YASKAWA Sigma-7 SGD7S Series

Mode Selection Settings Friction Compensation
1: Standard
Based on the setting of Pn408 = n.X
(Friction Compensation Function Selec-
tion)*
2: For position control Adjusted with friction compensation.
3: For position control (emphasis on over-
shooting)
Parameter Meaning When Enabled Classification
Pn408
n. 0
(default
setting)
Disable friction compen-
sation.
Immediately Setup
n. 1
Enable friction compen-
sation.
* Refer to the following section for details.
Ä Chap. 9.13.3 ‘Friction Compensation’ page 394
If Pn140 is set to n.0 (Do not use model following control and speed/torque feedfor-
ward together (default setting)) and tuning is performed with the mode selection set to 2
or 3, feedforward (Pn109), the speed feedforward input (VFF), and the torque feedfor-
ward input (TFF) will be disabled.
To use the speed feedforward input (VFF), the torque feedforward input (TFF), and model
following control from the host controller in the system, set Pn140 to n.1 (Use
model following control and speed/torque feedforward together).
Parameter Meaning When Enabled Classification
Pn140
n.0
(default
setting)
Do not use model fol-
lowing control and
speed/torque feedfor-
ward together.
Immediately Tuning
n.1
Use model following
control and speed/torque
feedforward together.
When model following control is used with the feedforward function, it is
used to make optimum feedforward settings in the SERVOPACK. There-
fore, model following control is not normally used together with either the
speed feedforward input (VFF) or torque feedforward input (TFF) from the
host controller. However, model following control can be used with the
speed feedforward input (VFF) or torque feedforward input (TFF) if
required. An unsuitable feedforward input may result in overshooting.
9.7.8 Related Parameters
The following parameters are automatically adjusted or used as reference when you exe-
cute autotuning without a host reference.
Do not change the settings while autotuning without a host reference is being executed.
Feedforward
Sigma-7 Series SERVOPACKs
Tuning
Autotuning without Host Reference > Related Parameters
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