Datasheet

№SR-ZSV00039 － 47 －
Motor Business Unit, Appliances Company, Panasonic Corporation
5－2－7 Friction Torque Compensation
Two types of friction torque compensation functions are available for reducing influences from frictions
exists in mechanical system: Biased load compensation that compensates offset torque at constant degree,
and dynamic friction compensation that changes direction in accordance with operating directions.
(1) Scope of application
□This function is applicable only when the following conditions are satisfied
Conditions for operating friction torque compensation
Action state  In Servo On status.
 Factors other than control parameters such as the deviation counter clear and com-
mand pulse inhibition inputs and the torque limit are appropriately configured and
do not cause any problem in normal motor rotation.
(2) Related parameters
Settings of friction torque compensation are specified in combination of the following 3 parameters:
Category
No.
Parameter
Setup range
Unit Function
6 07
Torque command
additional value
-100100 %
Specify a biased load compensation value, which is always added to
torque command in other control modes than torque control.
6 08
Positive direction
torque compensation
value
-100100 %
Specify a dynamic friction compensation value, which is added to
torque command when normal direction position command is input
under position control and full-closed control.
6 09
Negative direction
torque compensation
value
-100100 %
Specify a dynamic friction compensation value, which is added to
torque command when reverse direction position command is input
under position control and full-closed control.