Yaskawa Sigma II Series Servo System - Manual (Page 264)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 32
Speed Feedback Compensation Selection
Use the following parameter to enable or disable speed feedback compensation.
Refer to 6.2.7 Speed Feedback Compensation.
This parameter can be left as it is if online auto-tuning is performed. If this
parameter is set manually, however, the setting is reflected to the operational setting
made during online auto-tuning.
Friction Compensation Selection
Use the following parameter to enable or disable friction compensation to determine
whether or not the friction of the servo system is to be taken into consideration for
the calculation of load inertia.
If this compensation function is enabled, select small or large friction compensation
according to the extent of friction in order to ensure highly precise load inertia
calculation.
Note: 1. Do not set friction compensation for loads with low friction (10% rated torque/speed or less).
2. Auto-Tuning will be performed as if the load inertia is 30 times the motor inertia.
Parameter Signal
Setting
(%)
Description
Pn110.1
Speed Feedback Compen-
sation Selection
Default Setting: 1
Speed control,
Position Control
Pn110.1 Setting Result
0 Speed Feedback Compensation enabled.
1 Speed Feedback Compensation disabled.
Parameter Signal
Setting
(%)
Description
Pn110.2
Friction Compensation
Selection
Default Setting: 0
Speed control,
Position Control
Pn110.2 Setting Result
0 Friction Compensation enabled
1 Friction Compensation: Small
2 Friction Compensation: Large