Mitsubishi Electric MELDAS MDS-R Series Technical Specification And Instruction Manual page 164

(2) Unbalance torque compensation
If the load torque differs in the positive and negative directions such as with a vertical axis or slant
axis, the torque offset (SV032 (TOF)) is set to carry out accurate lost motion compensation.
<Setting method>
Measure the unbalance torque. Carry out reciprocation operation (approx. F1000) with the axis to
be compensated and measure the load current % when fed at a constant speed on the NC servo
monitor screen. The unbalance torque at this time is expressed with the following expression.
Unbalance torque (%) =
The unbalance torque value above is set for the torque offset (TOF).
If there is a difference in the protrusion amount according to the direction, make an adjustment with
LMC2. Do not adjust with TOF.
(Example)
Assume that the load current % was -40% in the + direction and -20% in the - direction
when JOG feed was carried out at approx. F1000. The unbalance torque is as shown
below, so -30% is set for TOF.
No. Abbrev. Parameter name
SV032 TOF Torque offset
POINT
9. Adjustment
(+ feed load current %) + (- feed load current %)
-40 + (-20)
= -30%
2
Set this to carry out lost motion compensation.
Set the unbalance torque for the vertical axis and slant axis.
Even when TOF is set, the torque output characteristics of the motor and load
current display of the NC servo monitor will not change. Only the characteristics
of the LMC compensation function are affected.
2
Explanation
9 - 20
Setting range
-100 to 100
(Stall current %)