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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 14.13
edited by Stone Wu
on 2022/07/06 15:34
Change comment: (Autosaved)
To version 14.20
edited by Stone Wu
on 2022/07/06 15:59
Change comment: (Autosaved)

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Content
... ... @@ -291,6 +291,11 @@
291 291  
292 292  Table 7-7 Position loop gain parameters
293 293  
294 +(% style="text-align:center" %)
295 +[[image:image-20220706153656-3.jpeg]]
296 +
297 +Figure 7-5 Position loop gain effect illustration
298 +
294 294  **(4) Torque instruction filter time**
295 295  
296 296  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.
... ... @@ -328,6 +328,10 @@
328 328  
329 329  Table 7-9 Speed feedforward parameters
330 330  
336 +[[image:image-20220706155307-4.jpeg]]
337 +
338 +Figure 7-6 Speed feedforward parameters effect illustration
339 +
331 331  (% class="table-bordered" %)
332 332  |(% 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**
333 333  |(% 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.
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346 346  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:
347 347  
348 348  (% style="text-align:center" %)
349 -[[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]]
358 +[[image:image-20220706155820-5.jpeg]]
350 350  
351 351  **(2) Notch filter**
352 352  
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361 361  The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
362 362  
363 363  (% style="text-align:center" %)
364 -[[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]]
373 +[[image:image-20220706155836-6.png]]
365 365  
366 -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.
375 +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.
367 367  
368 368  **(2) Depth grade of notch filter**
369 369  
... ... @@ -374,13 +374,10 @@
374 374  (% style="text-align:center" %)
375 375  [[image:image-20220608174259-3.png]]
376 376  
377 -Figure 7-3 Notch characteristics, notch width, and notch depth
386 +Figure 7-7 Notch characteristics, notch width, and notch depth[[image:image-20220706160046-9.png]]
378 378  
379 -(% style="text-align:center" %)
380 -[[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]]
388 +Figure 7-8 Frequency characteristics of notch filter
381 381  
382 -Figure 7-4 Frequency characteristics of notch filter
383 -
384 384  (% class="table-bordered" %)
385 385  |(% 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" %)(((
386 386  **Setting method**
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