Current Control Mode Selection Function; Current Gain Level Setting; Speed Detection Method Selection; Position Integral - YASKAWA SGDV series User Manual

5.8.3 Current Control Mode Selection Function

This function reduces high-frequency noises while the servomotor is being stopped. This function is enabled
by default.
Parameter
n.
Pn009
n.
[Factory setting]

5.8.4 Current Gain Level Setting

This function reduces noises by adjusting the parameter value for current control inside the SERVOPACK
according to the speed loop gain (Pn100). The noise level can be reduced by reducing the current gain level
(Pn13D) from its factory setting of 2000% (disabled). If the set value of Pn13D is decreased, the level of noise
will be lowered, but the response characteristics of the SERVOPACK will also be degraded. Adjust the current
gain level within the allowable range at which SERVOPACK response characteristics can be secured.
Current Gain Level
Pn13D
Setting Range
100 to 2000

5.8.5 Speed Detection Method Selection

This function can ensure smooth movement of the servomotor while the servomotor is running. Set the value
of Pn009.2 to 1 and select speed detection 2 to smooth the movement of the servomotor while the servomotor
is running.
Parameter
n.
[Factory setting]
Pn009
n.

5.8.6 Position Integral

The position integral is the integral function of the position loop.
Position Integral Time Constant
Pn11F
Setting Range
0 to 50000
0 Selects the current control mode 1.
1
Selects the current control mode 2 (low noise).
If current control mode 2 is selected, the load ratio may increase while the servomotor is
being stopped.
Setting Unit
1%
If the parameter setting of the current gain level is changed, the responses characteris-
tics of the speed loop will also change. The SERVOPACK might, therefore, be read-
justed again.
0
Selects speed detection 1.
1 Selects speed detection 2.
If the speed detection method is changed, the response characteristics of the speed loop
will change and the SERVOPACK might be readjusted again.
Setting Unit
0.1 ms
Meaning
Speed Position
Factory Setting
2000
Meaning
Factory Setting
0
5.8 Additional Adjustment Function
When Enabled Classification
After restart Tuning
Classification
When Enabled
Immediately Tuning
When Enabled Classification
After restart Tuning
Position
Classification
When Enabled
Immediately Tuning
5
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