Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 267 / 514

6
Servo Tuning
In this chapter, tuning of servo amplifier are explained.
6.1 Servo tuning functions and basic adjustment procedure ................................... 6-1
6.1.1 Servo tuning functions ...................................................................................................................... 6-1
6.1.2 Tuning method selection procedure ................................................................................................. 6-3
6.2 Adaptive notch filter function ................................................................................ 6-4
6.3 Auto-tuning function .............................................................................................. 6-5
6.3.1 Selection of tuning method ............................................................................................................... 6-5
6.3.2 Automatically adjusted parameters in auto-tuning ......................................................................... 6-10
6.3.3 Adjustable main parameters during auto-tuning ............................................................................. 6-12
6.3.4 Unavailable functions during auto-tuning ....................................................................................... 6-13
6.3.5 Auto-tuning characteristic selection ................................................................................................ 6-14
6.3.6 Adjustment method for auto-tuning ................................................................................................ 6-15
6.3.7 Monitoring servo gain adjustment parameters ............................................................................... 6-15
6.3.8 Manual tuning method using auto-tuning results ........................................................................... 6-16
6.4 Manual tuning function ........................................................................................ 6-17
6.4.1 Servo system configuration and servo adjustment parameters ..................................................... 6-17
6.4.2 Basic manual tuning method for velocity control ............................................................................ 6-19
6.4.3 Basic manual tuning method for position control ........................................................................... 6-19
6.5 The function of making servo gain higher.......................................................... 6-20
6.5.1 Velocity loop phase lead compensation ......................................................................................... 6-20
6.5.2 Position loop phase lead compensation ......................................................................................... 6-21
6.5.3 Torque feed forward compensation ................................................................................................ 6-22
6.6 Model following control function ........................................................................ 6-23
6.6.1 Manual tuning method for model following control ......................................................................... 6-24
6.6.2 Switching of the Feedback control and the Model-following (vibration suppression) control ........ 6-25
6.6.3 Model velocity feed forward differential compensation .................................................................. 6-26
6.7 Auto notch filter tuning function ......................................................................... 6-27
6.8 Vibration suppression function ........................................................................... 6-29
6.8.1 Model following vibration suppression control ................................................................................ 6-29
6.8.2 Auto FF Vibration Suppression Frequency Tuning ......................................................................... 6-32
6.8.3 FF vibration suppression control .................................................................................................... 6-33
6.8.4 CP vibration suppression control .................................................................................................... 6-35
6.8.5 Minor vibration suppression ........................................................................................................... 6-36
6.9 Disturbance impact suppression function ......................................................... 6-37
6.9.1 High order integral control .............................................................................................................. 6-37
6.9.2 Disturbance Observer Function ...................................................................................................... 6-38
6.10 Stick-slip behavior compensation function ...................................................... 6-39