Friction Torque Compensation Function; Outline Of Operation; Parameters Requiring Settings - Omron ACCURAX G5 User Manual

6-13 Friction Torque Compensation Function

6-13 Friction Torque Compensation Function

Outline of Operation

As a function to reduce the effect of friction, you can set the unbalanced load compensation
that always compensates the constantly working offset torque, and the dynamic friction
compensation that changes its direction depending on the operating direction.
You can use the torque compensation in the following situations for position control or speed
control.
When servo is ON
When there is no trouble with the motor's normal rotation

Parameters Requiring Settings

Parameter
number
6
Torque Command Value
Pn607
Offset
Forward Direction Torque
Pn608
Offset
Reverse Direction Torque
Pn609
Offset
6-48
Parameter name
Set the unbalanced load compensation value that
is always added to the torque command in the
CONTROL mode other than torque control.
Set the dynamic friction compensation value that is
added to the torque command when a forward
direction position command is input for position
control or full closing control.
Set the dynamic friction compensation value that is
added to the torque command when a reverse
direction position command is input for position
control or full closing control.
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Explanation Reference
P.8-59
P.8-59
P.8-59