9.12 Additional Adjustment Functions
9.12.4 Current Control Mode Selection
9-70
Required Parameter Settings
The following parameter settings are required to use 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 S 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.
9.12.4
Current Control Mode Selection
Current control mode selection reduces high-frequency noise while the Servomotor is being
stopped.
Parameter
Description
When Enabled
Classification
Pn475
(2475h)
n.
0
(default setting)
Disable gravity compensation.
After restart
Setup
n.
1
Enable gravity compensation.
Pn476
(2476h)
Gravity Compensation Torque
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
-1,000 to 1,000
0.1%
0
Immediately
Tuning
0
0
0
Enable Operation
Disable Operation
Disable Operation
Controlword
(6040h)
Torque reference
Gravity compensation torque (Pn476)
OFF
Brake applied.
Power supplied.
ON
Brake released.
Power not supplied.
OFF
Brake applied.
Power not supplied.
Motor power status
/BK (Brake) signal
Brake contact section
(lining)
Position/speed reference
Motor speed
Speed
Position
Torque
Parameter
Meaning
When Enabled
Classification
Pn009
(2009h)
n.
0
Use current control mode 1.
After restart
Tuning
n.
1
(default setting)
Use current control mode 2 (low noise).
n.
2
Reserved settings (Do not use.)
