№
SR-ZSV00039
－
48
－
Motor Business Unit, Appliances Company, Panasonic Corporation
(3) Usage
Friction torque compensation is added in accordance with input position command direction, as show in
the following figure:
Command speed
Biased load compensation value which is specified by torque command addition value that is constantly added and dynamic friction
compensation value which is specified by normal direction torque compensation value or reverse direction torque compensation value that is
added according to the last command speed direction total to friction torque compensation.
Command speed direction is reset when the power supply is turned on and the motor is not supplied power.
Time
Without power to
the motor
With power to the motor
Without power to
the motor
Pr6.07
"Torque
command
additional
value"
[Normal direction]
[Reverse direction]
Pr6.08
"Positive direction torque compensation
value"
Pr6.09
"Negative direction torque compensation value"
Pr6.07 “Torque command additional value” reduces variations of positioning operations, by specifying a
torque command value that may be added as a constant biased load torque applied to a motor due to
gravity on vertical axis.
Pr6.08 “Positive direction torque compensation value” and Pr6.09 “Negative direction torque
compensation value” prevents prolonging and variations of positioning settling time due to dynamic
friction, by specifying friction torques for each rotating direction on parameters, for the loads requiring
larger dynamic friction torques due to radial loads, such as belt drive axis.
servo-on status: Current values for biased load compensation and dynamic friction compensation are
retained until the first position command is input. At the point of changing from status without position
command to status with position command, biased load compensation is updated in accordance with
Pr6.07. Also, in accordance with command direction, and in accordance with parameter Pr6.08 or Pr6.09,
dynamic friction compensation value is updated.
