Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 167 / 514

5.7 Settnig parameters
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General parameters Group3 "Model following control settings"
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M = Model following control type, P = Position control type, V = Velocity control type,
T = Torque control type
ID Symbol Name
Control
mode
Default value Unit
Setting
range
00 KM1 Model Control Gain 1 M 30 1/s 1 to 3000
01 MZETA Model control damping coefficient M 100 % 0 to 100
02 MFFGN Model velocity feedforward gain M 0 % 0 to 100
03 MTFFD
Model velocity feedforward differential time
constant
M 0.00 ms 0.00 to 10.00
04 MFFFIL Model velocity feedforward filter M 4000 Hz 1 to 4000
05 OSSFIL Overshoot Suppression Filter M 1500 Hz 1 to 4000
06 ANRFRQ1 Model Control Antiresonance Frequency 1 M 80.0 Hz 10.0 to 80.0
07 RESFRQ1 Model Control Resonance Frequency 1 M 80.0 Hz 10.0 to 80.0