YASKAWA SGD7S-xxxDA0 series Product Manual

Contents

9.12 Additional Adjustment Functions9.12.2 Friction Compensation9-68Related Monitoring• SigmaWin+You can monitor gain switching with the status monitor or with tracing.• Analog Monitors9.12.2 Friction CompensationFriction compensation is used to compensate for viscous friction fluctuations and regular loadfluctuations.You can automatically adjust friction compensation with autotuning without a host reference,autotuning with a host reference, or custom tuning, or you can manually adjust it with the fol-lowing procedure.Required Parameter SettingsThe following parameter settings are required to use friction compensation.Operating Procedure for Friction CompensationUse the following procedure to perform friction compensation.Parameter Analog Monitor Monitor Name Output Value DescriptionPn006 (2006h)Pn007 (2007h) n.0B Active Gain Monitor 1 V Gain settings 1 are enabled.2 V Gain settings 2 are enabled.Parameter Function When Enabled ClassificationPn408(2408h)n.0(default setting) Disable friction compensation. Immediately Setupn.1 Enable friction compensation.Pn121(2121h)Friction Compensation GainSetting Range Setting Unit Default Setting When Enabled Classification10 to 1,000 1% 100 Immediately TuningPn122(2122h)Second Friction Compensation GainSetting Range Setting Unit Default Setting When Enabled Classification10 to 1,000 1% 100 Immediately TuningPn123(2123h)Friction Compensation CoefficientSetting Range Setting Unit Default Setting When Enabled Classification0 to 100 1% 0 Immediately TuningPn124(2124h)Friction Compensation Frequency CorrectionSetting Range Setting Unit Default Setting When Enabled Classification-10,000 to 10,000 0.1 Hz 0 Immediately TuningPn125(2125h)Friction Compensation Gain CorrectionSetting Range Setting Unit Default Setting When Enabled Classification1 to 1,000 1% 100 Immediately TuningCAUTION Before you execute friction compensation, set the moment of inertia ratio (Pn103) as accu-rately as possible. If the setting greatly differs from the actual moment of inertia, vibrationmay occur.Speed PositionSpeed PositionSpeed PositionSpeed PositionSpeed Position