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6.8 Additional Adjustment Function
6-61
(2) Operating Procedure for Friction Compensation
The following procedure is used for friction compensation.
CAUTION
• Before using friction compensation, set the mass ratio (Pn103) as accurately as possible. If the wrong
mass 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 valu
es for friction compensation frequency correction (Pn124) and friction
compensation gain correction (Pn125).
2
To check the effect of friction compensation, gradually increase the friction compensation coefficient (Pn123).
Note: Usually, set the friction compensation coefficient value to 95% or less. If the effect is insufficient,
inc
rease the friction compensation gain (Pn121) by 10% increments until it stops vibrating.
Effect of Parameters for
Adjustment
Pn121: Friction Compensation Gain
This parameter sets the responsiveness for ex
ternal disturbance. The higher the set value is, the better the
responsiveness will be. If the equipment has a resonance frequency, however, vibration may result if the set
value is excessively high.
Pn123: Friction Compensation Coefficient
This parameter sets the effect of friction compensation. The higher the set value is, the more effective friction
com
pensation will be. If the set value is excessively high, however, the vibration will occur easily. Usually,
set the value to 95% or less.
3
Effect of Adjustment
The following graph shows the responsiveness with and
without proper adjustment.
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⟎Ꮕ
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Position error
Reference pulse speed
Position error
Reference pulse speed
Small friction
Responsiveness
is improved by
friction
compensation.
Large friction
Without friction compensation With friction compensation
Insufficient responsiveness
because of friction
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