Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 289 / 514

6.5 The function of making servo gain higher
6-22
6
Servo Tunin
g
6.5.3 Torque feed forward compensation
There is explanation of function which improving response against a command of control system
and applying feed forward compensation to the torque control system. Use when response is not
good against command during circular machining etc.
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How to use
 Improve response by increasing Group1 ID19 "Torque feed forward gain [TFFK]", at
condition of setting value except 0% to Group1 ID06 "Feed Forward Gain [FFGN]".
 When there is no Improvement even if increasing "Torque feed forward gain [TFFK]",
please change value of Group1 ID1A "Torque feed forward averaging [TFFAVE]" or
Group1 ID1B "Torque feed forward output selection [TFFOUT]", and then confirm
impact.
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Torque Feed Forward Gain
Sets the compensation value of Torque-Feed Forward.
 General parameters Group1 “Basic Control parameter settings”
✔
This function will be disabled when 0% is set.
✔
Able to use at the position control type and velocity control type.
✔ At the position control type, this function will be disabled when 0% is set to Group1 ID06
"Feed Forward Gain [FFGN]".
✔
This function will be disabled at torque control type.
✔ This function will be disabled at model following (vibration suppression) control.
✔
Able to use the function along with the auto-tuning, except when "00: Positioning1 Positioning
Control 1 (General Purpose)" is set to Gropu0 ID01 "Auto-Tuning Characteristic [ATCHA]".
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Torque feed forward gain averaging
Selects the average count of torque feed forward compensation.
 General parameters Group1 “Basic Control parameter settings”
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Torque feed forward output selection
Select the point that is to be added torque feed forward compensation.
 General parameters Group1 “Basic Control parameter settings”
ID Symbol Name Unit Setting range
19 TFFK Torque feed forward gain % 0 to 100
ID Symbol Name Unit Setting range
1A TFFAVE Torque feed forward gain averaging - 00 to 01
ID Symbol Name Unit Setting range
1B TFFOUT Torque feed forward output selection - 00 to 01
Selection
Contents
00 Before_Filter Before torque command filter
01 After_Filter After torque command filter
Selection
Contents
00 2timesAverage 2 times
01 4timesAverage 4 times