YASKAWA E-7S SERVOPACK SGD7S Product Manual page 335

8.12 Additional Adjustment Functions
8.12.2 Friction Compensation
Step
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2
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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
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 friction com-
pensation gain correction (Pn125).
Gradually increase the friction compensation coefficient (Pn123) to check the effect of friction compensation.
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
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.
Effect of Adjustments
The following graphs show the response with and without adjustment.
Poor response
because of friction
Low friction
Position deviation
High friction
Position reference speed
Before Friction Compensation
Operation
Response improved by
friction compensation
Position deviation
Position reference speed
After Friction Compensation