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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 11.2
edited by Joey
on 2022/06/11 15:30
Change comment: There is no comment for this version
To version 9.1
edited by Joey
on 2022/06/10 15:32
Change comment: There is no comment for this version

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25 25  
26 26  Load inertia ratio P03-01 refers to:
27 27  
28 -(% style="text-align:center" %)
29 -[[image:image-20220611152902-1.png]]
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"]]
30 30  
31 31  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.
32 32  
33 33  |(((
34 34  (% style="text-align:center" %)
35 -[[image:image-20220611152918-2.png]]
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"]]
36 36  )))
37 37  |(((
38 38  **Before performing online load inertia recognition, the following conditions should be met:**
... ... @@ -120,7 +120,7 @@
120 120  The rigidity of the servo refers to the ability of the motor rotor to resist load inertia, that is, the self-locking ability of the motor rotor. The stronger the servo rigidity, the larger the corresponding position loop gain and speed loop gain, and the faster the response speed of the system.
121 121  
122 122  (% class="table-bordered" %)
123 -|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
122 +|(% style="text-align:center; vertical-align:middle" %)[[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"]]
124 124  |(% style="text-align:center; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
125 125  
126 126  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.
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152 152  Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
153 153  
154 154  (% class="table-bordered" %)
155 -|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
154 +|(% style="text-align:center; vertical-align:middle" %)[[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"]]
156 156  |(((
157 157  ✎There may be a short mechanical whistling sound during the test. Generally, the servo will automatically stop the test. If it does not stop automatically or in other abnormal situations, you can click the "Servo Off" button on the interface to turn off the servo, or power off the machine!
158 158  
... ... @@ -164,12 +164,12 @@
164 164  **Setting method**
165 165  )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
166 166  **Effective time**
167 -)))|(% style="text-align:center; vertical-align:middle; width:134px" %)**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**
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**
168 168  |(% 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" %)(((
169 169  Operation setting
170 170  )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
171 171  Effective immediately
172 -)))|(% style="text-align:center; vertical-align:middle; width:134px" %)0|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 2|(% style="width:430px" %)(((
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" %)(((
173 173  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.
174 174  
175 175  1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
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341 341  
342 342  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:
343 343  
344 -(% style="text-align:center" %)
345 345  [[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]]
346 346  
347 347  **(2) Notch filter**
... ... @@ -356,7 +356,6 @@
356 356  
357 357  The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
358 358  
359 -(% style="text-align:center" %)
360 360  [[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]]
361 361  
362 362  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.
... ... @@ -372,7 +372,6 @@
372 372  
373 373  Figure 7-3 Notch characteristics, notch width, and notch depth
374 374  
375 -(% style="text-align:center" %)
376 376  [[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]]
377 377  
378 378  Figure 7-4 Frequency characteristics of notch filter
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