11 - 31
11 Adjustment Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
11-
9 Frict
ion
Fo
rc
e Com
p
en
satio
n F
u
n
c
tio
n
11
11
-9-3
Oper
ating Procedure
The friction force compensation is applied in the input direction of the position command as shown in
the drawing below.
In the Force Command Value Offset (3607 hex), set the force command value if a certain amount of
unbalanced load force is always applied to the motor. Setting this object helps reduce the variations of
positioning operation due to the movement directions.
In the Positive Direction Force Offset (3608 hex) and Negative Direction Force Offset (3609 hex), set
the friction force in each operating direction for loads that require a large amount of dynamic friction
force. This helps reduce the deterioration and inconsistencies in the positioning stabilization time due to
dynamic friction.
Precautions for Correct Use
Precautions for Correct Use
You can use the unbalanced load compensation and the dynamic friction compensation together
or separately. Take note that the following use limit is applied upon control mode switching or
servo ON.
During Force Control
•
The unbalanced load compensation and the dynamic friction compensation are 0 regardless
of the object setting.
When the Servo is OFF during Speed Control
•
The unbalanced load compensation is enabled based on the Force Command Value Offset
(3607 hex). The dynamic friction compensation will be 0 regardless of the object setting.
When the Servo is Turned ON during Position Control
•
The unbalanced load compensation and the dynamic friction compensation values are held
until the first position command is input. When the position command is input, the
unbalanced load compensation is updated based on the Force Command Value Offset
(3607 hex). Also, based on the command direction, the dynamic friction compensation value
is updated according to the Positive Direction Force Offset (3608 hex) and Negative
Direction Force Offset (3609 hex).
11-9-3 Operating Procedure
3609 hex
(Negative Direction
Force Offset)
3608 hex (Positive
Direction Force Offset)
Positive
Negative
Motor
de-energized
Motor power supply
Motor
de-energized
Command speed
Time
3607 hex
(Force Command
Value Offset)
