D2 Drive User Guide v1.8 6. Drive Tuning
HIWIN Mikrosystem Corp. 178
Before using the friction compensation function, the Lightening HMI provides a convenient set
of steps. The friction compensation can be successfully added after completing each step.
Step 1. Click the “Set scope” button to apper the “Scope” window.
Step 2. Set “friction compensation” in Fig. 6-45 to 0.
Step 3. Set “Dwell time” to 500 ms.
Step 4. Set the desired speed and make the motor to do the back-and-forth motion.
Observing “Position Error” in “Scope” can determine whether the friction
compensation is necessary to add or not. If the motor has a large position error at
the start, as shown in the left side of Fig. 6-46, the friction compensation can be
added to improve the position error.
Step 5. Observe “Command Current” at the constant speed, and calculate the average
value. In the example of Fig. 6-46, the average value of “Command Current” is 20.
Step 6. Enter the average value obtained from Step 5 into the “friction compensation” field.
Step 7. Observe whether “Position Error” is reduced at the start of motor movement. As
shown in the right side of Fig. 6-46, it can be found that the friction compensation
does reduce the position error.
Fig. 6-46
Enable the friction compensation
Disable the friction compensation
large position
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