Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 350 / 488

9. Dedicated function
9-13
9.1.5.6 Dual position feedback compensation setting
Dual position feedback compensation performs full-closed control using along with external
encoder feedback and motor encoder feedback, by setting dual position feedback filter. From
above, it can use full-closed control at motor stop or constant rotation, and use semi-closed control
at accel/decel, so accuracy of full-closed control and response of semi-closed control are able to
go together.
■
Dual position feedback gain
Sets the ratio of semi-closed control (motor encoder feedback). Larger the value, higher the
compensation impact.
Dual position feedback compensation function will be invalid when 0% is set.
■
Dual position feedback filter
Sets the band of dual position feedback compensation. Larger the value, nearer
responsiveness of transient response to semi-closed control.
Dual position feedback compensation function will be invalid when 0ms is set.
■
How to use

Set 100% to "Dual position feedback gain", and set the value of "Dual position feedback
filter" with referring calculation below as a rough indication.
Dual position feedback filter [ms]=3
÷
KP [1/s]×1,000

Increase position loop proportional gain until position deviation is getting vibration
exceeding positioning completion range.
 Increase Dual position feedback filter value up to the value that makes position deviation
vibration stable.
 When the vibration is not fit into positioning completion range, decrease position loop
proportional gain and try adjustment again.
Index Sub-Idx Setting range Unit
0x2066 0x01 0 to 100 %
Index Sub-Idx Setting range Unit
0x2066 0x02 0.0 to 2,000.0
ms