Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference - Manual (Page 207)

5.8 Additional Adjustment Function
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5
Adjustments
5.8.2 Manual Adjustment of Friction Compensation
Friction 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 the
steps to follow 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
[Factory setting]
Does not use friction compensation.
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