5.8 Additional Adjustment Function5-615 Adjustments5.8.3 Current Control Mode Selection FunctionThis function reduces high-frequency noises while the servomotor is being stopped. This function is enabledby default.5.8.4 Current Gain Level SettingThis function reduces noises by adjusting the parameter value for current control inside the SERVOPACKaccording 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 noisewill be lowered, but the response characteristics of the SERVOPACK will also be degraded. Adjust the currentgain level within the allowable range at which SERVOPACK response characteristics can be secured.5.8.5 Speed Detection Method SelectionThis function can ensure smooth movement of the servomotor while the servomotor is running. Set the valueof Pn009.2 to 1 and select speed detection 2 to smooth the movement of the servomotor while the servomotoris running.5.8.6 Position IntegralThe position integral is the integral function of the position loop.Parameter Meaning When Enabled ClassificationPn009n. 0 Selects the current control mode 1.After restart Tuningn. 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 isbeing stopped.Pn13DCurrent Gain Level ClassificationSetting Range Setting Unit Factory Setting When Enabled100 to 2000 1% 2000 Immediately TuningIf 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.Speed PositionParameter Meaning When Enabled ClassificationPn009n. 0[Factory setting] Selects speed detection 1. After restart Tuningn. 1 Selects speed detection 2.If the speed detection method is changed, the response characteristics of the speed loopwill change and the SERVOPACK might be readjusted again.Pn11FPosition Integral Time Constant ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 50000 0.1 ms 0 Immediately TuningPosition
