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Changes for page 07 Adjustments

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

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Author
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1 -XWiki.Karen
1 +XWiki.Stone
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 -(((
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 -)))
6 +[[image:image-20220608174118-1.png]]
10 10  
8 +Figure 7-1 Gain adjustment process
9 +
11 11  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.
12 12  
13 -(% class="box infomessage" %)
14 -(((
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 -)))
17 17  
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"]]__
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]]__
25 25  
26 26  Table 7-1 Description of gain adjustment process
27 27  
... ... @@ -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"]]
29 +[[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" %)|(((
33 +|(((
38 38  (% style="text-align:center" %)
39 39  [[image:image-20220611152918-2.png]]
40 40  )))
... ... @@ -41,58 +41,65 @@
41 41  |(((
42 42  **Before performing online load inertia recognition, the following conditions should be met:**
43 43  
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;
40 +The maximum speed of the motor should be greater than 300rpm;
48 48  
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 +
49 49  **The motor's runable stroke should meet two requirements:**
50 50  
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.
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.
56 56  )))
57 57  
58 58  The related function codes are shown in the table below.
59 59  
60 60  (% class="table-bordered" %)
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;" %)(((
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" %)(((
62 62  **Setting method**
63 -)))|=(% style="text-align: center; vertical-align: middle; width: 168px;" %)(((
66 +)))|(% 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**
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" %)(((
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" %)(((
67 67  Operation setting
68 -)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
71 +)))|(% 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
71 -|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
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" %)(((
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" %)(((
78 +)))|(% 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
78 -|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
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" %)(((
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" %)(((
85 +)))|(% 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" %)(((
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" %)(((
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.
88 88  )))|(% style="text-align:center; vertical-align:middle" %)rpm
89 -|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
92 +|(% style="text-align:center; vertical-align:middle; width:117px" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
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" %)(((
96 +)))|(% 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" %)(((
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" %)(((
96 96  0: Forward and reverse reciprocating rotation
97 97  
98 98  1: Forward one-way rotation
... ... @@ -110,23 +110,23 @@
110 110  
111 111  The servo supports automatic gain adjustment and manual gain adjustment. It is recommended to use automatic gain adjustment first.
112 112  
113 -== Automatic gain adjustment ==
116 +== **Automatic gain adjustment** ==
114 114  
115 115  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.
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.
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.
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  
125 125  (% class="table-bordered" %)
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
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
130 130  
131 131  Table 7-3 Experience reference of rigidity grade
132 132  
... ... @@ -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]]
149 +|(% 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  
... ... @@ -151,24 +151,26 @@
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;" %)(((
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" %)(((
155 155  **Setting method**
156 -)))|=(% style="text-align: center; vertical-align: middle; width: 105px;" %)(((
159 +)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
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" %)(((
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" %)(((
160 160  Operation setting
161 -)))|(% style="text-align:center; vertical-align:middle; width:105px" %)(((
164 +)))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
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" %)(((
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)
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)
167 167  )))|(% style="text-align:center; vertical-align:middle" %)-
168 168  
169 169  Table 7-4 Details of self-adjusting mode selection parameters
170 170  
171 -== Manual gain adjustment ==
176 +== **Manual gain adjustment** ==
172 172  
173 173  When the servo automatic gain adjustment fails to achieve the desired result, you can manually fine-tune the gain to achieve better results.
174 174  
... ... @@ -175,11 +175,10 @@
175 175  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.
176 176  
177 177  (% style="text-align:center" %)
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 -)))
183 +[[image:image-20220608174209-2.png]]
182 182  
185 +Figure 7-2 Basic block diagram of servo loop gain
186 +
183 183  The more the inner loop is, the higher the responsiveness is required. Failure to comply with this principle may lead to system instability!
184 184  
185 185  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.
... ... @@ -187,125 +187,126 @@
187 187  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.
188 188  
189 189  (% class="table-bordered" %)
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
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
198 198  
199 -**Speed loop gain**
203 +**(1) Speed loop gain**
200 200  
201 201  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.
202 202  
203 203  (% class="table-bordered" %)
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;" %)(((
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" %)(((
205 205  **Setting method**
206 -)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
210 +)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
207 207  **Effective time**
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" %)(((
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" %)(((
210 210  Operation setting
211 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
215 +)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
212 212  Effective immediately
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" %)(((
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" %)(((
215 215  Operation setting
216 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
220 +)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
217 217  Effective immediately
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
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
219 219  
220 220  Table 7-5 Speed loop gain parameters
221 221  
222 222  (% style="text-align:center" %)
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 -)))
227 +[[image:image-20220706152743-1.jpeg]]
227 227  
228 -**Speed loop integral time constant**
229 +Figure 7-3 Speed loop gain effect illustration
229 229  
231 +**(2) Speed loop integral time constant**
232 +
230 230  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.
231 231  
232 232  (% class="table-bordered" %)
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;" %)(((
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" %)(((
234 234  **Setting method**
235 -)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
238 +)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
236 236  **Effective time**
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" %)(((
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" %)(((
239 239  1st speed loop integral time constant
240 -)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
243 +)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
241 241  Operation setting
242 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
245 +)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
243 243  Effective immediately
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
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
246 246  )))
247 -|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
252 +|(% style="text-align:center; vertical-align:middle; width:126px" %)P02-06|(% style="text-align:center; vertical-align:middle; width:185px" %)(((
248 248  2nd speed loop integral time constant
249 -)))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
254 +)))|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
250 250  Operation setting
251 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
256 +)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
252 252  Effective immediately
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
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
255 255  )))
256 256  
257 257  Table 7-6 Speed loop integral time constant parameters
258 258  
259 259  (% style="text-align:center" %)
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 -)))
267 +[[image:image-20220706153140-2.jpeg]]
264 264  
265 -**Position loop gain**
269 +Figure 7-4 Speed loop integral time constant effect illustration
266 266  
271 +**(3) Position loop gain**
272 +
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;" %)(((
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" %)(((
271 271  **Setting method**
272 -)))|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)(((
278 +)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
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" %)(((
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" %)(((
276 276  Operation setting
277 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
283 +)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
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" %)(((
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" %)(((
281 281  Operation setting
282 -)))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
288 +)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
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
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
285 285  
286 286  Table 7-7 Position loop gain parameters
287 287  
288 288  (% style="text-align:center" %)
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 -)))
295 +[[image:image-20220706153656-3.jpeg]]
293 293  
294 -**Torque instruction filter time**
297 +Figure 7-5 Position loop gain effect illustration
295 295  
299 +**(4) Torque instruction filter time**
300 +
296 296  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.
297 297  
298 298  (% class="table-bordered" %)
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;" %)(((
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" %)(((
300 300  **Setting method**
301 -)))|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
306 +)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
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**
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" %)(((
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" %)(((
305 305  Operation setting
306 -)))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
311 +)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
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
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
309 309  
310 310  Table 7-8 Details of torque filter time constant parameters
311 311  
... ... @@ -313,587 +313,137 @@
313 313  
314 314  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.
315 315  
316 -Speed feedforward parameters are shown in __Table 7-9__. Torque feedforward parameters are shown in __Table 7-10__.
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]]__.
317 317  
318 318  Torque feedforward could improve the response to the torque instruction and reduce the position deviation with fixed acceleration and deceleration.
319 319  
320 320  (% class="table-bordered" %)
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" %)(((
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" %)(((
323 323  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.
324 324  
325 325  Position deviation (instruction unit) = instruction speed[instruction unit/s]÷position loop gain [1/s]×(100－speed feedforward gain [%])÷100
326 326  )))
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
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
328 328  
329 329  Table 7-9 Speed feedforward parameters
330 330  
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 -)))
336 +[[image:image-20220706155307-4.jpeg]]
336 336  
338 +Figure 7-6 Speed feedforward parameters effect illustration
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
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
342 342  
343 343  Table 7-10 Torque feedforward parameters
344 344  
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 -
796 796  = **Mechanical resonance suppression** =
797 797  
798 -== Mechanical resonance suppression methods ==
349 +== **Mechanical resonance suppression methods** ==
799 799  
800 800  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.
801 801  
802 -**Torque instruction filter**
353 +**(1) Torque instruction filter**
803 803  
804 804  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:
805 805  
806 806  (% style="text-align:center" %)
807 -[[image:image-20220706155820-5.jpeg||class="img-thumbnail"]]
358 +[[image:image-20220706155820-5.jpeg]]
808 808  
809 -**Notch filter**
360 +**(2) Notch filter**
810 810  
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__.
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]]__.
812 812  
813 -== Notch filter ==
364 +== **Notch filter** ==
814 814  
815 815  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.
816 816  
817 -**Width grade of notch filter**
368 +**(1) Width grade of notch filter**
818 818  
819 819  The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
820 820  
821 821  (% style="text-align:center" %)
822 -[[image:image-20220706155836-6.png||class="img-thumbnail"]]
373 +[[image:image-20220706155836-6.png]]
823 823  
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.
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.
825 825  
826 -**Depth grade of notch filter**
377 +**(2) Depth grade of notch filter**
827 827  
828 828  The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
829 829  
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__.
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]]__.
831 831  
832 832  (% style="text-align:center" %)
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 -)))
384 +[[image:image-20220608174259-3.png]]
837 837  
386 +Figure 7-7 Notch characteristics, notch width, and notch depth
838 838  
839 839  (% style="text-align:center" %)
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 -)))
389 +[[image:image-20220706160046-9.png]]
844 844  
391 +Figure 7-8 Frequency characteristics of notch filter
845 845  
846 846  (% class="table-bordered" %)
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;" %)(((
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" %)(((
848 848  **Setting method**
849 -)))|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)(((
396 +)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
850 850  **Effective time**
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" %)(((
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" %)(((
853 853  Operation setting
854 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
401 +)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
855 855  Effective immediately
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" %)(((
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" %)(((
858 858  Operation setting
859 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
406 +)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
860 860  Effective immediately
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" %)(((
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" %)(((
866 866  Operation setting
867 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
415 +)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
868 868  Effective immediately
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" %)(((
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" %)(((
876 876  Operation setting
877 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
428 +)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
878 878  Effective immediately
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" %)(((
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" %)(((
881 881  Operation setting
882 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
433 +)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
883 883  Effective immediately
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" %)(((
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" %)(((
889 889  Operation setting
890 -)))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
442 +)))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
891 891  Effective immediately
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" %)-
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
898 898  
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 +
899 899  Table 7-11 Notch filter function code parameters
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