YASKAWA E-7-Series SGD7S - Friction Compensation

8.11 Additional Adjustment Functions
8.11.2 Friction Compensation
8-62
Parameters Related to Automatic Gain Switching
Related Monitoring
• SigmaWin+
You can monitor gain switching with the status monitor or with tracing.
• Analog Monitors
8.11.2 Friction Compensation
Friction compensation is used to compensate for viscous friction fluctuations and regular load
fluctuations.
You can automatically adjust friction compensation with autotuning without a host reference,
autotuning with a host reference, or custom tuning, or you can manually adjust it with the fol-
lowing procedure.
Required Parameter Settings
The following parameter settings are required to use friction compensation.
Pn106
Second Position Loop Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1/s 400 Immediately Tuning
Pn412
First Stage Second Torque Reference Filter Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 0.01 ms 100 Immediately Tuning
Pn148
Second Model Following Control Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1/s 500 Immediately Tuning
Pn149
Second Model Following Control Correction
Setting Range Setting Unit Default Setting When Enabled Classification
500 to 2,000 0.1% 1,000 Immediately Tuning
Pn122
Second Friction Compensation Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 1,000 1% 100 Immediately Tuning
Pn131
Gain Switching Time 1
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 1 ms 0 Immediately Tuning
Pn132
Gain Switching Time 2
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 1 ms 0 Immediately Tuning
Pn135
Gain Switching Waiting Time 1
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 1 ms 0 Immediately Tuning
Pn136
Gain Switching Waiting Time 2
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 1 ms 0 Immediately Tuning
Parameter Analog Monitor Monitor Name Output Value Description
Pn006
Pn007
n.
0B Active Gain Monitor
1 V Gain settings 1 are enabled.
2 V Gain settings 2 are enabled.
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