Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -184,7 +184,7 @@ 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. 186 186 187 -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 below. 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" %) 190 190 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 450px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 751px;" %)**Name** ... ... @@ -344,19 +344,16 @@ 344 344 345 345 == **Model Tracking Control Function** == 346 346 347 -Model tracking control is suitable for position control mode, which adds a model loop outside the three loop s. 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: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: 348 348 349 349 (% style="text-align:center" %) 350 -((( 351 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 352 -[[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||id="20230515-7.png"]] 353 -))) 350 +[[image:20230515-7.png]] 354 354 355 355 The usage method and conditions of model tracking control: 356 356 357 357 ~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. 358 358 359 -2. Set the load rigidity level P3-2, set an appropriate value, it does not need to set a high rigidity level (recommended value 17~~21 under rigid load).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). 360 360 361 361 3. Set P2-20=1 to enable the function of model tracking control. 362 362 ... ... @@ -364,58 +364,73 @@ 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 -((( 369 369 **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes. 370 370 371 -(% class="table-bordered" %) 372 -|=(% 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;" %)((( 373 -**Setting method** 374 -)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 375 -**Effective time** 376 -)))|=(% 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** 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" %)((( 380 -Effective immediately 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 366 +|**Function code**|**Name**|((( 367 +**Setting** 368 + 369 +**method** 384 384 )))|((( 385 -Effective immediately 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 371 +**Effective** 387 387 388 -|=(% 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|((( 389 -Effective immediately 390 -)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)0.10% 373 +**time** 374 +)))|**Default**|**Range**|**Definition**|**Unit** 375 +|P2-20|Model tracking control function|Shutdown setting|((( 376 +Effective 391 391 392 -(% class="table-bordered" %) 393 -|=(% 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;" %)((( 394 -**Setting method** 395 -)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 396 -**Effective time** 397 -)))|=(% 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** 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|((( 399 -Operation setting 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** 400 400 )))|((( 401 -Effective immediately 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|((( 404 -Operation setting 396 +**Effective** 397 + 398 +**time** 399 +)))|**Default**|**Range**|**Definition**|**Unit** 400 +|P2-23|Model tracking control forward rotation bias|((( 401 +Operation 402 + 403 +setting 405 405 )))|((( 406 -Effective immediately 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|((( 409 -Effective immediately 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% 405 +Effective 411 411 407 +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 + 412 412 Please refer to the following for an example of the procedure of adjusting servo gain. 413 413 414 -|**Step**|** 426 +|**Step**|**Content** 415 415 |1|Please try to set the correct load inertia ratio parameter P3-1. 416 416 |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. 417 417 |3|Turn on the model tracking function, set P2-20 to 1. 418 -|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur ring.430 +|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur. 419 419 |5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2. 420 420 |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. 421 421 ... ... @@ -776,6 +776,9 @@ 776 776 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 777 777 ))) 778 778 791 + 792 + 793 + 779 779 780 780 781 781 == **Model Tracking Control Function** == ... ... @@ -1224,6 +1224,8 @@ 1224 1224 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 1225 1225 ))) 1226 1226 1242 + 1243 + 1227 1227 1228 1228 1229 1229 = **Mechanical resonance suppression** =