YASKAWA Sigma-V Series User Manual page 178

 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
n.0
[Factory
setting]
Pn408
n.1
 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 (VFF) input, and torque feedforward (TFF) input will be disabled.
Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and
torque feedforward (TFF) input from the host controller.
Parameter
n.0
[Factory
setting]
Pn140
n.1
Σ
Refer to the -V Series/DC Power Input
MECHATROLINK-II Commands (No.: SIEP S800000 54) for information on the speed feedforward (VFF)
input and torque feedforward (TFF) input.
• Model following control is used to make optimum feedforward settings in the multi-
winding drive unit when model following control is used with the feedforward function.
Therefore, model following control is not normally used together with either the speed
feedforward (VFF) input or torque feedforward (TFF) input from the host controller.
However, model following control can be used with the speed feedforward (VFF) input
or torque feedforward (TFF) input if required. An improper feedforward input may
result in overshooting.
Tuning Mode = 0 Tuning Mode = 1
Adjusted without the Adjusted without the
friction compensation friction compensation
function function
Adjusted with the Adjusted with the
friction compensation friction compensation
function 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.
Σ Σ
-V Series/ -V Series for Large-Capacity Models User's Manual
5.3 One-parameter Tuning (Fn203)
Tuning Mode = 2 Tuning Mode = 3
Adjusted with the Adjusted with the
friction compensation friction compensation
function function
When Enabled Classification
Immediately Tuning
5
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