YASKAWA Sigma-7 SGD7S Series

This concludes the setup for speed ripple compensation.
9.12.4 Setting Parameters
The function is enabled when you perform the operating procedure on
Ä ‘Operating Pro-
cedure’ page 381. To cancel speed ripple compensation, use Pn423 = n.0 (Disable
speed ripple compensation) to disable it.
Parameter Meaning When Enabled Classification
Pn423
n.0
(default
setting)
Disable speed ripple
compensation.
Immediately Setup
n.1
Enable speed ripple
compensation.
If you enable speed ripple compensation, a compensation reference will be applied to
reduce ripple even when stopped at a 0 speed reference. In speed control mode, this
may result in the Servomotor moving slightly. To prevent this, set Pn423 = n.X
(Speed Ripple Compensation Selections) and Pn427 or Pn49F (Speed Ripple Compen-
sation Enable Speed).
Parameter Meaning When Enabled Classification
Pn423
n.0
(default
setting)
Speed reference
After restart Setup
n.1
Motor Speed
Speed Ripple Compensation Enable Speed
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn427 0 to 10,000
1 min
-1
0 Immediately Tuning
(applies to Speed Control, Position Control and Torque Control)
Speed Ripple Compensation Enable Speed
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn49F 0 to 10,000 1 mm/s 0 Immediately Tuning
(applies to Speed Control, Position Control and Force Control)
For Rotary Servomotors
For Linear Servomotors
Sigma-7 Series SERVOPACKs
Tuning
Speed Ripple Compensation > Setting Parameters
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