Current Gain Level Setting; Speed Detection Method Selection; Speed Feedback Filter - YASKAWA SGD7S-xxxDA0 series Product Manual

If current control mode 2 is selected, the load ratio may increase while the Servomotor is being
stopped.
Important
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.
Current Gain Level
Pn13D
Setting Range
(213Dh)
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.
Important
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.
Parameter

n. 0
Pn009
(default setting)
(2009h)

n. 1
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
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.
Speed Feedback Filter Time Constant
Pn308
Setting Range
(2308h)
(0.00 ms to 655.35 ms)
Setting Unit
1%

Use speed detection 1.

Use speed detection 2.
Setting Unit
0 to 65,535
0.01 ms
9.12 Additional Adjustment Functions
Default Setting
2,000
Meaning
Default Setting
0
(0.00 ms)

9.12.5 Current Gain Level Setting

Speed Position
When Enabled Classification
Immediately Tuning
When Enabled Classification
After restart Tuning
Speed Position
When Enabled Classification
Immediately Setup
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