Use non-linear compensation to overcome friction at motion start

Used In:

  • All applications

Motion system performance often suffers from problems of motor inertia and friction.  Elmo enables the use of several non-linear compensation methods to overcome friction at the beginning of a motion, and so consistently improve performance.

The following diagrams show motion system performance before and after applying a friction compensation algorithm:

Before:

After:

Design Features

  • Compensation is available for both velocity and position.
  • Compensation offsets are defined separately for positive and negative motions. Offsets are given in current units (Amperes).
  • When using GS table, the velocity command is used as the index to the scheduled velocity table entry gains.
  • Easily configured using the Elmo Application Studio (EAS).