Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 195)

5 Adjustments
5.5.2 One-parameter Tuning Procedure
5-42
Friction Compensation
This function compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine
• Changes in the friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging
Conditions to which friction compensation is applicable depend on the tuning mode. The friction compensa-
tion setting in F408.3 applies when the mode is 0 or 1. Tuning Mode = 2 and Tuning Mode = 3 are adjusted
with the friction compensation function regardless of the friction compensation setting in P408.3.
Feedforward
If Pn140 is set to the factory setting and the tuning mode setting is changed to 2 or 3, the feedforward gain
(Pn109), speed feedforward (VFF) input, and torque feedforward (TFF) input will be disabled.
Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and
torque feedforward (TFF) input from the host controller.
Refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54) for details.
Tuning Mode = 0 Tuning Mode = 1 Tuning Mode = 2 Tuning Mode = 3
Pn408
n.0
[Factory
setting] Adjusted without the
friction compensation
function Adjusted without the
friction compensation
function
Adjusted with the
friction compensation
function Adjusted with the
friction compensation
function
n.1
Adjusted with the
friction compensation
function Adjusted with the
friction compensation
function
Mode
Friction
Compensation
Selecting
Parameter Function When Enabled Classification
Pn140
n.0
[Factory
setting]
Model following control is not used together with the
speed/torque feedforward input.
Immediately Tuning
n.1
Model following control is used together with the
speed/torque feedforward input.
• Model following control is used to make optimum feedforward settings in the SERVO-
PACK when model following control is used with the feedforward function. Therefore,
model following control is not normally used together with either the speed feedfor-
ward (VFF) input or torque feedforward (TFF) input from the host controller. However,
model following control can be used with the speed feedforward (VFF) input or torque
feedforward (TFF) input if required. An improper feedforward input may result in over-
shooting.