6.8 Servo Gain Adjustment Application Function6-696 Adjustments6.8.11 Current Gain Level SettingThis function reduces noises by adjusting the parameter value for current control inside the SERVOPACK inaccordance 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).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 besecured.6.8.12 Speed Detection Method SelectionThis function can ensure smooth movement of the motor while the motor is running. This function is disabledby default. Set the value of Pn009.2 = 1 to enable this function.Pn13DCurrent Gain Level ClassificationSetting Range Setting Unit Factory Setting When Enabled100 to 2000 1 % 2000 Immediately TuningSpeed Position• 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 readjustedagain.Parameter Meaning When Enabled ClassificationPn009 n. 0 Selects speed detection 1. [Factory setting] After restart Tuningn. 1 Selects speed detection 2.• If this function is changed, the responsiveness characteristic of the speed loop willalso change. The servo must, therefore, be readjusted again.
