8.12 Additional Adjustment Functions
8.12.2 Friction Compensation
8-69
Parameters Related to Automatic Gain Switching
Related Monitoring
• SigmaWin+
You can monitor gain switching with the status monitor or with tracing.
• Analog Monitors
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.
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.
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
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