Friction compensation (frict_comp.*)

The purpose of friction compensation is to compensate actually existing friction torque by way of an additional torque. Therefore, it works like speed-dependent feed forward control of motor current.

Friction compensation reduces following error and backlash. For more information see [FCT-C25].

Friction compensation parameters are defined in the compensation value list and is currently available for drive types CANopen and SERCOS. It includes the following elements.