 606
- Activation 607
- A-34 A5E00251798-03 608
- A-36 A5E00251798-03 610
- A-38 A5E00251798-03 612
- A-40 A5E00251798-03 614
- A-42 A5E00251798-03 616
- 3041 Configuration Measuring 617
- A-44 A5E00251798-03 618
- A-46 A5E00251798-03 620
- A-48 A5E00251798-03 622
- A-50 A5E00251798-03 624
- Technology parameters - Cams 625
- A-52 A5E00251798-03 626
- TypeOfAxis. Encoder_1 627
- A-54 A5E00251798-03 628
- Technology parameters – Cams 629
- A-56 A5E00251798-03 630
- 33 7 632
- 34 16 632
- A-60 A5E00251798-03 634
- A-62 A5E00251798-03 636
- Index-2 A5E00251798-03 650
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