8.12 Additional Adjustment Functions
8.12.4 Current Control Mode Selection
8-73
Required Parameter Settings
The following parameter settings are required to use gravity compensation.
Operating Procedure for Gravity Compensation
Use the following procedure to perform gravity compensation.
1.
Set Pn475 to n.1 (Enable gravity compensation).
2.
To enable changes to the settings, turn the power supply to the SERVOPACK OFF and
ON again.
3.
Use SigmaWin+ or an analog monitor to find the torque reference value when the motor
is stopped with the servo ON.
4.
Set the torque reference value found in step 3 in Pn476 (Gravity Compensation Torque).
5.
Turn the servo ON and OFF a few times and fine-tune Pn476 so that the moving part of
the machine does not fall.
8.12.4
Current Control Mode Selection
Current control mode selection reduces high-frequency noise while the Servomotor is being
stopped.
The setting depends on the capacity of the SERVOPACK.
To use current control mode selection, use current control mode 2 (set Pn009 to n.1 or
n.2).
• SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, -2R8A, -3R8A, -5R5A, and -7R6A
• SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, -470A, -550A, -590A, and -780A
Parameter Description When Enabled Classification
Pn475
n.0
(default setting)
Disable gravity compensation.
After restart Setup
n.
1 Enable gravity compensation.
Pn476
Gravity Compensation Torque
Setting Range Setting Unit Default Setting When Enabled Classification
-1,000 to 1,000 0.1% 0 Immediately Tuning
Parameter Meaning When Enabled Classification
Pn009
n.
0
Use current control mode 1.
After restart Tuning
n. 1
(default setting)
n. 2 Use current control mode 2 (low noise).
Parameter Meaning When Enabled Classification
Pn009
n.
0 Use current control mode 1.
After restart Tuning
n. 1
(default setting)
Use current control mode 2 (low noise).
n. 2
If current control mode 2 is selected, the load ratio may increase while the Servomotor is being
stopped.
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