Gravity Compensation - YASKAWA SGD7S Product Manual

8.12.3

Gravity Compensation

When the Servomotor is used with a vertical axis, gravity compensation prevents the moving
part from falling due to the machine's own weight when the brake is released.
SERVOPACKs with software version 0023 or higher support gravity compensation.
Servomotor
Holding brake
When the brake is released, the gravity
compensation torque prevents the
moving part from moving due to gravity.
Moving part of machine
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.
5.11.1
Brake Operating Sequence
Servo OFF command (Enable)
Motor power status
/BK (Brake) signal
Brake contact section
Position/speed reference
Motor speed
Torque reference
Required Parameter Settings
The following parameter settings are required to use gravity compensation.
Parameter

n.
(default setting)
Pn475

n.
Gravity Compensation Torque
Pn476 Setting Range
-1,000 to 1,000
on page 5-30
0
(servo OFF)
(servo ON)
Power not
Power supplied.
supplied.
OFF
Brake
applied.
Brake released.
(lining)
0
0
0
Gravity compensation torque (Pn476)
Description
0
Disable gravity compensation.
1 Enable gravity compensation.
Setting Unit
0.1%
8.12 Additional Adjustment Functions
0
1
(servo OFF)
Power not supplied.
ON OFF
Brake applied.
When Enabled
Default Setting When Enabled
0

8.12.3 Gravity Compensation

Classification
After restart Setup
Classification
Immediately Tuning
8
8-71