Friction Compensation - YASKAWA SGD7S-1R9D Product Manual

8.12 Additional Adjustment Functions

8.12.2 Friction Compensation

Related Monitoring
• SigmaWin+
You can monitor gain switching with the status monitor or with tracing.
• Analog Monitors
Parameter
Pn006 (2006 hex)
Pn007 (2007 hex)

8.12.2 Friction Compensation

Friction compensation is used to compensate for viscous friction fluctuations and regular load
fluctuations.
You can automatically adjust friction compensation with autotuning without a host reference,
autotuning with a host reference, or custom tuning, or you can manually adjust it with the fol-
lowing procedure.
Required Parameter Settings
The following parameter settings are required to use friction compensation.
Pn408
(2408
hex)
Pn121
(2121
hex)
Pn122
(2122
hex)
Pn123
(2123
hex)
Pn124
(2124
hex)
Pn125
(2125
hex)
Operating Procedure for Friction Compensation
Use the following procedure to perform friction compensation.
8-68
Analog Monitor

n. 0B
Parameter

n.0
Disable friction compensation.
(default setting)

n.1 Enable friction compensation.
Friction Compensation Gain
Setting Range
10 to 1,000
Second Friction Compensation Gain
Setting Range
10 to 1,000
Friction Compensation Coefficient
Setting Range
0 to 100
Friction Compensation Frequency Correction
Setting Range
-10,000 to 10,000
Friction Compensation Gain Correction
Setting Range
1 to 1,000
 Before you execute friction compensation, set the moment of inertia ratio (Pn103) as accu-
rately as possible. If the setting greatly differs from the actual moment of inertia, vibration
may occur.
Monitor Name
Active Gain Monitor
Function
Setting Unit Default Setting
1% 100
Setting Unit Default Setting
1% 100
Setting Unit Default Setting
1% 0
Setting Unit Default Setting
0.1 Hz 0
Setting Unit Default Setting
1% 100
CAUTION
Output Value Description
1 V Gain settings 1 are enabled.
2 V Gain settings 2 are enabled.
When Enabled
Immediately
Speed Position
When Enabled
Immediately
Speed Position
When Enabled
Immediately
Speed Position
When Enabled
Immediately
Speed Position
When Enabled
Immediately
Speed Position
When Enabled
Immediately
Classification
Setup
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning