Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 176 / 514

5. Operation
5-53
－ Group0 －
ID
Contents
01
Auto-Tuning Characteristic
[ATCHA]
Setting range Unit Default
00 to 06 - 00:Positioning1
■
Set the suitable parameters for each control method.
 “Positioning Control 1”
 Select for general purpose positioning.
 Use this parameter at Velocity control mode or Torque control mode.

Can be used for an axis which affected by gravity or external forces.
 “Positioning Control 2”
 Use this parameter at Position control mode.
 Can be suppressed overshoot at positioning use, it will shorten positioning
settling time.
 Can be used for an axis which affected by gravity or external forces.
 “Positioning Control 3”
 Select for the purpose of manual tuning of FFGN.

“Positioning Control 4”
 Select this mode when the machine movement is in horizontal axis and
receives no impacts from external force.
 Positioning-settling time may shorten compared to “Positioning Control 2”.

Use this parameter at Position control mode.
 Do not use for an axis which affected by gravity or external forces.
 This parameter may give shock to the application.
 “Positioning Control 5”
 Select for the purpose of manual tuning of FFGN when the machine movement
is in horizontal axis and receives no impacts from external force.
 Positioning-settling time may shorten compared to “Positioning Control 3”.
 This parameter may give shock to the application.
 “Trajectory Control 1”
 This is the setting for tracking a position command from host unit as machining.
 Use this parameter at Position control mode.

Can be used for an axis which affected by gravity or external forces.
 Select this parameter for single axis or asynchronous use.
 Select "Trajectory Control 2" when cooperating with other axes.
 The positioning characteristics will change when the “Position Loop Gain” is
altered with fluctuation of the estimated inertia moment. If you want to avoid
this change, please adopt “Trajectory Control 2” or use manual tuning.

“
Trajectory Control 2”
 This is the setting for syncing a response of each axis position loop as
cooperation with the other axes.
 Use this parameter at Position control mode.
 Can be used for an axis which affected by gravity or external forces.
✔ When "Trajectory control" is used, do not set "Model following vibration suppression
control" to “ID07 Position Control Selection”. By setting "Model following vibration
suppression control", trajectory will get deviation.
Selection
Contents
00 Positioning1 Positioning Control 1 (General Purpose)
01 Positioning2 Positioning Control 2 (High Response)
02 Positioning3 Positioning Control 3 (High Response, FFGN Manual Setting)
03 Positioning4 Positioning Control 4 (High Response, Horizontal Axis Limited)
04 Positioning5
Positioning Control 5 (High Response, Horizontal Axis Limited,
FFGN Manual Setting)
05 Trajectory1 Trajectory Control 1
06 Trajectory2 Trajectory Control 2 (KP,FFGN Manual Setting)