Fagor ACSD series - Parameter Groups - Torque Control; TP14 Torque Compensation Time Constant

Digital Brushless AC Servo Drive system - Ref.1609 ACSD-69/80
Function Time constant of the torque compensation. Before applying
it, it is filtered with a low-pass filter to improve the friction
behavior in velocity direction changes.
The constant friction suddenly changes when changing the
sign of the reference speed. The filters “smoothes” the
compensation torque preventing jerks in the system when
reversing the moving direction and better modeling the
behavior of friction.
Valid values 0.0 (by default), ..., 2 000.0 ms.
TP14 USER, RW S34676 TorqueCompensationTimeConstant
NOTE. With TP14=0, all the friction compensations are
canceled.
TP14
TP10
2·TP14
3·TP14
0
TP11
Compensation torque
[Nm]
t [ms]
63%
TP14
TP10
2·TP14
3·TP14
0
TP11
Compensation torque
[Nm]
63%
t [ms]
Torque compensation when going from a positive speed value to a negative speed value.
Torque compensation when going from a negative speed value to a positive speed value.
Note that between:
0 and TP14 it sets 63% of torque compensation
0 and 2xTP14 it sets 87% of torque compensation
0 and 3xTP14 it sets 95% of torque compensation