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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 21.2
edited by Karen
on 2023/05/15 14:54
Change comment: There is no comment for this version
To version 19.3
edited by Karen
on 2023/05/15 14:27
Change comment: There is no comment for this version

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Content
... ... @@ -364,8 +364,6 @@
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  
371 371  (% class="table-bordered" %)
... ... @@ -374,20 +374,15 @@
374 374  )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
375 375  **Effective time**
376 376  )))|=(% 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" %)(((
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" %)(((
380 380  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
384 -)))|(((
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|(((
385 385  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
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|(((
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|(((
389 389  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%
383 +)))|1000|500 to 2000|0.10%
391 391  
392 392  (% class="table-bordered" %)
393 393  |=(% 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;" %)(((
... ... @@ -395,27 +395,27 @@
395 395  )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
396 396  **Effective time**
397 397  )))|=(% 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|(((
391 +|P2-23|Model tracking control forward rotation bias|(((
399 399  Operation setting
400 400  )))|(((
401 401  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|(((
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|(((
404 404  Operation setting
405 405  )))|(((
406 406  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|(((
400 +)))|1000|0 to 10000|0.10%
401 +|P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
409 409  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%
403 +)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
411 411  
412 412  Please refer to the following for an example of the procedure of adjusting servo gain.
413 413  
414 -|**Step**|** Content**
407 +|**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 occurring.
411 +|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 +776,7 @@
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  
772 +
779 779  
780 780  
781 781  == **Model Tracking Control Function** ==