Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 304 / 514

6. Servo Tuning
6-37
6.9 Disturbance impact suppression function
When a force is given to a servo motor externally, bad impact might be given to the control
system. Follows are explaining the function of suppressing disturbance impact.
6.9.1 High order integral control
Use for suppression of disturbance impact for control system by decreasing Group1 ID13
"Velocity Loop Integral Time Constant 1 [TVI1]" more. This is the function to compensate phase
delay of Velocity integral control system feedback. Use when oscillation or overshoot occurs by
decreasing "Velocity Loop Integral Time Constant 1 [TVI1]".
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How to use
 Set 1 or 2 times of Group1 ID12 "Velocity Loop Proportional Gain 1 [KVP1]" to Group1
ID18 "High order integral control frequency [HKVIF]".
 Set 30% to Group1 ID17 "High order integral control gain [HKVIK]", and then confirm
the things that phase margin near to "Velocity Loop Proportional Gain 1 [KVP1]"
became large.
 "High order integral control gain [HKVIK]" is able to increase up to phase margin will be
allowed value at high frequency range.

"Velocity Loop Integral Time Constant 1 [TVI1]" is able to decrease till phase margin will
be allowed value at near of "Velocity Loop Proportional Gain 1 [KVP1]".
✔
High order integral control cannot use along with higher tracking control. For use of High
order integral control, set 0% to Group1 ID1E "Higher Tracking Control Velocity
Compensation Gain [TRCVGN]".
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High order integral control gain
 General parameters Group1 "Basic control parameter settings"
✔
This function will be disabled when 0% is set.
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High order integral control frequency
 General parameters Group1 "Basic control parameter settings"
✔ Up to 1000Hz setting is valid at normal sampling mode.
✔
Up to 2000Hz setting is valid at high rate sampling mode.
ID Symbol Name Unit Setting range
17 HKVIK High order integral control gain % 0 to 100
ID Symbol Name Unit Setting range
18 HKVIF High order integral control frequency Hz 10 to 4000