9.12 Additional Adjustment Functions
9.12.5 Current Gain Level Setting
9-71
9
T
uning
9.12.5
Current Gain Level Setting
You can set the current gain level to reduce noise by adjusting the parameter for current control
inside the SERVOPACK according to the speed loop gain (Pn100). The noise level can be
reduced by decreasing the current gain level (Pn13D) from its default setting of 2,000% (dis-
abled). However, if the setting is decreased, the level of noise will be lowered, but the response
characteristic of the SERVOPACK will also be reduced. Adjust the current gain level within the
range that maintains the SERVOPACK response characteristic.
9.12.6
Speed Detection Method Selection
You can use the speed detection method selection to ensure smooth Servomotor speed
changes during operation. To ensure smooth motor speed changes during operation, set
Pn009 to n.
1
(Use speed detection 2).
With a Linear Servomotor, you can reduce the noise level of the running motor when the linear
encoder scale pitch is large.
9.12.7
Speed Feedback Filter
You can set a first order lag filter for the speed feedback in the speed loop. This ensures
smooth changes in the feedback speed to reduce vibration. If a large value is set, it will
increase the delay and make response slower.
If current control mode 2 is selected, the load ratio may increase while the Servomotor is being
stopped.
Important
Pn13D
(213Dh)
Current Gain Level
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
100 to 2,000
1%
2,000
Immediately
Tuning
If the current gain level is changed, the response characteristic of the speed loop will also
change. Servo tuning must therefore be performed again.
Speed
Position
Important
Parameter
Meaning
When Enabled
Classification
Pn009
(2009h)
n.
0
(default setting)
Use speed detection 1.
After restart
Tuning
n.
1
Use speed detection 2.
If the speed detection method is changed, the response characteristic of the speed loop will also
change. Servo tuning must therefore be performed again.
Important
Pn308
(2308h)
Speed Feedback Filter Time Constant
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 65,535
(0.00 ms to 655.35 ms)
0.01 ms
0
(0.00 ms)
Immediately
Setup
Speed
Position
