Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 168 / 514

5. Operation
5-45
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General parameters Group4 "Gain switching control/ Vibration suppression frequency
switching settings"
✔
M = Model following control type, P = Position control type, V = Velocity control type,
T = Torque control type
■
General parameters Group5 "High settling control settings"
✔
P = Position control type
ID Symbol Name
Control
mode
Default
value
Unit
Setting
range
00 KM2 Model Control Gain 2 M 30 1/s 1 to 3000
01 KP2 Position Loop Proportional Gain 2 M,P 30 1/s 1 to 3000
02 TPI2 Position Loop Integral Time Constant 2 M,P 1000.0 ms 0.3 to 1000.0
03 KVP2 Velocity Loop Proportional Gain 2 M,P,V 50 Hz 1 to 2000
04 TVI2 Velocity Loop Integral Time Constant 2 M,P,V 20.0 ms 0.3 to 1000.0
05 JRAT2 Load Inertia Moment Ratio 2 M,P,V 100 % 0 to 15000
06 TCFIL2 Torque Command Filter 2 M,P,V,T 600 Hz 1 to 4000
10 KM3 Model Control Gain 3 M 30 1/s 1 to 3000
11 KP3 Position Loop Proportional Gain 3 M,P 30 1/s 1 to 3000
12 TPI3 Position Loop Integral Time Constant 3 M,P 1000.0 ms 0.3 to 1000.0
13 KVP3 Velocity Loop Proportional Gain 3 M,P,V 50 Hz 1 to 2000
14 TVI3 Velocity Loop Integral Time Constant 3 M,P,V 20.0 ms 0.3 to 1000.0
15 JRAT3 Load Inertia Moment Ratio 3 M,P,V 100 % 0 to 15000
16 TCFIL3 Torque Command Filter 3 M,P,V,T 600 Hz 1 to 4000
20 KM4 Model Control Gain 4 M 30 1/s 1 to 3000
21 KP4 Position Loop Proportional Gain 4 M,P 30 1/s 1 to 3000
22 TPI4 Position Loop Integral Time Constant 4 M,P 1000.0 ms 0.3 to 1000.0
23 KVP4 Velocity Loop Proportional Gain 4 M,P,V 50 Hz 1 to 2000
24 TVI4 Velocity Loop Integral Time Constant 4 M,P,V 20.0 ms 0.3 to 1000.0
25 JRAT4 Load Inertia Moment Ratio 4 M,P,V 100 % 0 to 15000
26 TCFIL4 Torque Command Filter 4 M,P,V,T 600 Hz 1 to 4000
30 GCFIL Gain Switching Filter M,P,V 0 ms 0 to 100
40 SUPFRQA2 FF Vibration Suppression Frequency A2 M,P 500.0 Hz 1.0 to 500.0
41 SUPFRQA3 FF Vibration Suppression Frequency A3 M,P 500.0 Hz 1.0 to 500.0
42 SUPFRQA4 FF Vibration Suppression Frequency A4 M,P 500.0 Hz 1.0 to 500.0
43 SUPFRQB2 FF Vibration Suppression Frequency B2 M,P 500.0 Hz 1.0 to 500.0
44 SUPFRQB3 FF Vibration Suppression Frequency B3 M,P 500.0 Hz 1.0 to 500.0
45 SUPFRQB4 FF Vibration Suppression Frequency B4 M,P 500.0 Hz 1.0 to 500.0
50 ANRFRQ2 Model Control Antiresonance Frequency 2 M 80.0 Hz 10.0 to 80.0
51 RESFRQ2 Model Control Resonance Frequency 2 M 80.0 Hz 10.0 to 80.0
52 ANRFRQ3 Model Control Antiresonance Frequency 3 M 80.0 Hz 10.0 to 80.0
53 RESFRQ3 Model Control Resonance Frequency 3 M 80.0 Hz 10.0 to 80.0
54 ANRFRQ4 Model Control Antiresonance Frequency 4 M 80.0 Hz 10.0 to 80.0
55 RESFRQ4 Model Control Resonance Frequency 4 M 80.0 Hz 10.0 to 80.0
ID Symbol Name
Control
mode
Default value Unit
Setting
range
00 CVFIL Command Velocity Low-pass Filter P 1000 Hz 1 to 4000
01 CVTH Command Velocity Threshold P 20 min
-1
0 to 65535
02 ACCCO Acceleration Compensation P 0 ×50 Pulse -9999 to 9999
03 DECCO Deceleration Compensation P 0 ×50 Pulse -9999 to 9999