YASKAWA Σ-V Series User Manual page 161

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 load resistance resulting from fluctuations in the machine assembly
• Secular changes in the load resistance
Conditions to which friction compensation is applicable depend on the mode. The friction compensation set-
ting in Pn408.3 applies when the mode is 1.
Mode
Friction
Compensation
Selection
n.0
Adjusted without the friction
[Factory
compensation function.
setting]
Pn408
Adjusted with the friction
n.1
compensation function.
Feedforward
• Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control from the host controller is not used together with
either the speed feedforward input or force feedforward input. An improper speed
feedforward input or force feedforward input may result in overshooting.
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109)
(refer to 5.9.1) will become unavailable.
The following settings are required if model following control is used from the host controller (through the
Command Option Module) together with the speed feedforward input or force feedforward input.
Parameter
Does not use the model following control together
n.0
with speed/force feedforward input.
[Factory setting]
Pn140
Uses the model following control together with
n.1
speed/force feedforward input.
Mode = 1
Adjusted with the friction
compensation function.
Function
5.3 Advanced Autotuning (Fn201)
Mode = 2
Adjusted with the friction
compensation function.
When Enabled
Immediately
Mode = 3
Classification
Tuning
5
5-23