Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 17 / 488

Table of contents
xiii
1
Preface
2
S
p
ecifications
3
Inst
allation
4
Wir
in
g
5
Linear motor
6
Servo Tunin
g
7
Di
gita
l O
per
at
o
r
8
Maintenance
9
Dedic
ated func
tion
1
0
Sa
fe
-T
orq
ue
-O
ff fu
nc
tio
n
1
1
Selection
1
2
A
pp
endix
5.3.1 Setting of system parameters ················································································ 5-6
5.3.2 Setting of linear encoder ······················································································· 5-7
5.3.3 Setting of magnetic pole position parameters ···························································· 5-8
5.3.4 Setting of moving direction ·················································································· 5-10
5.4 Test operation ··········································································································· 5-11
5.4.1 Check of installation and wiring ············································································ 5-11
5.4.2 Preparation before operation ··············································································· 5-12
5.4.3 Magnetic pole position estimation ········································································· 5-13
5.2.4 Check of operation ···························································································· 5-14
5.5 Precautions ·············································································································· 5-15
5.5.1 When you use SANYO DENKI servo amplifier with
other manufacturer linear motor combined. ····························································· 5-15
5.5.2 Setting of parameters to combine amplifier and motor ··············································· 5-15
5.5.3 Automatic Magnetic Pole Position Estimation Function ·············································· 5-16
6. Servo Tuning
6.1 Servo tuning functions and basic adjustment procedure ······················································· 6-1
6.1.1 Servo tuning functions ························································································· 6-1
6.1.2 Tuning method selection procedure ········································································ 6-3
6.2 Adaptive notch filter function ·························································································· 6-4
6.3 Auto-tuning function ····································································································· 6-5
6.3.1 Selection of tuning method ···················································································· 6-5
6.3.2 Automatically adjusted parameters in auto-tuning ····················································· 6-10
6.3.3 Adjustable main parameters during auto-tuning ······················································· 6-12
6.3.4 Unavailable functions during auto-tuning ································································ 6-13
6.3.5 Auto-tuning characteristic selection ······································································· 6-14
6.3.6 Adjustment method for auto-tuning ······································································· 6-15
6.3.7 Monitoring servo gain adjustment parameters ························································· 6-15
6.3.8 Manual tuning method using auto-tuning results ······················································ 6-16
6.4 Manual tuning function ······························································································· 6-17
6.4.1 Servo system configuration and servo adjustment parameters ···································· 6-17
6.4.2 Basic manual tuning method for velocity control ······················································· 6-19
6.4.3 Basic manual tuning method for position control ······················································ 6-19
6.5 The function of making servo gain higher ········································································ 6-20
6.5.1 Velocity loop phase lead compensation ································································· 6-20
6.5.2 Position loop phase lead compensation ································································· 6-21
6.5.3 Torque feed forward compensation ······································································· 6-22
6.6 Model following control function ···················································································· 6-23
6.6.1 Manual tuning method for model following control ···················································· 6-24
6.6.2 Switching of the Feedback control and the Model-following (vibration suppression) control 6-25
6.6.3 Model velocity feed forward differential compensation ··············································· 6-26
6.7 Auto notch filter tuning function ····················································································· 6-27
6.8 Vibration suppression function ······················································································ 6-29