YASKAWA JUSP-MD D01A Series User Manual page 216

6 Adjustments
6.3.2 One-parameter Tuning 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 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.
Friction
Compensation
Selecting
Pn408
 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.
Pn140
Refer to 6.7.2 Torque Feedforward and 6.7.3 Speed Feedforward for details.
6-22
Mode
Tuning Mode = 0
n.0
Adjusted without the
friction compensation
[Factory
function
setting]
Adjusted with the
n.1 friction compensation
function
Parameter
n.0
Model following control is not used together with the
[Factory
speed/torque feedforward input.
setting]
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 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 (V-REF) input or torque feedforward (T-REF) input from the host control-
ler. However, 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
Tuning Mode = 3
Adjusted with the
friction compensation
function
When Enabled Classification
Immediately Tuning