Sanyo Denki SANMOTION 3E S, Инструкция по эксплуатации

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6. Servo Tuning
6-25
6.6.2 Switching of the Feedback control and the Model-following
(vibration suppression) control
Explains the function which switches standard position control, model-following control and
model-following vibration suppression control, on real-time.
Select "0x01: Profile Position mode" or "0x08: Cyclic Sync Position mode" at "Index 0x6060
Operation mode", and select "0x03: Model3 Model-following / standard position control
switching" or "0x04: Model4 Model-following vibration suppression / standard position control
switching" at "Index 0x20F3-1 Position control selection".
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How to use
 The function is valid when condition that is selected in "Index 0x206A-1 Model following
(vibration suppression) control/ standard position control switching function" is satisfied.
 "Model following (vibration suppression) control/ standard position control switching
function" supports "00: Always_Disable", "01: Always_Enable" and "General input
signal (CONT1 to CONT7)".
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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 / Model-following vibration suppression control can be used with
full-closed control at the same time.
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Model following (vibration suppression) control/ standard position control switching function
Sets the valid condition for Model-following (vibration suppression) control.
 General parameters Group9 "Function enabling condition settings"
* Control mode will be Model-following (vibration suppression) control when this function is valid.
* This setting value is valid only when Control mode selection is "03: Model3 Model-following /
standard position control switching" or "04: Model4 Model-following vibration suppression /
standard position control switching".
* Do not perform switching of the model following (vibration suppression) control and the
standard position control, during servo motor operation. Alarm (Model Following Vibration
Suppression Control Error (AL.C5)) may occur.
Index/Sub-Idx Symbol Name Unit Setting range
0x206A/0x01 MODEL
Model following (vibration suppression)
control/ standard position control
switching function
- 00 to 11
Index/Sub-Idx Content
0x20F3/0x01
Position Control Selection
Select value Content
03 Model3 Model-following / standard position control switching
04 Model4
Model-following vibration suppression / standard position
control switching