Friction Torque Compensation Function - Omron R88M-K Series User Manual

6-13 Friction Torque Compensation Function

Outline of Operation
As a function to reduce the effect of friction, you can set the unbalanced load compensation
that always compensates the constantly working offset torque, and the dynamic friction
compensation that changes its direction depending on the operating direction.
You can use the function under the following conditions:
 When Servo is ON
 When there is no trouble with the motor's normal rotation
Parameters Requiring Settings
Parameter
Parameter name
number
Torque Command Value
Pn607
Offset
Forward Direction Torque
Pn608
Offset
Reverse Direction Torque
Pn609
Offset
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-13 Friction Torque Compensation Function
Explanation
Set the unbalanced load compensation value that
is always added to the torque command in the
control mode other than torque control.
Set the dynamic friction compensation value that is
added to the torque command when a forward
direction position command is input for position
control or fully-closed control.
Set the dynamic friction compensation value that is
added to the torque command when a reverse
direction position command is input for position
control or fully-closed control.
Reference
P.8-60
P.8-60
P.8-60
6-47
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