Omron OMNUC G5 R88D-KN series, Руководство пользователя

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10-9 Friction Torque Compensation Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10
Adjustment Functions
10-9 Friction Torque Compensation Function
Two types of friction torque compensations can be set to reduce influence of mechanical
frictions. One is the unbalanced load compensation that offsets the constantly applied
unbalance torque. The other is the dynamic friction compensation that changes the offset
direction in accordance with the operating direction.
Operating Conditions
You can use the function under the following conditions:
Parameters Requiring Settings
The torque compensation function needs the combined settings of following three parameters.
Conditions
• Servo-ON state.
• The factors other than control parameters are set correctly. This includes the torque limit. The motor
operates normally without any failures.
Parameter
number
Parameter name Description Reference
Pn607
Torque Command Value
Offset
Set the unbalanced load compensation value that
is always added to the torque command in the
CONTROL mode other than torque control.
P.8-52
Pn608
Forward Direction Torque
Offset
Set the dynamic friction compensation value that is
added to the torque command when a forward
direction position command is input for position
control or full closing control.
P.8-52
Pn609
Reverse Direction Torque
Offset
Set the dynamic friction compensation value that is
added to the torque command when a reverse
direction position command is input for position
control or full closing control.
P.8-53