Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 256)

Servo Parameters
Chapter 7
7-110
Notes
The same percentage of torque is applied to the axis in both directions for
static friction. You can not differentiate between positive and negative
moves when using stiction compensation.
Function
This parameter specifies any additional torque to be applied to the motor,
for moves in the positive direction, to overcome dynamic friction once an
axis is moving (as selected with the parameter Threshold for Friction
Compensation).
Axis Parameter
Number
Axis Parameter
Number
(1) [1812] (9) [9812]
(2) [2812] (10) [10812]
(3) [3812] (11) [11812]
(4) [4812] (12) [12812]
(5) [5812] (13) [13812]
(6) [6812] (14) [14812]
(7) [7812] (15) [15812]
(8) [8812]
Range
0 to 100% motor rated continuous torque
7.6.3
Positive Friction Comp
Percent