Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 17 / 514

Table of contents
xiii
1
Preface
2
S
p
ecifications
3
Inst
allation
4
Wir
in
g
5
O
p
er
ation
6
Servo Tunin
g
7
Di
gita
l O
per
at
o
r
8
Maintenance
9
Dedic
ated func
tion
1
0
Sa
fe
-T
orq
ue
-O
ff fu
nc
tio
n
1
1
Selection
1
2
A
pp
endix
5.11 Virtual motor operation function ················································································· 5-140
5.11.1 Setting ········································································································ 5-140
5.11.2 Restrictions ·································································································· 5-141
5.11.3 Digital operator display ··················································································· 5-142
5.11.4 Operating precautions ···················································································· 5-142
6. Servo Tuning
6.1 Servo tuning functions and basic adjustment procedure ······················································· 6-1
6.1.1 Servo tuning functions ························································································· 6-1
6.1.2 Tuning method selection procedure ········································································ 6-3
6.2 Adaptive notch filter function ·························································································· 6-4
6.3 Auto-tuning function ····································································································· 6-5
6.3.1 Selection of tuning method ···················································································· 6-5
6.3.2 Automatically adjusted parameters in auto-tuning ····················································· 6-10
6.3.3 Adjustable main parameters during auto-tuning ······················································· 6-12
6.3.4 Unavailable functions during auto-tuning ································································ 6-13
6.3.5 Auto-tuning characteristic selection ······································································· 6-14
6.3.6 Adjustment method for auto-tuning ······································································· 6-15
6.3.7 Monitoring servo gain adjustment parameters ························································· 6-15
6.3.8 Manual tuning method using auto-tuning results ······················································ 6-16
6.4 Manual tuning function ······························································································· 6-17
6.4.1 Servo system configuration and servo adjustment parameters ···································· 6-17
6.4.2 Basic manual tuning method for velocity control ······················································· 6-19
6.4.3 Basic manual tuning method for position control ······················································ 6-19
6.5 The function of making servo gain higher ········································································ 6-20
6.5.1 Velocity loop phase lead compensation ································································· 6-20
6.5.2 Position loop phase lead compensation ································································· 6-21
6.5.3 Torque feed forward compensation ······································································· 6-22
6.6 Model following control function ···················································································· 6-23
6.6.1 Manual tuning method for model following control ···················································· 6-24
6.6.2 Switching of the Feedback control and the Model-following (vibration suppression) control 6-25
6.6.3 Model velocity feed forward differential compensation ··············································· 6-26
6.7 Auto notch filter tuning function ····················································································· 6-27
6.8 Vibration suppression function ······················································································ 6-29
6.8.1 Model following vibration suppression control ·························································· 6-29
6.8.2 Auto FF Vibration Suppression Frequency Tuning ···················································· 6-32
6.8.3 FF vibration suppression control ··········································································· 6-33
6.8.4 CP vibration suppression control ·········································································· 6-35
6.8.5 Minor vibration suppression ················································································· 6-36
6.9 Disturbance impact suppression function ········································································ 6-37
6.9.1 High order integral control ··················································································· 6-37
6.9.2 Disturbance Observer Function ············································································ 6-38
6.10 Stick-slip behavior compensation function ····································································· 6-39