YASKAWA Sigma-7 SGD7S Series - Page 395

Friction Compensation Gain
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn121 10 to 1,000 1% 100 Immediately Tuning
(applies to Speed Control and Position Control)
Second Friction Compensation Gain
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn122 10 to 1,000 1% 100 Immediately Tuning
(applies to Speed Control and Position Control)
Friction Compensation Coefficient
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn123 0 to 100 1% 100 Immediately Tuning
(applies to Speed Control and Position Control)
Friction Compensation Frequency Correction
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn124 -10,000 to
10,000
0.1 Hz 0 Immediately Tuning
(applies to Speed Control and Position Control)
Friction Compensation Gain Correction
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn125 1 to 1,000 1% 100 Immediately Tuning
(applies to Speed Control and Position Control)
Use the following procedure to perform friction compensation.
CAUTION!
Before you execute friction compensation, set the moment of inertia ratio
(Pn103) as accurately as possible. If the setting greatly differs from the
actual moment of inertia, vibration may occur.
Operating Procedure for
Friction Compensation
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Friction Compensation
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