Manual Adjustment Of Friction Compensation - YASKAWA JUSP-MD D01A Series User Manual

6.6.2 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.
Parameter
n.0
[Factory setting]
Pn408
n.1
Friction Compensation Gain
Pn121
Setting Range
10 to 1000
Friction Compensation Coefficient
Pn123
Setting Range
Friction Compensation Frequency Correction
Pn124
Setting Range
-10000 to 10000
Friction Compensation Gain Correction
Pn125
Setting Range
Does not use friction compensation.
Uses friction compensation.
Setting Unit
1%
Setting Unit
0 to 100 1%
Setting Unit
0.1 Hz
Setting Unit
1 to 1000 1%
Function
Speed
Factory Setting
100
Speed
Factory Setting
0
Speed
Factory Setting
0
Speed
Factory Setting
100
6.6 Additional Adjustment Function
When Enabled Classification
Immediately Setup
Position
Classification
When Enabled
Immediately Tuning
Position
Classification
When Enabled
Immediately Tuning
Position
Classification
When Enabled
Immediately Tuning
Position
Classification
When Enabled
Immediately Tuning
6
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