Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 277 / 514

6.3 Auto-tuning function
6-10
6
Servo Tunin
g
6.3.2 Automatically adjusted parameters in auto-tuning
These parameters will not reflect on servo motor movements by changing or overriding those
values.
However, some of them can be adjusted manually depending on selected Group0 ID00 "Tuning
mode [TUNMODE]" and Group0 ID01 "Auto-Tuning Characteristic [ATCHA].
■
At the standard position control, below parameters are adjusted automatically.
 General parameters Group1 “Basic control parameter settings”
 General parameters Group8 "Control system settings"
 General parameters Group9 "Function enabling condition settings"
Note 1) Manual setting is available on "06: Trajectory Control 2 (KP,FFGN Manual Setting)" is selected at
the Auto-Tuning Characteristic [ATCHA].
Note 2) Manual setting is available on "02: Positioning Control 3 (High Response, FFGN Manual Setting)"
or "04: Positioning Control 5 (High Response, Horizontal Axis Limited, FFGN Manual Setting)" are
selected at the Auto-Tuning Characteristic [ATCHA].
Note 3) Manual setting is available on "01: Positioning Control 2 (High Response)" is selected at the
Auto-Tuning Characteristic [ATCHA].
Note 4) Manual setting is available on "00: Positioning Control 1 (General Purpose)", "01: Positioning
Control 2 (High Response)", "02: Positioning Control 3 (High Response, FFGN Manual Setting)",
"05: Trajectory Control 1" or "06: Trajectory Control 2 (KP,FFGN Manual Setting)" are selected at
the Auto-Tuning Characteristic [ATCHA].
ID Symbol Name Remarks
02 KP1 Position Loop Proportional Gain 1 Note 1)
06 FFGN Velocity Feed Forward Gain Note 1), Note 2)
08 TRCPGN
Higher Tracking Control Position
Compensation Gain
12 KVP1 Velocity Loop Proportional Gain 1
13 TVI1 Velocity Loop Integral Time Constant 1
14 JRAT1 Load Inertia Moment Ratio 1 Note 3)
1C AFBK Acceleration Feedback Gain
1E TRCVGN
Higher Tracking Control Velocity
Compensation Gain
20 TCFIL1 Torque Command Filter 1
ID Symbol Name Remarks
43 LOWV Low Speed Range Note 4)
ID Symbol Name
19 PLPCON Position Loop Proportional Control Switching Function
27 VLPCON Velocity Loop Proportional Control Switching Function