Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -364,7 +364,10 @@ 364 364 365 365 5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2. 366 366 367 +(% class="box infomessage" %) 368 +((( 367 367 **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes. 370 +))) 368 368 369 369 (% class="table-bordered" %) 370 370 |=(% 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;" %)((( ... ... @@ -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" %)((( 378 +|=(% 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" %)((( 379 +Shutdown setting 380 +)))|(% 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|((( 382 +)))|(% 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.| 383 +|=(% 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" %)((( 384 +Shutdown setting 385 +)))|((( 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|((( 387 +)))|(% 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 388 + 389 +|=(% 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% 391 +)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)0.10% 384 384 385 385 (% 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|((( 399 +|=(% 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|((( 403 +)))|(% 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% 404 +|=(% 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|((( 408 +)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|0.10% 409 +|=(% 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% 411 +)))|(% 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% 404 404 405 405 Please refer to the following for an example of the procedure of adjusting servo gain. 406 406 407 -|**Step**|**Content** 415 +|**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. 419 +|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. 414 414 ... ... @@ -769,8 +769,6 @@ 769 769 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 770 770 ))) 771 771 772 - 773 - 774 774 == **Model Tracking Control Function** == 775 775 776 776 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: ... ... @@ -1217,8 +1217,6 @@ 1217 1217 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 1218 1218 ))) 1219 1219 1220 - 1221 - 1222 1222 = **Mechanical resonance suppression** = 1223 1223 1224 1224 == Mechanical resonance suppression methods == ... ... @@ -1323,3 +1323,4 @@ 1323 1323 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 1324 1324 1325 1325 Table 7-11 Notch filter function code parameters 1330 +~)~)~)