Friction coefficient determination

For torque control, it is necessary to determine the mechanical friction coefficients. The corresponding torque is measured via a teach-in run and noted here in a table in steps of 50 min^-1, until the speed at a small coil diameter equals the maximum path speed. During operation, the torque stored for the current speed is then accessed and included in the calculation of the setpoint torque. Torques for speeds in between the steps of 50 min^-1 are interpolated linearly.