YASKAWA SGDV User Manual page 190

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
Friction
Compensation
Selecting
Adjusted without the
n.0
friction compensation
[Factory setting]
function
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
speed/torque feedforward input.
[Factory setting]
Pn140
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.
Tuning Mode = 0 Tuning Mode = 1
Adjusted without the
friction compensa-
tion function
Adjusted with the
friction compensa-
tion function
Function
6.5 One-parameter Tuning (Fn203)
Tuning Mode = 2 Tuning Mode = 3
Adjusted with the Adjusted with the
friction compensa- friction compensa-
tion function tion function
When Enabled Classification
Immediately Tuning
6
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