Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 211 / 488

6.3 Auto-tuning function
6-10
6
Servo Tunin
g
6.3.2 Automatically adjusted parameters in auto-tuning
These parameters will not reflect on servo motor movements by changing or overriding those
values.
However, some of them can be adjusted manually depending on selected "Index 0x2002-1
Tuning mode [TUNMODE]" and "Index 0x2002-2 Auto-Tuning Characteristic [ATCHA]".
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At the standard position control, below parameters are adjusted automatically.
 General parameters Group1 “Basic control parameter settings”
 General parameters Group8 "Control system settings"
 General parameters Group7 "Communication / Function selection settings"
Note 1) Manual setting is available on "06: Trajectory Control 2 (KP,FFGN Manual Setting)" is selected at
the Auto-Tuning Characteristic [ATCHA].
Note 2) Manual setting is available on "02: Positioning Control 3 (High Response, FFGN Manual Setting)"
or "04: Positioning Control 5 (High Response, Horizontal Axis Limited, FFGN Manual Setting)" are
selected at the Auto-Tuning Characteristic [ATCHA].
Note 3) Manual setting is available on "01: Positioning Control 2 (High Response)" is selected at the
Auto-Tuning Characteristic [ATCHA].
Note 4) Manual setting is available on "00: Positioning Control 1 (General Purpose)", "01: Positioning
Control 2 (High Response)", "02: Positioning Control 3 (High Response, FFGN Manual Setting)",
"05: Trajectory Control 1" or "06: Trajectory Control 2 (KP,FFGN Manual Setting)" are selected at
the Auto-Tuning Characteristic [ATCHA].
Index/Sub-Idx Symbol Name Remarks
0x2005/0x01 KP1 Position Loop Proportional Gain 1 Note 1)
0x2008/0x01 FFGN Velocity Feed Forward Gain Note 1), Note 2)
0x200E/0x00 TRCPGN
Higher Tracking Control Position
Compensation Gain
0x200B/0x01 KVP1 Velocity Loop Proportional Gain 1
0x200C/0x01 TVI1
Velocity Loop Integral Time Constant
1
0x200D/0x01 JRAT1 Load Inertia Moment Ratio 1 Note 3)
0x200F/0x01 AFBK Acceleration Feedback Gain
0x200E/0x00 TRCVGN
Higher Tracking Control Velocity
Compensation Gain
0x2011/0x01 TCFIL1 Torque Command Filter 1
Index/Sub-Idx Symbol Name Remarks
0x2021/0x00 LOWV Low Speed Range Note 4)
Index/bit Symbol Name
0x2000/bit1 PLPCON Position Loop Proportional Control Enabled
0x2000/bit2 VLPCON Velocity Loop Proportional Control Enabled