Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 290 / 514

6. Servo Tuning
6-23
6.6 Model following control function
Model following control is a method used to obtain a higher response. Model control systems
include mechanical devices in a servo amplifier and drive a servo motor in order to track the
Model control system.
Select "02: Position Position control type" at the system parameter ID06 "Control mode
selection", and "01: Model1 Model-following control" at the system parameter ID07 "Position
control selection".
■
How to use
 See "6.3.6 Adjustment method for auto-tuning" when using this function together with
the auto-tuning.
 See "6.6.1 Manual tuning method for model following control" when setting the
parameter manually without the auto-tuning.
 See "6.6.3 Model velocity feed forward differential compensation", for
command-following improvement after the auto-tuning or the manual tuning.
■
Setting parameters
 System parameters
✔
Model following control cannot be used when in velocity control type or torque control type.
✔
Model following control can be used with auto-tuning at the same time.
✔
Model following control can be used with full-closed control at the same time.
ID Content
06
Control Mode Selection
07
Position Control Selection
Select value Content
02 Position Position control type
Select value Content
01 Model1 Model following control