Effects Of Related Parameters; Adjustment Methods - YASKAWA SGD7S series Product Manual

7.2 Adjustments for Friction Compensation

7.2.2 Effects of Related Parameters

7.2.2

Effects of Related Parameters

The effects of the related parameters are described below.
Parameter
Number
Pn121
Pn123
Pn124
Pn125
7.2.3

Adjustment Methods

The procedure to use friction compensation to make adjustments that reduce projection during
arc quadrant switching is given below.
Pre-adjustment Checks
Before adjusting friction compensation, confirm that the following setting and adjustments are
completed.
• Setting the moment of inertia ratio (Pn103)
• Adjustment of cutting feed gain (Pn100, etc.)
• Adjustment of anti-resonance control (if adjustment is necessary)
• Adjustment of predictive control (if adjustment is necessary)
7-6
Recommended
Parameter Name
Value
Friction Compen-
100 to 1,000 [%] This gain is used for friction compensation.
sation Gain
Friction Compen-
50 to 100 [%]
sation Coefficient
Friction Compen-
sation Frequency 0 [Hz]
Correction
Friction Compen-
sation Gain Correc- Pn103 + 100 [%]
tion
Description
The product of the friction estimate and Pn123 is added
to the torque reverence as the friction compensation
amount.
Set the frequency correction for the friction component.
Normally, no adjustment is required.
This is the inertia ratio that is used for friction compen-
sation.
For example, if Pn103 (Moment of Inertia Ratio) = 86
[%], set Pn125 to 186 [%].