Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 216 / 488

6. Servo Tuning
6-15
6.3.6 Adjustment method for auto-tuning
Auto-tuning is a function where the servo amplifier automatically tunes to the best servo gain in
real time.
6.3.7 Monitoring servo gain adjustment parameters
Parameters automatically adjusted when using auto-tuning can be monitored with the Digital
Operator and the Setup software. Refer to "7. Digital operator" for use of the Digital Operator.
Procedure 1
■
Select "00: AutoTun Auto-Tuning" at "Index 0x2002-1 Tuning mode [TUNMODE]"
to estimate load inertia moment ratio by servo amplifier on a real-time basis, and
then automatically adjust servo gain.
Select "01:AutoTun_JRAT-Fix Automatic Tuning (JRAT Manual Setting)" to
automatically adjust optimum servo gain based on manually set value of "Index
0x200D-01 Load Inertia Moment Ratio 1 [JRAT1]".
Procedure 2
■
After setting "Tuning mode [TUNMODE]", select "Index 0x2002-1 Auto-Tuning
Characteristic [ATCHA]" for the machine or equipment.
Procedure 3
■
Next, boot the servo motor and adjust "Index 0x20023 -Auto-Tuning Response
[ATRES]" according to equipment rigidity.
 Set "Auto-Tuning Response [ATRES]" at a low value initially and allow the
machine to work about 10 times or more by commanding from upper
controller.
 When response is low and the positioning settling time is slow, after
machine movement, try to improve the response and settling times by
increasing "Auto-Tuning Response [ATRES]" gradually.
 If increasing the response has caused the machine to get vibration, lower
the value of the "Auto-Tuning Response [ATRES]" slightly.
* If the machine has not developed vibration, enable the Vibration
suppression by setting the Notch filter and /or FF Vibration suppression
frequency. Set the filter frequency to suppress mechanical vibration by
using "6.7 Auto notch filter tuning function" and/or "6.8.2 Auto FF
Vibration Suppression Frequency Tuning".
* Tuning methods are the same in "01:AutoTun_JRAT-Fix Automatic
Tuning (JRAT Manual Setting)".
Index/Sub-Idx Symbol Name Unit
0x2104/0x05 JRAT MON Load Inertia Moment Ratio monitor %
0x2104/0x07 MKP MON Model Control Gain monitor 1/s
0x2104/0x01 KP MON Position Loop Proportional Gain monitor 1/s
0x2104/0x03 KVP MON Velocity Loop Proportional Gain monitor Hz
0x2104/0x04 TVI MON Velocity Loop Integral Time Constant monitor ms
0x2104/0x06 TCFIL MON Torque Command Filter monitor Hz