YASKAWA E-V-MD Series User Manual page 168

 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 resulting from variations in the machine assembly
The conditions to which friction compensation is applicable depend on the mode selection.
Mode Selection Setting
Friction Compensation
∗1. The friction compensation function is always enabled regardless of the friction compensation setting in Pn408.3.
∗2. For details on Pn408.3, refer to 8.8.2 (1) Required Parameter Settings.
 Feedforward
If Model Following Control Related Switch (Pn140) is set to the factory setting and the mode selection is set
to 2 or 3 when autotuning is executed, the feedforward gain (PnAC8), speed feedforward (VFF) input, and
torque feedforward (TFF) input will be disabled after autotuning.
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-MD Series User's Manual MECHATROLINK-III Standard Servo Profile Commands (Manual
No.: SIEP S800001 03) 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 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 (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 over-
shooting.
Set to 1.
*2
According to Pn408.3.
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.
8.3 Advanced Autotuning
*1
Set to 2.
Adjusted with the friction compensation function.
When Enabled Classification
Immediately
*1
Set to 3.
Tuning
8
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