YASKAWA L1000A CIMR-LC F Series, Technical Manual Addendum

Page: 73 / 106

8 Ripple Compensation
YASKAWA TOEPC710616134G AC Drive L1000A Technical Manual Addendum 73
In Closed Loop control methods, this object provides the actual velocity value derived either from the velocity
sensor or the position sensor. In
Open Loop Vector [A1-02 = 2] or V/f [A1-02 = 0] control methods, it is based on
drive internal calculations. The value is given in multiples of 1 mm/s.
67FE (Hex): Byte Dummy
Index (Hex) Sub Content Access Range
Initial Value
(Hex)
67FE 0 Byte Dummy RO UNS8 FF
This object is used to fill one byte into a TPDO.
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Receive PDOs
PDO Number
Receive PDO Parameter Receive PDO Mappings
COB-ID (Hex) Index (Hex) Mapped Object (Hex) Index (Hex)
259 182 1502
Sub-index 01: 6400
Sub-index 02: 6403
Sub-index 03: 0005
Sub-index 04: 6430
1702
261 180 1504
Sub-index 01: 6420
Sub-index 02: 6423
1704
263 18C 1506 Sub-index 01: 6383 sub1 1706
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Transmit PDOs
PDO Number
Transmit PDO Parameter Transmit PDO Mappings
COB-ID (Hex) Index (Hex) Mapped Object (Hex) Index (Hex)
260 183 1903
Sub-index 01: 6401
Sub-index 02: 6404
Sub-index 03: 67FE
Sub-index 04: 6433
1B03
262 181 1905 Sub-index 01: 6406 1B05
8 Ripple Compensation
◆
Overview
Only available for PM CLV control method.
This function is intended for use when compensating n*f torque ripple on the motor shaft.
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Special Functions
Function Description
Calculation of car
inertia
The total car inertia (J) is calculated as follows:
[System Inertia] = ([S8-08] + [S8-09] + [S8-10] + [S8-11] + [S8-12]/2) * ([o1-20] / 4000) 2
J = [S8-04] + [S8-06] + [S8-07] + [System Inertia]
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Function Description
Set the Kt value [S8-02] from motor data sheet or motor name plate.
Unit of Kt is Nominal Torque [Nm] / Nominal Current [A] .
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Example
Elevator
Parameter Symbol Value Unit Value from:
S8-08 Weight Cage m
Car
1050 kg Lift builder
S8-09 Weight Counter Weight m
Cwt
1550 kg Lift builder
S8-10 Weight Rope m
Rope
70 kg Lift builder
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