Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 275 / 514

6.3 Auto-tuning function
6-8
6
Servo Tunin
g
ID Contents
01
Auto-Tuning Characteristic [ATCHA]
 Select this mode when the machine movement is on a horizontal axis and
receives no disturbing influence from external sources and when you want to
adjust Group1 id06 "Velocity Feed Forward Gain [FFGN]" manually.
 Positioning time may be shortened compared to “Positioning control 3”.
 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 for single axis use. The response of each axis can be different.
 Parameters shown in table 6.3.2 cannot be adjusted manually.
 Select this mode when you need equal responses from multiple axes ，
respectively. Adjust Group1 ID02 "Position Loop Proportional Gain 1 [KP1]”,
Group1 ID06 “Velocity Feed Forward Gain [FFGN]".

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:
Selection Contents
04 Positioning5
Positioning control 5 (for high response, horizontal axis
only, FFGN manual setting)
Group ID Symbol Contents
1 06 FFGN Velocity Feed Forward Gain
Selection Contents
05 Trajectory1 Trajectory Control 1
Selection Contents
06 Trajectory2 Trajectory Control 2 (KP, FFGN Manual Setting)
Group ID Symbol Contents
1 02 KP1 Position Loop Proportional Gain 1
1 06 FFGN Velocity Feed Forward Gain
Group ID Symbol Contents
3 02 MFFGN Model velocity feed forward gain
Group ID Symbol Contents
1 02 KP1 Position Loop Proportional Gain 1
3 02 MFFGN Model velocity feed forward gain