Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 291 / 514

6.6 Model following control function
6-24
6
Servo Tunin
g
6.6.1 Manual tuning method for model following control
■
Set value of Group1 ID12 "Velocity Loop Proportional Gain 1 [KVP1]" as high a value as
possible within the range that mechanical system stably works without any oscillation. If
vibration occurs, lower the value.
■
Set value of Group1 ID13 "Velocity Loop Integral Time Constant 1 [TVI1]" by referring “ TVI1
[ms] = 1000/ KVP1 [Hz]
”
, as a rough indication.
■
Set value of Group1 ID12 "Position Loop Proportional Gain 1 [KP1]" by referring to
“
KP1 [1/s]
= KVP1 [Hz]/ 4
・
2
π”
, as a rough indication.
■
Set value of Group3 ID03 "Model control gain 1 [KM1]" by referring to
“
KM1
≒
KP1
”
, as a
rough indication. When vibration occurs, lower the set value.
■
When responsiveness is low, change the value of "Model control gain 1 [KM1]" to the value
approximately 1.1 to 1.2 times the value.

When the gain cannot rise because of mechanical vibration, etc., and the response time
is insufficient, use Torque notch filter and/or FF Vibration suppression frequency to
suppress resonance and attempt it again.
■
Adjustable parameters in Model following control
In addition to the parameters in Standard position control, the following parameters are also
adjustable:
 General Parameters Group3 “Model following control settings”

Model Control Gain 1 [KM1]
Proportional gain fro Model following control position controller.
Adjust this to: KM1
≒
KP1, as a rough indication.
 Model control damping coefficient [MZETR]
This is parameter which changes velocity proportional gain of Model following
control.
The parameter value will be
ζ =0.866 by 0% and ζ =1.0 by 100%.
 Overshoot Suppression Filter [OSSFIL]
Set cutoff frequency of overshoot suppression filter in Model following control.
If overshoot occurs, lower the setting value. When overshoot occurs on position
deviation, lower the set value.
ID Symbol Name
00 KM1 Model Control Gain 1
01 MZETA Model control damping coefficient
05 OSSFIL Overshoot Suppression Filter