11 Adjustment Functions
11 - 30
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
11-9 Friction Force Compensation
Function
Two types of friction force compensations can be set to reduce the influence of mechanical frictions.
•
Unbalanced load compensation that offsets the constantly applied unbalance force
•
Dynamic friction compensation that changes the offset direction in accordance with the operating
direction
You can use the function under the following conditions:
*1
Refer to 11-9-2 Objects Requiring Settings on page 11-30
for details.
The friction force compensation function needs the combined settings of following three objects.
11-9-1 Operating Conditions
Operating conditions
Operation
mode
The operating mode depends on the control mode.
*1
Others
•
When Servo is ON.
•
When elements other than control objects, such as the force limit settings, are set
correctly and there is no trouble with the motor’s normal operation.
11-9-2 Objects Requiring Settings
Index
Name
Description
Reference
3607 hex
Force Command Value Offset
Set the unbalanced load compensation value that is
always added to the force command in the control
mode other than force control.
3608 hex
Positive Direction Force
Offset
Set the dynamic friction compensation value that is
added to the force command when a positive position
command is input for position control.
3609 hex
Negative Direction Force
Offset
Set the dynamic friction compensation value that is
added to the force command when a negative
position command is input for position control.
