Panasonic MINAS A5-series Operating Instructions Manual
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Contents
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5-351 Before Using the Products2 Preparation3 Connection4 Setup5 Adjustment6 When in Trouble7 SupplementCommand speedTime[Positive direction][Negative direction]Pr6.08Positive direction torque[compensation value ]Pr6.09Negative direction torque[ compensation value ]Pr6.07Torque command[ additional value ]Motorde-energized Motorde-energizedMotor energizedThe friction compensation torque is the sum of the offset load compensation value which is setaccording to the torque command additional value (always constant) and the dynamic frictioncompensation torque which is set according to positive/negative direction torque compensationvalue.The command speed direction is reset upon power-up or when the motor is de-energized.5. Manual Gain Tuning (Application)Friction torque compensationHow to UseThe friction torque compensation will be added in response to the entered positionalcommand direction as shown below.Caution• Pr6.07 [Torque command additional value] reduces variations in positioning operation(performance is affected by direction of movement). These variations occur when con-stant offset torque resulting from weight on vertical axis is applied to the motor.• Certain loads such as belt driven shaft requires high dynamic friction torque, whichlengthens positioning setting time or varies positioning accuracy. These problems canbe minimized by setting the friction torque of every rotating direction into individual pa-rameters. Pr6.08 [Positive direction torque compensation value] and Pr6.09 [Negativedirection torque compensation value] can be used for this purpose.The offset load compensation and dynamic friction compensation can be used individu-ally or in combination. However, some control modes impose limit on application.• For torque control: Offset load compensation and dynamic friction compensation are setat 0 regardless of parameter setting.• For velocity control with servo-off: Offset load compensation per Pr6.07 is enabled. Dy-namic friction compensation is set at 0 regardless of parameter setting.• For position control or full closed control with servo-on: Previous offset load compensa-tion and dynamic friction compensation values are maintained until the first positionalcommand is applied where the offset load compensation value is updated according toPr6.07. The dynamic friction compensation value is updated to parameters Pr.6.08 andPr6.09 depending on command direction. |
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