YASKAWA SGD7S series

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8.11 Speed Ripple Compensation

8.11.2 Setting Up Speed Ripple Compensation

8-62

Click the Edit Button.

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

Click the Servo ON Button.

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Table of Contents28
Basic Information on28
The Σ-7 Series41
Interpreting the Nameplate42
Part Names43
Model Designations45
- Interpreting SERVOPACK Model Numbers45
- Interpreting Servomotor Model Numbers46
Combinations of Servopacks and Servomotors47
- Combinations of Rotary Servomotors and Servopacks47
- Combinations of Direct Drive Servomotors and Servopacks48
- Combinations of Linear Servomotors and Servopacks49
- Combinations of Linear Servomotors and Servopacks50
Functions51
- Selecting a SERVOPACK54
Ratings and Specifications55
- Ratings55
- SERVOPACK Overload Protection Characteristics58
- Ratings and Specifications58
- Specifications59
Block Diagrams64
- SGD7S-R70A, -R90A, and -1R6A64
- Sgd7S-2R8A64
- SGD7S-3R8A, -5R5A, and -7R6A65
- Sgd7S-120A66
- SGD7S-180A and -200A67
- Sgd7S-330A68
- SGD7S-470A and -550A69
- SGD7S-590A and -780A70
- SGD7S-R70F, -R90F, and -2R1F70
- Sgd7S-2R8F71
External Dimensions72
- Front Cover Dimensions and Connector Specifications72
- SERVOPACK External Dimensions73
Examples of Standard Connections between Servopacks and Peripheral Devices79
SERVOPACK Installation81
Installation Precautions82
Mounting Types and Orientation83
Mounting Hole Dimensions84
Mounting Interval86
- Installing One SERVOPACK in a Control Panel86
- Installing more than One SERVOPACK in a Control Panel86
Monitoring the Installation Environment87
Derating Specifications88
EMC Installation Conditions89
- Wiring and Connecting Servopacks92
Wiring and Connecting Servopacks94
- General Precautions94
- Countermeasures against Noise96
- Grounding99
Basic Wiring Diagrams100
Wiring the Power Supply to the SERVOPACK102
- Terminal Symbols and Terminal Names102
- Wiring Procedure for Main Circuit Connector105
- Power on Sequence106
- Power Supply Wiring Diagrams107
- Wiring Regenerative Resistors113
- Wiring Reactors for Harmonic Suppression115
Wiring Servomotors116
- Terminal Symbols and Terminal Names116
- Pin Arrangement of Encoder Connector (CN2)116
- Wiring the SERVOPACK to the Encoder117
- Wiring the SERVOPACK to the Encoder118
- Wiring the SERVOPACK to the Holding Brake123
I/O Signal Connections124
- I/O Signal Connector (CN1) Names and Functions124
- I/O Signal Connector (CN1) Pin Arrangement127
- I/O Signal Wiring Examples128
- I/O Circuits134
Connecting Safety Function Signals139
- Pin Arrangement of Safety Function Signals (CN8)139
- I/O Circuits139
Connecting the Other Connectors141
- Serial Communications Connector (CN3)141
- Computer Connector (CN7)141
- Analog Monitor Connector (CN5)141
Manipulating Parameters (Pn)145
- Parameter Classification145
- Notation for Parameters146
- Parameter Setting Methods147
- Write Prohibition Setting for Parameters149
- Initializing Parameter Settings152
Control Method Selection154
Power Supply Type Settings for the Main Circuit and Control Circuit155
- AC Power Supply Input/DC Power Supply Input Setting155
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting156
Automatic Detection of Connected Motor157
Functions and Settings for the /S-ON (Servo ON) Signal158
- Function of the /S-ON (Servo ON) Signal158
- Setting to Keep the Servo on and Supply Power to the Motor Continuously158
Motor Direction Setting159
Setting the Linear Encoder Pitch160
Writing Linear Servomotor Parameters161
Selecting the Phase Sequence for a Linear Servomotor165
Polarity Sensor Setting167
Polarity Detection168
- Restrictions168
- Using the /S-ON (Servo ON) Signal to Perform Polarity Detection169
- Using the /P-DET (Polarity Detection) Signal to Perform Polarity Detection170
  - Detection170
  - Using a Tool Function to Perform Polarity Detection171
Overtravel and Related Settings172
- Overtravel Signals173
- Setting to Enable/Disable Overtravel173
- Motor Stopping Method for Overtravel174
- Overtravel Warnings175
Holding Brake177
- Brake Operating Sequence177
- BK (Brake) Signal178
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped179
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating180
Motor Stopping Methods for Servo off and Alarms182
- Stopping Method for Servo off183
- Servomotor Stopping Method for Alarms183
Motor Overload Detection Level185
- Detection Timing for Overload Warnings (A.910)185
- Detection Timing for Overload Warnings185
- Detection Timing for Overload Alarms (A.720)186
Electronic Gear Settings187
- Electronic Gear Ratio Settings188
- Electronic Gear Ratio Setting Examples191
Resetting the Absolute Encoder192
- Precautions on Resetting192
- Preparations192
- Applicable Tools193
- Operating Procedure193
Setting the Origin of the Absolute Encoder195
- Setting the Origin of the Absolute Linear Encoder195
Setting the Regenerative Resistor Capacity198
Application Functions199
I/O Signal Allocations203
- Input Signal Allocations203
- Output Signal Allocations206
- ALM (Servo Alarm) Signal208
- ALO1 to ALO3 (Alarm Code) Signals208
- WARN (Warning) Signal209
- TGON (Rotation Detection) Signal209
- S-RDY (Servo Ready) Signal210
Operation for Momentary Power Interruptions211
SEMI F47 Function212
Setting the Motor Maximum Speed214
Speed Control215
- Basic Settings for Speed Control215
- Soft Start Settings222
- Speed Reference Filter222
- Zero Clamping223
- V-CMP (Speed Coincidence Detection) Signal225
- Operation Examples for Changing the Motor Direction226
Position Control228
- Basic Settings for Position Control229
- CLR (Position Deviation Clear) Signal Function and Settings231
- Reference Pulse Input Multiplication Switching232
- Smoothing Settings234
- COIN (Positioning Completion) Signal235
- NEAR (Near) Signal236
- Reference Pulse Inhibition Function237
Torque Control238
- Basic Settings for Torque Control238
- Adjusting the Torque Reference Offset239
- Torque Reference Filter Settings243
- Speed Limit During Torque Control243
Encoder Divided Pulse Output245
- Encoder Divided Pulse Output Signals245
- Setting for the Encoder Divided Pulse Output250
- Setting for the Encoder Divided Pulse Output251
Internal Set Speed Control252
- Input Signals for Internal Set Speed Control252
- Setting the Control Method to Internal Set Speed Control253
- Settings for Internal Set Speed Control253
- Changing Internal Set Speeds with Input Signals254
Selecting Combined Control Methods256
- Setting Pn000 = N.X (Control Method Selection) to 7, 8, or 9256
- Setting Pn000 = N.X (Control Method Selection) to a or B259
- Setting Pn000 = N.X (Control Method Selection) to 4, 5, or 6259
- Setting Pn000 = N.X (Control Method Selection) to 7, 8, or 9259
Selecting Torque Limits261
- Internal Torque Limits261
- External Torque Limits262
- Limiting Torque with an Analog Reference265
Absolute Encoders271
- Connecting an Absolute Encoder272
- Structure of the Position Data of the Absolute Encoder272
- Encoder272
- Output Ports for the Position Data from the Absolute Encoder273
- Reading the Position Data from the Absolute Encoder274
- Encoder274
- Transmission Specifications278
- Calculating the Current Position in Machine Coordinates279
- Alarm Output from Output Ports for the Position Data from the Absolute Encoder280
- Multiturn Limit Setting280
- Multiturn Limit Disagreement Alarm (A.CC0)282
Absolute Linear Encoders285
- Connecting an Absolute Linear Encoder285
- Structure of the Position Data of the Absolute Linear Encoder285
- Output Ports for the Position Data from the Absolute Linear Encoder286
- Reading the Position Data from the Absolute Linear Encoder287
- Transmission Specifications291
- Calculating the Current Position in Machine Coordinates292
- Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder293
Software Reset294
- Preparations294
- Applicable Tools294
- Operating Procedure294
Initializing the Vibration Detection Level296
- Preparations296
- Applicable Tools297
- Operating Procedure297
- Related Parameters299
Adjusting the Motor Current Detection Signal Offset300
- Automatic Adjustment300
- Manual Adjustment302
Forcing the Motor to Stop304
- FSTP (Forced Stop Input) Signal304
- Stopping Method Selection for Forced Stops304
- Stops304
- Resetting Method for Forced Stops306
Overheat Protection307
- Connecting the Overheat Protection Input (TH) Signal307
- Overheat Protection Selection307
- Trial Operation and Actual Operation309
Flow of Trial Operation310
- Flow of Trial Operation for Rotary Servomotors310
- Flow of Trial Operation for Linear Servomotors312
Inspections and Confirmations before Trial Operation314
Trial Operation for the Servomotor Without a Load315
- Preparations315
- Applicable Tools316
- Operating Procedure316
Trial Operation from the Host Controller for the Servomotor Without a Load319
- Preparing the Servomotor for Trial Operation319
- Trial Operation for Speed Control321
- Trial Operation for Position Control from the Host Controller with the SERVOPACK Used for Speed Control322
- Trial Operation for Position Control323
Trial Operation with the Servomotor Connected to the Machine325
- Precautions325
- Preparations326
- Operating Procedure326
- Maintenance327
Convenient Function to Use During Trial Operation328
- Program Jogging328
- Origin Search333
- Test Without a Motor335
- Tuning340
Overview and Flow of Tuning343
- Tuning Functions344
- Diagnostic Tool345
Monitoring Methods346
Precautions to Ensure Safe Tuning347
- Overtravel Settings347
- Torque Limit Settings347
- Setting the Position Deviation Overflow Alarm Level347
- Vibration Detection Level Setting349
- Setting the Position Deviation Overflow Alarm Level at Servo on350
Tuning-Less Function351
- Application Restrictions351
- Operating Procedure352
- Troubleshooting Alarms353
- Parameters Disabled by Tuning-Less Function354
- Automatically Adjusted Function Setting354
- Related Parameters354
Estimating the Moment of Inertia355
- Outline355
- Restrictions356
- Applicable Tools356
- Operating Procedure357
Autotuning Without Host Reference363
- Outline363
- Restrictions364
- Applicable Tools365
- Operating Procedure365
- Troubleshooting Problems in Autotuning Without a Host Reference370
- Automatically Adjusted Function Settings371
- Related Parameters373
Autotuning with a Host Reference374
- Outline374
- Restrictions374
- Applicable Tools375
- Operating Procedure375
- Troubleshooting Problems in Autotuning with a Host Reference379
- Automatically Adjusted Function Settings380
- Related Parameters380
Custom Tuning381
- Outline381
- Preparations381
- Applicable Tools382
- Operating Procedure382
- Automatically Adjusted Function Settings388
- Tuning Example for Tuning Mode 2 or 3388
- Related Parameters389
Anti-Resonance Control Adjustment390
- Outline390
- Preparations390
- Applicable Tools391
- Operating Procedure391
- Related Parameters393
- Suppressing Different Vibration Frequencies with Anti-Resonance Control393
Vibration Suppression395
- Outline395
- Preparations396
- Applicable Tools396
- Operating Procedure396
- Setting Combined Functions398
- Related Parameters398
Speed Ripple Compensation399
- Outline399
- Setting up Speed Ripple Compensation399
- Setting Parameters403
Additional Adjustment Functions405
- Gain Switching405
- Gain Switching406
- Friction Compensation409
- Gravity Compensation410
- Current Control Mode Selection412
- Current Gain Level Setting412
- Speed Detection Method Selection413
- Speed Feedback Filter413
- Proportional Control (P Control)413
Manual Tuning415
- Tuning the Servo Gains415
- Compatible Adjustment Functions425
Diagnostic Tools431
- Mechanical Analysis431
- Mechanical Analysis432
- Easy FFT433
- Easy FFT434
- Monitoring437
Monitoring Product Information438
- Items that You Can Monitor438
- Operating Procedures439
Monitoring SERVOPACK Status440
- Servo Drive Status440
- Monitoring Status and Operations441
- I/O Signal Monitor443
Monitoring Machine Operation Status and Signal Waveforms444
- Items that You Can Monitor444
- Using the Sigmawin445
- Using a Measuring Instrument446
Monitoring Product Life451
- Items that You Can Monitor451
- Operating Procedure452
- Preventative Maintenance453
Alarm Tracing454
- Data for Which Alarm Tracing Is Performed454
- Applicable Tools454
Fully-Closed System456
SERVOPACK Commissioning Procedure457
Parameter Settings for Fully-Closed Loop Control459
- Control Block Diagram for Fully-Closed Loop Control459
- Setting the Motor Direction and the Machine Movement Direction460
- Loop Control460
- Setting the Number of External Encoder Scale Pitches461
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals461
- Setting the Number of External Encoder Scale461
- External Absolute Encoder Data Reception Sequence462
- Electronic Gear Setting462
- Alarm Detection Settings462
- External Absolute Encoder Data Reception462
- Analog Monitor Signal Settings464
- Setting to Use an External Encoder for Speed Feedback464
Introduction to the Safety Functions466
- Safety Functions466
- Precautions for Safety Functions466
Hard Wire Base Block (HWBB)467
- Risk Assessment467
- Hard Wire Base Block (HWBB) State468
- Resetting the HWBB State468
- Detecting Errors in HWBB Signal469
- HWBB Input Signal Specifications469
- Operation Without a Host Controller469
- S-RDY (Servo Ready Output) Signal470
- BK (Brake Output) Signal470
- Stopping Methods470
- Settings to Clear the Position Deviation471
- ALM (Servo Alarm) Signal and ALO1, ALO2, and ALO3471
  - (Alarm Code Output) Signals471
EDM1 (External Device Monitor)472
- EDM1 Output Signal Specifications472
Applications Examples for Safety Functions473
- Connection Example473
- Failure Detection Method473
- Procedure474
Validating Safety Functions475
Connecting a Safety Function Device476
Inspections and Part Replacement478
- Inspections478
- Guidelines for Part Replacement478
- Replacing the Battery479
Alarm Displays481
- List of Alarms481
Warning Displays524
- List of Warnings524
- Troubleshooting Warnings525
Troubleshooting Based on the Operation and Conditions of the Servomotor531
- Panel Displays and Panel Operator Procedures541
Panel Operator541
- Panel Operator Key Names and Functions543
- Changing Modes543
- Status Displays544
Parameter (Pn) Operations on the Panel Operator546
- Setting Parameters that Require Numeric Settings546
- Setting Parameters that Require Selection of Functions547
Monitor Display (Un) Operations on the Panel Operator548
- Basic Monitor Display Operations548
- Input Signal Monitor (Un005)548
- Output Signal Monitor (Un006)549
- Safety Input Signal Monitor (Un015)550
- Upper Limit Setting Monitor for Maximum Motor Speed/Upper Limit Setting for Encoder Output Resolution (Un010)551
- Polarity Sensor Signal Monitor (Un011)551
Utility Function (Fn) Operations on the Panel Operator552
- Display Alarm History (Fn000)552
- Jog (Fn002)553
- Origin Search (Fn003)554
- Jog Program (Fn004)555
- Initialize Parameters (Fn005)556
- Clear Alarm History (Fn006)556
- Reset Absolute Encoder (Fn008)557
- Autotune Analog (Speed/Torque) Reference Offset (Fn009)558
- Manually Adjust Speed Reference Offset (Fn00A)558
- Manually Adjust Torque Reference Offset (Fn00B)559
- Adjust Analog Monitor Output Offset (Fn00C)560
- Adjust Analog Monitor Output Gain (Fn00D)560
- Autotune Motor Current Detection Signal Offset (Fn00E)561
- Manually Adjust Motor Current Detection Signal Offset (Fn00F)562
- Write Prohibition Setting (Fn010)563
- Display Servomotor Model (Fn011)564
- Display Software Version (Fn012)565
- Multiturn Limit Setting after Multiturn Limit Disagreement Alarm (Fn013)566
- Reset Option Module Configuration Error (Fn014)567
- Initialize Vibration Detection Level (Fn01B)567
- Display SERVOPACK and Servomotor Ids (Fn01E)568
- Display Servomotor ID from Feedback Option Module (Fn01F)568
- Set Absolute Linear Encoder Origin (Fn020)568
- Resetting Motor Type Alarms (Fn021)569
- Software Reset (Fn030)569
- Polarity Detection (Fn080)569
- Tuning-Less Level Setting (Fn200)570
- Advanced Autotuning Without Reference (Fn201)571
- Advanced Autotuning with Reference (Fn202)571
- One-Parameter Tuning (Fn203)571
- Adjust Anti-Resonance Control (Fn204)572
- Vibration Suppression (Fn205)572
- Easy FFT (Fn206)572
- Parameter Lists574
List of Parameters575
- Interpreting the Parameter Lists575
- List of Parameters576
Parameter Recording Table607
Appendices614
Examples of Connections to Host Controllers615
- Example of Connections to MP2000/MP3000-Series SVA-01615
- Motion Module615
- Example of Connections to Yokogawa Electric's F3YP2-0P Positioning Module for Position Control616
- Example of Connections to Yokogawa Electric's F3NC3-0N Positioning Module for Position Control617
- Example of Connections to an OMRON Position Control Unit618
- Example of Connection to Mitsubishi's QD75D Positioning Module for Position Control619
Corresponding SERVOPACK and Sigmawin+ Function Names620
- Corresponding SERVOPACK Utility Function Names620
- Corresponding SERVOPACK Monitor Display Function Names621

YASKAWA SGD7S series - Page 401

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