Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 209 / 488

6.3 Auto-tuning function
6-8
6
Servo Tunin
g
Index/
Sub-Idx
Contents
0x2002/
0x02
Auto-Tuning Characteristic [ATCHA]
 Select this mode when the machine movement is on a horizontal axis and
receives no disturbing influence from external sources and when you want to
adjust "Index 0x2008-1 Feed Forward Gain [FFGN]" manually.
 Positioning time may be shortened compared to “Positioning control 3”.
 The following parameter is able to adjust manually, if not use model following
(vibration suppression) control:
 The following parameter is able to adjust manually, if using model following
(vibration suppression) control:
 Select this mode for single axis use. The response of each axis can be different.
 Parameters shown in table 6.3.2 cannot be adjusted manually.
 Select this mode when you need equal responses from multiple axes
，
respectively. Adjust "Index 0x2005-1 Position Loop Proportional Gain 1 [KP1]”,
“Index 0x2008-1 Feed Forward Gain [FFGN]".
 The following parameter is able to adjust manually, if not use model following
(vibration suppression) control:

The following parameter is able to adjust manually, if using model following
(vibration suppression) control:
Selection Contents
04 Positioning5
Positioning control 5 (for high response, horizontal axis
only, FFGN manual setting)
Index Sub-Idx Symbol Contents
0x2008 06 FFGN Velocity Feed Forward Gain
Selection Contents
05 Trajectory1 Trajectory Control 1
Selection Contents
06 Trajectory2 Trajectory Control 2 (KP, FFGN Manual Setting)
Index Sub-Idx Symbol Contents
0x2005 0x01 KP1 Position Loop Proportional Gain 1
0x2008 0x01 FFGN Velocity Feed Forward Gain
Index Sub-Idx Symbol Contents
0x2068 0x02 MFFGN Model velocity feed forward gain
Index Sub-Idx Symbol Contents
0x2005 0x01 KP1 Position Loop Proportional Gain 1
0x2068 0x02 MFFGN Model velocity feed forward gain