6.6 Additional Adjustment Function6-416 Adjustments6.6.2 Manual Adjustment of Friction CompensationFriction compensation rectifies the viscous friction change and regular load change.The friction compensation function can be automatically adjusted with advanced autotuning (Fn201),advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This section describes thesteps to follow if manual adjustment is required.(1) Required Parameter SettingsThe following parameter settings are required to use friction compensation.Parameter Function When Enabled ClassificationPn408n.0[Factory setting] Does not use friction compensation. Immediately Setupn.1 Uses friction compensation.Pn121Friction Compensation Gain ClassificationSetting Range Setting Unit Factory Setting When Enabled10 to 1000 1% 100 Immediately TuningPn123Friction Compensation Coefficient ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 100 1% 0 Immediately TuningPn124Friction Compensation Frequency Correction ClassificationSetting Range Setting Unit Factory Setting When Enabled-10000 to 10000 0.1 Hz 0 Immediately TuningPn125Friction Compensation Gain Correction ClassificationSetting Range Setting Unit Factory Setting When Enabled1 to 1000 1% 100 Immediately TuningSpeed PositionSpeed PositionSpeed PositionSpeed Position
