Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 218 / 488

6. Servo Tuning
6-17
6.4 Manual tuning function
All gain is adjustable manually using manual tuning mode when characteristics in auto-tuning are
insufficient. Select "0x02: ManualTun Manual Tuning" at "Index 0x2002-1 Tuning mode
[TUNMODE]".
■
Setting parameters
 General parameters Group0 ID00 “Tuning Mode [TUNMODE]”
6.4.1 Servo system configuration and servo adjustment parameters
The servo system is consist from "Position, Velocity and Torque control", and the control system
response should be "Position control < Velocity control < Torque control". If this structure is
compromised, the system will be unstable and it might result in low response, vibration or
oscillation.
See below explanation for each servo parameter
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"Index 0x2003-0 Position Command Smoothing Constant [PCSMT]"
This moving low-pass filter smoothes the position command pulse. Sets time constants.
The position command pulse will become smoother by setting this parameter when the
electronic gear ratio is high or position command pulse is coarse.
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"Index 0x2004-0 Position Command Filter [PCFIL]"
When the position command resolution is low, set this parameter to suppress the ripples
contained in the position command. A larger value of this parameter will cause a greater ripple
suppressing effect; however, delay will be increased.
 When "Index 0x2007-0 Higher Tracking Control Position Compensation Gain
[TRCPGN]" is set to other than 0%, this parameter is automatically set.
■
"Index 0x2005-1 Position Loop Proportional Gain 1 [KP1]"
Sets the response of Position control. Set this to: KP1 [1/S]=KVP1 [Hz]/4
・
2
π
, as a rough
indication.
Selection Contents
0x2002/0x01 ManualTun Manual Tuning
Position control
TCFIL
M
KP
KVP/TVI
JRAT
Velocity control
Torque control
＋
＋
E
Position
command
Velocity
command