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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 14.3
edited by Joey
on 2022/06/18 21:54
Change comment: Renamed from xwiki:Servo.1 User Manual1.06 VD2 SA Series Servo Drives Manual (Full V1\.1).07 Adjustments.WebHome
To version 14.20
edited by Stone Wu
on 2022/07/06 15:59
Change comment: (Autosaved)

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1 -Servo.1 User Manual1.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome
1 +Servo.1 User Manual.02 VD2 SA Series.WebHome
Author
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1 -XWiki.Joey
1 +XWiki.Stone
Content
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55 55  
56 56  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.
57 57  
58 -During the automatic load inertia recognition process, if vibration occurs, the load inertia identification should be stopped immediately.
58 +During the automatic load inertia recognition process, if vibration occurs, the load inertia recognition should be stopped immediately.
59 59  )))
60 60  
61 61  The related function codes are shown in the table below.
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70 70  Operation setting
71 71  )))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
72 72  Effective immediately
73 -)))|(% 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" %)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
74 74  |(% style="text-align:center; vertical-align:middle; width:117px" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
75 75  Inertia recognition turns
76 76  )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
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137 137  
138 138  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:
139 139  
140 -Step1 Confirm that the servo is in the ready state, the panel displays “rdy”, and the communication line is connected;
140 +* Step1 Confirm that the servo is in the ready state, the panel displays “rdy”, and the communication line is connected;
141 +* Step2 Open the host computer debugging software, enter the trial run interface, set the corresponding parameters, and click "Servo on";
142 +* Step3 Click the "forward rotation" or "reverse rotation" button to confirm the travel range of the servo operation;
143 +* Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured.
144 +* Step5 After the inertia recognition test is completed, click "Save Inertia Value";
145 +* Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement.
146 +* Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
141 141  
142 -Step2 Open the host computer debugging software, enter the trial run interface, set the corresponding parameters, and click "Servo on";
143 -
144 -Step3 Click the "forward rotation" or "reverse rotation" button to confirm the travel range of the servo operation;
145 -
146 -Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured.
147 -
148 -Step5 After the inertia recognition test is completed, click "Save Inertia Value";
149 -
150 -Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement.
151 -
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 -
154 154  (% class="table-bordered" %)
155 155  |(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
156 156  |(((
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229 229  
230 230  Table 7-5 Speed loop gain parameters
231 231  
226 +(% style="text-align:center" %)
227 +[[image:image-20220706152743-1.jpeg]]
228 +
229 +Figure 7-3 Speed loop gain effect illustration
230 +
232 232  **(2) Speed loop integral time constant**
233 233  
234 234  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.
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264 264  
265 265  Table 7-6 Speed loop integral time constant parameters
266 266  
266 +(% style="text-align:center" %)
267 +[[image:image-20220706153140-2.jpeg]]
268 +
269 +Figure 7-4 Speed loop integral time constant effect illustration
270 +
267 267  **(3) Position loop gain**
268 268  
269 269  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.
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287 287  
288 288  Table 7-7 Position loop gain parameters
289 289  
294 +(% style="text-align:center" %)
295 +[[image:image-20220706153656-3.jpeg]]
296 +
297 +Figure 7-5 Position loop gain effect illustration
298 +
290 290  **(4) Torque instruction filter time**
291 291  
292 292  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.
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324 324  
325 325  Table 7-9 Speed feedforward parameters
326 326  
336 +[[image:image-20220706155307-4.jpeg]]
337 +
338 +Figure 7-6 Speed feedforward parameters effect illustration
339 +
327 327  (% class="table-bordered" %)
328 328  |(% 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**
329 329  |(% 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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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  
344 344  (% style="text-align:center" %)
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]]
358 +[[image:image-20220706155820-5.jpeg]]
346 346  
347 347  **(2) Notch filter**
348 348  
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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  
359 359  (% style="text-align:center" %)
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]]
373 +[[image:image-20220706155836-6.png]]
361 361  
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.
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.
363 363  
364 364  **(2) Depth grade of notch filter**
365 365  
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370 370  (% style="text-align:center" %)
371 371  [[image:image-20220608174259-3.png]]
372 372  
373 -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]]
374 374  
375 -(% style="text-align:center" %)
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]]
388 +Figure 7-8 Frequency characteristics of notch filter
377 377  
378 -Figure 7-4 Frequency characteristics of notch filter
379 -
380 380  (% class="table-bordered" %)
381 381  |(% 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" %)(((
382 382  **Setting method**
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