*The reference value for friction torque compensation is the rated torque of the motor 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 6.11.1 PDFF control When the speed command drives the motor to rotate, as the servo motor has a mechanical load dragging on the shaft end, the performance characteristic of the motor shaft is still determined by the response characteristic of the mechanical system.
Considering needs of various mechanical systems, EA190 servo is also designed with a PDFF controller in its speed loop, which can be used in the non-torque mode. The PDFF controller is a controller between PI and IP controllers, having features of both the PI and IP controllers. IP controller structure: PI controller structure Comparison of the IP and PI control effect in case of the same proportional gain and integral time parameter 65 Technical Manual for EA190 Series Servo Driver V100 determined by P0-01.
P4-34 Negative torque compensation It is added to the torque command when the motor rotates in the reverse direction to compensate the reverse dynamic friction Caution☞ _ _ _ Friction torque compensation is invalid in the torque control mode.