Panasonic MINAS-A5B Series - Page 91

No. SX-DSV02472 -85-
(3) How to use
The friction torque compensation will be added in response to the entered positional command direction as
shown below.
Command velocity
The friction compensation torque is the sum of the offset load compensation value which is set according to the torque instruction
additional value (always constant) and the dynamic friction compensation torque which is set according to positive/negative direction
torque compensation value.
The
command velocity direction is reset upon power
-up or when the motor is de-energized.
Time
Motor
de
-energized
Motor
energized
Motor
de-energized
Pr
6.07
[Torque command
additional value]
[Positive direction]
{Negative direction}
Pr
6.08
[Positive direction torque
compensation value]
Pr 6.09
[Negative direction torque
compensation value]
• Pr 6.07 [Torque command additional value] reduces variations in positioning operation (performance is
affected by direction of movement). These variations occur when constant 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, which lengthens positioning
setting time or varies positioning accuracy. These problems can be minimized by setting the friction torque of
every rotating direction into individual parameters. Pr 6.08 [Positive direction torque compensation value] and
Pr 6.09 [Negative direction torque compensation value] can be used for this purpose.
The offset load compensation and dynamic friction compensation can be used individually or in combination.
However, some control modes impose limit on application.
• For torque control: Offset load compensation and dynamic friction compensation are set at 0 regardless of
parameter setting.
• For velocity control with servo-off: Offset load compensation per Pr 6.07 is enabled. Dynamic friction
compensation is set at 0 regardless of parameter setting.
• For position control or full closed control(Not supported) with servo-on: Previous offset load compensation
and dynamic friction compensation values are maintained until the first positional command is applied where
the offset load compensation value is updated according to Pr 6.07. The dynamic friction compensation value
is updated to parameters Pr .6.08 and Pr 6.09 depending on command direction.
Note) CCW direction is positive.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation