Panasonic Minas-LIQI Series Technical Reference

Contents

№SR-ZSV00039 － 47 －Motor Business Unit, Appliances Company, Panasonic Corporation5－2－7 Friction Torque CompensationTwo types of friction torque compensation functions are available for reducing influences from frictionsexists 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 satisfiedConditions for operating friction torque compensationAction 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 anddo not cause any problem in normal motor rotation.(2) Related parametersSettings of friction torque compensation are specified in combination of the following 3 parameters:Category No. Parameter Setup range Unit Function6 07 Torque commandadditional value -100100 %Specify a biased load compensation value, which is always added totorque command in other control modes than torque control.6 08Positive directiontorque compensationvalue-100100 %Specify a dynamic friction compensation value, which is added totorque command when normal direction position command is inputunder position control and full-closed control.6 09Negative directiontorque compensationvalue-100100 %Specify a dynamic friction compensation value, which is added totorque command when reverse direction position command is inputunder position control and full-closed control.