Step Operation
1 Set the following parameters related to friction compensation to their default
settings.
Friction Compensation Gain (Pn121): 100
Second Friction Compensation Gain (Pn122): 100
Friction Compensation Coefficient (Pn123): 0
Friction Compensation Frequency Correction (Pn124): 0
Friction Compensation Gain Correction (Pn125): 100
Note: Always use the default settings for the Friction Compensation Frequency
Correction (Pn124) and Friction Compensation Gain Correction (Pn125).
2 Gradually increase the Friction Compensation Coefficient (Pn123) to check the
effect of friction compensation.
Note: Usually, set the Friction Compensation Coefficient (Pn123) to 95% or
less.
If the effect is insufficient, increase the Friction Compensation Gain (Pn121) by
10% increments until vibration stops.
Effect of Adjusted Parameters
Pn121: Friction Compensation Gain and Pn122: Second Friction Compensa-
tion Gain
These parameters set the response to external disturbances. The higher the
setting is, the better the response will be. If the machine has a resonance fre-
quency, however, vibration may occur if the setting is too high.
Pn123: Friction Compensation Coefficient
This parameter sets the effect of friction compensation. The higher the setting
is, the more effective friction compensation will be. If the setting is too high,
however, vibration will occur more easily. Usually, set the value to 95% or less.
3 Effect of Adjustments
The following graphs show the response with and without adjustment.
Poor response
because of friction
Low friction
Position deviation
High friction
Position reference speed
Before Friction Compensation After Friction Compensation
Position deviation
Response improved by
friction compensation
Position reference speed
9.13.4 Gravity Compensation
When the Servomotor is used with a vertical axis, gravity compensation prevents the
moving part from falling due to the machine’s own weight when the brake is released.
SERVOPACKs with software version 0023 or higher support gravity compensation.
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Gravity Compensation
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 396
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