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Changes for page 07 Adjustments

Last modified by Iris on 2026/04/17 15:15
From version 1.1
edited by Wecon
on 2025/09/03 21:04
Change comment: Imported from XAR
To version 2.1
edited by Iris
on 2026/04/17 11:44
Change comment: There is no comment for this version

Summary

Details

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Author
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1 -XWiki.Wecon
1 +XWiki.Iris
Content
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17 17  
18 18  (% class="table-bordered" style="margin-right:auto" %)
19 19  |=(% colspan="3" style="text-align: center; vertical-align: middle;" %)**Gain adjustment process**|=(% style="text-align: center; vertical-align: middle;" %)**Function**|=(% style="text-align: center; vertical-align: middle;" %)**Detailed chapter**
20 -|(% style="text-align:center; vertical-align:middle" %)1|(% colspan="2" style="text-align:center; vertical-align:middle" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>||anchor="HInertiarecognition"]]__
21 -|(% style="text-align:center; vertical-align:middle" %)2|(% colspan="2" style="text-align:center; vertical-align:middle" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>||anchor="HAutomaticgainadjustment"]]__
22 -|(% rowspan="3" style="text-align:center; vertical-align:middle" %)3|(% rowspan="3" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__
20 +|(% style="text-align:center; vertical-align:middle; width:46px" %)1|(% colspan="2" style="text-align:center; vertical-align:middle; width:279px" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>||anchor="HInertiarecognition"]]__
21 +|(% style="text-align:center; vertical-align:middle; width:46px" %)2|(% colspan="2" style="text-align:center; vertical-align:middle; width:279px" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>||anchor="HAutomaticgainadjustment"]]__
22 +|(% rowspan="3" style="text-align:center; vertical-align:middle; width:46px" %)3|(% rowspan="3" style="text-align:center; vertical-align:middle; width:116px" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__
23 23  |(% style="text-align:center; vertical-align:middle" %)Feedforward gain|The feedforward function is enabled to improve the followability.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.3>>||anchor="HFeedforwardgain"]]__
24 24  |(% style="text-align:center; vertical-align:middle" %)Model tracking control|Enable model tracking control, shortening the responding time and improving followability.|(% style="text-align:center; vertical-align:middle" %)7.3.4
25 -|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle" %)4|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__
25 +|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle; width:46px" %)4|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle; width:116px" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__
26 26  |Low frequency vibration suppression|Enable low frequency vibration suppression|7.4.3
27 27  |Type A vibration suppression|Enable type A vibration suppression|7.4.4
28 28  
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89 89  
90 90  The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
91 91  )))|(% style="text-align:center; vertical-align:middle" %)rpm
92 -|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
92 +|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)(((
93 +P03-07
94 +
95 +(Not supported on VD2L)
96 +)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
93 93  Parameter recognition rotation direction
94 94  )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
95 95  Shutdown setting
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101 101  1: Forward one-way rotation
102 102  
103 103  2: Reverse one-way rotation
108 +
109 +(*VD2L currently does not support forward one-way rotation, reverse one-way rotation)
104 104  )))|(% style="text-align:center; vertical-align:middle" %)-
105 105  
106 106  Table 7-2 Related parameters of gain adjustment
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219 219  Operation setting
220 220  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
221 221  Effective immediately
222 -)))|(% style="text-align:center; vertical-align:middle; width:103px" %)65|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
228 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)200|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
223 223  |=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P02-05|(% style="text-align:center; vertical-align:middle; width:163px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
224 224  Operation setting
225 225  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
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250 250  Operation setting
251 251  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
252 252  Effective immediately
253 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)100 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
259 +)))|(% style="text-align:center; vertical-align:middle; width:109px" %)210|(% style="text-align:center; vertical-align:middle; width:114px" %)100 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
254 254  0.1ms
255 255  )))
256 256  |=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
... ... @@ -285,7 +285,7 @@
285 285  Operation setting
286 286  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
287 287  Effective immediately
288 -)))|(% style="text-align:center; vertical-align:middle; width:79px" %)400|(% style="text-align:center; vertical-align:middle; width:91px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
294 +)))|(% style="text-align:center; vertical-align:middle; width:79px" %)232|(% style="text-align:center; vertical-align:middle; width:91px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
289 289  |=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-04|(% style="text-align:center; vertical-align:middle; width:174px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
290 290  Operation setting
291 291  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
... ... @@ -314,7 +314,7 @@
314 314  Operation setting
315 315  )))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
316 316  Effective immediately
317 -)))|(% style="text-align:center; vertical-align:middle; width:79px" %)50|(% style="text-align:center; vertical-align:middle; width:79px" %)10 to 2500|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
323 +)))|(% style="text-align:center; vertical-align:middle; width:79px" %)80|(% style="text-align:center; vertical-align:middle; width:79px" %)10 to 2500|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
318 318  
319 319  Table 7-8 Details of torque filter time constant parameters
320 320  
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339 339  
340 340  (% style="text-align:center" %)
341 341  (((
342 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
348 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:835px;" %)
343 343  [[**Figure 7-6 Speed feedforward parameters effect illustration**>>image:image-20220706155307-4.jpeg||height="119" id="Iimage-20220706155307-4.jpeg" width="835"]]
344 344  )))
345 345  
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357 357  
358 358  (% style="text-align:center" %)
359 359  (((
360 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
366 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:931px;" %)
361 361  [[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||height="394" id="20230515-7.png" width="931"]]
362 362  )))
363 363