Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 203 / 488

6.1
Servo tuning functions and basic adjustment procedure
6-2
6
Servo Tunin
g
■
Vibration suppression function
 Model-following vibration suppression
Positioning settle time and response of machine are able to improve by using model
control system to suppress machine stand vibration.
 Auto FF Vibration Suppression Frequency Tuning, FF vibration suppression control
FF Vibration Suppression control is able to suppress low frequency resonance like
machine end vibration. "Auto FF Vibration Suppression Frequency Tuning" is able to
set FF Vibration Suppression Frequency easily by rotating servo motor in a short time.
 CP vibration suppression control
This function is suppressing machine stand vibration though at the CP (Continuous
Path) control like cutting work of machine tool.
 Minor vibration suppression
This function is suppressing minor vibration against velocity feedback during servo
motor stop.
■
Disturbance impact suppression function
 High order integral control
Uses when desired to suppress disturbance impact into control system, by decreasing
the velocity loop integral time constant. This function compensates phase delay against
feedback of velocity integral control system.
 Disturbance observer function
This function is suppressing impact of load torque by estimating the load torque
internally and adding compensation against load torque to a torque command, if
external load torque is applied to a servo motor.
■
Stick-slip behavior compensation function
This function is suppressing stick-slip behavior occurring by machine system friction etc.