YASKAWA SGDV SERVOPACK User Manual

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6 Adjustments
6.5.2 One-parameter Tuning Procedure
6-42
 Friction Compensation
This function compensates for changes in the following conditions.
• Changes in the viscous resistance of the
lubricant, such as the grease, on the sliding parts of the machine
• Changes in the friction resistance resulting from variations
in the machine assembly
• Changes in the friction resistance due to aging
Conditions to which friction compensation is applicable depend on the tuning mode. The friction compensa-
tion setting in F408.3 applies when the mode is 0 or 1. Tuning Mode = 2 and Tuning Mode = 3 are adjusted
wi
th the friction compensation function regardless of the friction compensation setting in P408.3.
 Feedforward
If Pn140 is set to the factory setting and the tuning mode setting is changed to 2 or 3, the feedforward gain
(Pn109), speed feedforward (V-REF) input, and force feedforward (T-REF) input will be disabled.
Set Pn140.3 to 1 if model following control is used together with the speed feedforward (V-REF) input and
force feedforward
(T-REF) input from the host controller.
Refer to 6.9.2 Force Feedforward and 6.9.3 Speed Feedforward for details.
Tuning Mode = 0 Tuning Mode = 1 Tuning Mode = 2 Tuning Mode = 3
Pn408
n.0
[Factory 
setting]
Adjusted without the
friction compensation
fun
ction
Adjusted without the
friction compensation
function
Adjusted with the
fr
iction compensation
function
Adjusted with the
friction compensation
function
n.1
Adjusted with the
friction compensation
function
Adjusted with the
friction compensation
function
Mode
Friction
Compensation
Selecting
Parameter Function When Enabled Classification
Pn140
n.0
[Factory 
setting]
Model following control is not used
together with the
speed/force feedforward input.
Immediately Tuning
n.1
Model following control is used together
with the
speed/force feedforward input.
• Model following control is used to make optimum feedforward settings in the SERVO-
PACK when model following control is used with the feedforward function. Therefore,
mo
del following control is not normally used together with either the speed feedfor-
ward (V-REF) input or force feedforward (T-REF) input from the host controller. How-
ever, model following control can be used with th
e speed feedforward (V-REF) input
or force feedforward (T-REF) input if required. An improper feedforward input may
result in overshooting.

YASKAWA SGDV SERVOPACK Specifications

General

Model	SGDV
Type	SERVOPACK
Control Modes	Position, Speed, Torque
Communication Interface	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Protection Rating	IP20
Operating Temperature	0°C to 55°C
Vibration Resistance	5.9 m/s² (0.6G) at 10-60Hz
Shock Resistance	49 m/s² (5G)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Regenerative overload, Encoder error