Leadshine EL8-EC Series, Руководство пользователя

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User manual of EL8-EC***F AC Servo
256
6.11 Friction compensation function
This function is to compensation for changes in load to reduce the effect of friction in
motion. The compensation value is directional.
Motor off Motor on Motor off
Velocity
command
Pr6.08
Pr6.09
Pr6.07
Time
Velocity
command
Vertically loaded axis: A constant eccentric load torque is applied on the motor. By
adjusting Pr6.07, positioning deviation due to different motional direction can be reduced.
Belt-driven axis: Due to large radial load with dynamic frictional torque. Positioning time
delay and deviation can be reduced by adjusting Pr6.08 and Pr6.09.
Pr6.07
Name Torque command additional
value
Mode F
Range -100~100 Unit % Default 0 Index 2607h
Activation Immediate
To set torque forward feed additional value of vertical axis.
Applicable for loaded vertical axis, compensate constant torque.
Application: When load move along vertical axis, pick any point from the whole motion and stop the
load at that particular point with motor enabled but not rotating. Record output torque value from d04,
use that value as torque command additional value (compensation value)
Pr6.08
Name Positive direction torque
compensation value
Mode F
Range -100~100 Unit % Default 0 Index 2608h
Activation Immediate
Pr6.09
Name Negative direction torque Mode
F