YASKAWA SGMJV User Manual page 197

5 Adjustments
5.5.2 One-parameter Tuning Procedure
 Friction Compensation
This function compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine
• Changes in the friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging
Conditions to which friction compensation is applicable depend on the tuning mode. The friction compensa-
tion setting in F408.3 applies when the mode is 0 or 1. Tuning Mode = 2 and Tuning Mode = 3 are adjusted
with the friction compensation function regardless of the friction compensation setting in P408.3.
Friction
Compensation
Selecting
Pn408
 Feedforward
If Pn140 is set to the factory setting and the tuning mode setting is changed to 2 or 3, the feedforward gain
(Pn109), speed feedforward (VFF) input, and torque feedforward (TFF) input will be disabled.
Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and
torque feedforward (TFF) input from the host controller.
Pn140
For the torque feedforward (TFF) input and speed feedforward (VFF) input, refer to the
Σ
Input
(Manual No.: SIEP S800000 54).
5-42
Mode
Tuning Mode = 0
n.0
Adjusted without the
friction compensation
[Factory
function
setting]
Adjusted with the
n.1 friction compensation
function
Parameter
n.0
Model following control is not used together with the
[Factory
speed/torque feedforward input.
setting]
Model following control is used together with the
n.1
speed/torque feedforward input.
Σ
-V Series/ -V Series for Large-Capacity Models User's Manual MECHATROLINK-II Commands
Model following control is used to make optimum feedforward settings in the SERVO-
PACK when model following control is used with the feedforward function. Therefore,
model following control is not normally used together with either the speed feedforward
(VFF) input or torque feedforward (TFF) input from the host controller. However, model
following control can be used with the speed feedforward (VFF) input or torque feedfor-
ward (TFF) input if required. An improper feedforward input may result in overshooting.
Tuning Mode = 1 Tuning Mode = 2
Adjusted without the
friction compensation
Adjusted with the
function
friction compensation
Adjusted with the
function
friction compensation
function
Function
Tuning Mode = 3
Adjusted with the
friction compensation
function
When Enabled Classification
Immediately Tuning
Σ
-V Series/DC Power