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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 16.4
edited by Stone Wu
on 2022/07/29 10:04
Change comment: Update document after refactoring.
To version 18.2
edited by Karen
on 2023/05/15 14:10
Change comment: There is no comment for this version

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Author
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1 -XWiki.Stone
1 +XWiki.Karen
Content
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3 3  The servo drive needs to make the motor faithfully operate in accordance with the instructions issued by the upper controller without delay as much as possible. In order to make the motor action closer to the instruction and maximize the mechanical performance, gain adjustment is required. The process of gain adjustment is shown in Figure 7-1.
4 4  
5 5  (% style="text-align:center" %)
6 -[[image:image-20220608174118-1.png]]
6 +(((
7 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
8 +[[**Figure 7-1 Gain adjustment process**>>image:image-20220608174118-1.png||id="Iimage-20220608174118-1.png"]]
9 +)))
7 7  
8 -Figure 7-1 Gain adjustment process
9 -
10 10  The servo gain is composed of multiple sets of parameters such as position loop, speed loop, filter, load inertia ratio, etc., and they affect each other. In the process of setting the servo gain, the balance between the setting values of each parameter must be considered.
11 11  
13 +(% class="box infomessage" %)
14 +(((
12 12  ✎**Note: **Before adjusting the gain, it is recommended to perform a jog trial run first to ensure that the servo motor can operate normally! The gain adjustment process description is shown in the table below.
16 +)))
13 13  
14 -(% class="table-bordered" %)
15 -|(% colspan="3" style="text-align:center; vertical-align:middle" %)**Gain adjustment process**|(% style="text-align:center; vertical-align:middle" %)**Function**|(% style="text-align:center; vertical-align:middle" %)**Detailed chapter**
16 -|(% style="text-align:center; vertical-align:middle" %)1|(% colspan="2" style="text-align:center; vertical-align:middle" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HInertiarecognition]]__
17 -|(% style="text-align:center; vertical-align:middle" %)2|(% colspan="2" style="text-align:center; vertical-align:middle" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HAutomaticgainadjustment]]__
18 -|(% rowspan="2" style="text-align:center; vertical-align:middle" %)3|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HManualgainadjustment]]__
19 -|(% style="text-align:center; vertical-align:middle" %)Feedforward gain|The feedforward function is enabled to improve the followability.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.3>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__
20 -|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HMechanicalresonancesuppressionmethods]]__
18 +(% class="table-bordered" style="margin-right:auto" %)
19 +|=(% colspan="3" style="text-align: center; vertical-align: middle;" %)**Gain adjustment process**|=(% style="text-align: center; vertical-align: middle;" %)**Function**|=(% style="text-align: center; vertical-align: middle;" %)**Detailed chapter**
20 +|(% style="text-align:center; vertical-align:middle" %)1|(% colspan="2" style="text-align:center; vertical-align:middle" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>||anchor="HInertiarecognition"]]__
21 +|(% style="text-align:center; vertical-align:middle" %)2|(% colspan="2" style="text-align:center; vertical-align:middle" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>||anchor="HAutomaticgainadjustment"]]__
22 +|(% rowspan="2" style="text-align:center; vertical-align:middle" %)3|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__
23 +|(% style="text-align:center; vertical-align:middle" %)Feedforward gain|The feedforward function is enabled to improve the followability.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.3>>||anchor="HFeedforwardgain"]]__
24 +|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__
21 21  
22 22  Table 7-1 Description of gain adjustment process
23 23  
... ... @@ -26,11 +26,11 @@
26 26  Load inertia ratio P03-01 refers to:
27 27  
28 28  (% style="text-align:center" %)
29 -[[image:image-20220611152902-1.png]]
33 +[[image:image-20220611152902-1.png||class="img-thumbnail"]]
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 -|(((
37 +(% class="warning" %)|(((
34 34  (% style="text-align:center" %)
35 35  [[image:image-20220611152918-2.png]]
36 36  )))
... ... @@ -37,65 +37,58 @@
37 37  |(((
38 38  **Before performing online load inertia recognition, the following conditions should be met:**
39 39  
40 -The maximum speed of the motor should be greater than 300rpm;
44 +* The maximum speed of the motor should be greater than 300rpm;
45 +* The actual load inertia ratio is between 0.00 and 100.00;
46 +* The load torque is relatively stable, and the load cannot change drastically during the measurement process;
47 +* The backlash of the load transmission mechanism is within a certain range;
41 41  
42 -The actual load inertia ratio is between 0.00 and 100.00;
43 -
44 -The load torque is relatively stable, and the load cannot change drastically during the measurement process;
45 -
46 -The backlash of the load transmission mechanism is within a certain range;
47 -
48 48  **The motor's runable stroke should meet two requirements:**
49 49  
50 -There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
51 -
52 -Before performing online inertia recognition, please make sure that the limit switch has been installed on the machine, and that the motor has a movable stroke of more than 1 turn each in the forward and reverse directions to prevent overtravel during the inertia recognition process and cause accidents.
53 -
54 -Meet the requirement of inertia recognition turns P03-05.
55 -
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 -
58 -During the automatic load inertia recognition process, if vibration occurs, the load inertia recognition should be stopped immediately.
51 +* There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
52 +* Before performing online inertia recognition, please make sure that the limit switch has been installed on the machine, and that the motor has a movable stroke of more than 1 turn each in the forward and reverse directions to prevent overtravel during the inertia recognition process and cause accidents.
53 +* Meet the requirement of inertia recognition turns P03-05.
54 +* 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.
55 +* 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.
62 62  
63 63  (% class="table-bordered" %)
64 -|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
61 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 117px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 173px;" %)(((
65 65  **Setting method**
66 -)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
63 +)))|=(% style="text-align: center; vertical-align: middle; width: 168px;" %)(((
67 67  **Effective time**
68 -)))|(% style="text-align:center; vertical-align:middle; width:117px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:276px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
69 -|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-01|(% style="text-align:center; vertical-align:middle; width:136px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
65 +)))|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 118px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 276px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
66 +|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-01|(% style="text-align:center; vertical-align:middle; width:136px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
70 70  Operation setting
71 -)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
68 +)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
72 72  Effective immediately
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 -|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
70 +)))|(% style="text-align:center; vertical-align:middle; width:125px" %)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
71 +|=(% 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" %)(((
77 77  Shutdown setting
78 -)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
75 +)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
79 79  Effective immediately
80 -)))|(% style="text-align:center; vertical-align:middle; width:117px" %)2|(% style="text-align:center; vertical-align:middle; width:118px" %)1 to 20|(% style="width:276px" %)Offline load inertia recognition process, motor rotation number setting|(% style="text-align:center; vertical-align:middle" %)circle
81 -|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
77 +)))|(% style="text-align:center; vertical-align:middle; width:125px" %)2|(% style="text-align:center; vertical-align:middle; width:118px" %)1 to 20|(% style="width:276px" %)Offline load inertia recognition process, motor rotation number setting|(% style="text-align:center; vertical-align:middle" %)circle
78 +|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
82 82  Inertia recognition maximum speed
83 83  )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
84 84  Shutdown setting
85 -)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
82 +)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
86 86  Effective immediately
87 -)))|(% style="text-align:center; vertical-align:middle; width:117px" %)1000|(% style="text-align:center; vertical-align:middle; width:118px" %)300 to 2000|(% style="width:276px" %)(((
84 +)))|(% style="text-align:center; vertical-align:middle; width:125px" %)1000|(% style="text-align:center; vertical-align:middle; width:118px" %)300 to 2000|(% style="width:276px" %)(((
88 88  Set the allowable maximum motor speed instruction in offline inertia recognition mode.
89 89  
90 90  The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
91 91  )))|(% style="text-align:center; vertical-align:middle" %)rpm
92 -|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
89 +|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
93 93  Parameter recognition rotation direction
94 94  )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
95 95  Shutdown setting
96 -)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
93 +)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
97 97  Effective immediately
98 -)))|(% style="text-align:center; vertical-align:middle; width:117px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)0 to 2|(% style="width:276px" %)(((
95 +)))|(% style="text-align:center; vertical-align:middle; width:125px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)0 to 2|(% style="width:276px" %)(((
99 99  0: Forward and reverse reciprocating rotation
100 100  
101 101  1: Forward one-way rotation
... ... @@ -113,23 +113,23 @@
113 113  
114 114  The servo supports automatic gain adjustment and manual gain adjustment. It is recommended to use automatic gain adjustment first.
115 115  
116 -== **Automatic gain adjustment** ==
113 +== Automatic gain adjustment ==
117 117  
118 118  Automatic gain adjustment means that through the rigidity level selection function P03-02, the servo drive will automatically generate a set of matching gain parameters to meet the requirements of rapidity and stability.
119 119  
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 -(% class="table-bordered" %)
123 -|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
124 -|(% style="text-align:center; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
119 +(% class="table-bordered" style="margin-right:auto" %)
120 +(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
121 +|(% style="text-align:left; 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.
127 127  
128 128  (% class="table-bordered" %)
129 -|(% style="text-align:center; vertical-align:middle" %)**Rigidity grade**|(% style="text-align:center; vertical-align:middle" %)**Load mechanism type**
130 -|(% style="text-align:center; vertical-align:middle" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
131 -|(% style="text-align:center; vertical-align:middle" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
132 -|(% style="text-align:center; vertical-align:middle" %)Grade 15 to 20|(% style="text-align:center; vertical-align:middle" %)High rigidity applications such as ball screw and direct connection
126 +|=(% scope="row" style="text-align: center; vertical-align: middle;" %)**Rigidity grade**|=(% style="text-align: center; vertical-align: middle;" %)**Load mechanism type**
127 +|=(% style="text-align: center; vertical-align: middle;" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
128 +|=(% style="text-align: center; vertical-align: middle;" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
129 +|=(% style="text-align: center; vertical-align: middle;" %)Grade 15 to 20|(% style="text-align:center; vertical-align:middle" %)High rigidity applications such as ball screw and direct connection
133 133  
134 134  Table 7-3 Experience reference of rigidity grade
135 135  
... ... @@ -146,7 +146,7 @@
146 146  * Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
147 147  
148 148  (% class="table-bordered" %)
149 -|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
146 +(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
150 150  |(((
151 151  ✎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!
152 152  
... ... @@ -154,26 +154,24 @@
154 154  )))
155 155  
156 156  (% class="table-bordered" %)
157 -|(% style="text-align:center; vertical-align:middle; width:121px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:73px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
154 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 84px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)(((
158 158  **Setting method**
159 -)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
156 +)))|=(% style="text-align: center; vertical-align: middle; width: 105px;" %)(((
160 160  **Effective time**
161 -)))|(% 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**
162 -|(% 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" %)(((
158 +)))|=(% style="text-align: center; vertical-align: middle; width: 87px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 83px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 431px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
159 +|=(% style="text-align: center; vertical-align: middle; width: 84px;" %)P03-03|(% style="text-align:center; vertical-align:middle; width:138px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:103px" %)(((
163 163  Operation setting
164 -)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
161 +)))|(% style="text-align:center; vertical-align:middle; width:105px" %)(((
165 165  Effective immediately
166 -)))|(% 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" %)(((
167 -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.
168 -
169 -1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
170 -
171 -2: Online automatic parameter self-adjusting mode (Not implemented yet)
163 +)))|(% style="text-align:center; vertical-align:middle; width:87px" %)0|(% style="text-align:center; vertical-align:middle; width:83px" %)0 to 2|(% style="width:431px" %)(((
164 +* 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.
165 +* 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
166 +* 2: Online automatic parameter self-adjusting mode (Not implemented yet)
172 172  )))|(% style="text-align:center; vertical-align:middle" %)-
173 173  
174 174  Table 7-4 Details of self-adjusting mode selection parameters
175 175  
176 -== **Manual gain adjustment** ==
171 +== Manual gain adjustment ==
177 177  
178 178  When the servo automatic gain adjustment fails to achieve the desired result, you can manually fine-tune the gain to achieve better results.
179 179  
... ... @@ -180,10 +180,11 @@
180 180  The servo system consists of three control loops, from the outside to the inside are the position loop, the speed loop and the current loop. The basic control block diagram is shown as below.
181 181  
182 182  (% style="text-align:center" %)
183 -[[image:image-20220608174209-2.png]]
178 +(((
179 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
180 +[[**Figure 7-2 Basic block diagram of servo loop gain**>>image:image-20220608174209-2.png||id="Iimage-20220608174209-2.png"]]
181 +)))
184 184  
185 -Figure 7-2 Basic block diagram of servo loop gain
186 -
187 187  The more the inner loop is, the higher the responsiveness is required. Failure to comply with this principle may lead to system instability!
188 188  
189 189  The default current loop gain of the servo drive has ensured sufficient responsiveness. Generally, no adjustment is required. Only the position loop gain, speed loop gain and other auxiliary gains need to be adjusted.
... ... @@ -191,126 +191,125 @@
191 191  This servo drive has two sets of gain parameters for position loop and speed loop. The user can switch the two sets of gain parameters according to the setting value of P02-07 the 2nd gain switching mode. The parameters are are below.
192 192  
193 193  (% class="table-bordered" %)
194 -|(% style="text-align:center; vertical-align:middle; width:450px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:751px" %)**Name**
195 -|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-01|(% style="width:751px" %)The 1st position loop gain
196 -|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-02|(% style="width:751px" %)The 1st speed loop gain
197 -|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-03|(% style="width:751px" %)The 1st speed loop integral time constant
198 -|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-04|(% style="width:751px" %)The 2nd position loop gain
199 -|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-05|(% style="width:751px" %)The 2nd speed loop gain
200 -|(% style="text-align:center; vertical-align:middle; width:450px" %)P02-06|(% style="width:751px" %)The 2nd speed loop integral time constant
201 -|(% style="text-align:center; vertical-align:middle; width:450px" %)P04-04|(% style="width:751px" %)Torque filter time constant
190 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 450px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 751px;" %)**Name**
191 +|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-01|(% style="width:751px" %)The 1st position loop gain
192 +|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-02|(% style="width:751px" %)The 1st speed loop gain
193 +|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-03|(% style="width:751px" %)The 1st speed loop integral time constant
194 +|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-04|(% style="width:751px" %)The 2nd position loop gain
195 +|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-05|(% style="width:751px" %)The 2nd speed loop gain
196 +|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-06|(% style="width:751px" %)The 2nd speed loop integral time constant
197 +|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P04-04|(% style="width:751px" %)Torque filter time constant
202 202  
203 -**(1) Speed loop gain**
199 +**Speed loop gain**
204 204  
205 205  In the case of no vibration or noise in the mechanical system, the larger the speed loop gain setting value, the better the response of servo system and the better the speed followability. When noise occurs in the system, reduce the speed loop gain. The related function codes are shown as below.
206 206  
207 207  (% class="table-bordered" %)
208 -|(% style="text-align:center; vertical-align:middle; width:120px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:151px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
204 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
209 209  **Setting method**
210 -)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
206 +)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
211 211  **Effective time**
212 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:321px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
213 -|(% style="text-align:center; vertical-align:middle; width:120px" %)P02-02|(% style="text-align:center; vertical-align:middle; width:151px" %)1st speed loop gain|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
208 +)))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
209 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P02-02|(% style="text-align:center; vertical-align:middle; width:163px" %)1st speed loop gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
214 214  Operation setting
215 -)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
211 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
216 216  Effective immediately
217 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)65|(% style="text-align:center; vertical-align:middle; width:99px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
218 -|(% style="text-align:center; vertical-align:middle; width:120px" %)P02-05|(% style="text-align:center; vertical-align:middle; width:151px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:170px" %)(((
213 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)65|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
214 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P02-05|(% style="text-align:center; vertical-align:middle; width:163px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
219 219  Operation setting
220 -)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
216 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
221 221  Effective immediately
222 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)65|(% style="text-align:center; vertical-align:middle; width:99px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
218 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)65|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
223 223  
224 224  Table 7-5 Speed loop gain parameters
225 225  
226 226  (% style="text-align:center" %)
227 -[[image:image-20220706152743-1.jpeg]]
223 +(((
224 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
225 +[[**Figure 7-3 Speed loop gain effect illustration**>>image:image-20220706152743-1.jpeg||id="Iimage-20220706152743-1.jpeg"]]
226 +)))
228 228  
229 -Figure 7-3 Speed loop gain effect illustration
228 +**Speed loop integral time constant**
230 230  
231 -**(2) Speed loop integral time constant**
232 -
233 233  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.
234 234  
235 235  (% class="table-bordered" %)
236 -|(% style="text-align:center; vertical-align:middle; width:126px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:185px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
233 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 98px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 173px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
237 237  **Setting method**
238 -)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
235 +)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
239 239  **Effective time**
240 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:102px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:335px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
241 -|(% style="text-align:center; vertical-align:middle; width:126px" %)P02-03|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
237 +)))|=(% style="text-align: center; vertical-align: middle; width: 109px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 278px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 78px;" %)**Unit**
238 +|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-03|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
242 242  1st speed loop integral time constant
243 -)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
240 +)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
244 244  Operation setting
245 -)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
242 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
246 246  Effective immediately
247 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)1000|(% style="text-align:center; vertical-align:middle; width:102px" %)100 to 65535|(% style="width:335px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle" %)(((
248 -0.1
249 -
250 -ms
244 +)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)100 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
245 +0.1ms
251 251  )))
252 -|(% style="text-align:center; vertical-align:middle; width:126px" %)P02-06|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
247 +|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
253 253  2nd speed loop integral time constant
254 -)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
249 +)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
255 255  Operation setting
256 -)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
251 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
257 257  Effective immediately
258 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)1000|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 65535|(% style="width:335px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle" %)(((
259 -0.1
260 -
261 -ms
253 +)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)0 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
254 +0.1ms
262 262  )))
263 263  
264 264  Table 7-6 Speed loop integral time constant parameters
265 265  
266 266  (% style="text-align:center" %)
267 -[[image:image-20220706153140-2.jpeg]]
260 +(((
261 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
262 +[[**Figure 7-4 Speed loop integral time constant effect illustration**>>image:image-20220706153140-2.jpeg||id="Iimage-20220706153140-2.jpeg"]]
263 +)))
268 268  
269 -Figure 7-4 Speed loop integral time constant effect illustration
265 +**Position loop gain**
270 270  
271 -**(3) Position loop gain**
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.
274 274  
275 275  (% class="table-bordered" %)
276 -|(% style="text-align:center; vertical-align:middle; width:113px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:164px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
270 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 95px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 174px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)(((
277 277  **Setting method**
278 -)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
272 +)))|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)(((
279 279  **Effective time**
280 -)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:355px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
281 -|(% style="text-align:center; vertical-align:middle; width:113px" %)P02-01|(% style="text-align:center; vertical-align:middle; width:164px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
274 +)))|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 91px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 355px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
275 +|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-01|(% style="text-align:center; vertical-align:middle; width:174px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
282 282  Operation setting
283 -)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
277 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
284 284  Effective immediately
285 -)))|(% style="text-align:center; vertical-align:middle; width:120px" %)400|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
286 -|(% style="text-align:center; vertical-align:middle; width:113px" %)P02-04|(% style="text-align:center; vertical-align:middle; width:164px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
279 +)))|(% style="text-align:center; vertical-align:middle; width:79px" %)400|(% style="text-align:center; vertical-align:middle; width:91px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
280 +|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-04|(% style="text-align:center; vertical-align:middle; width:174px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
287 287  Operation setting
288 -)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
282 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
289 289  Effective immediately
290 -)))|(% style="text-align:center; vertical-align:middle; width:120px" %)35|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
284 +)))|(% style="text-align:center; vertical-align:middle; width:79px" %)35|(% style="text-align:center; vertical-align:middle; width:91px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
291 291  
292 292  Table 7-7 Position loop gain parameters
293 293  
294 294  (% style="text-align:center" %)
295 -[[image:image-20220706153656-3.jpeg]]
289 +(((
290 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
291 +[[**Figure 7-5 Position loop gain effect illustration**>>image:image-20220706153656-3.jpeg||id="Iimage-20220706153656-3.jpeg"]]
292 +)))
296 296  
297 -Figure 7-5 Position loop gain effect illustration
294 +**Torque instruction filter time**
298 298  
299 -**(4) Torque instruction filter time**
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.
302 302  
303 303  (% class="table-bordered" %)
304 -|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:200px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
299 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 117px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 200px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)(((
305 305  **Setting method**
306 -)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
301 +)))|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
307 307  **Effective time**
308 -)))|(% style="text-align:center; vertical-align:middle; width:139px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:359px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
309 -|(% style="text-align:center; vertical-align:middle; width:117px" %)P04-04|(% style="text-align:center; vertical-align:middle; width:200px" %)Torque filter time constant|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
303 +)))|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 371px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
304 +|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P04-04|(% style="text-align:center; vertical-align:middle; width:200px" %)Torque filter time constant|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
310 310  Operation setting
311 -)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
306 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
312 312  Effective immediately
313 -)))|(% style="text-align:center; vertical-align:middle; width:139px" %)50|(% style="width:359px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
308 +)))|(% style="text-align:center; vertical-align:middle; width:79px" %)50|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
314 314  
315 315  Table 7-8 Details of torque filter time constant parameters
316 316  
... ... @@ -318,137 +318,587 @@
318 318  
319 319  Speed feedforward could be used in position control mode and full closed-loop function. It could improve the response to the speed instruction and reduce the position deviation with fixed speed.
320 320  
321 -Speed feedforward parameters are shown in __[[Table 7-9>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__. Torque feedforward parameters are shown in __[[Table 7-10>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/#HFeedforwardgain]]__.
316 +Speed feedforward parameters are shown in __Table 7-9__. Torque feedforward parameters are shown in __Table 7-10__.
322 322  
323 323  Torque feedforward could improve the response to the torque instruction and reduce the position deviation with fixed acceleration and deceleration.
324 324  
325 325  (% class="table-bordered" %)
326 -|(% 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**
327 -|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-09|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward gain|(% rowspan="2" style="width:746px" %)(((
321 +|=(% scope="row" 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**
322 +|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-09|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward gain|(% rowspan="2" style="width:746px" %)(((
328 328  When the speed feedforward filter is set to 50 (0.5 ms), gradually increase the speed feedforward gain, and the speed feedforward will take effect. The position deviation during operation at a certain speed will be reduced according to the value of speed feedforward gain as the formula below.
329 329  
330 330  Position deviation (instruction unit) = instruction speed[instruction unit/s]÷position loop gain [1/s]×(100－speed feedforward gain [%])÷100
331 331  )))
332 -|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-10|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward filtering time constant
327 +|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-10|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward filtering time constant
333 333  
334 334  Table 7-9 Speed feedforward parameters
335 335  
336 -[[image:image-20220706155307-4.jpeg]]
331 +(% style="text-align:center" %)
332 +(((
333 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
334 +[[**Figure 7-6 Speed feedforward parameters effect illustration**>>image:image-20220706155307-4.jpeg||height="119" id="Iimage-20220706155307-4.jpeg" width="835"]]
335 +)))
337 337  
338 -Figure 7-6 Speed feedforward parameters effect illustration
339 339  
340 340  (% class="table-bordered" %)
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 -|(% 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.
343 -|(% style="text-align:center; vertical-align:middle; width:125px" %)P02-12|(% style="text-align:center; vertical-align:middle; width:330px" %)Torque feedforward filtering time constant
339 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 125px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 259px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 690px;" %)**Adjustment description**
340 +|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-11|(% style="text-align:center; vertical-align:middle; width:259px" %)Torque feedforward gain|(% rowspan="2" style="width:690px" %)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.
341 +|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-12|(% style="text-align:center; vertical-align:middle; width:259px" %)Torque feedforward filtering time constant
344 344  
345 345  Table 7-10 Torque feedforward parameters
346 346  
345 +== **Model Tracking Control Function** ==
346 +
347 +Model tracking control is suitable for position control mode, which adds a model loop outside the three loop. In the model loop, new position commands, speed feedforward and torque feedforward and other control quantities are generated according to the user's response requirements to the system and the ideal motor control model. Applying these control quantities to the actual control loop can significantly improve the response performance and positioning performance of the position control, the design block diagram is as follows:
348 +
349 +(% style="text-align:center" %)
350 +[[image:20230515-7.png]]
351 +
352 +The usage method and conditions of model tracking control:
353 +
354 +~1. Correctly set the inertia ratio of the system P3-1, which can be obtained by monitoring the real-time load inertia ratio of U0-20.
355 +
356 +2. Set the load rigidity level P3-2, set an appropriate value, it is not need to set a high rigidity level (recommended value 17~~21 under rigid load).
357 +
358 +3. Set P2-20=1 to enable the function of model tracking control.
359 +
360 +4. Adjust the P2-21 model tracking control gain from small to large, and gradually increase in steps of 1000 until the responsiveness of the system meets the actual demand. The responsiveness of the system is mainly determined by this parameter.
361 +
362 +5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
363 +
364 +**✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
365 +
366 +|**Function code**|**Name**|(((
367 +**Setting**
368 +
369 +**method**
370 +)))|(((
371 +**Effective**
372 +
373 +**time**
374 +)))|**Default**|**Range**|**Definition**|**Unit**
375 +|P2-20|Model tracking control function|Shutdown setting|(((
376 +Effective
377 +
378 +immediately
379 +)))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.|
380 +|P2-21|Model tracking control gain|Shutdown setting|(((
381 +Effective
382 +
383 +immediately
384 +)))|1000|200 to 20000|(% rowspan="2" %)Increasing the model tracking control gain can improve the position response performance of the model loop. If the gain is too high, it may cause overshoot behavior. The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.|0.1/s
385 +|P2-22|Model tracking control gain compensation|Shutdown setting|(((
386 +Effective
387 +
388 +immediately
389 +)))|1000|500 to 2000|0.10%
390 +
391 +|**Function code**|**Name**|(((
392 +**Setting**
393 +
394 +**method**
395 +)))|(((
396 +**Effective**
397 +
398 +**time**
399 +)))|**Default**|**Range**|**Definition**|**Unit**
400 +|P2-23|Model tracking control forward rotation bias|(((
401 +Operation
402 +
403 +setting
404 +)))|(((
405 +Effective
406 +
407 +immediately
408 +)))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10%
409 +|P2-24|Model tracking control reverses rotation bias|(((
410 +Operation
411 +
412 +setting
413 +)))|(((
414 +Effective
415 +
416 +immediately
417 +)))|1000|0 to 10000|0.10%
418 +|P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
419 +Effective
420 +
421 +immediately
422 +)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
423 +
424 +Please refer to the following for an example of the procedure of adjusting servo gain.
425 +
426 +|**Step**|**Content**
427 +|1|Please try to set the correct load inertia ratio parameter P3-1.
428 +|2|If the automatic adjustment mode is used (P3-3 is set to 0), please set the basic rigidity level parameter P3-2. If in manual adjustment mode (P3-3 is set to 1), please set the gain P2-1~~P2-3 related to the position loop and speed loop and the torque filter time constant P4-4. The setting principle is mainly no vibration and overshoot.
429 +|3|Turn on the model tracking function, set P2-20 to 1.
430 +|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur.
431 +|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
432 +|6|When overshoot occurs, or the responses of forward rotation and reverse rotation are different, user can fine-tune through model tracking control forward bias P2-23, model tracking control reverse bias P2-24, model tracking control speed feedforward compensation P2 -25.
433 +
434 +== **Gain switching** ==
435 +
436 +Gain switching function:
437 +
438 +●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
439 +
440 +●Switch to a higher gain in the motor stationary state to shorten the positioning time;
441 +
442 +●Switch to a higher gain in the motor running state to get better command tracking performance;
443 +
444 +●Switch different gain settings by external signals depending on the load connected.
445 +
446 +(1) Gain switching parameter setting
447 +
448 +①When P02-07=0
449 +
450 +Fixed use of the first gain (using P02-01~~P02-03), and the switching of P/PI (proportional/proportional integral) control could be realized through DI function 10 (GAIN-SEL, gain switching).
451 +
452 +(% style="text-align:center" %)
453 +[[image:20230515-8.png]]
454 +
455 +② When P02-07=1
456 +
457 +The switching conditions can be set through parameter P02-08 to realize switching between the first gain (P02-01~~P02-03) and the second gain (P02-04~~P02-06).
458 +
459 +(% style="text-align:center" %)
460 +[[image:20230515-9.png]]
461 +
462 +Figure 7-9 Flow chart of gain switching when P02-07=1
463 +
464 +|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
465 +|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
466 +|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
467 +|(% style="width:72px" %)(((
468 +
469 +
470 +
471 +
472 +
473 +
474 +2
475 +)))|(% style="width:146px" %)(((
476 +
477 +
478 +
479 +
480 +
481 +
482 +Large torque command
483 +)))|[[image:image-20230515140641-1.png]]
484 +|(% style="width:72px" %)(((
485 +
486 +
487 +
488 +
489 +
490 +
491 +
492 +3
493 +)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
494 +|(% style="width:72px" %)(((
495 +
496 +
497 +
498 +
499 +
500 +
501 +4
502 +)))|(% style="width:146px" %)(((
503 +
504 +
505 +
506 +
507 +
508 +
509 +Large speed command
510 +)))|[[image:image-20230515140641-3.png]]
511 +
512 +|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
513 +|(% style="width:74px" %)(((
514 +
515 +
516 +
517 +
518 +
519 +5
520 +)))|(% style="width:176px" %)(((
521 +
522 +
523 +
524 +
525 +
526 +Fast actual speed
527 +)))|(((
528 +
529 +
530 +[[image:image-20230515140641-4.png]]
531 +)))
532 +|(% style="width:74px" %)(((
533 +
534 +
535 +
536 +
537 +
538 +
539 +
540 +6
541 +)))|(% style="width:176px" %)(((
542 +
543 +
544 +
545 +
546 +
547 +
548 +
549 +Speed command change rate is large
550 +)))|[[image:image-20230515140641-5.png]]
551 +|(% style="width:74px" %)(((
552 +
553 +
554 +
555 +
556 +
557 +
558 +7
559 +
560 +
561 +)))|(% style="width:176px" %)(((
562 +
563 +
564 +
565 +
566 +
567 +
568 +Large position deviation
569 +)))|[[image:image-20230515140641-6.png]]
570 +|(% style="width:74px" %)(((
571 +
572 +
573 +
574 +
575 +
576 +8
577 +)))|(% style="width:176px" %)(((
578 +
579 +
580 +
581 +
582 +
583 +Position command
584 +)))|[[image:image-20230515140641-7.png]]
585 +
586 +|(% style="width:73px" %)(((
587 +
588 +
589 +
590 +
591 +
592 +
593 +9
594 +)))|(% style="width:154px" %)(((
595 +
596 +
597 +
598 +
599 +
600 +
601 +Positioning completed
602 +)))|[[image:image-20230515140641-8.png]]
603 +|(% style="width:73px" %)(((
604 +
605 +
606 +10
607 +
608 +
609 +)))|(% style="width:154px" %)(((
610 +
611 +
612 +Position command + actual speed
613 +)))|(((
614 +
615 +
616 +Refer to the chart below
617 +)))
618 +
619 +(% style="text-align:center" %)
620 +[[image:20230515-10.png]]
621 +
622 +Figure 7-10 P02-08=10 Position command + actual speed gain description
623 +
624 +(2) Description of related parameters
625 +
626 +|(% rowspan="2" style="width:68px" %)
627 +**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
628 +|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
629 +|(% colspan="8" %)(((
630 +Set the switching mode of the second gain.
631 +
632 +|**Setting value**|**Function**
633 +|0|(((
634 +The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
635 +
636 +DI logic invalid: PI control;
637 +
638 +DI logic valid: PI control.
639 +)))
640 +|1|The first gain and the second gain are switched by the setting value of P02-08.
641 +)))
642 +
643 +|(% rowspan="2" %)
644 +**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
645 +|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
646 +|(% colspan="8" %)(((
647 +Set the conditions for gain switching.
648 +
649 +|Setting value|Gain switching conditions|Details
650 +|0|The default is the first gain|Fixed use of the first gain
651 +|1|Switch by DI port|(((
652 +Use DI function 10 (GAIN-SEL, gain switching);
653 +
654 +DI logic is invalid: the first gain (P02-01~~P02-03);
655 +
656 +DI logic is valid: the second gain (P02-04~~P02-06).
657 +)))
658 +|2|Large torque command|(((
659 +In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
660 +
661 +In the previous second gain, when the absolute value of torque command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
662 +
663 +
664 +)))
665 +|3|Large actual torque|(((
666 +In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
667 +
668 +In the previous second gain, when the absolute value of actual torque is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
669 +
670 +
671 +)))
672 +|4|Large speed command|(((
673 +In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
674 +
675 +In the previous second gain, when the absolute value of speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
676 +
677 +
678 +)))
679 +|5|Large actual speed|(((
680 +In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
681 +
682 +In the previous second gain, when the absolute value of actual speed is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
683 +
684 +
685 +)))
686 +|(((
687 +
688 +
689 +6
690 +)))|(((
691 +
692 +
693 +Large rate of change in speed command
694 +)))|(((
695 +In the previous first gain, when the absolute value of the rate of change in speed command is greater than (grade + hysteresis), the second gain is switched;
696 +
697 +In the previous second gain, switch to the first gain when the absolute value of the rate of change in speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
698 +
699 +
700 +)))
701 +|(((
702 +
703 +
704 +7
705 +)))|(((
706 +
707 +
708 +Large position deviation
709 +)))|(((
710 +In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
711 +
712 +In the previous second gain, switch to the first gain when the absolute value of position deviation is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
713 +)))
714 +|8|Position command|(((
715 +In the previous first gain, if the position command is not 0, switch to the second gain;
716 +
717 +In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
718 +)))
719 +|(((
720 +
721 +
722 +9
723 +)))|(((
724 +
725 +
726 +Positioning complete
727 +)))|(((
728 +In the previous first gain, if the positioning is not completed, the second gain is switched; In the previous second gain, if the positioning is not completed and the duration is greater than [P02-13], the first gain is returned.
729 +
730 +
731 +)))
732 +|(((
733 +
734 +
735 +10
736 +)))|(((
737 +
738 +
739 +Position command + actual speed
740 +)))|(((
741 +In the previous first gain, if the position command is not 0, the second gain is switched;
742 +
743 +In the previous second gain, if the position command is 0, the duration is greater than [P02-13] and the absolute value of actual speed is less than ( grade - hysteresis).
744 +
745 +
746 +)))
747 +
748 +
749 +)))
750 +
751 +|(% rowspan="2" %)
752 +**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
753 +|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
754 +|(% colspan="8" %)(((
755 +The duration of the switching condition required for the second gain to switch back to the first gain.
756 +
757 +[[image:image-20230515140953-9.png]]
758 +
759 +**✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
760 +)))
761 +
762 +|(% rowspan="2" %)
763 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
764 +|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
765 +|(% colspan="8" %)(((
766 +Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
767 +
768 +[[image:image-20230515140953-10.png]]
769 +)))
770 +
771 +|(% rowspan="2" %)
772 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
773 +|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
774 +|(% colspan="8" %)(((
775 +Set the hysteresis to meet the gain switching condition.
776 +
777 +[[image:image-20230515140953-11.png]]
778 +)))
779 +
780 +|(% rowspan="2" %)
781 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
782 +|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
783 +|(% colspan="8" %)(((
784 +Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
785 +
786 +[[image:image-20230515140953-12.png]]
787 +
788 +If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
789 +)))
790 +
791 +
792 +
793 +
794 +
795 +
347 347  = **Mechanical resonance suppression** =
348 348  
349 -== **Mechanical resonance suppression methods** ==
798 +== Mechanical resonance suppression methods ==
350 350  
351 351  When the mechanical rigidity is low, vibration and noise may occur due to resonance caused by shaft twisting, and it may not be possible to increase the gain setting. In this case, by using a notch filter to reduce the gain at a specific frequency, after resonance is effectively suppressed, you can continue to increase the servo gain. There are 2 methods to suppress mechanical resonance.
352 352  
353 -**(1) Torque instruction filter**
802 +**Torque instruction filter**
354 354  
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]]
807 +[[image:image-20220706155820-5.jpeg||class="img-thumbnail"]]
359 359  
360 -**(2) Notch filter**
809 +**Notch filter**
361 361  
362 -The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __[[Figure 7-3>>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/image-20220608174259-3.png?rev=1.1]]__.
811 +The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __Figure 7-3__.
363 363  
364 -== **Notch filter** ==
813 +== Notch filter ==
365 365  
366 366  The VD2 series servo drives have 2 sets of notch filters, each of which has 3 parameters, namely notch frequency, width grade and depth grade.
367 367  
368 -**(1) Width grade of notch filter**
817 +**Width grade of notch filter**
369 369  
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]]
822 +[[image:image-20220706155836-6.png||class="img-thumbnail"]]
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.
824 +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.
376 376  
377 -**(2) Depth grade of notch filter**
826 +**Depth grade of notch filter**
378 378  
379 379  The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
380 380  
381 -When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __[[Figure 7-4>>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]]__.
830 +When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __Figure 7-4__.
382 382  
383 383  (% style="text-align:center" %)
384 -[[image:image-20220608174259-3.png]]
833 +(((
834 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
835 +[[Figure 7-7 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png||id="Iimage-20220608174259-3.png"]]
836 +)))
385 385  
386 -Figure 7-7 Notch characteristics, notch width, and notch depth
387 387  
388 388  (% style="text-align:center" %)
389 -[[image:image-20220706160046-9.png]]
840 +(((
841 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
842 +[[Figure 7-8 Frequency characteristics of notch filter>>image:image-20220706160046-9.png||id="Iimage-20220706160046-9.png"]]
843 +)))
390 390  
391 -Figure 7-8 Frequency characteristics of notch filter
392 392  
393 393  (% class="table-bordered" %)
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" %)(((
847 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 113px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 155px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)(((
395 395  **Setting method**
396 -)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
849 +)))|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)(((
397 397  **Effective time**
398 -)))|(% style="text-align:center; vertical-align:middle; width:127px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:102px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:391px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:248px" %)**Unit**
399 -|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-05|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
851 +)))|=(% style="text-align: center; vertical-align: middle; width: 99px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 102px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 362px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px;" %)**Unit**
852 +|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-05|(% style="text-align:center; vertical-align:middle; width:155px" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
400 400  Operation setting
401 -)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
854 +)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
402 402  Effective immediately
403 -)))|(% style="text-align:center; vertical-align:middle; width:127px" %)300|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:391px" %)Set the center frequency of the 1st notch filter. When the set value is 5000, the function of notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:248px" %)Hz
404 -|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-06|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
856 +)))|(% style="text-align:center; vertical-align:middle; width:99px" %)300|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:362px" %)Set the center frequency of the 1st notch filter. When the set value is 5000, the function of notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:96px" %)Hz
857 +|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-06|(% style="text-align:center; vertical-align:middle; width:155px" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
405 405  Operation setting
406 -)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
859 +)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
407 407  Effective immediately
408 -)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:391px" %)(((
409 -0: all truncated
410 -
411 -100: all passed
412 -)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
413 -|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-07|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter width|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
861 +)))|(% style="text-align:center; vertical-align:middle; width:99px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:362px" %)(((
862 +1. 0: all truncated
863 +1. 100: all passed
864 +)))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
865 +|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-07|(% style="text-align:center; vertical-align:middle; width:155px" %)1st notch filter width|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
414 414  Operation setting
415 -)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
867 +)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
416 416  Effective immediately
417 -)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:391px" %)(((
418 -0: 0.5 times the bandwidth
419 -
420 -4: 1 times the bandwidth
421 -
422 -8: 2 times the bandwidth
423 -
424 -12: 4 times the bandwidth
425 -)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
426 -|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-08|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
869 +)))|(% style="text-align:center; vertical-align:middle; width:99px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:362px" %)(((
870 +1. 0: 0.5 times the bandwidth
871 +1. 4: 1 times the bandwidth
872 +1. 8: 2 times the bandwidth
873 +1. 12: 4 times the bandwidth
874 +)))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
875 +|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-08|(% style="text-align:center; vertical-align:middle; width:155px" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
427 427  Operation setting
428 -)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
877 +)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
429 429  Effective immediately
430 -)))|(% style="text-align:center; vertical-align:middle; width:127px" %)500|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:391px" %)Set the center frequency of the 2nd notch filter. When the set value is 5000, the function of the notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:248px" %)Hz
431 -|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-09|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
879 +)))|(% style="text-align:center; vertical-align:middle; width:99px" %)500|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:362px" %)Set the center frequency of the 2nd notch filter. When the set value is 5000, the function of the notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:96px" %)Hz
880 +|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-09|(% style="text-align:center; vertical-align:middle; width:155px" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
432 432  Operation setting
433 -)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
882 +)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
434 434  Effective immediately
435 -)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:391px" %)(((
436 -0: all truncated
437 -
438 -100: all passed
439 -)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
440 -|(% style="text-align:center; vertical-align:middle; width:113px" %)P04-10|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
884 +)))|(% style="text-align:center; vertical-align:middle; width:99px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:362px" %)(((
885 +1. 0: all truncated
886 +1. 100: all passed
887 +)))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
888 +|=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-10|(% style="text-align:center; vertical-align:middle; width:155px" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
441 441  Operation setting
442 -)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
890 +)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
443 443  Effective immediately
444 -)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:391px" %)(((
445 -0: 0.5 times the bandwidth
892 +)))|(% style="text-align:center; vertical-align:middle; width:99px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:362px" %)(((
893 +1. 0: 0.5 times the bandwidth
894 +1. 4: 1 times the bandwidth
895 +1. 8: 2 times the bandwidth
896 +1. 12: 4 times the bandwidth
897 +)))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
446 446  
447 -4: 1 times the bandwidth
448 -
449 -8: 2 times the bandwidth
450 -
451 -12: 4 times the bandwidth
452 -)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
453 -
454 454  Table 7-11 Notch filter function code parameters
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