Changes for page 07 Adjustments

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1		-Servo.2\. User Manual.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome
	1	+Servo.Manual.02 VD2 SA Series.WebHome

Author

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1		-XWiki.Joey
	1	+XWiki.Stone

Content

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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-20220608174118-1.png]]
	6	+(((
	7	+(% class="wikigeneratedid" style="display:inline-block" %)
	8	+[[**Figure 7-1 Gain adjustment process**>>image:image-20220608174118-1.png||id="Iimage-20220608174118-1.png"]]
	9	+)))
7	7
8		-Figure 7-1 Gain adjustment process
9		-
10	10	The servo gain is composed of multiple sets of parameters such as position loop, speed loop, filter, load inertia ratio, etc., and they affect each other. In the process of setting the servo gain, the balance between the setting values of each parameter must be considered.
11	11
	13	+(% class="box infomessage" %)
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12	12	✎**Note: **Before adjusting the gain, it is recommended to perform a jog trial run first to ensure that the servo motor can operate normally! The gain adjustment process description is shown in the table below.
	16	+)))
13	13
14	14	(% class="table-bordered" %)
15		-|(% 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**
16		-|(% 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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HInertiarecognition]]__
17		-|(% 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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HAutomaticgainadjustment]]__
18		-|(% rowspan="2" style="text-align:center; vertical-align:middle" %)3|(% rowspan="2" 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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HManualgainadjustment]]__
19		-|(% 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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__
20		-|(% style="text-align:center; vertical-align:middle" %)4|(% 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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HMechanicalresonancesuppressionmethods]]__
	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="2" style="text-align:center; vertical-align:middle" %)3|(% rowspan="2" 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"]]__
	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	+|(% style="text-align:center; vertical-align:middle" %)4|(% 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"]]__
21	21
22	22	Table 7-1 Description of gain adjustment process
23	23
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25	25
26	26	Load inertia ratio P03-01 refers to:
27	27
28		-[[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_eea1e5e734146443.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_eea1e5e734146443.gif"]]
	32	+(% style="text-align:center" %)
	33	+[[image:image-20220611152902-1.png]]
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	32	|(((
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"]]
	39	+[[image:image-20220611152918-2.png]]
35	35	)))
36	36	|(((
37	37	**Before performing online load inertia recognition, the following conditions should be met:**
38	38
39		-The maximum speed of the motor should be greater than 300rpm;
	44	+* The maximum speed of the motor should be greater than 300rpm;
	45	+* The actual load inertia ratio is between 0.00 and 100.00;
	46	+* The load torque is relatively stable, and the load cannot change drastically during the measurement process;
	47	+* The backlash of the load transmission mechanism is within a certain range;
40	40
41		-The actual load inertia ratio is between 0.00 and 100.00;
42		-
43		-The load torque is relatively stable, and the load cannot change drastically during the measurement process;
44		-
45		-The backlash of the load transmission mechanism is within a certain range;
46		-
47	47	**The motor's runable stroke should meet two requirements:**
48	48
49		-There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
50		-
51		-Before performing online inertia recognition, please make sure that the limit switch has been installed on the machine, and that the motor has a movable stroke of more than 1 turn each in the forward and reverse directions to prevent overtravel during the inertia recognition process and cause accidents.
52		-
53		-Meet the requirement of inertia recognition turns P03-05.
54		-
55		-Make sure that the motor's runable stroke at the stop position is greater than the set value of the number of inertia recognition circles P03-05, otherwise the maximum speed of inertia recognition P03-06 should be appropriately reduced.
56		-
57		-During the automatic load inertia recognition process, if vibration occurs, the load inertia identification should be stopped immediately.
	51	+* There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
	52	+* Before performing online inertia recognition, please make sure that the limit switch has been installed on the machine, and that the motor has a movable stroke of more than 1 turn each in the forward and reverse directions to prevent overtravel during the inertia recognition process and cause accidents.
	53	+* Meet the requirement of inertia recognition turns P03-05.
	54	+* Make sure that the motor's runable stroke at the stop position is greater than the set value of the number of inertia recognition circles P03-05, otherwise the maximum speed of inertia recognition P03-06 should be appropriately reduced.
	55	+* During the automatic load inertia recognition process, if vibration occurs, the load inertia recognition should be stopped immediately.
58	58	)))
59	59
60	60	The related function codes are shown in the table below.
61	61
62	62	(% class="table-bordered" %)
63		-|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	61	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 117px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 173px;" %)(((
64	64	**Setting method**
65		-)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
	63	+)))|=(% style="text-align: center; vertical-align: middle; width: 213px;" %)(((
66	66	**Effective time**
67		-)))|(% style="text-align:center; vertical-align:middle; width:117px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:276px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
68		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-01|(% style="text-align:center; vertical-align:middle; width:136px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	65	+)))|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 118px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 276px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	66	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-01|(% style="text-align:center; vertical-align:middle; width:136px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
69	69	Operation setting
70	70	)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
71	71	Effective immediately
72		-)))|(% style="text-align:center; vertical-align:middle; width:117px" %)200|(% style="text-align:center; vertical-align:middle; width:118px" %)100 to 10000|(% style="width:276px" %)Set load inertia ratio, 0.00 to 100.00 times|(% style="text-align:center; vertical-align:middle" %)0.01
73		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	70	+)))|(% style="text-align:center; vertical-align:middle; width:117px" %)300|(% style="text-align:center; vertical-align:middle; width:118px" %)100 to 10000|(% style="width:276px" %)Set load inertia ratio, 0.00 to 100.00 times|(% style="text-align:center; vertical-align:middle" %)0.01
	71	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
74	74	Inertia recognition turns
75	75	)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
76	76	Shutdown setting
...	...	@@ -77,7 +77,7 @@
77	77	)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
78	78	Effective immediately
79	79	)))|(% style="text-align:center; vertical-align:middle; width:117px" %)2|(% style="text-align:center; vertical-align:middle; width:118px" %)1 to 20|(% style="width:276px" %)Offline load inertia recognition process, motor rotation number setting|(% style="text-align:center; vertical-align:middle" %)circle
80		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	78	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
81	81	Inertia recognition maximum speed
82	82	)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
83	83	Shutdown setting
...	...	@@ -88,7 +88,7 @@
88	88
89	89	The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
90	90	)))|(% style="text-align:center; vertical-align:middle" %)rpm
91		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	89	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
92	92	Parameter recognition rotation direction
93	93	)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
94	94	Shutdown setting
...	...	@@ -112,7 +112,7 @@
112	112
113	113	The servo supports automatic gain adjustment and manual gain adjustment. It is recommended to use automatic gain adjustment first.
114	114
115		-== **Automatic gain adjustment** ==
	113	+== Automatic gain adjustment ==
116	116
117	117	Automatic gain adjustment means that through the rigidity level selection function P03-02, the servo drive will automatically generate a set of matching gain parameters to meet the requirements of rapidity and stability.
118	118
...	...	@@ -125,10 +125,10 @@
125	125	The value range of the rigidity grade is between 0 and 31. Grade 0 corresponds to the weakest rigidity and minimum gain, and grade 31 corresponds to the strongest rigidity and maximum gain. According to different load types, the values in the table below are for reference.
126	126
127	127	(% class="table-bordered" %)
128		-|(% style="text-align:center; vertical-align:middle" %)**Rigidity grade**|(% style="text-align:center; vertical-align:middle" %)**Load mechanism type**
129		-|(% style="text-align:center; vertical-align:middle" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
130		-|(% style="text-align:center; vertical-align:middle" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
131		-|(% style="text-align:center; vertical-align:middle" %)Grade 15 to 20|(% style="text-align:center; vertical-align:middle" %)High rigidity applications such as ball screw and direct connection
	126	+|=(% scope="row" style="text-align: center; vertical-align: middle;" %)**Rigidity grade**|=(% style="text-align: center; vertical-align: middle;" %)**Load mechanism type**
	127	+|=(% style="text-align: center; vertical-align: middle;" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
	128	+|=(% style="text-align: center; vertical-align: middle;" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
	129	+|=(% style="text-align: center; vertical-align: middle;" %)Grade 15 to 20|(% style="text-align:center; vertical-align:middle" %)High rigidity applications such as ball screw and direct connection
132	132
133	133	Table 7-3 Experience reference of rigidity grade
134	134
...	...	@@ -136,20 +136,14 @@
136	136
137	137	When debugging with the host computer debugging software, automatic rigidity level measurement can be carried out, which is used to select a set of appropriate rigidity grades as operating parameters. The operation steps are as follows:
138	138
139		-Step1 Confirm that the servo is in the ready state, the panel displays “rdy”, and the communication line is connected;
	137	+* Step1 Confirm that the servo is in the ready state, the panel displays “rdy”, and the communication line is connected;
	138	+* Step2 Open the host computer debugging software, enter the trial run interface, set the corresponding parameters, and click "Servo on";
	139	+* Step3 Click the "forward rotation" or "reverse rotation" button to confirm the travel range of the servo operation;
	140	+* Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured.
	141	+* Step5 After the inertia recognition test is completed, click "Save Inertia Value";
	142	+* Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement.
	143	+* Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
140	140
141		-Step2 Open the host computer debugging software, enter the trial run interface, set the corresponding parameters, and click "Servo on";
142		-
143		-Step3 Click the "forward rotation" or "reverse rotation" button to confirm the travel range of the servo operation;
144		-
145		-Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured.
146		-
147		-Step5 After the inertia recognition test is completed, click "Save Inertia Value";
148		-
149		-Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement.
150		-
151		-Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
152		-
153	153	(% class="table-bordered" %)
154	154	|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
155	155	|(((
...	...	@@ -159,26 +159,24 @@
159	159	)))
160	160
161	161	(% class="table-bordered" %)
162		-|(% style="text-align:center; vertical-align:middle; width:121px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:73px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	154	+|(% style="text-align:center; vertical-align:middle; width:84px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:138px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
163	163	**Setting method**
164		-)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
	156	+)))|(% style="text-align:center; vertical-align:middle; width:129px" %)(((
165	165	**Effective time**
166		-)))|(% style="text-align:center; vertical-align:middle; width:110px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:65px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:453px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
167		-|(% style="text-align:center; vertical-align:middle; width:121px" %)P03-03|(% style="text-align:center; vertical-align:middle; width:73px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	158	+)))|(% style="text-align:center; vertical-align:middle; width:95px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:430px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	159	+|(% style="text-align:center; vertical-align:middle; width:84px" %)P03-03|(% style="text-align:center; vertical-align:middle; width:138px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
168	168	Operation setting
169		-)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
	161	+)))|(% style="text-align:center; vertical-align:middle; width:129px" %)(((
170	170	Effective immediately
171		-)))|(% style="text-align:center; vertical-align:middle; width:110px" %)0|(% style="text-align:center; vertical-align:middle; width:65px" %)0 to 2|(% style="width:453px" %)(((
172		-0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
173		-
174		-1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
175		-
176		-2: Online automatic parameter self-adjusting mode (Not implemented yet)
	163	+)))|(% style="text-align:center; vertical-align:middle; width:95px" %)0|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 2|(% style="width:430px" %)(((
	164	+* 0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
	165	+* 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
	166	+* 2: Online automatic parameter self-adjusting mode (Not implemented yet)
177	177	)))|(% style="text-align:center; vertical-align:middle" %)-
178	178
179	179	Table 7-4 Details of self-adjusting mode selection parameters
180	180
181		-== **Manual gain adjustment** ==
	171	+== Manual gain adjustment ==
182	182
183	183	When the servo automatic gain adjustment fails to achieve the desired result, you can manually fine-tune the gain to achieve better results.
184	184
...	...	@@ -185,10 +185,11 @@
185	185	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.
186	186
187	187	(% style="text-align:center" %)
188		-[[image:image-20220608174209-2.png]]
	178	+(((
	179	+(% class="wikigeneratedid" style="display:inline-block" %)
	180	+[[**Figure 7-2 Basic block diagram of servo loop gain**>>image:image-20220608174209-2.png||id="Iimage-20220608174209-2.png"]]
	181	+)))
189	189
190		-Figure 7-2 Basic block diagram of servo loop gain
191		-
192	192	The more the inner loop is, the higher the responsiveness is required. Failure to comply with this principle may lead to system instability!
193	193
194	194	The default current loop gain of the servo drive has ensured sufficient responsiveness. Generally, no adjustment is required. Only the position loop gain, speed loop gain and other auxiliary gains need to be adjusted.
...	...	@@ -196,111 +196,125 @@
196	196	This servo drive has two sets of gain parameters for position loop and speed loop. The user can switch the two sets of gain parameters according to the setting value of P02-07 the 2nd gain switching mode. The parameters are are below.
197	197
198	198	(% class="table-bordered" %)
199		-|(% style="text-align:center; vertical-align:middle; width:450px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:751px" %)**Name**
200		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-01|(% style="width:751px" %)The 1st position loop gain
201		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-02|(% style="width:751px" %)The 1st speed loop gain
202		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-03|(% style="width:751px" %)The 1st speed loop integral time constant
203		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-04|(% style="width:751px" %)The 2nd position loop gain
204		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-05|(% style="width:751px" %)The 2nd speed loop gain
205		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-06|(% style="width:751px" %)The 2nd speed loop integral time constant
206		-|(% style="text-align:center; vertical-align:middle; width:450px" %)P04-04|(% style="width:751px" %)Torque filter time constant
	190	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 450px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 751px;" %)**Name**
	191	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-01|(% style="width:751px" %)The 1st position loop gain
	192	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-02|(% style="width:751px" %)The 1st speed loop gain
	193	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-03|(% style="width:751px" %)The 1st speed loop integral time constant
	194	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-04|(% style="width:751px" %)The 2nd position loop gain
	195	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-05|(% style="width:751px" %)The 2nd speed loop gain
	196	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-06|(% style="width:751px" %)The 2nd speed loop integral time constant
	197	+|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P04-04|(% style="width:751px" %)Torque filter time constant
207	207
208		-**(1) Speed loop gain**
	199	+**Speed loop gain**
209	209
210	210	In the case of no vibration or noise in the mechanical system, the larger the speed loop gain setting value, the better the response of servo system and the better the speed followability. When noise occurs in the system, reduce the speed loop gain. The related function codes are shown as below.
211	211
212	212	(% class="table-bordered" %)
213		-|(% style="text-align:center; vertical-align:middle; width:120px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:151px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
	204	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
214	214	**Setting method**
215		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	206	+)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
216	216	**Effective time**
217		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:321px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
218		-|(% style="text-align:center; vertical-align:middle; width:120px" %)P02-02|(% style="text-align:center; vertical-align:middle; width:151px" %)1st speed loop gain|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
	208	+)))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	209	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P02-02|(% style="text-align:center; vertical-align:middle; width:163px" %)1st speed loop gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
219	219	Operation setting
220		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	211	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
221	221	Effective immediately
222		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)65|(% style="text-align:center; vertical-align:middle; width:99px" %)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		-|(% style="text-align:center; vertical-align:middle; width:120px" %)P02-05|(% style="text-align:center; vertical-align:middle; width:151px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
	213	+)))|(% 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
	214	+|=(% 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		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	216	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
226	226	Effective immediately
227		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)65|(% style="text-align:center; vertical-align:middle; width:99px" %)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
	218	+)))|(% 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	228
229	229	Table 7-5 Speed loop gain parameters
230	230
231		-**(2) Speed loop integral time constant**
	222	+(% style="text-align:center" %)
	223	+(((
	224	+(% class="wikigeneratedid" style="display:inline-block" %)
	225	+[[**Figure 7-3 Speed loop gain effect illustration**>>image:image-20220706152743-1.jpeg||id="Iimage-20220706152743-1.jpeg"]]
	226	+)))
232	232
	228	+**Speed loop integral time constant**
	229	+
233	233	The speed loop integral time constant is used to eliminate the speed loop deviation. Decreasing the integral time constant of the speed loop can increase the speed of the speed following. If the set value is too small, is will easily cause speed overshoot or vibration. When the time constant is set too large, the integral action will be weakened, resulting in a deviation of the speed loop. Related function codes are shown as below.
234	234
235	235	(% class="table-bordered" %)
236		-|(% style="text-align:center; vertical-align:middle; width:126px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:185px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
	233	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 98px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 173px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
237	237	**Setting method**
238		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	235	+)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
239	239	**Effective time**
240		-)))|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:102px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:335px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
241		-|(% style="text-align:center; vertical-align:middle; width:126px" %)P02-03|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
	237	+)))|=(% style="text-align: center; vertical-align: middle; width: 109px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 278px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 78px;" %)**Unit**
	238	+|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-03|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
242	242	1st speed loop integral time constant
243		-)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
	240	+)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
244	244	Operation setting
245		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	242	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
246	246	Effective immediately
247		-)))|(% style="text-align:center; vertical-align:middle; width:114px" %)1000|(% style="text-align:center; vertical-align:middle; width:102px" %)100 to 65535|(% style="width:335px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle" %)(((
248		-0.1
249		-
250		-ms
	244	+)))|(% 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" %)(((
	245	+0.1ms
251	251	)))
252		-|(% style="text-align:center; vertical-align:middle; width:126px" %)P02-06|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
	247	+|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
253	253	2nd speed loop integral time constant
254		-)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
	249	+)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
255	255	Operation setting
256		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	251	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
257	257	Effective immediately
258		-)))|(% style="text-align:center; vertical-align:middle; width:114px" %)1000|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 65535|(% style="width:335px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle" %)(((
259		-0.1
260		-
261		-ms
	253	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)0 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	+0.1ms
262	262	)))
263	263
264	264	Table 7-6 Speed loop integral time constant parameters
265	265
266		-**(3) Position loop gain**
	259	+(% style="text-align:center" %)
	260	+(((
	261	+(% class="wikigeneratedid" style="display:inline-block" %)
	262	+[[**Figure 7-4 Speed loop integral time constant effect illustration**>>image:image-20220706153140-2.jpeg||id="Iimage-20220706153140-2.jpeg"]]
	263	+)))
267	267
	265	+**Position loop gain**
	266	+
268	268	Determine the highest frequency of the position instruction that the position loop can follow the change. Increasing this parameter can speed up the positioning time and improve the ability of the motor to resist external disturbances when the motor is stationary. However, if the setting value is too large, the system may be unstable and oscillate. The related function codes are shown as below.
269	269
270	270	(% class="table-bordered" %)
271		-|(% style="text-align:center; vertical-align:middle; width:113px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:164px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
	270	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 95px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 159px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)(((
272	272	**Setting method**
273		-)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
	272	+)))|=(% style="text-align: center; vertical-align: middle; width: 108px;" %)(((
274	274	**Effective time**
275		-)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:355px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
276		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P02-01|(% style="text-align:center; vertical-align:middle; width:164px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
	274	+)))|=(% style="text-align: center; vertical-align: middle; width: 108px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 355px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	275	+|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-01|(% style="text-align:center; vertical-align:middle; width:159px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
277	277	Operation setting
278		-)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
	277	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
279	279	Effective immediately
280		-)))|(% style="text-align:center; vertical-align:middle; width:120px" %)400|(% style="text-align:center; vertical-align:middle; width:94px" %)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
281		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P02-04|(% style="text-align:center; vertical-align:middle; width:164px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
	279	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)400|(% style="text-align:center; vertical-align:middle; width:114px" %)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
	280	+|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-04|(% style="text-align:center; vertical-align:middle; width:159px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
282	282	Operation setting
283		-)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
	282	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
284	284	Effective immediately
285		-)))|(% style="text-align:center; vertical-align:middle; width:120px" %)35|(% style="text-align:center; vertical-align:middle; width:94px" %)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
	284	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)35|(% style="text-align:center; vertical-align:middle; width:114px" %)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
286	286
287	287	Table 7-7 Position loop gain parameters
288	288
289		-**(4) Torque instruction filter time**
	288	+(% style="text-align:center" %)
	289	+(((
	290	+(% class="wikigeneratedid" style="display:inline-block" %)
	291	+[[**Figure 7-5 Position loop gain effect illustration**>>image:image-20220706153656-3.jpeg||id="Iimage-20220706153656-3.jpeg"]]
	292	+)))
290	290
	294	+**Torque instruction filter time**
	295	+
291	291	Selecting an appropriate torque filter time constant could suppress mechanical resonance. The larger the value of this parameter, the stronger the suppression ability. If the setting value is too large, it will decrease the current loop response frequency and cause needle movement. The related function codes are shown as below.
292	292
293	293	(% class="table-bordered" %)
294		-|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:200px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	299	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 117px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 200px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)(((
295	295	**Setting method**
296		-)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
	301	+)))|=(% style="text-align: center; vertical-align: middle; width: 133px;" %)(((
297	297	**Effective time**
298		-)))|(% style="text-align:center; vertical-align:middle; width:139px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:359px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
299		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P04-04|(% style="text-align:center; vertical-align:middle; width:200px" %)Torque filter time constant|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	303	+)))|=(% style="text-align: center; vertical-align: middle; width: 142px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 328px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
	304	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P04-04|(% style="text-align:center; vertical-align:middle; width:200px" %)Torque filter time constant|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
300	300	Operation setting
301		-)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
	306	+)))|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
302	302	Effective immediately
303		-)))|(% style="text-align:center; vertical-align:middle; width:139px" %)50|(% style="width:359px" %)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
	308	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)50|(% style="width:328px" %)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
304	304
305	305	Table 7-8 Details of torque filter time constant parameters
306	306
...	...	@@ -308,133 +308,132 @@
308	308
309	309	Speed feedforward could be used in position control mode and full closed-loop function. It could improve the response to the speed instruction and reduce the position deviation with fixed speed.
310	310
311		-Speed feedforward parameters are shown in __[[Table 7-9>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__. Torque feedforward parameters are shown in __[[Table 7-10>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__.
	316	+Speed feedforward parameters are shown in __Table 7-9__. Torque feedforward parameters are shown in __Table 7-10__.
312	312
313	313	Torque feedforward could improve the response to the torque instruction and reduce the position deviation with fixed acceleration and deceleration.
314	314
315	315	(% class="table-bordered" %)
316		-|(% style="text-align:center; vertical-align:middle; width:125px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:330px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:746px" %)**Adjustment description**
317		-|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-09|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward gain|(% rowspan="2" style="width:746px" %)(((
	321	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 125px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 330px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 746px;" %)**Adjustment description**
	322	+|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-09|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward gain|(% rowspan="2" style="width:746px" %)(((
318	318	When the speed feedforward filter is set to 50 (0.5 ms), gradually increase the speed feedforward gain, and the speed feedforward will take effect. The position deviation during operation at a certain speed will be reduced according to the value of speed feedforward gain as the formula below.
319	319
320	320	Position deviation (instruction unit) = instruction speed[instruction unit/s]÷position loop gain [1/s]×(100－speed feedforward gain [%])÷100
321	321	)))
322		-|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-10|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward filtering time constant
	327	+|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-10|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward filtering time constant
323	323
324	324	Table 7-9 Speed feedforward parameters
325	325
	331	+(% style="text-align:center" %)
	332	+(((
	333	+(% class="wikigeneratedid" style="display:inline-block" %)
	334	+[[**Figure 7-6 Speed feedforward parameters effect illustration**>>image:image-20220706155307-4.jpeg||id="Iimage-20220706155307-4.jpeg"]]
	335	+)))
	336	+
	337	+
326	326	(% class="table-bordered" %)
327		-|(% style="text-align:center; vertical-align:middle; width:125px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:330px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:746px" %)**Adjustment description**
328		-|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-11|(% style="text-align:center; vertical-align:middle; width:330px" %)Torque feedforward gain|(% rowspan="2" style="width:746px" %)Increase the torque feedforward gain because the position deviation can be close to 0 during certain acceleration and deceleration. Under the ideal condition of external disturbance torque not operating, when driving in the trapezoidal speed model, the position deviation can be close to 0 in the entire action interval. In fact, there must be external disturbance torque, so the position deviation cannot be zero. In addition, like the speed feedforward, although the larger the constant of the torque feedforward filter, the smaller the action sound, but the greater the position deviation of the acceleration change point.
329		-|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-12|(% style="text-align:center; vertical-align:middle; width:330px" %)Torque feedforward filtering time constant
	339	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 125px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 330px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 746px;" %)**Adjustment description**
	340	+|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-11|(% style="text-align:center; vertical-align:middle; width:330px" %)Torque feedforward gain|(% rowspan="2" style="width:746px" %)Increase the torque feedforward gain because the position deviation can be close to 0 during certain acceleration and deceleration. Under the ideal condition of external disturbance torque not operating, when driving in the trapezoidal speed model, the position deviation can be close to 0 in the entire action interval. In fact, there must be external disturbance torque, so the position deviation cannot be zero. In addition, like the speed feedforward, although the larger the constant of the torque feedforward filter, the smaller the action sound, but the greater the position deviation of the acceleration change point.
	341	+|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-12|(% style="text-align:center; vertical-align:middle; width:330px" %)Torque feedforward filtering time constant
330	330
331	331	Table 7-10 Torque feedforward parameters
332	332
333	333	= **Mechanical resonance suppression** =
334	334
335		-== **Mechanical resonance suppression methods** ==
	347	+== Mechanical resonance suppression methods ==
336	336
337	337	When the mechanical rigidity is low, vibration and noise may occur due to resonance caused by shaft twisting, and it may not be possible to increase the gain setting. In this case, by using a notch filter to reduce the gain at a specific frequency, after resonance is effectively suppressed, you can continue to increase the servo gain. There are 2 methods to suppress mechanical resonance.
338	338
339		-**(1) Torque instruction filter**
	351	+**Torque instruction filter**
340	340
341	341	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:
342	342
343	343	(% style="text-align:center" %)
344		-[[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]]
	356	+[[image:image-20220706155820-5.jpeg]]
345	345
346		-**(2) Notch filter**
	358	+**Notch filter**
347	347
348		-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]]__.
	360	+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__.
349	349
350		-== **Notch filter** ==
	362	+== Notch filter ==
351	351
352	352	The VD2 series servo drives have 2 sets of notch filters, each of which has 3 parameters, namely notch frequency, width grade and depth grade.
353	353
354		-**(1) Width grade of notch filter**
	366	+**Width grade of notch filter**
355	355
356	356	The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
357	357
358	358	(% style="text-align:center" %)
359		-[[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]]
	371	+[[image:image-20220706155836-6.png]]
360	360
361		-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.
	373	+In formula (7-1), [[image:image-20220706155946-7.png]] is the center frequency of notch filter, that is, the mechanical resonance frequency; [[image:image-20220706155952-8.png]] 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.
362	362
363		-**(2) Depth grade of notch filter**
	375	+**Depth grade of notch filter**
364	364
365	365	The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
366	366
367		-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]]__.
	379	+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__.
368	368
369	369	(% style="text-align:center" %)
370	370	[[image:image-20220608174259-3.png]]
371	371
372		-Figure 7-3 Notch characteristics, notch width, and notch depth
	384	+Figure 7-7 Notch characteristics, notch width, and notch depth
373	373
374	374	(% style="text-align:center" %)
375		-[[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/44.png?rev=1.1]]
	387	+[[image:image-20220706160046-9.png]]
376	376
377		-Figure 7-4 Frequency characteristics of notch filter
	389	+Figure 7-8 Frequency characteristics of notch filter
378	378
379	379	(% class="table-bordered" %)
380		-|(% style="text-align:center; vertical-align:middle; width:113px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:197px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	392	+|=(% scope="row" style="text-align: center; vertical-align: middle; width: 113px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 155px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)(((
381	381	**Setting method**
382		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	394	+)))|=(% style="text-align: center; vertical-align: middle; width: 108px;" %)(((
383	383	**Effective time**
384		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:97px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:334px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
385		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-05|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	396	+)))|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 102px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 362px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px;" %)**Unit**
	397	+|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-05|(% style="text-align:center; vertical-align:middle; width:155px" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
386	386	Operation setting
387		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	399	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
388	388	Effective immediately
389		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)300|(% style="text-align:center; vertical-align:middle; width:97px" %)250 to 5000|(% style="width:334px" %)Set the center frequency of the 1st notch filter. When the set value is 5000, the function of notch filter is invalid.|(% style="text-align:center; vertical-align:middle" %)Hz
390		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-06|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	401	+)))|(% style="text-align:center; vertical-align:middle; width:127px" %)300|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:362px" %)Set the center frequency of the 1st notch filter. When the set value is 5000, the function of notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:96px" %)Hz
	402	+|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-06|(% style="text-align:center; vertical-align:middle; width:155px" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
391	391	Operation setting
392		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	404	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
393	393	Effective immediately
394		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)100|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 100|(% style="width:334px" %)(((
395		-0: all truncated
396		-
397		-100: all passed
398		-)))|(% style="text-align:center; vertical-align:middle" %)-
399		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-07|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter width|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	406	+)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:362px" %)(((
	407	+1. 0: all truncated
	408	+1. 100: all passed
	409	+)))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
	410	+|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-07|(% style="text-align:center; vertical-align:middle; width:155px" %)1st notch filter width|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
400	400	Operation setting
401		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	412	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
402	402	Effective immediately
403		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)4|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 12|(% style="width:334px" %)(((
404		-0: 0.5 times the bandwidth
405		-
406		-4: 1 times the bandwidth
407		-
408		-8: 2 times the bandwidth
409		-
410		-12: 4 times the bandwidth
411		-)))|(% style="text-align:center; vertical-align:middle" %)-
412		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-08|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	414	+)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:362px" %)(((
	415	+1. 0: 0.5 times the bandwidth
	416	+1. 4: 1 times the bandwidth
	417	+1. 8: 2 times the bandwidth
	418	+1. 12: 4 times the bandwidth
	419	+)))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
	420	+|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-08|(% style="text-align:center; vertical-align:middle; width:155px" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
413	413	Operation setting
414		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	422	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
415	415	Effective immediately
416		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)500|(% style="text-align:center; vertical-align:middle; width:97px" %)250 to 5000|(% style="width:334px" %)Set the center frequency of the 2nd notch filter. When the set value is 5000, the function of the notch filter is invalid.|(% style="text-align:center; vertical-align:middle" %)Hz
417		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-09|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	424	+)))|(% style="text-align:center; vertical-align:middle; width:127px" %)500|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:362px" %)Set the center frequency of the 2nd notch filter. When the set value is 5000, the function of the notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:96px" %)Hz
	425	+|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-09|(% style="text-align:center; vertical-align:middle; width:155px" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
418	418	Operation setting
419		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	427	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
420	420	Effective immediately
421		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)100|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 100|(% style="width:334px" %)(((
422		-0: all truncated
423		-
424		-100: all passed
425		-)))|(% style="text-align:center; vertical-align:middle" %)-
426		-|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-10|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	429	+)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:362px" %)(((
	430	+1. 0: all truncated
	431	+1. 100: all passed
	432	+)))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
	433	+|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-10|(% style="text-align:center; vertical-align:middle; width:155px" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
427	427	Operation setting
428		-)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
	435	+)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
429	429	Effective immediately
430		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)4|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 12|(% style="width:334px" %)(((
431		-0: 0.5 times the bandwidth
	437	+)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:362px" %)(((
	438	+1. 0: 0.5 times the bandwidth
	439	+1. 4: 1 times the bandwidth
	440	+1. 8: 2 times the bandwidth
	441	+1. 12: 4 times the bandwidth
	442	+)))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
432	432
433		-4: 1 times the bandwidth
434		-
435		-8: 2 times the bandwidth
436		-
437		-12: 4 times the bandwidth
438		-)))|(% style="text-align:center; vertical-align:middle" %)-
439		-
440	440	Table 7-11 Notch filter function code parameters

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