Friction Torque Compensation Function; Operating Conditions; Objects Requiring Settings - Omron R88M-1M Series User Manual

11 Adjustment Functions
11-11 Friction Torque Compensation
Function
You can set the following three types of friction torque compensations to reduce the influence of
mechanical frictions.
• Unbalanced load compensation: Offsets the constantly applied unbalance torque
• Dynamic friction compensation: Compensates friction that changes its direction in accordance with
the operating direction.
• Viscous friction compensation: Compensates friction that varies in accordance with velocity.

11-11-1 Operating Conditions

The friction torque compensation function is enabled under the following conditions.
• Position control or velocity control
• The Servo is ON.
The following table shows the relationship between the control method and enabled compensation
functions.
Control method
TDF control
ODF control

11-11-2 Objects Requiring Settings

The friction torque compensation function needs the combined settings of the following four objects.
Subindex
Index (hex)
(hex)
3310 ---
01
02
03
04
Precautions for Correct Use
If the update selection of the Load Characteristic Estimation is set to 1, the friction torque
compensation is set automatically. If you want to set the torque compensation manually, set the
update selection of Load Characteristic Estimation to 0.
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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Viscous friction
compensation
Enabled
Disabled
Name
Torque Compensa- Sets the torque compensation.
tion
Viscous Friction Adjusts the amount of viscous friction compensation torque.
Coefficient This object is enabled only in two-degree-of-freedom (TDF)
control.
Unbalanced Load Sets the amount of unbalanced load torque compensation.
Compensation
Positive Dynamic Sets the amount of dynamic friction compensation in the posi-
Friction Compen- tive direction.
sation
Negative Dynamic Sets the amount of dynamic friction compensation in the nega-
Friction Compen- tive direction.
sation
Unbalanced load Dynamic friction
compensation compensation
Enabled Enabled
Enabled Enabled
Description
Refer-
ence
P. 9-43
P. 9-43
P. 9-43
P. 9-43
P. 9-44