Operation Example - Omron R88D-KN series User Manual

11-9-3 Operation Example

The friction force compensation is applied in the input direction of the position command as shown in
the drawing below.
3607 hex
(Force Command
Value Offset)
Motor
de-energized
In the Force Command Value Offset (3607 hex), set the force command value if a certain amount of
unbalanced load force is always applied to the motor. This object setting can reduce the variations of
positioning operation due to the movement directions.
In the Positive Direction Force Offset (3608 hex) and Negative Direction Force Offset (3609 hex)
objects, set the friction force in each operating direction for loads that require a large amount of
dynamic friction force. These objects settings can reduce the deterioration and inconsistencies in the
positioning stabilization time due to dynamic friction.
Precautions for Correct Use Precautions for Correct Use
You can use the unbalanced load compensation and the dynamic friction compensation together
or separately. Take note that the following use limit is applied upon control mode switching or
servo ON.
During Force Control
• The unbalanced load compensation and the dynamic friction compensation are 0 regardless
of the object setting.
When the Servo is OFF during Speed Control
• The unbalanced load compensation is enabled based on the Force Command Value Offset
(3607 hex). The dynamic friction compensation will be 0 regardless of the object setting.
When the Servo is Turned ON during Position Control
• The unbalanced load compensation and the dynamic friction compensation values are held
until the first position command is input. When the position command is input, the
unbalanced load compensation is updated based on the Force Command Value Offset
(3607 hex). Also, based on the command direction, the dynamic friction compensation value
is updated according to the Positive Direction Force Offset (3608 hex) and Negative
Direction Force Offset (3609 hex) objects.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Command speed Positive
3608 hex (Positive Direction
Force Offset)
Negative
Motor power supply
11 Adjustment Functions
3609 hex
(Negative Direction
Force Offset)
Time
Motor
de-energized
11
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