YASKAWA Σ-V Series User Manual page 195

5.8.2 Friction Compensation
Friction compensation rectifies the viscous friction change and regular load change.
The factors causing load changes include grease viscosity resistance changes resulting from temperature
changes in addition to viscous friction and regular load changes resulting from equipment variations and secu-
lar changes.
Friction compensation is automatically adjusted by the following settings.
1. The advanced autotuning level is set to mode 2 or 3.
2. The one-parameter tuning mode is set to 2 or 3.
Refer to the following description and make adjustments only if manual adjustment is required.
(1) Required Parameter Settings
The following parameter settings are required to use friction compensation.
Parameter
n.0
Pn408
n.1
Friction Compensation Gain
Pn121
Setting Range
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. [Factory setting]
Uses friction compensation.
Setting Unit
10 to 1000 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
5.8 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
5
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