Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 274 / 514

6. Servo Tuning
6-7
ID Contents
01
Auto-Tuning Characteristic [ATCHA]
■
Auto-Tuning Characteristic to fit the mechanical requirements and movements are
provided. Parameters that can be adjusted vary depending on each auto-tuning
characteristic. Select the parameters based on the situation.
■
[Positioning control (Positioning)]
Positioning control is a control method used to reach the servo motor quickly to target a
position from the present position by disregarding the trajectory between the positions.
Select this mode when positioning PTP (point to point) is necessary.
■
[Trajectory control (Trajectory)]
Trajectory control is a method used to move the servo motor to the target position from
the present position while considering the trajectory between the positions. Select this
mode when the Position command corresponding trajectory control is needed such as
in processing work.
 Select for general positioning purposes.
 Parameters shown in table at section 6.3.2 cannot be adjusted manually.
 Select for high response positioning.
 Parameters shown in table at section 6.3.2 cannot be adjusted manually.
 Select this mode to adjust Group1 ID06 "Velocity Feed Forward Gain [FFGN]"
manually.
 The following parameter is able to adjust manually, if not use model following
(vibration suppression) control:
 The following parameter is able to adjust manually, if using model following
(vibration suppression) control:
 Select this mode when the machine movement is on a horizontal axis and
receives no disturbing influence from external sources.
 Positioning time may be shortened compared to “Positioning Control 2”.
 Parameters shown in table at section 6.3.2 cannot be adjusted manually.
Selection Contents
00 Positioning1 Positioning Control 1 (General Purpose)
Selection Contents
01 Positioning2 Positioning Control 2 (High Response)
Selection Contents
02 Positioning3
Positioning control 3
(High Response, FFGN Manual Setting)
Group ID Symbol Contents
3 02 MFFGN Model velocity feed forward gain
Selection Contents
03 Positioning4
Positioning control 4
(High Response, Horizontal Axis Limited)
Group ID Symbol Contents
1 06 FFGN Velocity Feed Forward Gain