Technical data

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.