YASKAWA E-V-MD Series - Manual Adjustment of Friction Compensation

8.8 Additional Adjustment Function
8-81
8
Adjustments
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.
(2) Operating Procedure for Friction Compensation
The following procedure is used for friction compensation.
Parameter Function When Enabled Classification
Pn408
n.0
[Factory setting]
Does not use friction compensation.
Immediately Setup
Uses friction
compensation.
Uses friction compensation.
Pn121
Friction Compensation Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 1% 100 Immediately Tuning
Pn123
Friction Compensation Coefficient
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 0 Immediately Tuning
Pn124
Friction Compensation Frequency Correction
Classification
Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 0.1 Hz 0 Immediately Tuning
Pn125
Friction Compensation Gain Correction
Classification
Setting Range Setting Unit Factory Setting When Enabled
1 to 1000 1% 100 Immediately Tuning
Speed
Position
Speed
Position
Speed
Position
Speed
Position
CAUTION
• 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 Operation
1
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
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).