Delta ASDA-A3 Series User Manual page 651

Parameters
8
P1.060
Default: 0
Format: DEC
Settings:
When using P1.057 (Motor hard stop 1 - torque percentage) and the average torque level deviates due
to an external force, such as Z-axis gravity, you can use this parameter to set the corresponding
compensation.
Suggested setting value = (Average torque at constant speed in positive direction + Average torque at
constant speed in negative direction) / 2
Note: refer to P0.002 = 54 (Torque feedback) for the average torque at constant speed.
P1.061
Default: 0
Format: DEC
Settings:
Because viscous friction corresponds with the speed, you can use this parameter to compensate the
motor torque according to the speed to improve the position error during acceleration and deceleration.
When P1.062 = 0, this parameter is invalid.
P1.062 Percentage of friction compensation
P1.063 Constant of friction compensation
Note: rotary means a permanent-magnet synchronous rotary motor; linear means a permanent-magnet synchronous
linear motor.
8-74
Original step analog
Speed command
Holding time
Motor hard stop 1 - level offset
Unit: %
Viscous friction compensation
0.1%/1000 rpm (rotary)*
Unit:
0.1%/1000 mm/s (linear)*
Friction
Speed
P1.061 Viscous friction compensation
Command that has gone
through analog speed
linear filtering
Control mode: All
Setting range: -300 to +300
Data size: 16-bit
Control mode: PT / PR / S / Sz
Setting range: 0 to 1000
Data size: 16-bit
Friction
Speed
P1.062 Percentage of friction compensation
P1.063 Constant of friction compensation
P1.061 Viscous friction compensation
ASDA-A3
Address: 0178H
0179H
Address: 017AH
017BH
Friction
Speed