YASKAWA SGD7S

8.12 Additional Adjustment Functions
8.12.2 Friction Compensation
8-70
8.12.2 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.
Parameter Function When Enabled Classification
Pn408
n.0
(default setting)
Disable friction compensation.
Immediately Setup
n.1 Enable friction compensation.
Pn121
Friction Compensation Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 1,000 1% 100 Immediately Tuning
Pn122
Second Friction Compensation Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 1,000 1% 100 Immediately Tuning
Pn123
Friction Compensation Coefficient
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 100 1% 0 Immediately Tuning
Pn124
Friction Compensation Frequency Correction
Setting Range Setting Unit Default Setting When Enabled Classification
-10,000 to 10,000 0.1 Hz 0 Immediately Tuning
Pn125
Friction Compensation Gain Correction
Setting Range Setting Unit Default Setting When Enabled Classification
1 to 1,000 1% 100 Immediately Tuning
Speed
Position
Speed
Position
Speed
Position
Speed
Position
Speed
Position