Manual Adjustment Of Friction Compensation - YASKAWA E-V-MD Series User Manual

8.8.2 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, advanced auto-
tuning by reference input, or one-parameter tuning. This section describes the steps to follow if manual adjust-
ment is required.
(1) Required Parameter Settings
The following parameter settings are required to use friction compensation.
Parameter
n.0
[Factory setting]
Pn408
Uses friction
compensation.
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
1 to 1000
(2) Operating Procedure for Friction Compensation
The following procedure is used for friction compensation.
• Before using friction compensation, set the moment of inertia ratio (Pn103) as accurately as possible. If
the wrong moment of inertia ratio is set, vibration may result.
Step
Set the following parameters for friction compensation to the factory setting as follows.
Friction compensation gain (Pn121): 100
Friction compensation coefficient (Pn123): 0
Friction compensation frequency correction (Pn124): 0
1
Friction compensation gain correction (Pn125): 100
Note: Always use the factory-set values for friction compensation frequency correction (Pn124) and friction
compensation gain correction (Pn125).
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%
Function
Speed Position
Factory Setting
100
Speed Position
Factory Setting
0
Speed Position
Factory Setting
0
Speed Position
Factory Setting
100
CAUTION
Operation
8.8 Additional Adjustment Function
When Enabled Classification
Immediately Setup
Classification
When Enabled
Immediately Tuning
Classification
When Enabled
Immediately Tuning
Classification
When Enabled
Immediately Tuning
Classification
When Enabled
Immediately Tuning
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