Changes for page 07 Adjustments

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...	...	@@ -364,6 +364,8 @@
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365	365	5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
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	367	+(% class="box infomessage" %)
	368	+(((
367	367	**✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
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369	369	(% class="table-bordered" %)
...	...	@@ -372,15 +372,20 @@
372	372	)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
373	373	**Effective time**
374	374	)))|=(% 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**
375		-|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control function|(% style="text-align:center; vertical-align:middle; width:122px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
	377	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control function|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
	378	+Shutdown setting
	379	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
376	376	Effective immediately
377		-)))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.|
378		-|P2-21|Model tracking control gain|Shutdown setting|(((
	381	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 1|When the function code is set to 1, enable the model tracking control function.|
	382	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-21|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking  control gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
	383	+Shutdown setting
	384	+)))|(((
379	379	Effective immediately
380		-)))|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
381		-|P2-22|Model tracking control gain compensation|Shutdown setting|(((
	386	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)200 to 20000|(% rowspan="2" %)(% style="width:321px" %)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.|(% style="text-align:center; vertical-align:middle" %)0.1/s
	387	+
	388	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-22|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control gain compensation|Shutdown setting|(((
382	382	Effective immediately
383		-)))|1000|500 to 2000|0.10%
	390	+)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)0.10%
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385	385	(% class="table-bordered" %)
386	386	|=(% 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;" %)(((
...	...	@@ -388,27 +388,27 @@
388	388	)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
389	389	**Effective time**
390	390	)))|=(% 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**
391		-|P2-23|Model tracking control forward rotation bias|(((
	398	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-23|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control forward rotation bias|(((
392	392	Operation setting
393	393	)))|(((
394	394	Effective immediately
395		-)))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10%
396		-|P2-24|Model tracking control reverses rotation bias|(((
	402	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% rowspan="2" %)(% style="width:321px" %)Torque feedforward size in the positive and reverse direction under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10%
	403	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-24|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control reverses rotation bias|(((
397	397	Operation setting
398	398	)))|(((
399	399	Effective immediately
400		-)))|1000|0 to 10000|0.10%
401		-|P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
	407	+)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|0.10%
	408	+|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-25|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control speed feedforward compensation|Operation setting|(((
402	402	Effective immediately
403		-)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
	410	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% style="width:321px" %)The size of the speed feedforward under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10%
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405	405	Please refer to the following for an example of the procedure of adjusting servo gain.
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407		-|**Step**|**Content**
	414	+|**Step**|** Content**
408	408	|1|Please try to set the correct load inertia ratio parameter P3-1.
409	409	|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.
410	410	|3|Turn on the model tracking function, set P2-20 to 1.
411		-|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur.
	418	+|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occurring.
412	412	|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
413	413	|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.
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