Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -364,10 +364,7 @@ 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 -))) 371 371 372 372 (% class="table-bordered" %) 373 373 |=(% 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;" %)((( ... ... @@ -375,20 +375,15 @@ 375 375 )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 376 376 **Effective time** 377 377 )))|=(% 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** 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" %)((( 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" %)((( 381 381 Effective immediately 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 -)))|((( 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|((( 386 386 Effective immediately 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|((( 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|((( 390 390 Effective immediately 391 -)))|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% 392 392 393 393 (% class="table-bordered" %) 394 394 |=(% 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;" %)((( ... ... @@ -396,27 +396,27 @@ 396 396 )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 397 397 **Effective time** 398 398 )))|=(% 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** 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|(((391 +|P2-23|Model tracking control forward rotation bias|((( 400 400 Operation setting 401 401 )))|((( 402 402 Effective immediately 403 -)))| (% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0to 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|(((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|((( 405 405 Operation setting 406 406 )))|((( 407 407 Effective immediately 408 -)))|1000| (% style="text-align:center; vertical-align:middle; width:107px" %)0to 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|(((400 +)))|1000|0 to 10000|0.10% 401 +|P2-25|Model tracking control speed feedforward compensation|Operation setting|((( 410 410 Effective immediately 411 -)))| (% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0to 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% 412 412 413 413 Please refer to the following for an example of the procedure of adjusting servo gain. 414 414 415 -|**Step**|** 407 +|**Step**|**Content** 416 416 |1|Please try to set the correct load inertia ratio parameter P3-1. 417 417 |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. 418 418 |3|Turn on the model tracking function, set P2-20 to 1. 419 -|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur ring.411 +|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur. 420 420 |5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2. 421 421 |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. 422 422 ... ... @@ -777,6 +777,8 @@ 777 777 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 778 778 ))) 779 779 772 + 773 + 780 780 == **Model Tracking Control Function** == 781 781 782 782 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: ... ... @@ -1223,6 +1223,8 @@ 1223 1223 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 1224 1224 ))) 1225 1225 1220 + 1221 + 1226 1226 = **Mechanical resonance suppression** = 1227 1227 1228 1228 == Mechanical resonance suppression methods == ... ... @@ -1327,4 +1327,3 @@ 1327 1327 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 1328 1328 1329 1329 Table 7-11 Notch filter function code parameters 1330 -~)~)~)