Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 288 / 514

6. Servo Tuning
6-21
6.5.2 Position loop phase lead compensation
This is the function to compensate phase delay of Position control system, and helps Group1
ID02 "Velocity Loop Proportional Gain 1 [KVP1]" change higher.
Use when "Velocity Loop Proportional Gain 1 [KVP1]" is not able to change higher by overshoot
occurring.
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How to use
 Set 4 times of "Position Loop Proportional Gain 1 [KP1]" (KP1 [1/s]/2 π ×4 [Hz]) to
Group1 ID05 "Position loop phase lead compensation frequency [PLPHLF]", and set
near 30% to Group1 ID04 "Position loop phase lead compensation gain [PLPHLK]",
and operate a servo motor.
 Increase "Position loop phase lead compensation gain [PLPHLK]" up to eliminating
overshoot.

Able to increase "Position Loop Proportional Gain 1 [KP1]" up to the value that allowed
overshoot.
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Position loop phase lead compensation gain
Sets the compensation value of Position loop phase lead compensation.
 General parameters Group1 “Basic Control parameter settings”
✔ This function will be disabled when 0% is set.
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Position loop phase lead compensation frequency
Sets the compensation frequency of Position loop phase lead compensation.
 General parameters Group1 “Basic Control parameter settings”
✔
Up to 1000Hz setting is valid at normal sampling mode.
ID Symbol Name Unit Setting range
04 PLPHLK
Position loop phase lead compensation
gain
% 0 to 100
ID Symbol Name Unit Setting range
05 PLPHLF
Position loop phase lead compensation
frequency
Hz 10 to 4000