YASKAWA Sigma-V Series User Manual page 245
Ac servo drives
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- User manual (324 pages) ,
- User manual (96 pages) ,
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6 Adjustments
6.4.2 Advanced Autotuning by Reference Procedure
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
Conditions to which friction compensation is applicable depend on the mode. The friction compensation set-
ting in Pn408.3 applies when the mode is 1. Mode = 2 and Mode = 3 are adjusted with the friction compensa-
tion function regardless of the friction compensation setting in P408.3.
Friction
Compensation
Selecting
Pn408
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.
Pn140
Refer to 6.9.2 Torque Feedforward and 6.9.3 Speed Feedforward for details.
6-34
Mode
Mode = 1
n.0
Adjusted without the friction
[Factory
compensation function
setting]
Adjusted with the friction
n.1
compensation function
Parameter
n.0
Model following control is not used together with the
[Factory setting]
speed/torque feedforward input.
Model following control is used together with the
n.1
speed/torque feedforward input.
• 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 = 2
Adjusted with the friction
compensation function
Function
Mode = 3
Adjusted with the friction
compensation function
When Enabled Classification
Immediately
Tuning
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Troubleshooting
