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Parameters

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ASDA-A3

Holding time

Original step analog

Speed command

8

Command that has gone

through analog speed

linear filtering

P1.060

Motor hard stop 1 - level offset

Default: 0

Unit: %

Format: DEC

Address: 0178H

0179H

Control mode: All

Setting range: -300 to +300

Data size: 16-bit

Settings:

When using P1.057 (Motor hard stop 1 - torque percentage) and the average torque level deviates due

to an external force, such as Z-axis gravity, you can use this parameter to set the corresponding

compensation.

Suggested setting value = (Average torque at constant speed in positive direction + Average torque at

constant speed in negative direction) / 2

Note: refer to P0.002 = 54 (Torque feedback) for the average torque at constant speed.

P1.061

Viscous friction compensation

Default: 0

Unit:

0.1%/1000

0.1%/1000

rpm (rotary)*

mm/s (linear)*

Format: DEC

Address: 017AH

017BH

Control mode: PT / PR / S / Sz

Setting range: 0 to 1000

Data size: 16-bit

Settings:

Because viscous friction corresponds with the speed, you can use this parameter to compensate the

motor torque according to the speed to improve the position error during acceleration and deceleration.

When P1.062 = 0, this parameter is invalid.

Frict io n

Frict io n

Frict io n

Speed

Speed

Speed

P1.062 Percentage of friction compensation

P1.063 Constant of friction compensation

P1.061 Viscous friction compensation

P1.062 Percentage of friction compensation

P1.063 Constant of friction compensation

P1.061 Viscous friction compensation

Note: rotary means a permanent-magnet synchronous rotary motor; linear means a permanent-magnet synchronous

linear motor.

8-74

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