Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 202 / 488

6. Servo Tuning
6-1
6.1 Servo tuning functions and basic adjustment procedure
To operate the servo motor (and machine) using the servo amplifier, adjustments of the servo
gain and its control system is necessary. Generally, the higher setting value of the servo gain
increases the machine response. However, if the servo gain is too high, in a lower rigidity
machine, vibration may result and the machine response will not increase. The servo gain and its
control system need to be appropriately adjusted according to the operating servo motor and the
mechanical system, and this adjustment method is called Servo tuning.
Following is an explanation of the Servo tuning procedure:
6.1.1 Servo tuning functions
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Adaptive notch filter function
Realizing vibration suppression operation of machine vibration by estimating resonant
frequency of machine system during servo motor operation and making feedback it to the
control system.
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Automatic Tuning function
 Automatic Tuning
Servo amplifier estimates load inertia moment ratio during operation, and then
automatically adjusts servo gain and filter frequency on a real-time basis. This is the
most basic tuning method.
 Automatic Tuning [JRAT Manual Setting]
The servo amplifier does not estimate the Load inertia moment ratio. Servo gain and
filter frequency are adjusted automatically corresponding to the load inertia moment
ratio and the responses that are already set. This method is used when the Load inertia
moment ratio could not be estimated correctly with auto-tuning.
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Manual Tuning
Set all parameters, such as Load inertia moment ratio, servo gain, filter frequency, etc.
manually. This method is used when characteristics during auto-tuning are insufficient.
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The function of making servo gain higher
 Velocity loop phase lead compensation
This is the function which compensate phase delay of velocity control system, to get
higher velocity loop proportional gain.
 Position loop phase lead compensation
This is the function which compensate phase delay of position control system, to get
higher position loop proportional gain.
 Torque feed forward compensation
This is the function which improve response for the command of control system by
applying feed forward compensation to torque control system.
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Model following control
Model following control is a control method that ensures a higher response by composing a
model control system including the mechanical system in a servo amplifier to operate the
actual servo motor in order to follow the model control system.
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Auto notch filter tuning function
Notch filter is able to suppress high frequency resonance depends on a mechanical system
coupling or stiffness. "Auto notch filter tuning" is able to search mechanical system resonant
frequency easily by rotating servo motor in a short time.