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9
UNBALANCED TORQUE OFFSET
For a vertical axis, unbalanced torque occurs due to the gravity. Therefore, the vertical axis may fall slightly, immediately after
the servo-on. To prevent the falling of the vertical axis, the unbalanced torque of a machine can be set as an unbalanced
torque offset to cancel the unbalanced torque. For machines where unbalanced torque does not occur, setting the unbalanced
torque offset is unnecessary.
9.1
Setting unbalanced torque offset
Set the unbalanced torque offset with the following procedure.
Automatic setting
1.
Parameter setting
Set "1" (automatic setting) to [Pr. PE41.6 Unbalanced torque offset setting selection].
2.
Estimating friction
Complete friction estimation for both the forward and reverse rotations.
For the procedure of friction estimation, refer to "Vibration estimation function" in the following manual.
MR-J5 User's Manual (Function)
Once friction estimation is complete for both the forward and reverse rotations, the value of [Pr. PE47 Unbalanced torque
offset] will be set automatically according to the estimated friction value.
Manual setting
1.
Parameter setting
Set "0" (manual setting) to [Pr. PE41.6 Unbalanced torque offset setting selection].
2.
Measure the torque
Measure the torque in the forward direction feed and reverse direction feed, by using MR Configurator2.
3.
Setting an unbalanced torque offset
Calculate unbalanced torque from the measurement result of the torque, and then set the unbalanced torque value in [Pr.
PE47 Unbalanced torque offset].
Unbalanced torque [%] =
9 UNBALANCED TORQUE OFFSET
94
9.1 Setting unbalanced torque offset
(Torque in forward direction feed [%]) + (Torque in reverse direction feed [%])
2
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