Friction Torque Compensation Function; Operating Conditions; Objects Requiring Settings - Omron R88M-K User Manual

11 Adjustment Functions

11-9 Friction Torque Compensation Function

Two types of friction torque compensations can be set to reduce the 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.

11-9-1 Operating Conditions

You can use the function under the following conditions:
• When Servo is ON.
• When elements other than control parameters, such as the torque limit, are set correctly and there is no trouble
with the motor's normal rotation.

11-9-2 Objects Requiring Settings

The torque compensation function needs the combined settings of following three objects.
Index Name
3607 hex Torque Command Value
Offset
3608 hex Forward Direction Torque
Offset
3609 hex Reverse Direction Torque
Offset
11-28
Set the unbalanced load compensation value that is always
added to the internal torque command in the control mode
other than torque control.
Set the dynamic friction compensation value that is added to
the internal torque command when a forward position
command is input for position control or fully-closed control.
Set the dynamic friction compensation value that is added to
the internal torque command when a reverse position
command is input for position control or fully-closed control.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Conditions
Description Reference
page 9-47
page 9-47
page 9-47