Current Control Mode Selection; Current Gain Level Setting - YASKAWA E-7-Series SGD7S Product Manual

8.11 Additional Adjustment Functions

8.11.3 Current Control Mode Selection

Step
3

8.11.3 Current Control Mode Selection

Current control mode selection reduces high-frequency noise while the Servomotor is being
stopped. Current control mode selection can be used for the following SERVOPACKs. To use
current control mode selection, set Pn009 to n.1 (Use current control mode 2). This will
set effective conditions for many situations.
Input Voltage
200 V
Pn009
Important

8.11.4 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. This function is always disabled
during torque control (Pn000 = n.2).
Pn13D
Important
8-64
Effect of Adjustments
The following graphs show the response with and without adjustment.
Inconsistent response
because of friction
Low friction
Position deviation
High friction
Position reference speed
Before Friction Compensation
SGD7S-120A, -180A, and -200A
Parameter
 
n. 0 Use current control mode 1.
 
n. 1
Use current control mode 2 (low noise).
(default setting)
If current control mode 2 is selected, the load ratio may increase while the Servomotor is being
stopped.
Current Gain Level
Setting Range Setting Unit
100 to 2,000
If the current gain level is changed, the response characteristic of the speed loop will also
change. Servo tuning must therefore be performed again.
Operation
Stable response due to
friction compensation
Position reference speed
After Friction Compensation
SERVOPACK Model
Meaning
Default Setting
1% 2,000
Analog
Position deviation
When Enabled
After restart
Speed Position
When Enabled
Immediately
Classification
Tuning
Classification
Tuning