Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 185 / 514

5.8 Parameter functions
5-62
5
O
per
ation
－ Group1 －
ID Contents
1C
Acceleration Feedback Gain
[AFBK]
Setting range Unit Default
-100.0 to 100.0 % 0.0
■
Sets acceleration feedback compensation gain to make the velocity loop stable.
Multiply this gain with the detected acceleration to compensate torque command.
 Automatically overwrite by Auto-tuning result saving.
 When Auto-tuning function is valid, this setting value not applied.
 If the value is too large, the motor may oscillate. Sets within range ±15.0% for general
use.
1D
Acceleration Feedback Filter
[AFBFIL] Setting range Unit Default
1 to 4000 Hz 500
■
This is primary low-pass filter to eliminate ripples caused by encoder pulse included in
acceleration feedback compensation. Sets the cutoff frequency.
 Lower this setting value when the encoder resolution is low.
 Setting range varies depending on the setting of the system parameter ID00 Control
Cycle.
1E
Higher Tracking Control Velocity Compensation Gain
[TRCVGN]
Setting range Unit Default
0 to 100 % 0
■
Adjusts command tracking performance of velocity control system.
 The larger value can raise command tracking performance higher.
 When using Velocity Loop Proportional Control Switching Function, set 0%.
 When synchronizing with other axes, set 0%.
 When corresponding with Q series servo amplifier, set 100%.
 Automatically overwrite by Auto-tuning result saving.
 When Auto-tuning function is valid, this setting value not applied.
 The setting value is invalid with "Model following control" or "Model following vibration
suppression control".
Control cycle Setting value Valid/ Invalid
00
Standard_Sampling
Standard sampling mode
1 to 1999Hz Set value valid
2000 to 4000Hz Filter invalid
01
High-freq_Sampling
Hi-speed sampling mode
1 to 3999Hz Set value valid
4000Hz Filter invalid