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Parameter
n.0
(default setting)
Pn408
n.1
Friction Compensation Gain
Pn121
Setting Range
10 to 1,000
Second Friction Compensation Gain
Pn122
Setting Range
10 to 1,000
Friction Compensation Coefficient
Pn123
Setting Range
0 to 100
Friction Compensation Frequency Correction
Pn124
Setting Range
-10,000 to 10,000
Friction Compensation Gain Correction
Pn125
Setting Range
1 to 1,000
Operating Procedure for Friction Compensation
Use the following procedure to perform friction compensation.
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.
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.
Function
Disable friction compensation.
Enable friction compensation.
Setting Unit
Default Setting
1%
Setting Unit
Default Setting
1%
Setting Unit
Default Setting
1%
Setting Unit
Default Setting
0.1 Hz
Setting Unit
Default Setting
1%
CAUTION
Operation
8.11 Additional Adjustment Functions
8.11.2 Friction Compensation
When Enabled
Immediately
Speed
When Enabled
100
Immediately
Speed
When Enabled
100
Immediately
Speed
When Enabled
0
Immediately
Speed
When Enabled
0
Immediately
Speed
When Enabled
100
Immediately
Classification
Setup
Position
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning
8-63
8
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Table of Contents
Troubleshooting
