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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 18.1
edited by Stone Wu
on 2022/09/23 14:44
Change comment: There is no comment for this version
To version 17.1
edited by Stone Wu
on 2022/08/30 11:24
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -4,7 +4,7 @@
4 4  
5 5  (% style="text-align:center" %)
6 6  (((
7 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
7 +(% class="wikigeneratedid" style="display:inline-block" %)
8 8  [[**Figure 7-1 Gain adjustment process**>>image:image-20220608174118-1.png||id="Iimage-20220608174118-1.png"]]
9 9  )))
10 10  
... ... @@ -15,7 +15,7 @@
15 15  ✎**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 16  )))
17 17  
18 -(% class="table-bordered" style="margin-right:auto" %)
18 +(% class="table-bordered" %)
19 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 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 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"]]__
... ... @@ -30,11 +30,11 @@
30 30  Load inertia ratio P03-01 refers to:
31 31  
32 32  (% style="text-align:center" %)
33 -[[image:image-20220611152902-1.png||class="img-thumbnail"]]
33 +[[image:image-20220611152902-1.png]]
34 34  
35 35  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.
36 36  
37 -(% class="warning" %)|(((
37 +|(((
38 38  (% style="text-align:center" %)
39 39  [[image:image-20220611152918-2.png]]
40 40  )))
... ... @@ -60,28 +60,28 @@
60 60  (% class="table-bordered" %)
61 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;" %)(((
62 62  **Setting method**
63 -)))|=(% style="text-align: center; vertical-align: middle; width: 168px;" %)(((
63 +)))|=(% style="text-align: center; vertical-align: middle; width: 213px;" %)(((
64 64  **Effective time**
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**
65 +)))|=(% 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**
66 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" %)(((
67 67  Operation setting
68 -)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
68 +)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
69 69  Effective immediately
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
70 +)))|(% 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
71 71  |=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
72 72  Inertia recognition turns
73 73  )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
74 74  Shutdown setting
75 -)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
75 +)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
76 76  Effective immediately
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
77 +)))|(% 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
78 78  |=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
79 79  Inertia recognition maximum speed
80 80  )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
81 81  Shutdown setting
82 -)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
82 +)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
83 83  Effective immediately
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" %)(((
84 +)))|(% 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" %)(((
85 85  Set the allowable maximum motor speed instruction in offline inertia recognition mode.
86 86  
87 87  The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
... ... @@ -90,9 +90,9 @@
90 90  Parameter recognition rotation direction
91 91  )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
92 92  Shutdown setting
93 -)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
93 +)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
94 94  Effective immediately
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" %)(((
95 +)))|(% 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" %)(((
96 96  0: Forward and reverse reciprocating rotation
97 97  
98 98  1: Forward one-way rotation
... ... @@ -116,9 +116,9 @@
116 116  
117 117  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.
118 118  
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.
119 +(% class="table-bordered" %)
120 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
121 +|(% style="text-align:center; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
122 122  
123 123  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.
124 124  
... ... @@ -143,7 +143,7 @@
143 143  * Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
144 144  
145 145  (% class="table-bordered" %)
146 -(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
146 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
147 147  |(((
148 148  ✎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!
149 149  
... ... @@ -151,16 +151,16 @@
151 151  )))
152 152  
153 153  (% class="table-bordered" %)
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;" %)(((
154 +|(% 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:122px" %)(((
155 155  **Setting method**
156 -)))|=(% style="text-align: center; vertical-align: middle; width: 105px;" %)(((
156 +)))|(% style="text-align:center; vertical-align:middle; width:129px" %)(((
157 157  **Effective time**
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" %)(((
158 +)))|(% style="text-align:center; vertical-align:middle; width:95px" %)**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**
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:122px" %)(((
160 160  Operation setting
161 -)))|(% style="text-align:center; vertical-align:middle; width:105px" %)(((
161 +)))|(% style="text-align:center; vertical-align:middle; width:129px" %)(((
162 162  Effective immediately
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" %)(((
163 +)))|(% style="text-align:center; vertical-align:middle; width:95px" %)0|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 2|(% style="width:430px" %)(((
164 164  * 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.
165 165  * 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
166 166  * 2: Online automatic parameter self-adjusting mode (Not implemented yet)
... ... @@ -176,7 +176,7 @@
176 176  
177 177  (% style="text-align:center" %)
178 178  (((
179 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
179 +(% class="wikigeneratedid" style="display:inline-block" %)
180 180  [[**Figure 7-2 Basic block diagram of servo loop gain**>>image:image-20220608174209-2.png||id="Iimage-20220608174209-2.png"]]
181 181  )))
182 182  
... ... @@ -221,7 +221,7 @@
221 221  
222 222  (% style="text-align:center" %)
223 223  (((
224 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
224 +(% class="wikigeneratedid" style="display:inline-block" %)
225 225  [[**Figure 7-3 Speed loop gain effect illustration**>>image:image-20220706152743-1.jpeg||id="Iimage-20220706152743-1.jpeg"]]
226 226  )))
227 227  
... ... @@ -258,7 +258,7 @@
258 258  
259 259  (% style="text-align:center" %)
260 260  (((
261 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
261 +(% class="wikigeneratedid" style="display:inline-block" %)
262 262  [[**Figure 7-4 Speed loop integral time constant effect illustration**>>image:image-20220706153140-2.jpeg||id="Iimage-20220706153140-2.jpeg"]]
263 263  )))
264 264  
... ... @@ -267,27 +267,27 @@
267 267  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.
268 268  
269 269  (% class="table-bordered" %)
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;" %)(((
270 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 95px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 159px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)(((
271 271  **Setting method**
272 -)))|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)(((
272 +)))|=(% style="text-align: center; vertical-align: middle; width: 108px;" %)(((
273 273  **Effective time**
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" %)(((
274 +)))|=(% style="text-align: center; vertical-align: middle; width: 108px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**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:159px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
276 276  Operation setting
277 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
277 +)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
278 278  Effective immediately
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" %)(((
279 +)))|(% style="text-align:center; vertical-align:middle; width:108px" %)400|(% style="text-align:center; vertical-align:middle; width:114px" %)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:159px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
281 281  Operation setting
282 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
282 +)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
283 283  Effective immediately
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
284 +)))|(% style="text-align:center; vertical-align:middle; width:108px" %)35|(% style="text-align:center; vertical-align:middle; width:114px" %)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
285 285  
286 286  Table 7-7 Position loop gain parameters
287 287  
288 288  (% style="text-align:center" %)
289 289  (((
290 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
290 +(% class="wikigeneratedid" style="display:inline-block" %)
291 291  [[**Figure 7-5 Position loop gain effect illustration**>>image:image-20220706153656-3.jpeg||id="Iimage-20220706153656-3.jpeg"]]
292 292  )))
293 293  
... ... @@ -298,14 +298,14 @@
298 298  (% class="table-bordered" %)
299 299  |=(% 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;" %)(((
300 300  **Setting method**
301 -)))|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
301 +)))|=(% style="text-align: center; vertical-align: middle; width: 133px;" %)(((
302 302  **Effective time**
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**
303 +)))|=(% style="text-align: center; vertical-align: middle; width: 142px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 328px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
304 304  |=(% 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" %)(((
305 305  Operation setting
306 -)))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
306 +)))|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
307 307  Effective immediately
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
308 +)))|(% style="text-align:center; vertical-align:middle; width:142px" %)50|(% style="width:328px" %)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
309 309  
310 310  Table 7-8 Details of torque filter time constant parameters
311 311  
... ... @@ -330,15 +330,15 @@
330 330  
331 331  (% style="text-align:center" %)
332 332  (((
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"]]
333 +(% class="wikigeneratedid" style="display:inline-block" %)
334 +[[**Figure 7-6 Speed feedforward parameters effect illustration**>>image:image-20220706155307-4.jpeg||id="Iimage-20220706155307-4.jpeg"]]
335 335  )))
336 336  
337 337  
338 338  (% class="table-bordered" %)
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
339 +|=(% 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**
340 +|=(% 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.
341 +|=(% 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
342 342  
343 343  Table 7-10 Torque feedforward parameters
344 344  
... ... @@ -353,7 +353,7 @@
353 353  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:
354 354  
355 355  (% style="text-align:center" %)
356 -[[image:image-20220706155820-5.jpeg||class="img-thumbnail"]]
356 +[[image:image-20220706155820-5.jpeg]]
357 357  
358 358  **Notch filter**
359 359  
... ... @@ -368,7 +368,7 @@
368 368  The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
369 369  
370 370  (% style="text-align:center" %)
371 -[[image:image-20220706155836-6.png||class="img-thumbnail"]]
371 +[[image:image-20220706155836-6.png]]
372 372  
373 373  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.
374 374  
... ... @@ -379,43 +379,39 @@
379 379  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__.
380 380  
381 381  (% style="text-align:center" %)
382 -(((
383 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
384 -[[Figure 7-7 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png||id="Iimage-20220608174259-3.png"]]
385 -)))
382 +[[image:image-20220608174259-3.png]]
386 386  
384 +Figure 7-7 Notch characteristics, notch width, and notch depth
387 387  
388 388  (% style="text-align:center" %)
389 -(((
390 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
391 -[[Figure 7-8 Frequency characteristics of notch filter>>image:image-20220706160046-9.png||id="Iimage-20220706160046-9.png"]]
392 -)))
387 +[[image:image-20220706160046-9.png]]
393 393  
389 +Figure 7-8 Frequency characteristics of notch filter
394 394  
395 395  (% class="table-bordered" %)
396 396  |=(% 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;" %)(((
397 397  **Setting method**
398 -)))|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)(((
394 +)))|=(% style="text-align: center; vertical-align: middle; width: 108px;" %)(((
399 399  **Effective time**
400 -)))|=(% 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**
396 +)))|=(% 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: 362px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px;" %)**Unit**
401 401  |=(% 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" %)(((
402 402  Operation setting
403 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
399 +)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
404 404  Effective immediately
405 -)))|(% 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
401 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)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
406 406  |=(% 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" %)(((
407 407  Operation setting
408 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
404 +)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
409 409  Effective immediately
410 -)))|(% 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" %)(((
406 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:362px" %)(((
411 411  1. 0: all truncated
412 412  1. 100: all passed
413 413  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
414 414  |=(% 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" %)(((
415 415  Operation setting
416 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
412 +)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
417 417  Effective immediately
418 -)))|(% 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" %)(((
414 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:362px" %)(((
419 419  1. 0: 0.5 times the bandwidth
420 420  1. 4: 1 times the bandwidth
421 421  1. 8: 2 times the bandwidth
... ... @@ -423,22 +423,22 @@
423 423  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
424 424  |=(% 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" %)(((
425 425  Operation setting
426 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
422 +)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
427 427  Effective immediately
428 -)))|(% 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
424 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)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
429 429  |=(% 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" %)(((
430 430  Operation setting
431 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
427 +)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
432 432  Effective immediately
433 -)))|(% 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" %)(((
429 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:362px" %)(((
434 434  1. 0: all truncated
435 435  1. 100: all passed
436 436  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
437 437  |=(% 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" %)(((
438 438  Operation setting
439 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
435 +)))|(% style="text-align:center; vertical-align:middle; width:108px" %)(((
440 440  Effective immediately
441 -)))|(% 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" %)(((
437 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:362px" %)(((
442 442  1. 0: 0.5 times the bandwidth
443 443  1. 4: 1 times the bandwidth
444 444  1. 8: 2 times the bandwidth