Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 177 / 514

5.8 Parameter functions
5-54
5
O
per
ation
－ Group0 －
ID
Contents
02
Auto-Tuning Response
[ATRES]
Setting range Unit Default
1 to 40 - 5
■
Sets the Auto-Tuning Response.
 The larger the set value, the higher the response.
 Caution, if the response is set too high, the machine may oscillate.
 Make the setting suited to rigidity of the device.
■
In case of following, set value will be 30 even if 31 to 40 are set.
 When "00: Positioning1" is set to Group0 ID01 Auto-Tuning Characteristic [ATCHA].
 When "01: Enable" is set to Group0 ID04 Auto-Tuning characteristic compatible mode
[ATCSEL].
03
Auto-Tuning Automatic Parameter Saving
[ATSAVE]
Setting range Unit Default
00 to 01 - 00:Auto_Saving
■
Select if the automatic parameter saving function is valid to save the Load inertia moment ratio
estimated by the servo amplifier Auto-tuning function in the Group1 ID14 Load Inertia Moment
Ratio 1 [JRAT1].
 This setting is valid when Group0 ID00 Tuning Mode is at "00: AutoTun Auto-tuning".
 Automatic save is done in every 30 minutes.
04
Auto-Tuning characteristic compatible mode
[ATCSEL] Setting range Unit Default
00 to 01 - 00:Disable
■
Set "01: Enable Valid (RS2 compatible)" to set auto-tuning characteristic compatible with RS1/RS2
amplifier. In this case, gain set value will be 30 even if 31 to 40 are set.
10
Auto-Notch Filter Tuning Torque Command
[ANFILTC]
Setting range Unit Default
10.0 to 100.0 % 50.0
■
Sets the torque value for excite the mechanical system during operation under "Auto-Notch Filter
Tuning".
✔ Larger value makes the tuning more accurate; however, note that it also makes the
movement of the machine greater.
20
Auto-FF Vibration Suppression Frequency Tuning
Torque Command [ASUPTC]
Setting range Unit Default
10.0 to 100.0 % 25.0
■
Sets the torque value for excite the mechanical system during operation under "Auto-FF Vibration
Suppression Frequency Tuning".
✔
Larger value makes the tuning more accurate; however, note that it also makes the
movement of the machine greater.
21
Auto-FF Vibration Suppression Frequency Tuning
Friction Compensation Value [ASUPFC] Setting range Unit Default
0.0 to 50.0 % 5.0
■
Sets the friction torque compensation added to the motor torque to excite the mechanical system at
the time of Auto-FF Vibration Suppression Frequency Tuning.
 By setting this value close to actual friction torque, Auto-FF vibration suppression
frequency tuning will be more accurate.
✔
When the set value is low, there may be cases that the vibration frequency of the
mechanical system cannot be detected, or the wrong value is detected. Raise the value
until the detected value settles.
Selection Contents
00 Auto_Saving Automatically Saves in JRAT1
01 No_Saving Automatic Saving is Invalid
Selection
Contents
00 Disable Invalid
01 Enable Valid (RS2 compatible)