Panasonic MINAS A6 Series, Technical Reference

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5.2Manual adjusting function
5-53
How to use
The friction torque compensation will be added in response to the entered positional command direction
as shown below.

Pr 6.07 "Torque command additional value" reduces variations in positioning operation (performance is
affected by direction of movement). These variations occur when constant offset torque resulting from weight
on vertical axis is applied to the motor.

Pr6.08 "Positive direction torque compensation value" and Pr6.09 "Negative direction torque compensation
value" are loads that require large dynamic friction torque due to radial load, such as belt drive shafts. By
setting, the deterioration and variation of positioning settling time due to dynamic friction can be reduced.

Pr6.50 "viscous friction compensation gain" reduces response delay at the time of acceleration by setting a
torque command value against viscous load. Because of its properties, the compensation is proportional to
the speed command value.
The offset load compensation and dynamic friction compensation can be used individually or in
combination. However, some control modes impose limit on application.
-
For torque control:
Offset load compensation and dynamic friction compensation are set at 0 regardless of parameter setting.
-
For velocity control with servo-off:
Offset load compensation per Pr 6.07 is enabled. Dynamic friction compensation is set at 0 regardless of
parameter setting.
-
For position control or full closed control(Not supported) with servo-on:
Previous offset load compensation and dynamic friction compensation values are maintained until the first
positional command is applied where the offset load compensation value is updated according to Pr 6.07.
The dynamic friction compensation value is updated to parameters Pr .6.08 and Pr 6.09 depending on
command direction.