Current Control Mode Selection - YASKAWA SGD7S-1R9D Product Manual

Step
Set the following parameters related to friction compensation to their default settings.
Friction compensation gain (Pn121): 100
Second friction compensation gain (Pn122): 100
Friction compensation coefficient (Pn123): 0
1 Friction compensation frequency correction (Pn124): 0
Friction compensation gain correction (Pn125): 100
Note:
Always use the default settings for the friction compensation frequency correction (Pn124) and fric-
tion compensation gain correction (Pn125).
Gradually increase the friction compensation coefficient (Pn123) to check the effect of friction com-
pensation.
Note:
Usually, set the friction compensation coefficient (Pn123) to 95% or less.
If the effect is insufficient, increase the friction compensation gain (Pn121) by 10% increments until
vibration stops.
Effect of Adjusted Parameters
2
Pn121: Friction Compensation Gain and Pn122: Second Friction Compensation Gain
These parameters set the response to external disturbances. The higher the setting is, the better
the response will be. If the machine has a resonance frequency, however, vibration may occur if the
setting is too high.
Pn123: Friction Compensation Coefficient
This parameter sets the effect of friction compensation. The higher the setting is, the more effective
friction compensation will be. If the setting is too high, however, vibration will occur more easily.
Usually, set the value to 95% or less.
Effect of Adjustments
The following graphs show the response with and without adjustment.
3
8.12.3

Current Control Mode Selection

Current control mode selection reduces high-frequency noise while the Servomotor is being
stopped.
Parameter

n.
Pn009

n.
(2009
(default setting)
hex)

n.
If current control mode 2 is selected, the load ratio may increase while the Servomotor is being
stopped.
Important
Poor response
because of friction
Low friction
Position deviation
High friction
Position reference speed
Before Friction Compensation

0 Use current control mode 1.

1
Use current control mode 2 (low noise).

2 Reserved settings (Do not use.)
8.12 Additional Adjustment Functions

8.12.3 Current Control Mode Selection

Operation
Response improved by
friction compensation
Position deviation
Position reference speed
After Friction Compensation
Meaning When Enabled Classification
After restart Tuning
8
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