common - Sanyo Denki America, Inc.

5. Type R Interface
5.5 Adjustments
For maximum performance for a motor, it is necessary to adjust the gain.
The responsiveness of the motor is changed according to the gain setting value. The gain is
regulated by PC interface. Use the waveform monitor of the PC interface etc to adjust the
velocity waveform and In-Position signal.
5.5.1 Adjustment Parameters
Command 21h: Select the normalized proportional gain and integral gain of the velocity loop
from 16 levels shown below.
Setting value
Proportional
Integral Gain Setting value Proportional
Integral Gain
Gain
Gain
0 4 1 8 20 20
1 6 10 9 22 1
2 8 20 A 24 10
3 10 1 B 26 20
4 12 10 C 28 1
5 14 20 D 30 10
6 16 1 E 32 20
7 18 10 F 34 1
Commands for adjustmentFor adjustment parameter details, refer to Section 5.3.2 – Commands for
Adjustment
Command Command name Function
47(2Fh) Gain 2 Sets the detailed proportional / integral gains of velocity loop for
Command 21h. While Command 21h contains the coefficient tabled to
actual velocity, the setting value of this gain is always valid regardless of the
velocity. Normally, use the setting by Command 21h.
34(22h) LPF Sets the low-pass filter of velocity feedback.
36(24h)
225(E1h)
Correction
coefficient
PPI Control
switch
Corrects the deceleration start position calculated inside the
amplifier. A large setting value will result in a gentle deceleration
slope near the target position. This function is effective for soft
landing, etc.
Sets switching velocity of PPI control. Switches to PI control
when actual velocity is less than the set velocity and P control
when greater than the set velocity. Effective for reducing the
positioning time caused by accumulated deviations and for
improving velocity change during fixed speed operation.
There is no position loop gain for Type R as it generates the operation profile automatically.
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