Panasonic MINAS A5-series, Operating Instructions Manual

Page: 264 / 394

5-34
5
5. Manual Gain Tuning (Application)
Adjustment
Friction torque compensation
Outline
To reduce effect of friction represented by mechanical system, 2 types of friction torque
compensation can be applied: offset load compensation that cancels constant offset
torque and the dynamic friction compensation that varies direction as the operating direc -
tion varies.
Applicable Range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the Friction torque compensation is activated
Control mode
• Specific to individual functions. Refer to "Related parameters" shown
below.
Others
• Should be in servo-on condition
• Input signals such as the deviation counter clear and command input
inhibit, and parameters except for controls such as torque limit setup, are
correctly set, assuring that the motor can run smoothly.
Related Parameter
Combine the following 3 parameters to setup appropriate friction torque compensation.
Class No. Title Function
6 7
Torque
command
additional value
Set up the offset load compensation value usually added to
the torque command in a control mode except for the torque
control mode.
6 8
Positive
direction torque
compensation
value
Set up the dynamic friction compensation value to be added
to the torque command when forward positional command
is fed.
6 9
Negative
direction torque
compensation
value
Set up the dynamic friction compensation value to be added
to the torque command when negative direction positional
command is fed.
Related page
• P.4-51, P.4-52 “Details of parameter”