8.11 Additional Adjustment Functions
8.11.2 Friction Compensation
8-63
8
T
uning
Operating Procedure for Friction Compensation
Use the following procedure to perform friction compensation.
Parameter
Function
When Enabled
Classification
Pn408
n.0
(default setting)
Disable friction compensation.
Immediately
Setup
n.1
Enable friction compensation.
Pn121
Friction Compensation Gain
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
10 to 1,000
1%
100
Immediately
Tuning
Pn122
Second Friction Compensation Gain
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
10 to 1,000
1%
100
Immediately
Tuning
Pn123
Friction Compensation Coefficient
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 100
1%
0
Immediately
Tuning
Pn124
Friction Compensation Frequency Correction
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
-10,000 to 10,000
0.1 Hz
0
Immediately
Tuning
Pn125
Friction Compensation Gain Correction
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
1 to 1,000
1%
100
Immediately
Tuning
CAUTION
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, vibration
may occur.
Step
Operation
1
Set the following parameters related to friction compensation to their default settings.
Friction compensation gain (Pn121): 100
Second friction compensation gain (Pn122): 100
Friction compensation coefficient (Pn123): 0
Friction compensation frequency correction (Pn124): 0
Friction compensation gain correction (Pn125): 100
Note:
Always use the default settings for the friction compensation frequency correction (Pn124) and fric-
tion compensation gain correction (Pn125).
2
Gradually increase the friction compensation coefficient (Pn123) to check the effect of friction com-
pensation.
Note:
Usually, set the friction compensation coefficient (Pn123) to 95% or less.
If the effect is insufficient, increase the friction compensation gain (Pn121) by 10% increments until
vibration stops.
Effect of Adjusted Parameters
Pn121: Friction Compensation Gain and Pn122: Second Friction Compensation Gain
These parameters set the response to external disturbances. The higher the setting is, the better
the response will be. If the machine has a resonance frequency, however, vibration may occur if the
setting is too high.
Pn123: Friction Compensation Coefficient
This parameter sets the effect of friction compensation. The higher the setting is, the more effective
friction compensation will be. If the setting is too high, however, vibration will occur more easily.
Usually, set the value to 95% or less.
Speed
Position
Speed
Position
Speed
Position
Speed
Position
Speed
Position