Functional description
The LS_MotorInterface system block has been extended by the MI_dnTorqueAdd_n input. The input can be used to pass a central feedforward control torque through to the motor control.
Applications
1. Positioning with feedforward control which does not merely result from 'J x α', e.g. non-linear kinematics
2. Systematic load acceptance prior to the application of a motor brake in automatic brake operation. This includes vertical applications which have a speed follower following a positioner (speed setpoint + torque setpoint). The I component of the n controller in the slave drive is deactivated in the process. When the speed follower is deactivated, the load slides downwards for the duration of the brake application time. This behaviour can only be prevented if a torque can be selected via the feedforward control at the new input.
Included in which products/versions?
From Engineer 2.12 and firmware V08.00.24.00
Published in Service Message No. 26/2010
