Omron R88D-KTA5L User Manual page 420

6-13 Friction Torque Compensation Function
Operation Example
Torque Command Value Offset (Pn607) reduces the variations of positioning operations due
to the movement directions when a certain amount of unbalanced load torque is always applied
to the motor at the vertical axis and so forth if that torque command value is set.
Forward Direction Torque Offset (Pn608) and Reverse Direction Torque Offset (Pn609) are
used with loads that require a large amount of dynamic friction torque due to the radial load,
such as the belt drive axis. By setting the friction torque for each rotation direction for all
parameters, you can reduce the deterioration and inconsistencies of positioning stabilization
time due to dynamic friction.
6
Motor
de-energized
You can use the unbalanced load compensation and the dynamic friction compensation together or
separately. Take note that the following use limit is applied upon control mode switching or servo
ON.
 During torque control
 When servo is OFF during speed control
 When the servo is turned ON during position control or fully-closed control
6-48
Command speed
Pn607
(Torque command
value offset)
Precautions for Correct Use
The unbalanced load compensation and the dynamic friction compensation are 0 regardless of
the parameter setting.
The load compensation is enabled based on Pn607 when the servo is turned OFF. The dynamic
friction compensation will be 0 regardless of the parameter setting.
The unbalanced load compensation and the dynamic friction compensation values are held until
the first position command is input. When the position command is input, the unbalanced load
compensation will be updated based on Pn607. Also, based on the command direction, the
dynamic friction compensation value will be updated according to parameters Pn608 or Pn609.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Forward direction
Pn608
(Forward direction torque offset)
(Reverse direction
torque offset)
Reverse direction
Motor power supply
Pn609
Time
Motor
de-energized