YASKAWA Sigma-V Series User Manual page 254

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 tuning mode. The friction compensa-
tion setting in F408.3 applies when the mode is 0 or 1. Tuning Mode = 2 and Tuning Mode = 3 are adjusted
with the friction compensation function regardless of the friction compensation setting in P408.3.
Mode
Tuning Mode = 0
Friction
Compensation
Selecting
n.0
Adjusted without the
friction compensation
[Factory
function
setting]
Pn408
Adjusted with the
n.1 friction compensation
function
Feedforward
If Pn140 is set to the factory setting and the tuning 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
Model following control is not used together with the
[Factory
speed/torque feedforward input.
setting]
Pn140
Model following control is used together with the
n.1
speed/torque feedforward input.
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.
Tuning Mode = 1 Tuning Mode = 2
Adjusted without the
friction compensation
Adjusted with the
function
friction compensation
Adjusted with the
function
friction compensation
function
Function
6.5 One-parameter Tuning (Fn203)
Tuning Mode = 3
Adjusted with the
friction compensation
function
When Enabled Classification
Immediately Tuning
6
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