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Tuning

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ASDA-A3

5

Auto adjustment:

The parameter for automatic friction estimation switch is P2.065 [Bit 4]. Set P2.065 [Bit 4] to 1 to

enable the automatic friction estimation. Use the controller or PR command and set a

continuous point-to-point motion (do not set the delay time) to keep the estimation performance.

Once the estimation is complete, the servo automatically sets P2.065 [Bit 4] to 0.

Start the continuous

point-to-point motion

Set P2.065 [Bit 4] = 1

Position

Automatically

estimate

P1.062 and P1.063

Check if

No

P2.065 [Bit 4] = 0

Yes

Stop the

point-to-point motion

Complete

Speed

Time

Time

Relevant parameter

Refer to Chapter 8 for detailed descriptions.

Parameter

Function

P1.062

Percentage of friction compensation

P1.063

Constant of friction compensation

P2.065 [Bit 4]

Special bit register 1 (Automatic friction estimation)

摩擦力自動估測

5-74

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