YASKAWA SGD7S-****20A Series Product Manual page 311

Parameter
 
n. 0
Pn140
 
n. 1
(default setting)
 Friction Compensation
Friction compensation compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as 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
The conditions for applying friction compensation depend on the mode selection.
Mode Selection Settings
1: Standard
2: For position control
3: For position control (emphasis on overshooting)
Parameter

n. 0
(default setting)
Pn408

n. 1
*
Refer to the following section for details.
Required Parameter Settings on page 8-70
 Feedforward
If Pn140 is set to n.0 (Do not use model following control and speed/torque feedforward
together (default setting)) and tuning is performed with the mode selection set to 2 or 3, feed-
forward (Pn109), the speed feedforward input (VFF), and the torque feedforward input (TFF) will
be disabled.
To use the speed feedforward input (VFF), the torque feedforward input (TFF), and model fol-
lowing control from the host controller in the system, set Pn140 to n.1 (Use model follow-
ing control and speed/torque feedforward together).
Parameter

n.0
(default setting)
Pn140

n.1
Refer to the following manual for information on the torque feedforward input (TFF) and the
speed feedforward input (VFF).
Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP
S800001 31)
When model following control is used with the feedforward function, it is used to make optimum
feedforward settings in the SERVOPACK. Therefore, model following control is not normally used
together with either the speed feedforward input (VFF) or torque feedforward input (TFF) from the
Important host controller. However, model following control can be used with the speed feedforward input
(VFF) or torque feedforward input (TFF) if required. An unsuitable feedforward input may result in
overshooting.
Function
Do not adjust vibration suppression automati-
cally during execution of autotuning without a
host reference, autotuning with a host refer-
ence, and custom tuning.
Adjust vibration suppression automatically
during execution of autotuning without a host
reference, autotuning with a host reference,
and custom tuning.
Based on the setting of Pn408 = n.X
(Friction Compensation Function Selection)*
Adjusted with friction compensation.
Function
Disable friction compensation.
Enable friction compensation.
Function
Do not use model following control and
speed/torque feedforward together.
Use model following control and speed/torque
feedforward together.
8.6 Autotuning without Host Reference
8.6.6 Automatically Adjusted Function Settings
When Enabled
Immediately
Friction Compensation
When Enabled
Immediately
When Enabled
Immediately
Classification
Tuning
Classification
Setup
Classification
Tuning
8
8-33