TorqueLeveling

Variable name

Description

lrScaleFactor

Data type: LREAL

Factor for increasing torque balancing ("TorqueLeveling")

6 – Maximum dynamic behavior

0.0001 – Slow behavior

lrTimeConstant

Data type: LREAL

Integral time for TorqueLeveling in [s]

xSlipVelLimiterON

Data type: BOOL

  • TRUE: Activate anti-slip control
  • FALSE: Deactivate anti-slip control

lrSlipVelMaxMin

Data type: LREAL

Speed limitation for anti-slip control
(in user units)