5 Adjustments
5.5.2 One-parameter Tuning Procedure
5-38
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 load resistance resulting from fluctuations in the machine assembly
• Secular changes in the load resistance
Conditions to which friction compensation is applicable depend on the tuning mode. The friction compensa-
tion setting in Pn408.3 applies when the mode is 0 or 1.
Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109)
(refer to 5.9.1) will be lost.
The following settings are required if model following control is used from the host controller (through the
Command Option Module) together with speed feedforward input or force feedforward input.
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
• Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control from the host controller is not used together with
either the speed feedforward input or force feedforward input. An improper speed
feedforward input or force feedforward input may result in overshooting.
Parameter
Function
When Enabled
Classification
Pn140
n.0
Does not use the model following control together
with speed/force feedforward input.
[Factory setting]
Immediately
Tuning
n.1
Uses the model following control together with
speed/force feedforward input.
