Yaskawa Large Capacity Sigma II Series - Manual (Page 209)

5 Servo Adjustment
5.3.4 Parameters Related to Online Autotuning
5-26
„ Speed Feedback Compensation Selection
Use the following parameter to enable or disable speed feedback compensation. Refer to
5.2.6 Speed Feedback Compensation.
This parameter can be left as it is if online autotuning is performed. If this parameter is set
manually, however, the setting is reflected to the operational setting made during online
autotuning.
„ 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 calcu-
lation of load moment of inertia.
If this compensation function is enabled, select small or large friction compensation accord-
ing to the extent of friction in order to ensure highly precise load moment of inertia calcula-
tion.
1. Do not set friction compensation for loads with low friction (10% rated torque/speed or less).
2. When the load moment of inertia is greater than the motor moment of inertia by more than 30
times, autotuning will be performed as if the load moment of inertia was only 30 times the motor
moment of inertia.
Pn110.1 Speed Feedback Compensation Se-
lection Factory
Setting:
1
Speed Control,
Position Control
Pn110.1 Setting Contents
0 Enabled
1 Disabled
Pn110.2 Friction Compensation Selection Factory
Setting:
0
Speed Control,
Position Control
Pn110.2 Setting Contents
0 Friction compensation: Disabled
1 Friction compensation: Small
2 Friction compensation: Large
INFO