Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -349,7 +349,7 @@ 349 349 (% style="text-align:center" %) 350 350 ((( 351 351 (% 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"]] 352 +[[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||height="394" id="20230515-7.png" width="931"]] 353 353 ))) 354 354 355 355 The usage method and conditions of model tracking control: ... ... @@ -367,6 +367,7 @@ 367 367 (% class="box infomessage" %) 368 368 ((( 369 369 **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes. 370 +))) 370 370 371 371 (% class="table-bordered" %) 372 372 |=(% 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;" %)((( ... ... @@ -379,15 +379,16 @@ 379 379 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 380 380 Effective immediately 381 381 )))|(% 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 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" %)((( 383 383 Shutdown setting 384 -)))|((( 385 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 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|((( 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 +|=(% 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|(% style="text-align:center; vertical-align:middle; width:122px" %)((( 389 +Shutdown setting 390 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 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% 392 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)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;" %)((( ... ... @@ -397,41 +397,42 @@ 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** 398 398 |=(% 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|((( 399 399 Operation setting 400 -)))|((( 402 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 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 404 +)))|(% 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% 403 403 |=(% 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|((( 404 404 Operation setting 405 -)))|((( 407 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 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|((( 409 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% style="text-align:center; vertical-align:middle" %)0.10% 410 +|=(% 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|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 409 409 Effective immediately 410 410 )))|(% 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% 411 411 412 412 Please refer to the following for an example of the procedure of adjusting servo gain. 413 413 414 -|**Step**|** Content** 415 -|1|Please try to set the correct load inertia ratio parameter P3-1. 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 -|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. 419 -|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2. 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. 416 +(% style="width:1508px" %) 417 +|=(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|=(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content** 418 +|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1|Please try to set the correct load inertia ratio parameter P3-1. 419 +|=(% style="text-align:center; vertical-align:middle; width:80px" %)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. 420 +|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)3|Turn on the model tracking function, set P2-20 to 1. 421 +|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occurring. 422 +|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2. 423 +|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)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. 421 421 422 422 == **Gain switching** == 423 423 424 -Gain switching function: 427 +**Gain switching function:** 425 425 426 -●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration; 429 +● Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration; 427 427 428 -●Switch to a higher gain in the motor stationary state to shorten the positioning time; 431 +● Switch to a higher gain in the motor stationary state to shorten the positioning time; 429 429 430 -●Switch to a higher gain in the motor running state to get better command tracking performance; 433 +● Switch to a higher gain in the motor running state to get better command tracking performance; 431 431 432 -●Switch different gain settings by external signals depending on the load connected. 435 +● Switch different gain settings by external signals depending on the load connected. 433 433 434 - (1)Gain switching parameter setting437 +**Gain switching parameter setting** 435 435 436 436 ①When P02-07=0 437 437 ... ... @@ -438,7 +438,10 @@ 438 438 Fixed use of the first gain (using P02-01~~P02-03), and the switching of P/PI (proportional/proportional integral) control could be realized through DI function 10 (GAIN-SEL, gain switching). 439 439 440 440 (% style="text-align:center" %) 441 -[[image:20230515-8.png]] 444 +((( 445 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 446 +[[image:20230515-8.png||height="378" id="20230515-8.png" width="363"]] 447 +))) 442 442 443 443 ② When P02-07=1 444 444 ... ... @@ -445,11 +445,12 @@ 445 445 The switching conditions can be set through parameter P02-08 to realize switching between the first gain (P02-01~~P02-03) and the second gain (P02-04~~P02-06). 446 446 447 447 (% style="text-align:center" %) 448 -[[image:20230515-9.png]] 454 +((( 455 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 456 +[[**Figure 7-9 Flow chart of gain switching when P02-07=1**>>image:20230515-9.png||id="20230515-9.png"]] 457 +))) 449 449 450 -Figure 7-9 Flow chart of gain switching when P02-07=1 451 - 452 -|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram** 459 +|(% style="text-align:center; vertical-align:middle; width:72px" %)**P02-08**|(% style="text-align:center; vertical-align:middle; width:146px" %)**Content**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Diagram** 453 453 |(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~- 454 454 |(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~- 455 455 |(% style="width:72px" %)((( ... ... @@ -776,8 +776,6 @@ 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 ))) 778 778 779 - 780 - 781 781 == **Model Tracking Control Function** == 782 782 783 783 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: ... ... @@ -1224,8 +1224,6 @@ 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 1227 - 1228 - 1229 1229 = **Mechanical resonance suppression** = 1230 1230 1231 1231 == Mechanical resonance suppression methods == ... ... @@ -1330,3 +1330,4 @@ 1330 1330 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 1331 1331 1332 1332 Table 7-11 Notch filter function code parameters 1336 +~)~)~)