Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 286 / 514

6. Servo Tuning
6-19
6.4.2 Basic manual tuning method for velocity control
■
Set value of Group1 ID12 "Velocity Loop Proportional Gain 1 [KVP1]" as high as possible
within the range that mechanical system can stably work without any vibration or oscillation. If
vibration increases, lower the value.
■
Set value of Group 1 ID13 "Velocity Loop Integral Time Constant 1[TVI1]" by referring to "TVI1
[ms] = 1000/ KVP1 [Hz]", as a rough indication.

When you cannot increase the gain because of mechanical resonance, etc., and the
response is insufficient, (after using the Torque notch filter and/or FF vibration
suppression frequency to suppress resonance) try the procedure again.
6.4.3 Basic manual tuning method for position control
■
Set value of Group1 ID12 "Velocity Loop Proportional Gain 1 [KVP1]" as high as possible
within the range that mechanical system can stably work without any vibration or oscillation. If
vibration increases, lower the value.
■
Set value of Group1 ID13 "Velocity Loop Integral Time Constant 1 [TVI1]" by referring to "TVI1
[ms] = 1000/ KVP1 [Hz]", as a rough indication.
■
Set value of Group1 ID02 "Position Loop Proportional Gain 1 [KP1]" by referring to "KP1 [1/s]
= KVP1 [Hz]/ 4
・
2
π
", as a rough indication. When vibration occurs, lower the value.
 When you cannot increase the gain because of mechanical resonance, etc., and the
response is insufficient (after using the Torque notch filter and/or FF vibration
suppression frequency to suppress resonance) try the procedure again.