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Sigma II User's Manual
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Speed Feedback Compensation Selection
Use the following parameter to enable or disable speed feedback compensation.
Refer to 6.2.6 Speed Feedback Compensation.
This parameter can be left as it is if online auto-tuning is performed. If this parame-
ter is set manually, however, the setting is reflected to the operational setting made
during online auto-tuning.
Parameter
Speed Feedback Compen-
Pn110.1
sation Selection
n
Friction Compensation Selection
Use the following parameter to enable or disable friction compensation to determine
whether or not the friction of the servo system is to be taken into consideration for
the calculation of load inertia.
If this compensation function is enabled, select small or large friction compensation
according to the extent of friction in order to ensure highly precise load inertia calcu-
lation.
Parameter
Friction Compensation
Pn110.2
Selection
Note: 1.
Do not set friction compensation for loads with low friction (10% rated torque/speed or less).
2.
Auto-Tuning will be performed as if the load inertia is 30 times the motor inertia.
Signal
Default Setting: 1
Pn110.0 Setting
0
Speed Feedback Compensation enabled.
1
Speed Feedback Compensation disabled.
Signal
Default Setting: 1
Pn110.0 Setting
0
Friction Compensation enabled
1
Friction Compensation: Small
2
Friction Compensation: Large
Setting
(%)
Result
Setting
(%)
Result
6-25
Chapter 6: Servo Adjustment
Description
Speed control,
Position Control
Description
Speed control,
Position Control
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