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8.12 Additional Adjustment Function
8.12.2 Friction Compensation
Parameters Related to Automatic Gain Switching
Pn131
Pn132
Pn135
Pn136
Related Monitoring
You can use the SigmaWin+ to monitor gain switching with the status monitor or with tracing.
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
Pn121
Pn122
Pn123
Pn124
Pn125
8-68
Gain Switching Time 1
Setting Range
Setting Unit
0 to 65,535
Gain Switching Time 2
Setting Range
Setting Unit
0 to 65,535
Gain Switching Waiting Time 1
Setting Range
Setting Unit
0 to 65,535
Gain Switching Waiting Time 2
Setting Range
Setting Unit
0 to 65,535
Parameter
n.0
Disable friction compensation.
(default setting)
n.1
Enable friction compensation.
Friction Compensation Gain
Setting Range
Setting Unit
10 to 1,000
Second Friction Compensation Gain
Setting Range
Setting Unit
10 to 1,000
Friction Compensation Coefficient
Setting Range
Setting Unit
0 to 100
Friction Compensation Frequency Correction
Setting Range
Setting Unit
-10,000 to 10,000
Friction Compensation Gain Correction
Setting Range
Setting Unit
1 to 1,000
Default Setting
1 ms
0
Default Setting
1 ms
0
Default Setting
1 ms
0
Default Setting
1 ms
0
Function
Default Setting
1%
100
Default Setting
1%
100
Default Setting
1%
0
Default Setting
0.1 Hz
0
Default Setting
1%
100
Po ition
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Immediately
Tuning
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Po ition
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Tuning
Po ition
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tion
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Tuning
When Enabled
Classification
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Setup
peed
Po ition
When Enabled
Classification
Immediately
Tuning
peed
Po ition
When Enabled
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Immediately
Tuning
peed
Po ition
When Enabled
Classification
Immediately
Tuning
peed
Po ition
When Enabled
Classification
Immediately
Tuning
peed
Po ition
When Enabled
Classification
Immediately
Tuning
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Troubleshooting
