YASKAWA Sigma-7 SGD7S Series

Setting of Pn427
or Pn49F
(Ripple
Compensation
Enable Speed)
Time
Speed reference/
feedback speed
Disabled Enabled Disabled Enabled Disabled
Ripple
compensation
Fig. 288: Speed Ripple Compensation Enable Speed
The speed ripple compensation value is specific to each Servomotor. If you replace the
Servomotor while speed ripple compensation is enabled, an A.942 warning (Speed
Ripple Compensation Information Disagreement) will occur to warn you.
You can use any of the following methods to clear A.942.
n Reset the speed ripple compensation value on the SigmaWin+.
n Disable speed ripple compensation (Pn423 = n.0).
n Disable detection of A.942 (Pn423 = n.1).
Parameter Meaning When Enabled Classification
Pn423
n.0
(default
setting)
Detect A.942 alarms.
After restart Setup
n.1
Do not detect A.942
alarms.
9.13 Additional Adjustment Functions
9.13.1 Overview
This section describes the functions that you can use to make adjustments after you per-
form autotuning without a host reference, autotuning with a host reference, and custom
tuning.
Function Applicable Control Methods Reference
Gain Switching Position control, speed control, or torque
control*
Ä Chap. 9.13.2
‘Gain Switching’
page 389
Friction Compensation Position control or speed control
Ä Chap. 9.13.3
‘Friction Com-
pensation’
page 394
Speed Ripple Compensa-
tion Warnings
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Overview
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 388