YASKAWA Sigma-V Series User Manual page 238

Friction Compensation
This function compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as the 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. The friction compensation setting in
Pn408.3 applies when the Mode is 1. The friction compensation function is always enabled regardless of the
friction compensation setting in Pn408.3 when the Mode is 2 or 3.
Mode
Friction
Compensation
Selecting
n.0
Adjusted without the friction
[Factory
compensation function
setting]
Pn408
Adjusted with the friction
n.1
compensation function
Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109),
speed feedforward (V-REF) input, and torque feedforward (T-REF) input will be disabled.
Set Pn140.3 to 1 if model following control is used together with the speed feedforward (V-REF) input and
torque feedforward (T-REF) input from the host controller.
Parameter
n.0
[Factory setting]
Pn140
n.1
Refer to 6.9.2 Torque Feedforward and 6.9.3 Speed Feedforward for details.
• Model following control is used to make optimum feedforward settings in the SERVO-
PACK when model following control is used with the feedforward function. Therefore,
model following control is not normally used together with either the speed feedfor-
ward (V-REF) input or torque feedforward (T-REF) input from the host controller. How-
ever, model following control can be used with the speed feedforward (V-REF) input
or torque feedforward (T-REF) input if required. An improper feedforward input may
result in overshooting.
Mode = 1
Adjusted with the friction
compensation function
Function
Model following control is not used together with the
speed/torque feedforward input.
Model following control is used together with the
speed/torque feedforward input.
6.3 Advanced Autotuning (Fn201)
Mode = 2
Adjusted with the friction
compensation function
When Enabled Classification
Immediately
Mode = 3
Tuning
6
6-27