YASKAWA SGDV-OCA05A

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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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About this Manual3
Outline of Manual3
Related Documents4
Using this Manual11
Safety Precautions14
Warranty24
Compliance with UL Standards, EU Directives, and Other Safety Standards26
- Table of Contents29
- Actual Operation34
Basic Information40
The Σ-7 Series42
Introduction to the Devicenet Module43
- Devicenet Terminology43
- Data Types43
Interpreting the Nameplate44
- SERVOPACK Nameplate44
- Devicenet Module Nameplate44
Part Names45
Interpreting Panel Displays47
- Panel Displays47
- LED Indicators48
Model Designations49
- Interpreting SERVOPACK Model Numbers49
- Interpreting Devicenet Module Model Numbers50
- Interpreting Servomotor Model Numbers51
Combinations of Servopacks and Servomotors52
- Combinations of Rotary Servomotors and Servopacks52
- Combinations of Direct Drive Servomotors and Servopacks53
Combinations of Direct Drive Servomotors and Servopacks54
Combinations of Linear Servomotors and Servopacks56
Functions57
- Selecting a SERVOPACK59
Block Diagrams69
- SGD7S-R70A, -R90A, and -1R6A69
- Sgd7S-2R8A69
- SGD7S-3R8A, -5R5A, and -7R6A70
- Sgd7S-120A71
- SGD7S-180A and -200A73
- Sgd7S-330A74
- SGD7S-470A and -550A75
- SGD7S-590A and -780A76
- SGD7S-R70F, -R90F, and -2R1F77
- Sgd7S-2R8F77
External Dimensions78
- Front Cover Dimensions and Connector Specifications78
- SERVOPACK External Dimensions78
- Connector Specifications78
Examples of Standard Connections between Servopacks and Peripheral Devices85
- Installation87
Installation Precautions88
Mounting the Devicenet Module to the SERVOPACK89
Mounting Types and Orientation90
Mounting Hole Dimensions91
Mounting Interval92
- Installing One SERVOPACK in a Control Panel92
- Installing more than One SERVOPACK in a Control Panel92
Monitoring the Installation Environment93
EMC Installation Conditions94
Wiring and Connections97
Wiring and Connecting Servopacks99
- General Precautions99
- Countermeasures against Noise102
- Grounding105
Wiring the Power Supply to the SERVOPACK107
- Terminal Symbols and Terminal Names107
- Wiring Procedure for Main Circuit Connector110
- Power on Sequence111
- Power Supply Wiring Diagrams112
- Wiring Regenerative Resistors118
- Wiring Reactors for Harmonic Suppression120
Wiring Servomotors121
- Terminal Symbols and Terminal Names121
- Pin Arrangement of Encoder Connector (CN2)121
- Wiring the SERVOPACK to the Encoder122
- Wiring the SERVOPACK to the Holding Brake128
- I/O Signal Connector (CN1) Pin Arrangement130
- I/O Signal Wiring Examples130
- I/O Signal Connections130
- I/O Circuits132
Connecting Safety Function Signals134
- Pin Arrangement of Safety Function Signals (CN8)134
- I/O Circuits134
- Pin Arrangement of Safety Function Signals134
- Cn8134
Devicenet System Configuration136
- System Configuration Example for Devicenet Communications136
- Connection Examples for Devicenet Communications Cable137
- Precautions for Connecting Devicenet Communications Cables138
- Signal Names and Functions of the Devicenet Communications Connector (CN6)141
- Network Connection Methods142
Connecting the Other Connectors143
- Serial Communications Connector (CN3)143
- Computer Connector (CN7)143
- Analog Monitor Connector (CN5)143
- Basic Functions that Require Setting before Operation144
Manipulating Parameters (Pn)146
- Parameter Classification146
- Notation for Parameters147
- Parameter Setting Methods148
- Write Prohibition Setting for Parameters151
- Initializing Parameter Settings153
- Managing Parameters (Pn)155
Power Supply Type Settings for the Main Circuit and Control Circuit156
- AC Power Supply Input/DC Power Supply Input Setting156
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting157
Automatic Detection of Connected Motor158
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 Servo on Command to Perform Polarity Detection169
- Using a Tool Function to Perform Polarity Detection170
Overtravel and Related Settings171
- Overtravel Signals171
- Setting to Enable/Disable Overtravel172
- Setting Overtravel Signal Polarity172
- Motor Stopping Method for Overtravel172
Holding Brake173
- Brake Operating Sequence173
- BK (Brake) Signal174
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped175
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating175
Motor Stopping Method for Servo off and Alarms177
- Stopping Method for Servo off178
- Servomotor Stopping Method for Alarms178
Motor Overload Detection Level181
- Detection Timing for Overload Warnings (A.910)181
- Detection Timing for Overload Warnings181
- Detection Timing for Overload Alarms (A.720)182
Electronic Gear Settings183
Resetting the Absolute Encoder189
- Precautions on Resetting189
- Preparations189
- Applicable Tools190
- Operating Procedure190
Setting the Origin of the Absolute Encoder192
- Absolute Encoder Origin Offset192
- Setting the Origin of the Absolute Linear Encoder192
Setting the Regenerative Resistor Capacity195
- Application Functions196
- Input Signals198
- Output Signals198
SEMI F47 Function201
Setting the Motor Maximum Speed203
Encoder Divided Pulse Output203
- Encoder Divided Pulse Output204
  - Setting for the Encoder Divided Pulse Output209
  - Setting for the Encoder Divided Pulse Output210
Software Limits211
- Setting to Enable/Disable Software Limits211
- Setting the Software Limit Action211
- Setting the Software Limits211
Internal Torque Limits212
Absolute Encoders213
- Connecting an Absolute Encoder214
- Multiturn Limit Setting214
- Multiturn Limit Disagreement Alarm (A.CC0)215
Absolute Linear Encoders218
- Connecting an Absolute Linear Encoder218
Software Reset219
- Preparations219
- Applicable Tools219
- Operating Procedure219
Initializing the Vibration Detection Level221
- Preparations221
- Applicable Tools222
- Operating Procedure222
- Related Parameters224
Adjusting the Motor Current Detection Signal Offset225
- Automatic Adjustment225
- Manual Adjustment227
External Stop Function229
- EXSTOP (External Stop Input) Signal229
- Enabling/Disabling the External Stop Input Signal229
- Setting the Polarity of the External Stop Input Signal229
- Signal229
Overheat Protection230
- Connecting the Overheat Protection Input (TH) Signal230
- Overheat Protection Selection230
- Connecting the Overheat Protection Input230
- (TH) Signal230
- Trial Operation and232
Flow of Trial Operation233
- Flow of Trial Operation for Rotary Servomotors233
Inspections and Confirmations before Trial Operation237
Trial Operation for the Servomotor Without a Load238
- Preparations238
- Applicable Tools239
- Operating Procedure239
Trial Operation with Devicenet Communications241
Trial Operation with the Servomotor Connected to the Machine242
- Precautions242
- Preparations242
- Operating Procedure243
Convenient Function to Use During Trial Operation244
- Program Jogging244
- Origin Search250
- Test Without a Motor252
- Monitoring255
- Tuning256
Overview and Flow of Tuning259
- Tuning Functions260
- Diagnostic Tool260
Monitoring Methods261
Precautions to Ensure Safe Tuning262
- Overtravel Settings262
- Torque Limit Settings262
- Setting the Position Deviation Overflow Alarm Level262
- Vibration Detection Level Setting264
- Setting the Position Deviation Overflow Alarm Level at Servo on264
Tuning-Less Function266
- Application Restrictions266
- Operating Procedure267
- Parameters Disabled by Tuning-Less Function269
- Automatically Adjusted Function Setting269
- Related Parameters269
Estimating the Moment of Inertia270
- Outline270
- Restrictions271
- Applicable Tools271
- Operating Procedure272
Autotuning Without Host Reference278
- Outline278
- Restrictions279
- Applicable Tools280
- Operating Procedure280
- Troubleshooting Problems in Autotuning Without a Host Reference284
- Automatically Adjusted Function Settings286
- Related Parameters288
Autotuning with a Host Reference289
- Outline289
- Restrictions290
- Applicable Tools290
- Operating Procedure291
- Troubleshooting Problems in Autotuning with a Host Reference295
- Automatically Adjusted Function Settings295
- Related Parameters296
Custom Tuning297
- Outline297
- Preparations297
- Applicable Tools298
- Operating Procedure298
- Automatically Adjusted Function Settings304
- Tuning Example for Tuning Mode 2 or 3304
- Related Parameters305
Anti-Resonance Control Adjustment306
- Outline306
- Preparations306
- Applicable Tools307
- Operating Procedure307
- Related Parameters309
- Suppressing Different Vibration Frequencies with Anti-Resonance Control309
Vibration Suppression311
- Outline311
- Preparations312
- Applicable Tools312
- Operating Procedure312
- Related Parameters314
Speed Ripple Compensation315
- Outline315
- Setting up Speed Ripple Compensation315
- Setting Parameters319
Additional Adjustment Functions322
- Automatic Gain Switching322
- Automatic Gain Switching323
- Friction Compensation324
- Gravity Compensation326
- Current Control Mode Selection328
- Current Gain Level Setting328
- Speed Detection Method Selection329
- Speed Feedback Filter329
- Backlash Compensation329
- Fully-Closed Loop Control330
Manual Tuning334
- Tuning the Servo Gains334
- Compatible Adjustment Functions344
Diagnostic Tools348
- Mechanical Analysis348
- Easy FFT350
Monitoring Product Information355
- Items that You Can Monitor355
- Operating Procedures355
Monitoring SERVOPACK Status356
- System Monitor356
- Monitoring Status and Operations357
- I/O Signal Monitor359
Monitoring Machine Operation Status and Signal Waveforms360
- Items that You Can Monitor360
- Using the Sigmawin361
- Using the Analog Monitors363
Monitoring Product Life367
- Items that You Can Monitor367
- Operating Procedure368
- Preventative Maintenance368
Alarm Tracing369
- Data for Which Alarm Tracing Is Performed369
- Applicable Tools369
Fully-Closed System371
SERVOPACK Commissioning Procedure372
Parameter Settings for Fully-Closed Loop Control374
- Control Block Diagram for Fully-Closed Loop Control374
- Setting the Motor Direction and the Machine Movement Direction375
- Loop Control375
- Setting the Number of External Encoder Scale Pitches376
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output)376
- Signals376
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals376
- Electronic Gear Setting377
- Alarm Detection Settings377
- Analog Monitor Signal Settings378
- Setting to Use an External Encoder for Speed Feedback378
Introduction to the Safety Functions380
- Safety Functions380
- Precautions for Safety Functions380
Hard Wire Base Block (HWBB)381
- Risk Assessment381
- Hard Wire Base Block (HWBB) State382
- Resetting the HWBB State383
- Detecting Errors in HWBB Signal383
- HWBB Input Signal Specifications384
- Operation Without a Host Controller384
- Servo Ready385
- BK (Brake Output) Signal385
- Stopping Methods386
- ALM (Servo Alarm) Signal386
EDM1 (External Device Monitor)387
- EDM1 Output Signal Specifications387
Applications Examples for Safety Functions388
- Connection Example388
- Failure Detection Method388
- Procedure389
Validating Safety Functions390
Connecting a Safety Function Device391
Devicenet Functions392
Setting the Coordinate System393
- Coordinate System Selection393
- Setting the Reference Units Per Machine Revolution393
Origin Returns394
- Origin Return Type394
- Parameter Settings394
- Setting the Origin396
Positioning397
- Acceleration/Deceleration Patterns397
- Parameter Settings402
Positioning after Continuous Operation404
- Positioning Patterns after Continuous Operation404
- Parameter Settings405
Special Functions407
- Action Definition Settings407
- Initialization Functions408
- Devicenet Communications409
Devicenet Communications Settings411
- Setting the Node Address411
- Setting the Baud Rate412
Communications Methods413
- I/O Communications413
- Explicit Message Communications419
Controlling Operation from the Host Controller421
- Positioning421
- Continuous Operation422
- Origin Returns423
- Switching to Positioning426
- Hard Stop Operation428
- Smooth Stop Operation429
- External Stop Operation429
- Hardware Limit Operation430
- Software Limit Operation430
Programmed Operation431
- What Is Programmed Operation431
- Command Blocks431
- Block Command Details432
- Command Block Links436
- Creating and Changing Command Blocks436
- Starting Programmed Operation438
Reading and Changing Attributes439
- Devicenet Data Management439
- Executing a Module Reset441
- Maintenance442
Inspections and Part Replacement443
- Inspections443
- Guidelines for Part Replacement443
- Replacing the Battery444
Alarm Displays446
- List of Alarms447
- Troubleshooting Alarms452
- Resetting Alarms484
- Displaying the Alarm History485
- Clearing the Alarm History486
- Resetting Alarms Detected in Option Modules487
- Resetting Motor Type Alarms489
Warning Displays490
- List of Warnings490
- Troubleshooting Warnings491
Troubleshooting Based on the Operation and Conditions of the Servomotor497
- Parameter Lists507
List of Parameters508
- Interpreting the Parameter Lists508
- List of Parameters509
Parameter Recording Table532
- Appendices540
Corresponding SERVOPACK and Sigmawin+ Function Names541
- Corresponding SERVOPACK Utility Function Names541
- Corresponding SERVOPACK Monitor Display Function Names542
Devicenet Object Model544
Devicenet Attributes546
- Identity Object546
- Message Router Object546
- Devicenet Object547
- Assembly Objects548
- Connection Objects548
- Position Controller Supervisor Object550
- Position Controller Object551
- Block Sequencer Object553
- Command Block Objects554
- Control Parameter Object555
- SERVOPACK Parameter Object556
Relationship between Parameters and Attributes562
Relation between Alarm Codes and Alarm Numbers567

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