Festo Контроллер позиционирования CPX-CMAX - Manual (Page 392)

B. Basic controlling principles
B−50
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B.8.9 Influence of the static identification on force control
Key parameters for force control are determined during static
identification. These are:
ć Friction hysteresis
ć Standstill force F
0
If no static identification is carried out, these parameters will
be assigned default values. The control quality is limited in
this case, and the following effect may occur:
ć The real standstill force deviates from the calculated deĆ
fault value. This may lead to uncontrolled force control
behaviour.
With non−horizontal applications, the default value for the
standstill force can be influenced via the mass. The deĆ
fault value is set correctly if, in a force record with 0 N and
speed and stroke monitoring switched off, the drive is at a
standstill and can be moved in both directions by manĆ
ually applying approximately the same force.