YASKAWA Sigma-7 SGD7S Series - Page 397

Holding brake
When the brake is released, the gravity
compensation torque prevents the
moving part from moving due to gravity.
Moving part of machine
Servomotor
Fig. 291: Gravity Compensation - Holding Brake Released
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.
Ä Chap. 6.12.2 ‘Brake Operating Sequence’ page 168
0
0
0
Enable Operation Disable Operation Disable Operation
Controlword
(6040h)
Torque reference
Gravity compensation torque (Pn476)
OFF
Brake applied.
Power supplied.
ON
Brake released.
Power not supplied.
OFF
Brake applied.
Power not supplied.
Motor power status
/BK (Brake) signal
Brake contact section
(lining)
Position/speed reference
Motor speed
Fig. 292: Gravity Compensation - Timing Chart
The following parameter settings are required to use gravity compensation.
Parameter Function When Enabled Classification
Pn475
n.0
(default
setting)
Disable gravity compen-
sation.
After restart Setup
n.1
Enable gravity compen-
sation.
Gravity Compensation Torque
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn476 -1,000 to
1,000
0.1% 0 Immediately Tuning
(applies to Speed Control, Position Control and Torque Control)
Use the following procedure to perform gravity compensation.
Required Parameter Set-
tings
Operating Procedure for
Gravity Compensation
Sigma-7 Series SERVOPACKs
Tuning
Additional Adjustment Functions > Gravity Compensation
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