YASKAWA SGD7S Product Manual page 327

8.12 Additional Adjustment Functions
8.12.3 Gravity Compensation
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.
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