Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 139 / 514

5.1 Basic setting of the system
5-16
5
O
per
ation
5.1.7 Control method selection
Set the basic control method to use.
■
Control cycle
Select the control cycle of velocity control and torque control.
Velocity control type response frequency is able to set high by setting
"01:High-freq_Sampling".
Please select "00:Standard_Sampling", normally.
When "01:High-freq_Sampling" is selected, the functions in table below can not use.
When high frequency sampling is used, must use the parameter setting value of table below to
the limiting functions.
✔
When used in full-closed system, select "00:Standard_sampling" (Standard sampling mode).
■
Control mode selection
Sets the control mode of the servo system.
Group ID Selection Description
System 00
00 Standard_Sampling Doing standard sampling mode.
01 High-freq_Sampling Doing high frequency sampling mode.
Limiting functions
Parameter for limiting function
Group ID Name Selection
Model-following
(vibration suppression)
control
System 07 Position control selection 00:Standard
Full closed control System 20
Position loop control, position loop encoder
selection
00:Motor_Enc
Group ID Selection Type Description
System 06
00 Torque
Torque control
type
Control the motor torque.
Operate by analog voltage as torque command from a
host unit.
01 Velocity
Velocity control
type
Control the motor speed.
Operate by the analog voltage as velocity command
from a host unit, or by the internal velocity command
that set in the servo amplifier.
02 Position
Position control
type
Control the motor position.
Operate by pulse type position command from a host
unit.
03 Velo-Torq
Velocity / Torque
control switching
type
Operate with switching velocity control and torque
control.
The switching condition is set to the control mode
switching function at Group9, ID10.
04 Posi-Torq
Position / Torque
control switching
type
Operate with switching position control and torque
control.
The switching condition is set to the control mode
switching function at Group9, ID10.
05 Posi-Velo
Position / Velocity
control switching
type
Operate with switching position control and velocity
control.
The switching condition is set to the control mode
switching function at Group9, ID10.