Current Control Mode Selection - YASKAWA SGD7S-xxxDA0 series Product Manual

9.12 Additional Adjustment Functions

9.12.4 Current Control Mode Selection

Motor power status
/BK (Brake) signal
Brake contact section
Position/speed reference
Torque reference
Required Parameter Settings
The following parameter settings are required to use gravity compensation.
Pn475
(2475h)
Pn476
(2476h)
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.

9.12.4 Current Control Mode Selection

Current control mode selection reduces high-frequency noise while the Servomotor is being
stopped.
Pn009
(2009h)
9-70
Controlword
Disable Operation
(6040h)
Power not supplied.
OFF
Brake applied.
(lining)
0
0
Motor speed
0
Gravity compensation torque (Pn476)
Parameter

n. 0
Disable gravity compensation.
(default setting)

n. 1 Enable gravity compensation.
Gravity Compensation Torque
Setting Range Setting Unit
-1,000 to 1,000
Parameter
 
n. 0 Use current control mode 1.
 
n. 1
Use current control mode 2 (low noise).
(default setting)
 
n. 2 Reserved settings (Do not use.)
Enable Operation
Power supplied.
ON
Brake released.
Description
Default Setting
0.1% 0
Meaning
Disable Operation
Power not supplied.
OFF
Brake applied.
When Enabled Classification
After restart Setup
Speed Position Torque
When Enabled Classification
Immediately Tuning
When Enabled Classification
After restart Tuning