The larger the rotating speed is, the greater the viscous friction will be. Advance addition of the viscous friction load may improve the response. The set value refers to the increment required in the torque command value per 1,000rpm increment in the motor speed. See P4-34 Parameter functions: For vertical shaft scenarios with presence of gravity, this value can be converted into a set torque and added to the torque command setting. Parameter functions: Sliding friction compensation upon forward rotation of the motor See P4-34 Parameter functions: Sliding friction compensation upon reverse rotation of the motor Parameter functions:
Set the torque for static friction compensation and cutoff speed When mechanical equipment starts in the static state, great static friction is commonly present as the lubrication system has not come into full operation.
133 Technical Manual for EA190 Series Servo Driver V100 P4-32 Addition to torque command Initial value 0.0 Communication address 0420H Unit % Time of taking effect With immediate effect Setting range -100.0~100.0 Data size 16bit Control mode P S P4-33 Torque compensation in the forward direction Initial value 0.0 Communication address 0421H Unit % Time of taking effect With immediate effect Setting range -100.0~100.0 Data size 16bit Control mode P S P4-34 Reverse torque compensation Initial value 0.0 Communication address 0422H Unit % Time of taking effect With immediate effect Setting range -100.0~100.0 Data size 16bit Control mode P S P4-35 Static friction torque compensation value Initial value 0.0 Communication address 0423H Unit % Time of taking effect With immediate effect Setting range 0.0~100.0 Data size 16bit Control mode S P4-36 Cutoff rotating speed for static friction torque compensation Initial value 0.0 Communication address 0424H Unit rpm Time of taking effect With immediate effect Setting range 0~200 Data size 16bit Control mode S