8.12 Additional Adjustment Functions
8.12.3 Gravity Compensation
8-72
A timing chart for when the moving part is raised then lowered is provided below.
Refer to the following section for details on brake operation timing.
5.13.1
Brake Operating Sequence
on page 5-36
Required Parameter Settings
The following parameter settings are required to use gravity compensation.
Operating Procedure for Gravity Compensation
Use the following procedure to perform gravity compensation.
1.
Set Pn475 to n.1 (Enable gravity compensation).
2.
To enable changes to the settings, turn the power supply to the SERVOPACK OFF and
ON again.
3.
Use SigmaWin+ or an analog monitor to find the torque reference value when the motor
is stopped with the servo ON.
4.
Set the torque reference value found in step 3 in Pn476 (Gravity Compensation Torque).
5.
Turn the servo ON and OFF a few times and fine-tune Pn476 so that the moving part of
the machine does not fall.
Parameter Description When Enabled Classification
Pn475
n.0
(default setting)
Disable gravity compensation.
After restart Setup
n.1 Enable gravity compensation.
Pn476
Gravity Compensation Torque
Setting Range Setting Unit Default Setting When Enabled Classification
-1,000 to 1,000 0.1% 0 Immediately Tuning
0
0
0
Torque reference
Gravity compensation torque (Pn476)
/S-ON (Servo ON) signal
OFF
Power not
supplied.
OFF
Brake applied.
ON
Power supplied.
ON
Brake released.
OFF
Power not supplied.
OFF
Brake applied.
Motor power status
/BK (Brake) signal
Brake contact section
(lining)
Position/speed reference
Motor speed
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