6 Applied Functions
6 - 44
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
6-13 Friction Torque Compensation
Function
The friction torque compensation function reduces the influence of friction. You can set unbalanced
load compensation that offsets the constantly applied unbalance torque and dynamic friction
compensation that changes the offset direction in accordance with the operating direction.
You can use the friction torque compensation function in the following situations.
• The servo is ON.
• The Servomotor can rotate normally without any failures.
6-13-1 Outline of the Function
6-13-2 Parameters Requiring Settings
Parameter
No.
Name Description Reference
Pn607 Torque Command Value
Offset
Set the unbalanced load compensation value that is
always added to the torque command.
P. 7 - 5 5
Pn608 Forward Direction Torque
Offset
Set the dynamic friction compensation value that is
added to the torque command when a forward direction
position command is input in the position control mode.
P. 7 - 5 5
Pn609 Reverse Direction Torque
Offset
Set the dynamic friction compensation value that is
added to the torque command when a reverse direction
position command is input in the position control mode.
P. 7 - 5 5
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