Friction Compensation Function - Leadshine EL8-EC Series User Manual

6.11 Friction compensation function

This function is to compensation for changes in load to reduce the effect of friction in
motion. The compensation value is directional.
Pr6.07
Motor off
Vertically loaded axis: A constant eccentric load torque is applied on the motor. By
adjusting Pr6.07, positioning deviation due to different motional direction can be reduced.
Belt-driven axis: Due to large radial load with dynamic frictional torque. Positioning time
delay and deviation can be reduced by adjusting Pr6.08 and Pr6.09.
Name
Pr6.07
Range
Activation
To set torque forward feed additional value of vertical axis.
Applicable for loaded vertical axis, compensate constant torque.
Application: When load move along vertical axis, pick any point from the whole motion and stop the
load at that particular point with motor enabled but not rotating. Record output torque value from d04,
use that value as torque command additional value (compensation value)
Name
Pr6.08
Range
Activation
Name
Pr6.09
Velocity
command
Pr6.08
Motor on
Torque command additional
value
-100~100 Unit
Immediate
Positive direction torque
compensation value
-100~100 Unit
Immediate
Negative direction torque
User manual of EL8-EC***F AC Servo
Pr6.09
Velocity
command
Mode
% Default 0
Mode
% Default 0
Mode
Time
Motor off
Index
Index
256
F
2607h
F
2608h
F