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6-46
6-13 Friction Torque Compensation Function
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6
Applied Functions
6-13 Friction Torque Compensation Function
Outline of Operation
As a function to reduce the effect of friction, you can set the unbalanced load compensation
that always compensates the constantly working offset torque, and the dynamic friction
compensation that changes its direction depending on the operating direction.
You can use the disturbance observer in the following situations for position control or speed
control.
Œ
When servo is ON
Œ
When there is no trouble with the motor's normal rotation
Parameters Requiring Settings
Parameter
number
Parameter name Explanation 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.8-59
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.8-59
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.8-59