Manual Adjustment Of Friction Compensation - YASKAWA Sigma-V Series User Manual

6 Adjustments

6.8.2 Manual Adjustment of Friction Compensation

6.8.2

Manual Adjustment of Friction Compensation

Friction compensation rectifies the viscous friction change and regular load change.
The friction compensation function can be automatically adjusted with advanced autotuning (Fn201),
advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This section describes the
steps to follow if manual adjustment is required.
(1) Required Parameter Settings
The following parameter settings are required to use friction compensation.
Pn408
Pn121
Pn123
Pn124
Pn125
6-62
Parameter
n.0
Does not use friction compensation.
[Factory setting]
n.1 Uses friction compensation.
Friction Compensation Gain
Setting Range
10 to 1000
Friction Compensation Coefficient
Setting Range
0 to 100
Friction Compensation Frequency Correction
Setting Range
-10000 to 10000
Friction Compensation Gain Correction
Setting Range
1 to 1000
Function
Setting Unit Factory Setting
1%
Setting Unit Factory Setting
1%
Setting Unit Factory Setting
0.1 Hz
Setting Unit Factory Setting
1%
When Enabled Classification
Immediately
Position
Speed
When Enabled
100 Immediately
Position
Speed
When Enabled
0 Immediately
Position
Speed
When Enabled
0 Immediately
Position
Speed
When Enabled
100 Immediately
Setup
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning