YASKAWA SGD7S-R70A20A023F40B Product Manual page 67

To ensure safety during setup, the default value is set low. Use a monitor function or other means
to confirm the motor speed and set a suitable value.
Important
• Rotary Servomotors
Speed Limit during Torque Control
Setting Range
Pn407
1 to 10,000
• Linear Servomotors
Speed Limit during Force Control
Pn480 Setting Range
1 to 10,000
4.
Set the type of pressure feedback control to use in Pn458 = n.
Selection).
Parameter
n.0
Pn458
n.1
(default setting)
5.
Set the Torque Control Gravity Compensation Switch (Pn440 = n.X
system.

If you enable gravity compensation (Pn440 = n.1
value is 0 when the pressure sensor is faulty, pressure feedback control will not be performed
normally and the Servomotor will be operated with excessive torque, possibly damaging the
workpiece or machine.
Set Pn447 (Pressure Feedback Loop Deviation Overflow Level), Pn402/Pn403 (Torque Limits),
and Pn483/Pn484 (Force Limits) to suitable values.
For a vertical axis or other axis that is affected by gravity, enable gravity compensation (Pn440 =
n.1).
For a horizontal axis, disable gravity compensation (Pn440 = n.0).
Parameter
n.0
(default setting)
Pn440
n.1
For gravity compensation, input the pressure sensor output to the SERVOPACK and monitor the
pressure feedback detection value. If you do not connect a pressure sensor and disable pressure
feedback control (Pn440 = n.
Important
3.6.6 Settings prior to Pressure Feedback Control Operation
Setting Unit Default Setting
-1
1 min
Setting Unit Default Setting
1 mm/s
Meaning
Set pressure feedback control 1.
Set pressure feedback control 2.
CAUTION
Meaning
Disable gravity compensation.
Enable gravity compensation.

0), always disable gravity compensation (Pn440 = n.0
When Enabled
100 Immediately
When Enabled
100 Immediately
 
X (Pressure Feedback Type
When Enabled
After restart

) according to the

) and the pressure feedback detection
When Enabled
After restart
3.6 Setup Procedure
Torque
Classification
Setup
Force
Classification
Setup
Classification
Setup
Classification
Setup

).
3
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