Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 257)

Servo Parameters
Chapter 7
7-111
Function
This parameter specifies any additional torque to be applied to the motor,
for moves in the negative 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) [1813] (9) [9813]
(2) [2813] (10) [10813]
(3) [3813] (11) [11813]
(4) [4813] (12) [12813]
(5) [5813] (13) [13813]
(6) [6813] (14) [14813]
(7) [7813] (15) [15813]
(8) [8813]
Range
0 to 100% motor rated continuous torque
END OF CHAPTER
7.6.4
Negative Friction Comp
Percent