Friction Compensation - YASKAWA E-V Series User Manual

6.8.9 Friction Compensation

Friction compensation rectifies the viscous friction change and regular load change.
The factors causing load changes include grease viscosity resistance changes resulting from temperature
changes in addition to viscous friction and regular load changes resulting from equipment variations and secu-
lar changes.
Friction compensation is automatically adjusted by the following settings.
1. The friction compensation function and advanced autotuning level are set to tuning level 2 or 3.
2. The one-parameter tuning level is set to 2 or 3.
Refer to the following description and make adjustments only if manual adjustment is required.
(1) Required Parameter Settings
The following parameter settings are required to use friction compensation.
Parameter
n.0
Pn408
n.1
Friction Compensation Gain
Pn121
Setting Range
10 to 1000
Friction Compensation Coefficient
Pn123
Setting Range
0 to 100
Friction Compensation Frequency Correction
Pn124
Setting Range
-10000 to 10000
Friction Compensation Gain Correction
Pn125
Setting Range
1 to 1000
(2) Operating Procedure for Friction Compensation
The following procedure is used for friction compensation.
Before using friction compensation, set the mass ratio (Pn103) as correctly as possible.
If the wrong mass ratio is set, vibration may result.
Step
Set the following parameters for friction compensation to the factory setting as follows.
Friction compensation gain (Pn121): 100
Friction compensation coefficient (Pn123): 0
Friction compensation frequency correction (Pn124): 0
1
Friction compensation gain correction (Pn125): 100
Note: Always use the factory-set values for friction compensation frequency correction (Pn124) and friction
compensation gain correction (Pn125).
Function
Does not use friction compensation. [Factory setting]
Uses friction compensation.
Setting Unit
1 %
Setting Unit
1 %
Setting Unit
0.1 Hz
Setting Unit
1 %
CAUTION
Operation
6.8 Servo Gain Adjustment Application Function
When Enabled
Immediately
Position
Speed
Factory Setting When Enabled
100 Immediately
Position
Speed
Factory Setting When Enabled
0 Immediately
Position
Speed
Factory Setting When Enabled
0 Immediately
Position
Speed
Factory Setting When Enabled
100 Immediately
Classification
Setup
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
6
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