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
The conditions for applying friction compensation depend on the mode. The friction compensation setting in Pn408.3 applies when the Mode is 1. The friction compensation function is always enabled regardless of the friction compensation setting in Pn408.3 when the Mode is 2 or 3.
Feedforward
If Pn140 is set to the factory setting and the 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.
For the torque feedforward (TFF) input and speed feedforward (VFF) input, refer to the Σ-V Series/DC Power Input Σ-V Series/Σ-V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).
Mode = 1 Mode = 2 Mode = 3
Pn408
n.0
[Factory setting]
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 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 feedforward (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 feedfor-ward (TFF) input if required. An improper feedforfeedfor-ward input may result in overshooting.
5 Adjustments
5.3.3 Related Parameters
5.3.3 Related Parameters
The following table lists parameters related to this function and their possibility of being changed while exe-cuting this function or of being changed automatically after exeexe-cuting this function.
• Parameters related to this function
These are parameters that are used or referenced when executing this function.
• Allowed changes during execution of this function
Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.
• Automatic changes after execution of this function
Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.
Parameter Name Mid-execution
changes Automatic
changes
Pn100 Speed Loop Gain No Yes
Pn101 Speed Loop Integral Time Constant No Yes
Pn102 Position Loop Gain No Yes
Pn103 Moment of Inertia Ratio No No
Pn121 Friction Compensation Gain No Yes
Pn123 Friction Compensation Coefficient No Yes
Pn124 Friction Compensation Frequency Correction No No Pn125 Friction Compensation Gain Correction No Yes Pn401 Torque Reference Filter Time Constant No Yes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No Yes
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No Yes
Pn140 Model Following Control Related Switch Yes Yes
Pn141 Model Following Control Gain No Yes
Pn142 Model Following Control Gain Compensation No Yes Pn143 Model Following Control Bias (Forward Direction) No Yes Pn144 Model Following Control Bias (Reverse Direction) No Yes
Pn145 Vibration Suppression 1 Frequency A No Yes
Pn146 Vibration Suppression 1 Frequency B No Yes
Pn147 Model Following Control Speed Feedforward Compensation No Yes Pn160 Anti-Resonance Control Related Switch Yes Yes
Pn161 Anti-Resonance Frequency No Yes
Pn163 Anti-Resonance Damping Gain No Yes
Pn531 Program JOG Movement Distance No No
Pn533 Program JOG Movement Speed No No
Pn534 Program JOG Acceleration/Deceleration Time No No
Pn535 Program JOG Waiting Time No No
Pn536 Number of Times of Program JOG Movement No No
5.4 Advanced Autotuning by Reference (Fn202)
5
Adjustments
5.4 Advanced Autotuning by Reference (Fn202)
Adjustments with advanced autotuning by reference are described below.
5.4.1 Advanced Autotuning by Reference
Advanced autotuning by reference is used to automatically achieve optimum tuning of the SERVOPACK in response to the user reference inputs from the host controller.
Advanced autotuning by reference is performed generally to fine-tune the SERVOPACK after advanced auto-tuning of the SERVOPACK has been performed.
If the moment of inertia ratio is correctly set to Pn103, advanced autotuning by reference can be performed without performing advanced autotuning.
Advanced autotuning by reference performs the following adjustments.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
• Vibration suppression
Refer to 5.4.3 Related Parameters for parameters used for adjustments.
• Advanced autotuning by reference starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments. In this case, make adjustments after lowering the speed loop gain (Pn100) until vibration is eliminated.
CAUTION
• Because advanced autotuning by reference adjusts the SERVOPACK during automatic operation, vibra-tion or overshooting may occur. To ensure safety, perform advanced autotuning by reference in a state where the SERVOPACK can come to an emergency stop at any time.
SERVOPACK Movement
speed
Host controller
Reference
Response
Travel distance Reference
5 Adjustments
5.4.1 Advanced Autotuning by Reference
(1) Preparation
Check the following settings before performing advanced autotuning by reference. The message “NO-OP”
indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met.
• The SERVOPACK must be in Servo Ready status (Refer to 4.8.4).
• There must be no overtravel.
• The servomotor power must be OFF.
• The position control must be selected when the servomotor power is ON.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• The test without a motor function must be disabled (Pn00C.0 = 0).
• All alarms and warnings must be cleared.
• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).
• The tuning-less function must be disabled (Pn170.0 = 0).