Gravity Compensation - YASKAWA SGD7S-****20A Series Product Manual

8.12 Additional Adjustment Functions

8.12.3 Gravity Compensation

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.
ervomotor
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.
5.12.1
V_ON ( ervo ON) command
Brake contact ection
Po ition/ peed reference
8-72
Holding brake
When the brake i relea ed, the gravity
compen ation torque prevent the
moving part from moving due to gravity.
Moving part of machine
Brake Operating Sequence on page 5-32
ervo OFF
Power not
upplied.
Motor power tatu
OFF
/BK (Brake) ignal
Brake
applied.
(lining)
0
0
Motor peed
0
Torque reference
Gravity compen ation torque (Pn476)
ervo ON
Power upplied.
Power not upplied.
ON
Brake applied.
Brake relea ed.
ervo OFF
OFF