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Changes for page 07 Adjustments

Last modified by Iris on 2026/04/17 15:15
From version 2.1
edited by Iris
on 2026/04/17 11:44
Change comment: There is no comment for this version
To version 1.1
edited by Wecon
on 2025/09/03 21:04
Change comment: Imported from XAR

Summary

Details

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Author
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1 -XWiki.Iris
1 +XWiki.Wecon
Content
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17 17  
18 18  (% class="table-bordered" style="margin-right:auto" %)
19 19  |=(% colspan="3" style="text-align: center; vertical-align: middle;" %)**Gain adjustment process**|=(% style="text-align: center; vertical-align: middle;" %)**Function**|=(% style="text-align: center; vertical-align: middle;" %)**Detailed chapter**
20 -|(% style="text-align:center; vertical-align:middle; width:46px" %)1|(% colspan="2" style="text-align:center; vertical-align:middle; width:279px" %)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; width:46px" %)2|(% colspan="2" style="text-align:center; vertical-align:middle; width:279px" %)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="3" style="text-align:center; vertical-align:middle; width:46px" %)3|(% rowspan="3" style="text-align:center; vertical-align:middle; width:116px" %)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"]]__
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="3" style="text-align:center; vertical-align:middle" %)3|(% rowspan="3" 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 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 24  |(% style="text-align:center; vertical-align:middle" %)Model tracking control|Enable model tracking control, shortening the responding time and improving followability.|(% style="text-align:center; vertical-align:middle" %)7.3.4
25 -|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle; width:46px" %)4|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle; width:116px" %)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"]]__
25 +|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle" %)4|(% colspan="1" rowspan="3" 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"]]__
26 26  |Low frequency vibration suppression|Enable low frequency vibration suppression|7.4.3
27 27  |Type A vibration suppression|Enable type A vibration suppression|7.4.4
28 28  
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89 89  
90 90  The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
91 91  )))|(% style="text-align:center; vertical-align:middle" %)rpm
92 -|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)(((
93 -P03-07
94 -
95 -(Not supported on VD2L)
96 -)))|(% 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" %)(((
97 97  Parameter recognition rotation direction
98 98  )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
99 99  Shutdown setting
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105 105  1: Forward one-way rotation
106 106  
107 107  2: Reverse one-way rotation
108 -
109 -(*VD2L currently does not support forward one-way rotation, reverse one-way rotation)
110 110  )))|(% style="text-align:center; vertical-align:middle" %)-
111 111  
112 112  Table 7-2 Related parameters of gain adjustment
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225 225  Operation setting
226 226  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
227 227  Effective immediately
228 -)))|(% style="text-align:center; vertical-align:middle; width:103px" %)200|(% 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: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
229 229  |=(% 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" %)(((
230 230  Operation setting
231 231  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
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256 256  Operation setting
257 257  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
258 258  Effective immediately
259 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)210|(% 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" %)(((
253 +)))|(% 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" %)(((
260 260  0.1ms
261 261  )))
262 262  |=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
... ... @@ -291,7 +291,7 @@
291 291  Operation setting
292 292  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
293 293  Effective immediately
294 -)))|(% style="text-align:center; vertical-align:middle; width:79px" %)232|(% 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
288 +)))|(% 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
295 295  |=(% 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" %)(((
296 296  Operation setting
297 297  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
... ... @@ -320,7 +320,7 @@
320 320  Operation setting
321 321  )))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
322 322  Effective immediately
323 -)))|(% style="text-align:center; vertical-align:middle; width:79px" %)80|(% style="text-align:center; vertical-align:middle; width:79px" %)10 to 2500|(% 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
317 +)))|(% style="text-align:center; vertical-align:middle; width:79px" %)50|(% style="text-align:center; vertical-align:middle; width:79px" %)10 to 2500|(% 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
324 324  
325 325  Table 7-8 Details of torque filter time constant parameters
326 326  
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345 345  
346 346  (% style="text-align:center" %)
347 347  (((
348 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:835px;" %)
342 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
349 349  [[**Figure 7-6 Speed feedforward parameters effect illustration**>>image:image-20220706155307-4.jpeg||height="119" id="Iimage-20220706155307-4.jpeg" width="835"]]
350 350  )))
351 351  
... ... @@ -363,7 +363,7 @@
363 363  
364 364  (% style="text-align:center" %)
365 365  (((
366 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:931px;" %)
360 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
367 367  [[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||height="394" id="20230515-7.png" width="931"]]
368 368  )))
369 369