Compensation; Friction Torque Compensation - Panasonic MINAS A6 Series Operating Instructions Manual

5
Adjustment
Outline
To reduce effect of friction represented by mechanical system, 2 types of friction torque
compensation can be applied: offset load compensation that cancels constant offset
torque and the dynamic friction compensation that varies direction as the operating direc-
tion varies.
Applicable Range
This function can be applicable only when the following conditions are satisfied.
Control mode
Others
Related Parameter
Combine the following 3 parameters to setup appropriate friction torque compensation.
Class No.
6 7
6 8
6 9
6 50
Related page
• P.4-6 to P.4-85... "Details of parameter"
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5. Manual Gain Tuning (Application)

Friction torque compensation

Conditions under which the Friction torque compensation is activated
• Specific to individual functions. Refer to "Related parameters" shown
below.
• Should be in servo-on condition
• Input signals such as the deviation counter clear and command input
inhibit, and parameters except for controls such as torque limit setup, are
correctly set, assuring that the motor can run smoothly.
Title
Torque Set up the offset load compensation value usually added to
command the torque command in a control mode except for the torque
additional value control mode.
Positive
Set up the dynamic friction compensation value to be added
direction torque
to the torque command when forward positional command

compensation

is fed.
value
Negative
Set up the dynamic friction compensation value to be added
direction torque
to the torque command when negative direction positional
compensation
command is fed.
value
When the 2 degree of freedom control mode is active, the
product of the instruction speed and the setting value is
Viscous friction used as the friction torque compensation and the torque
compensating command is added to the torque.
gain By setting the value of the viscous friction coefficient
estimation of real-time auto-tuning,it can improve the
feedback scale position deviation of the settling area.
Function
1
2
3
4
5
6
7
5-55