Skip to Content

Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 1.2
edited by Joey
on 2022/06/08 15:40
Change comment: There is no comment for this version
To version 8.1
edited by Joey
on 2022/06/10 15:31
Change comment: Upload new image "44.png", version 1.1

Summary

Details

Page properties
Content
... ... @@ -3,7 +3,7 @@
3 3  The servo drive needs to make the motor faithfully operate in accordance with the instructions issued by the upper controller without delay as much as possible. In order to make the motor action closer to the instruction and maximize the mechanical performance, gain adjustment is required. The process of gain adjustment is shown in Figure 7-1.
4 4  
5 5  (% style="text-align:center" %)
6 -[[image:image-20220608154103-1.png]]
6 +[[image:image-20220608174118-1.png]]
7 7  
8 8  Figure 7-1 Gain adjustment process
9 9  
... ... @@ -29,8 +29,11 @@
29 29  
30 30  The load inertia ratio is an important parameter of the servo system, and setting of the load inertia ratio correctly helps to quickly complete the debugging. The load inertia ratio could be set manually, and online load inertia recognition could be performed through the host computer debugging software.
31 31  
32 -|[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
33 33  |(((
33 +(% style="text-align:center" %)
34 +[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
35 +)))
36 +|(((
34 34  **Before performing online load inertia recognition, the following conditions should be met:**
35 35  
36 36  The maximum speed of the motor should be greater than 300rpm;
... ... @@ -182,7 +182,7 @@
182 182  The servo system consists of three control loops, from the outside to the inside are the position loop, the speed loop and the current loop. The basic control block diagram is shown as below.
183 183  
184 184  (% style="text-align:center" %)
185 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_121534c3612a37b8.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_121534c3612a37b8.gif"]]
188 +[[image:image-20220608174209-2.png]]
186 186  
187 187  Figure 7-2 Basic block diagram of servo loop gain
188 188  
... ... @@ -337,9 +337,8 @@
337 337  
338 338  By setting the filter time constant, the torque instruction is attenuated in the high frequency range above the cutoff frequency, so as to achieve the expectation of suppressing mechanical resonance. The cut-off frequency of the torque instruction filter could be calculated by the following formula:
339 339  
343 +[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/40.png?rev=1.1]]
340 340  
341 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_b790fca20446a1fb.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_b790fca20446a1fb.gif"]]
342 -
343 343  **(2) Notch filter**
344 344  
345 345  The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __[[Figure 7-3>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_c84670518f0b6362.gif?rev=1.1]]__.
... ... @@ -352,9 +352,9 @@
352 352  
353 353  The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
354 354  
355 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_81c5e241dc9592c2.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_81c5e241dc9592c2.gif"]] (7-1)
357 +[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/41.png?rev=1.1]]
356 356  
357 -In formula (7-1), [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_1acf7c31dc319d0b.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_1acf7c31dc319d0b.gif"]] is the center frequency of notch filter, that is, the mechanical resonance frequency; [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d742f627f5179fb3.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d742f627f5179fb3.gif"]] is the width of notch filter, which represents the frequency bandwidth with an amplitude attenuation rate of **-3dB** relative to the center frequency of notch filter.
359 +In formula (7-1), [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/42.png?rev=1.1]] is the center frequency of notch filter, that is, the mechanical resonance frequency; [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/43.png?rev=1.1]] is the width of notch filter, which represents the frequency bandwidth with an amplitude attenuation rate of **-3dB** relative to the center frequency of notch filter.
358 358  
359 359  **(2) Depth grade of notch filter**
360 360  
... ... @@ -363,7 +363,7 @@
363 363  When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __[[Figure 7-4>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_10a8f8c1383fdf94.png?rev=1.1]]__.
364 364  
365 365  (% style="text-align:center" %)
366 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_c84670518f0b6362.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_c84670518f0b6362.gif"]]
368 +[[image:image-20220608174259-3.png]]
367 367  
368 368  Figure 7-3 Notch characteristics, notch width, and notch depth
369 369  
40.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Joey
Size
... ... @@ -1,0 +1,1 @@
1 +2.5 KB
Content
41.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Joey
Size
... ... @@ -1,0 +1,1 @@
1 +1.8 KB
Content
42.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Joey
Size
... ... @@ -1,0 +1,1 @@
1 +304 bytes
Content
43.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Joey
Size
... ... @@ -1,0 +1,1 @@
1 +401 bytes
Content
44.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Joey
Size
... ... @@ -1,0 +1,1 @@
1 +39.9 KB
Content
image-20220608174118-1.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Joey
Size
... ... @@ -1,0 +1,1 @@
1 +83.7 KB
Content
image-20220608174209-2.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Joey
Size
... ... @@ -1,0 +1,1 @@
1 +203.9 KB
Content
image-20220608174259-3.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Joey
Size
... ... @@ -1,0 +1,1 @@
1 +110.1 KB
Content