Friction Compensation - YASKAWA E-7S SERVOPACK SGD7S Product Manual

Related Monitoring
• SigmaWin+
You can monitor gain switching with the status monitor or with tracing.
• Analog Monitors
Parameter
Pn006
Pn007
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.
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
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.
Analog Monitor Monitor Name

n. 0B Active Gain Monitor
Disable friction compensation.
Enable friction compensation.
Setting Unit
1%
Setting Unit
1%
Setting Unit
0 to 100 1%
Setting Unit
0.1 Hz
Setting Unit
1%
8.12 Additional Adjustment Functions
Output Value
1 V
2 V
Function
Default Setting
100
Default Setting
100
Default Setting
0
Default Setting
0
Default Setting
100
CAUTION
8.12.2 Friction Compensation
Description
Gain settings 1 are enabled.
Gain settings 2 are enabled.
When Enabled Classification
Immediately Setup
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
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