Friction Torque Compensation Function; Operating Conditions; Parameters Requiring Settings - Omron OMNUC G5 R88M-K series User Manual

10-9 Friction Torque Compensation Function

10-9 Friction Torque Compensation Function
Two types of friction torque compensations can be set to reduce influence of mechanical
frictions. One is the unbalanced load compensation that offsets the constantly applied
unbalance torque. The other is the dynamic friction compensation that changes the offset
direction in accordance with the operating direction.

Operating Conditions

You can use the function under the following conditions:
• Servo-ON state.
• The factors other than control parameters are set correctly. This includes the torque limit. The motor
operates normally without any failures.

Parameters Requiring Settings

The torque compensation function needs the combined settings of following three parameters.
Parameter
number
Torque Command Value
Pn607
Offset
Forward Direction Torque
Pn608
Offset
10
Reverse Direction Torque
Pn609
Offset
10-33
Parameter name
Set the unbalanced load compensation value that
is always added to the torque command in the
CONTROL mode other than torque control.
Set the dynamic friction compensation value that is
added to the torque command when a forward
direction position command is input for position
control or full closing control.
Set the dynamic friction compensation value that is
added to the torque command when a reverse
direction position command is input for position
control or full closing control.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Conditions
Description Reference
P.8-52
P.8-52
P.8-53