Skip to Content

Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 14.20
edited by Stone Wu
on 2022/07/06 15:59
Change comment: (Autosaved)
To version 14.17
edited by Stone Wu
on 2022/07/06 15:49
Change comment: (Autosaved)

Summary

Details

Page properties
Content
... ... @@ -333,10 +333,6 @@
333 333  
334 334  Table 7-9 Speed feedforward parameters
335 335  
336 -[[image:image-20220706155307-4.jpeg]]
337 -
338 -Figure 7-6 Speed feedforward parameters effect illustration
339 -
340 340  (% class="table-bordered" %)
341 341  |(% 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**
342 342  |(% 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.
... ... @@ -355,7 +355,7 @@
355 355  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:
356 356  
357 357  (% style="text-align:center" %)
358 -[[image:image-20220706155820-5.jpeg]]
354 +[[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]]
359 359  
360 360  **(2) Notch filter**
361 361  
... ... @@ -370,9 +370,9 @@
370 370  The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
371 371  
372 372  (% style="text-align:center" %)
373 -[[image:image-20220706155836-6.png]]
369 +[[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]]
374 374  
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.
371 +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.
376 376  
377 377  **(2) Depth grade of notch filter**
378 378  
... ... @@ -383,10 +383,13 @@
383 383  (% style="text-align:center" %)
384 384  [[image:image-20220608174259-3.png]]
385 385  
386 -Figure 7-7 Notch characteristics, notch width, and notch depth[[image:image-20220706160046-9.png]]
382 +Figure 7-3 Notch characteristics, notch width, and notch depth
387 387  
388 -Figure 7-8 Frequency characteristics of notch filter
384 +(% style="text-align:center" %)
385 +[[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]]
389 389  
387 +Figure 7-4 Frequency characteristics of notch filter
388 +
390 390  (% class="table-bordered" %)
391 391  |(% 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" %)(((
392 392  **Setting method**
image-20220706155307-4.jpeg
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Stone
Size
... ... @@ -1,1 +1,0 @@
1 -56.6 KB
Content
image-20220706155820-5.jpeg
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Stone
Size
... ... @@ -1,1 +1,0 @@
1 -8.2 KB
Content
image-20220706155836-6.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Stone
Size
... ... @@ -1,1 +1,0 @@
1 -3.4 KB
Content
image-20220706155946-7.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Stone
Size
... ... @@ -1,1 +1,0 @@
1 -486 bytes
Content
image-20220706155952-8.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Stone
Size
... ... @@ -1,1 +1,0 @@
1 -626 bytes
Content
image-20220706160046-9.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Stone
Size
... ... @@ -1,1 +1,0 @@
1 -13.1 KB
Content