Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-II Communication Reference - Manual (Page 229)

5.8 Additional Adjustment Function
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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.
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.
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 Meaning When Enabled Classification
Pn009
n. 0 Selects the current control mode 1.
After restart Tuning
n. 1
[Factory setting] 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.
Pn13D
Current Gain Level
Classification
Setting Range Setting Unit Factory Setting When Enabled
100 to 2000 1% 2000 Immediately Tuning
• If the parameter setting of the current gain level is changed, the responses character-
istics of the speed loop will also change. The SERVOPACK must, therefore, be read-
justed again.
Speed Position
Parameter Meaning When Enabled Classification
Pn009
n. 0
[Factory setting] Selects speed detection 1.
After restart Tuning
n. 1 Selects speed detection 2.
• If the speed detection method is changed, the response characteristics of the speed
loop will change and the SERVOPACK must be readjusted again.