Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 180 / 514

5. Operation
5-57
－ Group1 －
ID
Contents
01
Position Command Filter
[PCFIL]
Setting range Unit Default
0.0 to 2000.0 ms 0.0
■
This primary low-pass filter suppresses any sudden change of the position control pulse.
Sets time constants.
 This parameter setting is valid when the value of Group1 ID08 Higher Tracking Control
Position Compensation Gain is set at 0%.
 When Higher Tracking Control Position Compensation Gain is 0%, and this value is set
at 0.0ms, the filter becomes invalid.
 This filter can suppress overshoot caused by the rise of the feed forward compensation
gain.
02
Position Loop Proportional Gain 1
[KP1] Setting range Unit Default
1 to 3000 1/s 30
■
Proportional gain for position controller.
 Automatically overwrite by Auto-tuning result saving.
 When Auto-tuning function is valid, this setting value is not applied.
 When Gain switching function is valid, this setting value is applied by selecting gain 1.
 When Gain switching function is invalid, this setting value is applied.
03
Position Loop Integral Time Constant 1
[TPI1] Setting range Unit Default
0.3 to 1000.0 ms 1000.0
■
Integral time constant for position controller.
This setting is valid when the Position Loop Proportional Control Switching Function is invalid.
 Integral term is invalid (proportional control) at the setting value 1000.0ms.
 When Gain switching function is valid, this setting value is applied by selecting gain 1.
 When Gain switching function is invalid, this setting value is applied.
04
Position loop phase lead compensation gain
[PLPHLK] Setting range Unit Default
0 to 100 % 0
■
Sets the phase improving value of Position loop phase lead compensation.
 For position loop, adds the function that shifts phase on phase lead compensation
frequency (PLPHLF) as 17deg by 50% and 35deg by 100%. Pay attention for gain
increment after PLPHLF.
 This parameter will be disabled when 0% is set.
05
Position loop phase lead compensation frequency
[PLPHLF]
Setting range Unit Default
10 to 4000 Hz 500
■
Sets the frequency that is wanted to improve the phase of position loop.
 Set value will limit 1,000Hz even if 1,000Hz or more is set.
 This parameter can set in 1 Hz unit, but it will be rounded down to the 10 Hz internally.
✔
Please stop servo motor if change this value.
PCFIL [ms]
63.2%
36.8%
PCFIL [ms]