Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 234 / 514

5. Operation
5-111
－ Group9 －
ID Contents
27
Velocity loop proportional control switching function
[VLPCON]
■
You can switch between velocity loop PI control and P control.
 Enabling velocity loop proportional control switching function (VLPCON) enables
switching.
 Allocating conditions to enable velocity loop proportional control switching function.
When VLPCON signal is enabled, the control is switched to proportional control.
 PI control (proportional
･
integral control)
･･
Velocity loop proportional gain
(KVP)/ integral time constant (TVI)
 P control (proportional control) ･･････ Velocity loop proportional gain (KVP)
✔
Switching to proportional control decreases servo gain, and servo system becomes
easy to stable.
✔
In the default setting, the velocity loop integral time constant (TVI) is 1000.0ms, so the
integral function is invalid.
 Automatically overwrite by Auto-tuning result saving.

When Auto-tuning function is valid, this setting value is not applied.
34
Stick-slip behavior compensation function
[STC]
■
This enables stick motion compensation function in quadrant to compensate trajectory error
occurred due to quadrant switching, for use in applications for arc-shape or curved surface
process, such as NC machining equipments.
 The conditions for enabling compensatory function for stick-slip behavior are assigned.
The compensatory function for stick-slip behavior becomes enabled If the STC signal is
valid.
35
Minor vibration suppression function
[FBHYST]
■
Minor vibration suppression function to suppress mechanical system-induced vibration caused
by encoder pulse modulation is enabled when motor stops.
 The conditions for enabling minor vibration suppression function are assigned. The
minor vibration suppression function becomes enabled If the FBHYST signal is valid.
40
External trip input function
[EXT-E]
■
Contact input such as external thermal device can be taken in servo amplifier, and then output as
an alarm (AL.55).

Allocating conditions to enable external trip function. When EXT-E signal is enabled, this
becomes alarm (AL.55).
41
Emergency stop function
[EMR]
■
This can urgently stop servo motor by taking unit emergency signal into servo amplifier.
 Allocating conditions to enable unit emergency signal. When EMR signal is enabled,
motor urgently stops.