E1 Series Servo Drive User Manual Tuning
10-12 HIWIN MIKROSYSTEM CORP.
10.5 Adjusting application function
10.5.1 Setting current gain level
Current gain level (Pt13D) and current loop integral gain level (Pt13E) are used to adjust the internal
current of the servo drive based on velocity loop gain (Pt100). Noise can be reduced if current gain level is
decreased. However, the response of servo loop could be lower as current gain level is decreased.
Current gain level (Pt13D) and current loop integral gain level (Pt13E) cannot be used in torque mode
(Pt000 = t.2). The default value of Pt13D is 2000. At this time, the current bandwidth is 5 KHz
(maximum).
Table10.5.1.1
Parameter Pt13D Range 100~2000
Velocity mode and position
mode
Default 2000 Effective Immediately Unit 1%
Description
Current gain
Table10.5.1.2
Parameter Pt13E Range 1~5000
Velocity mode and position
mode
Default 100 Effective Immediately Unit 1%
Description
Current loop integral gain
Note:
Since velocity loop response changes as current loop parameter is adjusted, servo tuning must be performed again.
10.5.2 Selecting velocity detection method
The velocity change becomes smoother by setting velocity detection method. To let motor velocity
become smoother, set Pt009 to t.1 (Use velocity detection 2).
When tuneless function is enabled, velocity detection method cannot be used.
After velocity detection method is changed, the response of velocity loop changes accordingly. Therefore,
servo tuning must be performed again.
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