Siemens 6RA70 specifications Friction compensation, 10-54

PNU	Description	Value range	No. indices	See
		[Unit]	Factory	Change
		Steps	setting	(Access /
			Type	Status)

10.29 Friction compensation

(see also Section 8, Sheet G153 of Operating Instructions 6RX1700-0AD**)

Parameters P520 to P530 are the armature current and torque setpoint required for a stationary input signal (factory setting: speed controller actual value K0179) of 0%, 10% to 100% of the maximum value (in steps of 10%).

These parameters are intermediate points along the friction curve. Depending on P170 (0 or 1) they are either an armature current or a torque setpoint and are set automatically when the friction and moment of inertia compensation (P051=28) are optimized. P520 is then set to 0.0%.

The intermediate points are interpolated linearly during which the output of the friction compensation assumes the sign of the input signal. P530 is specified by the friction compensation even for input signals >100% of the maximum signal.

During operation in both directions we recommend leaving P520 at 0.0% in order to avoid armature current vibration at 0% of the input signal.

P519	Source for input signal of the friction compensation [SW 2.0 and later]		All connector	Ind: 2	P052	= 3
*	Selection of the input signals that are added and led to the input of the		numbers	FS=	P051	= 40
			1	i001: 179	offline
	friction compensation.
(G153)				i002: 0
	i001	Input signal, with sign		Type: L2
	i002	Input signal with absolute value generator
	Settings:
	0 = Connector K0000
	1 = Connector K0001
	etc.
P520	Friction at 0% speed		0.0 to 100.0	Ind: 4	P052	= 3
FDS	Setting as % of converter rated DC current or rated torque		[%]	FS=0.0	P051	= 40
			0.1%	Type: O2	Online
(G153)
P521	Friction at 10% speed		0.0 to 100.0	Ind: 4	P052	= 3
FDS	Setting as % of converter rated DC current or rated torque		[%]	FS=0.0	P051	= 40
			0.1%	Type: O2	Online
(G153)
P522	Friction at 20% speed		0.0 to 100.0	Ind: 4	P052	= 3
FDS	Setting as % of converter rated DC current or rated torque		[%]	FS=0.0	P051	= 40
			0.1%	Type: O2	Online
(G153)
P523	Friction at 30% speed		0.0 to 100.0	Ind: 4	P052	= 3
FDS	Setting as % of converter rated DC current or rated torque		[%]	FS=0.0	P051	= 40
			0.1%	Type: O2	Online
(G153)
P524	Friction at 40% speed		0.0 to 100.0	Ind: 4	P052	= 3
FDS	Setting as % of converter rated DC current or rated torque		[%]	FS=0.0	P051	= 40
			0.1%	Type: O2	Online
(G153)
P525	Friction at 50% speed		0.0 to 100.0	Ind: 4	P052	= 3
FDS	Setting as % of converter rated DC current or rated torque		[%]	FS=0.0	P051	= 40
			0.1%	Type: O2	Online
(G153)
P526	Friction at 60% speed		0.0 to 100.0	Ind: 4	P052	= 3
FDS	Setting as % of converter rated DC current or rated torque		[%]	FS=0.0	P051	= 40
			0.1%	Type: O2	Online
(G153)
P527	Friction at 70% speed		0.0 to 100.0	Ind: 4	P052	= 3
FDS	Setting as % of converter rated DC current or rated torque		[%]	FS=0.0	P051	= 40
			0.1%	Type: O2	Online
(G153)
P528	Friction at 80% speed		0.0 to 100.0	Ind: 4	P052	= 3
FDS	Setting as % of converter rated DC current or rated torque		[%]	FS=0.0	P051	= 40
			0.1%	Type: O2	Online
(G153)
P529	Friction at 90% speed		0.0 to 100.0	Ind: 4	P052	= 3
FDS	Setting as % of converter rated DC current or rated torque		[%]	FS=0.0	P051	= 40
			0.1%	Type: O2	Online
(G153)
P530	Friction at 100% speed and higher		0.0 to 100.0	Ind: 4	P052	= 3
FDS	Setting as % of converter rated DC current or rated torque		[%]	FS=0.0	P051	= 40
			0.1%	Type: O2	Online
(G153)

10-54	SIEMENS Energy & Automation
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