YASKAWA SGMJV - Page 227

6.4 Advanced Autotuning by Reference (Fn202)
6-33
6
Adjustments
 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 load resistance resulting from fluctuations in the machine assembly
• Secular changes in the load resistance
Conditions to which friction compensation is applicable depend on the mode. The friction compensation set-
ting in Pn408.3 applies when the mode is 1.
 Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward reference
(Pn109), speed feedforward (V-REF) input, and torque feedforward (T-REF) input will become unavailable.
The following settings are required if model following control is used together with the speed feedforward (V-
REF) input and torque feedforward (T-REF) input.
Refer to 6.9.2 Torque Feedforward and 6.9.3 Speed Feedforward for details.
Mode = 1 Mode = 2 Mode = 3
Pn408
n.0
[Factory
setting]
Adjusted without the friction
compensation function.
Adjusted with the friction
compensation function.
Adjusted with the friction
compensation function.
n.1
Adjusted with the friction
compensation function.
Adjusted with the friction
compensation function.
Adjusted with the friction
compensation function.
• Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control is not used together with either the speed feedfor-
ward (V-REF) input or torque feedforward (T-REF) input. An improper speed feedfor-
ward (V-REF) input or torque feedforward (T-REF) input may result in overshooting.
Mode
Friction
Compensation
Selecting
Parameter Function When Enabled Classification
Pn140
n.0
Model following control is not used together with
speed/torque feedforward input.
[Factory setting]
Immediately Tuning
n.1
Model following control is used together with speed/
torque feedforward input.