Changes for page 07 Adjustments

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...	...	@@ -793,6 +793,456 @@
793	793
794	794
795	795
	796	+== **Model Tracking Control Function** ==
	797	+
	798	+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:
	799	+
	800	+(% style="text-align:center" %)
	801	+[[image:20230515-7.png]]
	802	+
	803	+The usage method and conditions of model tracking control:
	804	+
	805	+~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.
	806	+
	807	+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).
	808	+
	809	+3. Set P2-20=1 to enable the function of model tracking control.
	810	+
	811	+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.
	812	+
	813	+5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
	814	+
	815	+**✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
	816	+
	817	+|**Function code**|**Name**|(((
	818	+**Setting**
	819	+
	820	+**method**
	821	+)))|(((
	822	+**Effective**
	823	+
	824	+**time**
	825	+)))|**Default**|**Range**|**Definition**|**Unit**
	826	+|P2-20|Model tracking control function|Shutdown setting|(((
	827	+Effective
	828	+
	829	+immediately
	830	+)))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.|
	831	+|P2-21|Model tracking control gain|Shutdown setting|(((
	832	+Effective
	833	+
	834	+immediately
	835	+)))|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
	836	+|P2-22|Model tracking control gain compensation|Shutdown setting|(((
	837	+Effective
	838	+
	839	+immediately
	840	+)))|1000|500 to 2000|0.10%
	841	+
	842	+|**Function code**|**Name**|(((
	843	+**Setting**
	844	+
	845	+**method**
	846	+)))|(((
	847	+**Effective**
	848	+
	849	+**time**
	850	+)))|**Default**|**Range**|**Definition**|**Unit**
	851	+|P2-23|Model tracking control forward rotation bias|(((
	852	+Operation
	853	+
	854	+setting
	855	+)))|(((
	856	+Effective
	857	+
	858	+immediately
	859	+)))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10%
	860	+|P2-24|Model tracking control reverses rotation bias|(((
	861	+Operation
	862	+
	863	+setting
	864	+)))|(((
	865	+Effective
	866	+
	867	+immediately
	868	+)))|1000|0 to 10000|0.10%
	869	+|P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
	870	+Effective
	871	+
	872	+immediately
	873	+)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
	874	+
	875	+Please refer to the following for an example of the procedure of adjusting servo gain.
	876	+
	877	+|**Step**|**Content**
	878	+|1|Please try to set the correct load inertia ratio parameter P3-1.
	879	+|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.
	880	+|3|Turn on the model tracking function, set P2-20 to 1.
	881	+|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur.
	882	+|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
	883	+|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.
	884	+
	885	+== **Gain switching** ==
	886	+
	887	+Gain switching function:
	888	+
	889	+●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
	890	+
	891	+●Switch to a higher gain in the motor stationary state to shorten the positioning time;
	892	+
	893	+●Switch to a higher gain in the motor running state to get better command tracking performance;
	894	+
	895	+●Switch different gain settings by external signals depending on the load connected.
	896	+
	897	+(1) Gain switching parameter setting
	898	+
	899	+①When P02-07=0
	900	+
	901	+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).
	902	+
	903	+(% style="text-align:center" %)
	904	+[[image:20230515-8.png]]
	905	+
	906	+② When P02-07=1
	907	+
	908	+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).
	909	+
	910	+(% style="text-align:center" %)
	911	+[[image:20230515-9.png]]
	912	+
	913	+Figure 7-9 Flow chart of gain switching when P02-07=1
	914	+
	915	+|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
	916	+|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
	917	+|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
	918	+|(% style="width:72px" %)(((
	919	+
	920	+
	921	+
	922	+
	923	+
	924	+
	925	+2
	926	+)))|(% style="width:146px" %)(((
	927	+
	928	+
	929	+
	930	+
	931	+
	932	+
	933	+Large torque command
	934	+)))|[[image:image-20230515140641-1.png]]
	935	+|(% style="width:72px" %)(((
	936	+
	937	+
	938	+
	939	+
	940	+
	941	+
	942	+
	943	+3
	944	+)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
	945	+|(% style="width:72px" %)(((
	946	+
	947	+
	948	+
	949	+
	950	+
	951	+
	952	+4
	953	+)))|(% style="width:146px" %)(((
	954	+
	955	+
	956	+
	957	+
	958	+
	959	+
	960	+Large speed command
	961	+)))|[[image:image-20230515140641-3.png]]
	962	+
	963	+|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
	964	+|(% style="width:74px" %)(((
	965	+
	966	+
	967	+
	968	+
	969	+
	970	+5
	971	+)))|(% style="width:176px" %)(((
	972	+
	973	+
	974	+
	975	+
	976	+
	977	+Fast actual speed
	978	+)))|(((
	979	+
	980	+
	981	+[[image:image-20230515140641-4.png]]
	982	+)))
	983	+|(% style="width:74px" %)(((
	984	+
	985	+
	986	+
	987	+
	988	+
	989	+
	990	+
	991	+6
	992	+)))|(% style="width:176px" %)(((
	993	+
	994	+
	995	+
	996	+
	997	+
	998	+
	999	+
	1000	+Speed command change rate is large
	1001	+)))|[[image:image-20230515140641-5.png]]
	1002	+|(% style="width:74px" %)(((
	1003	+
	1004	+
	1005	+
	1006	+
	1007	+
	1008	+
	1009	+7
	1010	+
	1011	+
	1012	+)))|(% style="width:176px" %)(((
	1013	+
	1014	+
	1015	+
	1016	+
	1017	+
	1018	+
	1019	+Large position deviation
	1020	+)))|[[image:image-20230515140641-6.png]]
	1021	+|(% style="width:74px" %)(((
	1022	+
	1023	+
	1024	+
	1025	+
	1026	+
	1027	+8
	1028	+)))|(% style="width:176px" %)(((
	1029	+
	1030	+
	1031	+
	1032	+
	1033	+
	1034	+Position command
	1035	+)))|[[image:image-20230515140641-7.png]]
	1036	+
	1037	+|(% style="width:73px" %)(((
	1038	+
	1039	+
	1040	+
	1041	+
	1042	+
	1043	+
	1044	+9
	1045	+)))|(% style="width:154px" %)(((
	1046	+
	1047	+
	1048	+
	1049	+
	1050	+
	1051	+
	1052	+Positioning completed
	1053	+)))|[[image:image-20230515140641-8.png]]
	1054	+|(% style="width:73px" %)(((
	1055	+
	1056	+
	1057	+10
	1058	+
	1059	+
	1060	+)))|(% style="width:154px" %)(((
	1061	+
	1062	+
	1063	+Position command + actual speed
	1064	+)))|(((
	1065	+
	1066	+
	1067	+Refer to the chart below
	1068	+)))
	1069	+
	1070	+(% style="text-align:center" %)
	1071	+[[image:20230515-10.png]]
	1072	+
	1073	+Figure 7-10 P02-08=10 Position command + actual speed gain description
	1074	+
	1075	+(2) Description of related parameters
	1076	+
	1077	+|(% rowspan="2" style="width:68px" %)
	1078	+**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	1079	+|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
	1080	+|(% colspan="8" %)(((
	1081	+Set the switching mode of the second gain.
	1082	+
	1083	+|**Setting value**|**Function**
	1084	+|0|(((
	1085	+The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
	1086	+
	1087	+DI logic invalid: PI control;
	1088	+
	1089	+DI logic valid: PI control.
	1090	+)))
	1091	+|1|The first gain and the second gain are switched by the setting value of P02-08.
	1092	+)))
	1093	+
	1094	+|(% rowspan="2" %)
	1095	+**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	1096	+|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
	1097	+|(% colspan="8" %)(((
	1098	+Set the conditions for gain switching.
	1099	+
	1100	+|Setting value|Gain switching conditions|Details
	1101	+|0|The default is the first gain|Fixed use of the first gain
	1102	+|1|Switch by DI port|(((
	1103	+Use DI function 10 (GAIN-SEL, gain switching);
	1104	+
	1105	+DI logic is invalid: the first gain (P02-01~~P02-03);
	1106	+
	1107	+DI logic is valid: the second gain (P02-04~~P02-06).
	1108	+)))
	1109	+|2|Large torque command|(((
	1110	+In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
	1111	+
	1112	+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.
	1113	+
	1114	+
	1115	+)))
	1116	+|3|Large actual torque|(((
	1117	+In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
	1118	+
	1119	+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 .
	1120	+
	1121	+
	1122	+)))
	1123	+|4|Large speed command|(((
	1124	+In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
	1125	+
	1126	+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 .
	1127	+
	1128	+
	1129	+)))
	1130	+|5|Large actual speed|(((
	1131	+In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
	1132	+
	1133	+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 .
	1134	+
	1135	+
	1136	+)))
	1137	+|(((
	1138	+
	1139	+
	1140	+6
	1141	+)))|(((
	1142	+
	1143	+
	1144	+Large rate of change in speed command
	1145	+)))|(((
	1146	+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;
	1147	+
	1148	+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 .
	1149	+
	1150	+
	1151	+)))
	1152	+|(((
	1153	+
	1154	+
	1155	+7
	1156	+)))|(((
	1157	+
	1158	+
	1159	+Large position deviation
	1160	+)))|(((
	1161	+In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
	1162	+
	1163	+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 .
	1164	+)))
	1165	+|8|Position command|(((
	1166	+In the previous first gain, if the position command is not 0, switch to the second gain;
	1167	+
	1168	+In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
	1169	+)))
	1170	+|(((
	1171	+
	1172	+
	1173	+9
	1174	+)))|(((
	1175	+
	1176	+
	1177	+Positioning complete
	1178	+)))|(((
	1179	+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.
	1180	+
	1181	+
	1182	+)))
	1183	+|(((
	1184	+
	1185	+
	1186	+10
	1187	+)))|(((
	1188	+
	1189	+
	1190	+Position command + actual speed
	1191	+)))|(((
	1192	+In the previous first gain, if the position command is not 0, the second gain is switched;
	1193	+
	1194	+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).
	1195	+
	1196	+
	1197	+)))
	1198	+
	1199	+
	1200	+)))
	1201	+
	1202	+|(% rowspan="2" %)
	1203	+**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	1204	+|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
	1205	+|(% colspan="8" %)(((
	1206	+The duration of the switching condition required for the second gain to switch back to the first gain.
	1207	+
	1208	+[[image:image-20230515140953-9.png]]
	1209	+
	1210	+**✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
	1211	+)))
	1212	+
	1213	+|(% rowspan="2" %)
	1214	+**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	1215	+|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
	1216	+|(% colspan="8" %)(((
	1217	+Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
	1218	+
	1219	+[[image:image-20230515140953-10.png]]
	1220	+)))
	1221	+
	1222	+|(% rowspan="2" %)
	1223	+**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	1224	+|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
	1225	+|(% colspan="8" %)(((
	1226	+Set the hysteresis to meet the gain switching condition.
	1227	+
	1228	+[[image:image-20230515140953-11.png]]
	1229	+)))
	1230	+
	1231	+|(% rowspan="2" %)
	1232	+**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	1233	+|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
	1234	+|(% colspan="8" %)(((
	1235	+Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
	1236	+
	1237	+[[image:image-20230515140953-12.png]]
	1238	+
	1239	+If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
	1240	+)))
	1241	+
	1242	+
	1243	+
	1244	+
	1245	+
796	796	= **Mechanical resonance suppression** =
797	797
798	798	== Mechanical resonance suppression methods ==