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

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.

Operating Conditions

You can use the function under the following conditions:
When Servo is ON
When there is no trouble with the motor's normal rotation
When realtime autotuning function is disabled
When instantaneous speed observer function is disabled

Objects Requiring Settings

The torque compensation function needs the combined settings of following three objects.
Index Name
Torque Command Value
3607 hex
Offset
Forward Direction Torque
3608 hex
Offset
Reverse Direction Torque
3609 hex
Offset
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)

11-9 Friction Torque Compensation Function

Conditions
Description
Set the unbalanced load compensation value to
always add to the internal torque command.
Set the dynamic friction compensation value to add
to the internal torque command for forward
operation.
Set the dynamic friction compensation value to add
to the internal torque command for reverse
operation.
11
Reference
page 9-38
page 9-38
page 9-38
11-26