Current Gain Level Setting; Speed Detection Method Selection - YASKAWA E-V Series User Manual

6.8.11 Current Gain Level Setting

This function reduces noises by adjusting the parameter value for current control inside the SERVOPACK in
accordance with the parameter value for the speed loop gain (Pn100). To change the parameter value for cur-
rent control, the current gain level must be changed from 2000%, which is the default value of Pn13D to dis-
able this function. This function is always disabled in force control mode (Pn000.1 = 2).
Current Gain Level
Pn13D
Setting Range
100 to 2000
Note: If the set value of Pn13D is decreased, the level of noise will be lowered, but the responsiveness of the SERVO-
PACK will also be degraded. Lower the current gain level to one at which SERVOPACK responsiveness can be
secured.

6.8.12 Speed Detection Method Selection

This function can ensure smooth movement of the motor while the motor is running. This function is disabled
by default. Set the value of Pn009.2 = 1 to enable this function.
Parameter
n.
Pn009
n.
Setting Unit
1 %
• If the parameter setting of the current gain level is changed, the responsiveness char-
acteristic of the speed loop will also change. The servo must, therefore, be readjusted
again.
0 Selects speed detection 1. [Factory setting]
1 Selects speed detection 2.
• If this function is changed, the responsiveness characteristic of the speed loop will
also change. The servo must, therefore, be readjusted again.
6.8 Servo Gain Adjustment Application Function
Speed Position
Factory Setting
2000
Meaning
Classification
When Enabled
Immediately Tuning
When Enabled Classification
After restart Tuning
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