Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 279 / 514

6.3 Auto-tuning function
6-12
6
Servo Tunin
g
6.3.3 Adjustable main parameters during auto-tuning
■
The following main parameters are adjustable during auto-tuning:
 General parameters Group1 “Basic control parameter settings”
 General parameters Group2 "FF vibration suppression control/ Notch filter/ Disturbance
observer settings"
 General parameters Group4 “Gain switching control/Vibration suppression frequency
switching settings”
ID Symbol Name
00 SUPFRQA1 FF Vibration Suppression Frequency A1
01 SUPLVA FF Vibration Suppression Level Selection A
02 SUPFRQB1 FF Vibration Suppression Frequency B1
03 SUPCRB FF Vibration Suppression Level Selection B
10 VCNFIL Velocity Command Notch Filter
20 TCNFILA Torque Command Notch Filter A
21 TCNFPA TCNFILA, Low Frequency Phase Delay Improvement
22 TCNFILB Torque Command Notch Filter B
23 TCNFDB TCNFILB, Depth Selection
24 TCNFILC Torque Command Notch Filter C
25 TCNFDC TCNFILC, Depth Selection
26 TCNFILD Torque Command Notch Filter D
27 TCNFDD TCNFILD, Depth Selection
28 TCNFILE Torque Command Notch Filter E
29 TCNFDE TCNFILE, Depth Selection
50 CPVSFQ CP vibration suppression control frequency
51 CPVSLV CP vibration suppression control level
52 CPVSSH
CP vibration suppression control characteristics
selection
60 FBHPLS Minor vibration suppression pulse compensation value
61 FBHTIM
Minor vibration suppression pulse compensation
frequency
ID Symbol Name
00 PCSMT Position Command Smoothing Constant
01 PCFIL Position Command Filter
07 FFFIL Velocity Feed Forward Filter
10 VCFIL Velocity Command Filter
11 VDFIL Velocity Feedback Filter
19 TFFK Torque Feed Forward Gain
1A TFFAVE Torque feed forward averaging
1B TFFOUT Torque Feed Forward output selection
21 TCFILOR Torque Command Filter Order
30 DFBCG Dual position feedback gain
31 DFBFIL Dual position feedback filter
ID Symbol Name
40 SUPFRQA2 FF Vibration Suppression Frequency A2
41 SUPFRQA3 FF Vibration Suppression Frequency A3
42 SUPFRQA4 FF Vibration Suppression Frequency A4
43 SUPFRQB2 FF Vibration Suppression Frequency B2
44 SUPFRQB3 FF Vibration Suppression Frequency B3
45 SUPFRQB4 FF Vibration Suppression Frequency B4