Panasonic MINAS A5 Series Operating Instructions Manual page 315

5. Manual Gain Tuning (Application)
Friction torque compensation
How to Use
Motor
de-energized
The friction compensation torque is the sum of the offset load compensation value which is set
according to the torque command additional value (always constant) and the dynamic friction
compensation torque which is set according to positive/negative direction torque compensation
value.
The command speed direction is reset upon power-up or when the motor is de-energized.
Caution
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
Command speed
Pr6.07
[ ]
Torque command
additional value
[Positive direction]
Pr6.08
[
Positive direction torque
compensation value
[
Negative direction torque
compensation value
[Negative direction]
Motor energized
]
Pr6.09
]
Time
Motor
de-energized
5-35
1
2
3
4
-
5
-
-
6
-
-
7