Reference Compensation - YASKAWA SGD7S series Product Manual

3.5

Reference Compensation

Reference compensation is used when pulse train references are input with SERVOPACKs with
Analog Voltage/Pulse Train References.
If less-deviation control is enabled, reference compensation is used by the SERVOPACK to
automatically divide the input references to smooth the references. Reference compensation
can be used to suppress abnormal noise in motors. However, reference compensation cannot
be used for an electronic gear ratio of 16/1 or less (e.g., 4/1 or 1/1).
Also, the division method for the first reference input after the SERVOPACK's control power
supply is turned ON is different from the second and later reference inputs, as described below.
• First Reference Input after Control Power Supply Is Turned ON
The input reference pulses are divided by 16 and the input time is multiplied by 16.
SERVOPACK reference read cycle
n pulses
• Second or Later Reference Input after Control Power Supply Is Turned ON
The input reference pulses are divided by 16 and evenly spread over the difference between
the last reference input time and this reference input time.
n pulses
T s
3.5 Reference Compensation
16 × SERVOPACK reference read cycle
n/16 pulses
T s
n/16 pulses
3
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