Technical Manual for EA350 Analog Pulse Type Servo Driver V101 If the torque command is T, then the compensated torque command Tb is: Forward direction: Tb=T+P4_32+P4_31*motor speed/1000+P4_33 Reverse direction: Tb=T+P4_32+P4_31*motor speed/1000-P4_34 Caution ☞ Friction torque compensation is invalid in the torque control mode. 76