Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 217 / 488

6.3 Auto-tuning function
6-16
6
Servo Tunin
g
6.3.8 Manual tuning method using auto-tuning results
Result of auto-tuning can be stored in block and used to perform auto-tuning.
Refer to "7. Digital operator" for use of the Digital Operator.
For the Setup software, perform "Auto-tuning >> Auto-tuning result saving".
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Saving parameters
 General parameters Group1 “Basic control parameter setting”
 General parameters Group3 “Model following control settings”
 General parameters Group8 "Control system settings"
 General parameters Group7 "Communication / Function selection settings"
Index/Sub-Idx Symbol Name Unit
0x2005/0x01 KP1 Position Loop Proportional Gain 1 1/s
0x2008/0x01 FFGN Velocity Feed Forward Gain %
0x200E/0x00 TRCPGN
Higher Tracking Control Position Compensation
Gain
%
0x200B/0x01 KVP1 Velocity Loop Proportional Gain 1 Hz
0x200C/0x01 TVI1 Velocity Loop Integral Time Constant 1 ms
0x200D/0x01 JRAT1 Load Inertia Moment Ratio 1 %
0x200F/0x01 AFBK Acceleration Feedback Gain %
0x200E/0x00 TRCVGN
Higher Tracking Control Velocity Compensation
Gain
%
0x2011/0x01 TCFIL1 Torque Command Filter 1 Hz
Index/Sub-Idx Symbol Name Unit
0x2017/0x01 KM1 Model Control Gain 1 1/s
0x2068/0x02 MFFGN Model velocity feed forward gain %
Index/Sub-Idx Symbol Name Unit
0x2021/0x00 LOWV Low Speed Range min
-1
Index/bit Symbol Name Unit
0x2000/bit1 PLPCON Position Loop Proportional Control Enabled －
0x2000/bit2 VLPCON Velocity Loop Proportional Control Enabled
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