Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 193)

5 Adjustments
5.8.2 Friction Compensation
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5.8.2 Friction Compensation
Friction compensation rectifies the viscous friction change and regular load change.
The factors causing load changes include grease viscosity resistance changes resulting from temperature
changes in addition to viscous friction and regular load changes resulting from equipment variations and secu-
lar changes.
Friction compensation is automatically adjusted by the following settings.
1. The advanced autotuning level is set to mode 2 or 3.
2. The one-parameter tuning mode is set to 2 or 3.
Refer to the following description and make adjustments only if manual adjustment is required.
(1) Required Parameter Settings
The following parameter settings are required to use friction compensation.
Parameter Function When Enabled Classification
Pn408
n.0 Does not use friction compensation. [Factory setting]
Immediately Setup
n.1 Uses friction compensation.
Pn121
Friction Compensation Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 1 % 100 Immediately Tuning
Pn123
Friction Compensation Coefficient
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1 % 0 Immediately Tuning
Pn124
Friction Compensation Frequency Correction
Classification
Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 0.1 Hz 0 Immediately Tuning
Pn125
Friction Compensation Gain Correction
Classification
Setting Range Setting Unit Factory Setting When Enabled
1 to 1000 1 % 100 Immediately Tuning
Speed Position
Speed Position
Speed Position
Speed Position