Delta ASDA-A3 Series User Manual page 337

Tuning
Auto adjustment:
The parameter for automatic friction estimation switch is P2.065 [Bit 4]. Set P2.065 [Bit 4] to 1 to
enable the automatic friction estimation. Use the controller or PR command and set a
5
continuous point-to-point motion (do not set the delay time) to keep the estimation performance.
Once the estimation is complete, the servo automatically sets P2.065 [Bit 4] to 0.
Relevant parameter
Refer to Chapter 8 for detailed descriptions.
Parameter
P1.062
P1.063
P2.065 [Bit 4]
5-70
Start the continuous
point-to-point motion
Set P2.065 [Bit 4] = 1
Automatically
estimate
P1.062 and P1.063
No
Check if
P2.065 [Bit 4] = 0
Yes
Stop the
point-to-point motion
Complete
Percentage of friction compensation
Special bit register 1 (Automatic friction estimation)
Position
Speed
Function
Constant of friction compensation
摩擦力自動估測
ASDA-A3
Time
Time