YASKAWA Sigma-7 SGD7S Series

Gain Switching Waiting Time 1
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn135 0 to 65,535 1 ms 0 Immediately Tuning
(applies to Position Control)
Gain Switching Waiting Time 2
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn136 0 to 65,535 1 ms 0 Immediately Tuning
(applies to Position Control)
n SigmaWin+
You can monitor gain switching with the status monitor or with tracing.
n Analog Monitors
Parameter Analog
Monitor
Monitor Name Output Value Description
Pn006
n.0B
Active Gain Monitor
1 V
Gain settings 1
are enabled.
Pn007
2 V
Gain settings 2
are enabled.
9.13.3 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 refer-
ence, autotuning with a host reference, or custom tuning, or you can manually adjust it
with the following procedure.
The following parameter settings are required to use friction compensation.
Parameter Function When Enabled Classification
Pn408
n.0
(default
setting)
Disable friction compen-
sation.
Immediately Setup
n.1
Enable friction compen-
sation.
Related Monitoring
Required Parameter Set-
tings
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Friction Compensation
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