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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 14.22
edited by Stone Wu
on 2022/07/06 16:04
Change comment: (Autosaved)
To version 14.12
edited by Stone Wu
on 2022/07/06 15:29
Change comment: (Autosaved)

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... ... @@ -226,7 +226,7 @@
226 226  (% style="text-align:center" %)
227 227  [[image:image-20220706152743-1.jpeg]]
228 228  
229 -Figure 7-3 Speed loop gain effect illustration
229 +Figure 7-3 Speed loop gain
230 230  
231 231  **(2) Speed loop integral time constant**
232 232  
... ... @@ -263,11 +263,6 @@
263 263  
264 264  Table 7-6 Speed loop integral time constant parameters
265 265  
266 -(% style="text-align:center" %)
267 -[[image:image-20220706153140-2.jpeg]]
268 -
269 -Figure 7-4 Speed loop integral time constant effect illustration
270 -
271 271  **(3) Position loop gain**
272 272  
273 273  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.
... ... @@ -291,11 +291,6 @@
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 -
299 299  **(4) Torque instruction filter time**
300 300  
301 301  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.
... ... @@ -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]]
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]]
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]]
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]]
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.
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.
376 376  
377 377  **(2) Depth grade of notch filter**
378 378  
... ... @@ -383,12 +383,12 @@
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
372 +Figure 7-3 Notch characteristics, notch width, and notch depth
387 387  
388 388  (% style="text-align:center" %)
389 -[[image:image-20220706160046-9.png]]
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]]
390 390  
391 -Figure 7-8 Frequency characteristics of notch filter
377 +Figure 7-4 Frequency characteristics of notch filter
392 392  
393 393  (% class="table-bordered" %)
394 394  |(% 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" %)(((
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