YASKAWA E-7S SERVOPACK SGD7S

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8.11 Speed Ripple Compensation

8.11.2 Setting Up Speed Ripple Compensation

8-60

Click the Edit Button.

Enter the jog operation speed in the Input Value Box and click the OK Button.

Click the Servo ON Button.

Main Page

Table of Contents28
Setting before Operation30
Basic Information40
The Σ-7 Series42
Introduction to the INDEXER Module43
- Digital I/O43
- Serial Commands45
Interpreting the Nameplate46
- SERVOPACK Nameplate46
- INDEXER Module Nameplate46
Part Names47
Interpreting Panel Displays49
- Panel Display49
- Indicators50
Model Designations51
- Interpreting SERVOPACK Model Numbers51
- Interpreting INDEXER Module Model Numbers52
- Interpreting Servomotor Model Numbers53
Combinations of Servopacks and Servomotors54
- Combinations of Rotary Servomotors and Servopacks54
- Combinations of Direct Drive Servomotors and Servopacks55
- Combinations of Direct Drive Servomotors and Servopacks56
- Combinations of Linear Servomotors and Servopacks57
- Combinations of Linear Servomotors and Servopacks58
Functions59
- Selecting a SERVOPACK62
Ratings and Specifications63
- Ratings63
- Power Loss in the INDEXER Module66
- Ratings and Specifications66
- SERVOPACK Overload Protection Characteristics67
- Specifications68
Block Diagrams72
- SGD7S-R70A, -R90A, and -1R6A72
- Sgd7S-2R8A72
- SGD7S-3R8A, -5R5A, and -7R6A73
- Sgd7S-120A74
- SGD7S-180A and -200A76
- Sgd7S-330A77
- SGD7S-470A and -550A78
- SGD7S-590A and -780A79
- SGD7S-R70F, -R90F, and -2R1F80
- Sgd7S-2R8F80
External Dimensions81
- Front Cover Dimensions and Connector Specifications81
- SERVOPACK External Dimensions81
- SERVOPACK External Dimensions85
- INDEXER Module Dimensions and Connector Specifications87
Examples of Standard Connections between Servopacks and Peripheral Devices88
- Installation90
Installation Precautions91
Attaching the INDEXER Module to the SERVOPACK92
Mounting Types and Orientation93
Mounting Hole Dimensions94
Mounting Interval96
- Installing One SERVOPACK in a Control Panel96
- Installing more than One SERVOPACK in a Control Panel96
Monitoring the Installation Environment97
EMC Installation Conditions98
- Wiring and Connecting101
Wiring and Connecting Servopacks103
- General Precautions103
- Countermeasures against Noise106
- Grounding109
Basic Wiring Diagrams110
Wiring the Power Supply to the SERVOPACK112
- Terminal Symbols and Terminal Names112
- Wiring Procedure for Main Circuit Connector114
- Power on Sequence115
- Power Supply Wiring Diagrams117
- Wiring Regenerative Resistors123
- Wiring Reactors for Harmonic Suppression125
Wiring Servomotors126
- Terminal Symbols and Terminal Names126
- Pin Arrangement of Encoder Connector (CN2)126
- Wiring the SERVOPACK to the Encoder127
- Wiring the SERVOPACK to the Holding Brake133
I/O Signal Connections134
- I/O Signal Connector (CN1)134
- Input Signal Connector (CN11)138
- I/O Circuits141
Serial Command Communications Connector (CN12)143
- Connector Mode143
- Connector Signal Names143
- Connection Examples144
- Wiring Precautions145
Connecting Safety Function Signals146
- Pin Arrangement of Safety Function Signals (CN8)146
- I/O Circuits146
Connecting the Other Connectors148
- Serial Communications Connector (CN3)148
- Computer Connector (CN7)148
- Analog Monitor Connector (CN5)148
- Basic Functions that Require Setting before Operation149
Manipulating Parameters (Pn)151
- Parameter Classification151
- Notation for Parameters152
- Parameter Setting Methods153
- Write Prohibition Setting for Parameters154
- Initializing Parameter Settings158
Power Supply Type Settings for the Main Circuit and Control Circuit160
- AC Power Supply Input/DC Power Supply Input Setting160
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting161
Automatic Detection of Connected Motor162
Motor Direction Setting163
Setting the Linear Encoder Pitch164
Writing Linear Servomotor Parameters165
Selecting the Phase Sequence for a Linear Servomotor169
Polarity Sensor Setting171
Polarity Detection172
- Restrictions172
- Using the /S-ON (Servo ON) Signal to Perform Polarity Detection173
- Using a Tool Function to Perform Polarity Detection174
Overtravel and Related Settings175
- Overtravel Signals175
- Overtravel Settings176
- Motor Stopping Method When Overtravel Is Used176
- Overtravel Warnings177
Holding Brake179
- Brake Operating Sequence179
- Allocating the /BK (Brake) Signal180
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped181
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating181
Motor Stopping Methods for Servo off and Alarms183
- Stopping Method for Servo off184
- Servomotor Stopping Method for Alarms184
Motor Overload Detection Level187
- Detection Timing for Overload Warnings (A.910)187
- Detection Timing for Overload Warnings187
- Detection Timing for Overload Alarms (A.720)188
Electronic Gear Settings189
- Electronic Gear Ratio Settings190
- Electronic Gear Ratio Setting Examples193
- Electronic Gear Ratio Setting Examples194
Resetting the Absolute Encoder195
- Precautions on Resetting195
- Preparations195
- Applicable Tools196
- Operating Procedure196
Setting the Origin of the Absolute Linear Encoder198
- Preparations198
- Applicable Tools198
- Operating Procedure198
Setting the Regenerative Resistor Capacity201
- Application Functions202
I/O Signals204
- Input Signals204
- Output Signals208
Operation for Momentary Power Interruptions212
SEMI F47 Function213
Setting the Motor Maximum Speed215
- Encoder Divided Pulse Output215
Encoder Divided Pulse Output216
- Encoder Divided Pulse Output Signals216
- Setting for the Encoder Divided Pulse Output221
Internal Torque Limits223
Absolute Encoders224
- Connecting an Absolute Encoder225
- Multiturn Limit Setting226
- Multiturn Limit Disagreement Alarm (A.CC0)227
Absolute Linear Encoders230
- Connecting an Absolute Linear Encoder230
Software Reset231
- Preparations231
- Applicable Tools231
- Operating Procedure231
Initializing the Vibration Detection Level233
- Preparations233
- Applicable Tools234
- Operating Procedure234
- Related Parameters236
Adjusting the Motor Current Detection Signal Offset237
- Automatic Adjustment237
- Manual Adjustment239
Overheat Protection241
- Connecting the Overheat Protection Input (TH) Signal241
- Connecting the Overheat Protection Input241
- (TH) Signal241
- Overheat Protection Selection242
- Trial Operation243
Flow of Trial Operation244
- Flow of Trial Operation for Rotary Servomotors244
- Flow of Trial Operation for Linear Servomotors245
Inspections and Confirmations before Trial Operation248
Trial Operation for the Servomotor Without a Load249
- Preparations249
- Applicable Tools250
- Operating Procedure250
Trial Operation with Digital I/O and Serial Communications252
Trial Operation with the Servomotor Connected to the Machine254
- Precautions254
- Preparations254
- Operating Procedure255
Convenient Function to Use During Trial Operation256
- Program Jog Operation256
- Origin Search262
- Test Without a Motor264
- Tuning266
Overview and Flow of Tuning271
- Tuning Functions272
- Diagnostic Tool272
Monitoring Methods273
Precautions to Ensure Safe Tuning274
- Overtravel Settings274
- Torque Limit Settings274
- Setting the Position Deviation Overflow Alarm Level274
- Vibration Detection Level Setting276
- Setting the Position Deviation Overflow Alarm Level at Servo on276
Tuning-Less Function278
- Application Restrictions278
- Operating Procedure279
- Troubleshooting Alarms280
- Parameters Disabled by Tuning-Less Function281
- Automatically Adjusted Function Setting281
- Related Parameters281
Estimating the Moment of Inertia282
- Outline282
- Restrictions283
- Applicable Tools283
- Operating Procedure284
Autotuning Without Host Reference290
- Outline290
- Restrictions291
- Applicable Tools292
- Operating Procedure292
- Troubleshooting Problems in Autotuning Without a Host Reference296
- Automatically Adjusted Function Settings298
- Related Parameters300
Autotuning with a Host Reference301
- Outline301
- Restrictions302
- Applicable Tools302
- Operating Procedure303
- Troubleshooting Problems in Autotuning with a Host Reference306
- Automatically Adjusted Function Settings306
- Related Parameters307
- Custom Tuning308
- Outline308
- Preparations308
- Applicable Tools309
- Operating Procedure309
- Automatically Adjusted Function Settings314
- Related Parameters315
- Anti-Resonance Control Adjustment316
- Outline316
- Preparations316
- Applicable Tools317
- Operating Procedure317
- Related Parameters319
- Suppressing Different Vibration Frequencies with Anti-Resonance Control319
- Vibration Suppression321
- Outline321
- Preparations322
- Applicable Tools322
- Operating Procedure322
- Related Parameters324
- Speed Ripple Compensation325
- Outline325
- Setting up Speed Ripple Compensation325
- Setting Parameters329
- Additional Adjustment Functions332
- Automatic Gain Switching332
- Friction Compensation334
- Gravity Compensation336
- Current Control Mode Selection337
- Current Gain Level Setting337
- Speed Detection Method Selection338
- Speed Feedback Filter338
- Backlash Compensation338
- Manual Tuning340
- Tuning the Servo Gains340
- Compatible Adjustment Functions351
- Diagnostic Tools355
- Mechanical Analysis355
- Easy FFT356
- Monitoring361
- Monitoring Product Information362
- Items that You Can Monitor362
- Operating Procedures362
- Monitoring SERVOPACK Status363
- Servo Drive Status363
- Monitoring Status and Operations364
- I/O Signal Monitor366
- Monitoring Machine Operation Status and Signal Waveforms367
- Items that You Can Monitor367
- Using the Sigmawin368
- Using the Analog Monitors370
- Monitoring Product Life374
- Items that You Can Monitor374
- Operating Procedure375
- Preventative Maintenance376
- Alarm Tracing377
- Data for Which Alarm Tracing Is Performed377
- Applicable Tools377
- Fully-Closed Loop Control378
- Fully-Closed System379
- SERVOPACK Commissioning Procedure380
- Parameter Settings for Fully-Closed Loop Control382
- Control Block Diagram for Fully-Closed Loop Control382
- Setting the Motor Direction and the Machine Movement Direction382
- Setting the Number of External Encoder Scale Pitches383
- Setting the Number of External Encoder Scale383
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals384
- Electronic Gear Setting385
- Alarm Detection Settings386
- Analog Monitor Signal Settings387
- Setting to Use an External Encoder for Speed Feedback387
- Introduction to the Safety Functions389
- Safety Functions389
- Precautions for Safety Functions389
- Hard Wire Base Block (HWBB)390
- Risk Assessment390
- Hard Wire Base Block (HWBB) State391
- Resetting the HWBB State391
- Detecting Errors in HWBB Signal392
- HWBB Input Signal Specifications392
- Operation Without a Host Controller392
- S-RDY (Servo Ready Output) Signal393
- BK (Brake Output) Signal393
- Stopping Methods394
- ALM (Servo Alarm) Signal and /ALO1, /ALO2394
- EDM1 (External Device Monitor)395
- EDM1 Output Signal Specifications395
- Applications Examples for Safety Functions396
- Connection Example396
- Failure Detection Method396
- Procedure397
- Validating Safety Functions398
- Connecting a Safety Function Device399
- Settings for the INDEXER Module400
- Moving Mode and Coordinate Settings401
- When the Coordinates Are the Linear Type401
- When the Coordinates Are the Rotary Type402
- Settings for References403
- Motor Speed403
- Acceleration Rate and Deceleration Rate403
- Smoothing404
- Origin Settings405
- When Using an Absolute Encoder405
- When Using an Incremental Encoder406
- Speed/Position Expansion Function Setting407
- Parameters407
- Serial Commands407
- Program Tables, ZONE Tables, and JOG Speed Tables408
- Parameter Editing Commands410
- Monitor Commands410
- Digital Operator Displays411
- Operation with Digital I/O412
- Operation Functions414
- Homing415
- I/O Signals Related to Homing415
- Parameters Related to Homing416
- Homing Procedures418
- Program Table Operation420
- Types of Operation420
- I/O Signals Related to Program Table Operation422
- Parameter Related to Program Table Operation423
- Program Table Configuration423
- Operation with Serial Command423
- Settings in the Program Table424
- Sigmawin+ Procedures425
- State Transitions437
- Program Table Operation Examples438
- EVENT Examples453
- Output Response Times after /START-STOP Turns on454
- Jog Speed Table Operation455
- Input Signals Related to Jog Operation455
- Jog Speeds455
- Jog Speed Table and Speed Selection Signals456
- Sigmawin+ Procedures456
- Jog Speed Table Operation Example461
- Timing of Signal Changes462
- ZONE Outputs463
- ZONE Table and ZONE Signals463
- Parameters Related to ZONE Signals465
- Sigmawin+ Procedures465
- ZONE Output Application Example472
- Operation with Serial Command Communications476
- Introduction to Serial Command Communications478
- Communications Specifications for Serial Command Communications479
- Settings480
- Block Diagram480
- Setting the Axis Address480
- Parameters Related to Serial Communications481
- Command/Response Format482
- Global Commands483
- Echoback Response Time484
- Response Data Details485
- Positive Responses485
- Negative Responses485
- Serial Commands486
- Basic Operation Commands486
- Homing487
- Positioning, Jog Operation, and Registration with Serial Commands490
- Positioning with a Program Table499
- Editing a Jog Speed Table504
- Editing a ZONE Table504
- Editing Parameters, Monitoring, and Utility Functions505
- Inspections and Part Replacement513
- Inspections513
- Guidelines for Part Replacement513
- Replacing the Battery514
- Alarm Displays516
- List of Alarms517
- Troubleshooting Alarms523
- INDEXER Module Alarm Displays and Troubleshooting555
- Resetting Alarms559
- Displaying the Alarm History559
- Clearing the Alarm History560
- Resetting Alarms Detected in Option Modules561
- Resetting Motor Type Alarms563
- Warning Displays564
- List of Warnings565
- Troubleshooting Warnings566
- INDEXER Module Error Displays and Troubleshooting572
- Troubleshooting Based on the Operation and Conditions of the Servomotor580
- Parameter Lists590
- Parameter Configurations591
- List of Parameters592
- Interpreting the Parameter Lists592
- Parameter Recording Table621
- Appendices630
- Corresponding SERVOPACK and Sigmawin+ Function Names631
- Corresponding SERVOPACK Utility Function Names631
- Corresponding SERVOPACK Monitor Display Function Names633
- Operation of Digital Operator637
- Overview637
- Operation of Utility Functions639
- Alphabetical List of Serial Commands660
- Corresponding Parameter Numbers663

YASKAWA E-7S SERVOPACK SGD7S - Page 327

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