Panasonic MINAS A6 Multi Series Technical Reference page 136

5.2.12 Friction torque compensation
To reduce effect of friction represented by mechanical system, 3 types of friction torque compensation
can be applied:
 Offset load compensation that cancels constant offset torque
 The dynamic friction compensation that varies direction as the operating direction varies
 Viscous friction torque correction amount that is varied by the command speed
Applicable range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the Friction torque compensation is activated:
 Specific to individual functions. Refer to "Relevant parameters" shown below.
Control Mode
 Should be in servo-on condition
Others
 Parameters except for controls such as torque limit setup, are correctly set, assuring that the motor can run smoothly.
Relevant parameters
Combine the following 3 parameters to setup appropriate friction torque compensation.
 Relevant parameters
Class No. Attribute
6 07 B
6 08 B
6 09 B
6 50 B
Title Range
Torque command -100 to
additional value 100
Positive direction -100 to
torque 100
compensation
value
Negative direction -100 to
torque 100
compensation
value
Viscous friction 0 to
10000
compensating
gain
Unit Function
% Set up the offset load compensation value usually added
to the torque command in a control mode except for the
torque control mode.
% Dynamic friction compensation value to be added to the
torque command at the time of position control and
full-closed control and when forward direction position
command is entered.
% Dynamic friction compensation value to be added to the
torque command at the time of position control and
full-closed control and when reverse direction position
command is entered.
0.1% When Two-degree-of-freedom control mode is effective,
(10000r/min)
the result multiplying the command speed by this setting
is added to the torque command as the viscous friction
torque correction amount. By setting the estimated
viscous friction coefficient of Real-time auto tuning, there
are cases in which the feedback scale position deviation
in the vicinity of steady state may be improved.
Auto Tuning Functions
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