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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 22.2
edited by Karen
on 2023/05/15 14:55
Change comment: There is no comment for this version
To version 29.5
edited by Karen
on 2023/05/15 16:11
Change comment: There is no comment for this version

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Content
... ... @@ -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:
... ... @@ -380,15 +380,16 @@
380 380  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
381 381  Effective immediately
382 382  )))|(% 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" %)(((
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" %)(((
384 384  Shutdown setting
385 -)))|(((
385 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
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|(((
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" %)(((
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%
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%
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;" %)(((
... ... @@ -398,41 +398,42 @@
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**
399 399  |=(% 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|(((
400 400  Operation setting
401 -)))|(((
402 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
402 402  Effective immediately
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: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%
404 404  |=(% 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|(((
405 405  Operation setting
406 -)))|(((
407 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
407 407  Effective immediately
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|(((
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" %)(((
410 410  Effective immediately
411 411  )))|(% 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%
412 412  
413 413  Please refer to the following for an example of the procedure of adjusting servo gain.
414 414  
415 -|**Step**|** Content**
416 -|1|Please try to set the correct load inertia ratio parameter P3-1.
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 -|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 occurring.
420 -|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
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.
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.
422 422  
423 423  == **Gain switching** ==
424 424  
425 -Gain switching function:
427 +**Gain switching function:**
426 426  
427 -●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;
428 428  
429 -●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;
430 430  
431 -●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;
432 432  
433 -●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.
434 434  
435 -(1) Gain switching parameter setting
437 +**Gain switching parameter setting**
436 436  
437 437  ①When P02-07=0
438 438  
... ... @@ -439,7 +439,10 @@
439 439  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).
440 440  
441 441  (% style="text-align:center" %)
442 -[[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 +)))
443 443  
444 444  ② When P02-07=1
445 445  
... ... @@ -446,14 +446,15 @@
446 446  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).
447 447  
448 448  (% style="text-align:center" %)
449 -[[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 +)))
450 450  
451 -Figure 7-9 Flow chart of gain switching when P02-07=1
452 -
453 -|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
454 -|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
455 -|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
456 -|(% style="width:72px" %)(((
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**
460 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)0|(% style="text-align:center; vertical-align:middle; width:146px" %)Fixed use of the first gain|~-~-
461 +|(% style="text-align:center; vertical-align:middle;width:72px" %)1|(% style="text-align:center; vertical-align:middle;width:146px" %)Switching with DI|~-~-
462 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
457 457  
458 458  
459 459  
... ... @@ -461,7 +461,7 @@
461 461  
462 462  
463 463  2
464 -)))|(% style="width:146px" %)(((
470 +)))|(% style="text-align:center; vertical-align:middle;width:146px" %)(((
465 465  
466 466  
467 467  
... ... @@ -470,7 +470,7 @@
470 470  
471 471  Large torque command
472 472  )))|[[image:image-20230515140641-1.png]]
473 -|(% style="width:72px" %)(((
479 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
474 474  
475 475  
476 476  
... ... @@ -479,8 +479,8 @@
479 479  
480 480  
481 481  3
482 -)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
483 -|(% style="width:72px" %)(((
488 +)))|(% style="text-align:center; vertical-align:middle;width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
489 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
484 484  
485 485  
486 486  
... ... @@ -499,7 +499,7 @@
499 499  )))|[[image:image-20230515140641-3.png]]
500 500  
501 501  |(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
502 -|(% style="width:74px" %)(((
508 +|=(% style="width:74px" %)(((
503 503  
504 504  
505 505  
... ... @@ -518,7 +518,7 @@
518 518  
519 519  [[image:image-20230515140641-4.png]]
520 520  )))
521 -|(% style="width:74px" %)(((
527 +|=(% style="width:74px" %)(((
522 522  
523 523  
524 524  
... ... @@ -537,7 +537,7 @@
537 537  
538 538  Speed command change rate is large
539 539  )))|[[image:image-20230515140641-5.png]]
540 -|(% style="width:74px" %)(((
546 +|=(% style="width:74px" %)(((
541 541  
542 542  
543 543  
... ... @@ -556,7 +556,7 @@
556 556  
557 557  Large position deviation
558 558  )))|[[image:image-20230515140641-6.png]]
559 -|(% style="width:74px" %)(((
565 +|=(% style="width:74px" %)(((
560 560  
561 561  
562 562  
... ... @@ -572,7 +572,7 @@
572 572  Position command
573 573  )))|[[image:image-20230515140641-7.png]]
574 574  
575 -|(% style="width:73px" %)(((
581 +|=(% style="width:73px" %)(((
576 576  
577 577  
578 578  
... ... @@ -589,7 +589,7 @@
589 589  
590 590  Positioning completed
591 591  )))|[[image:image-20230515140641-8.png]]
592 -|(% style="width:73px" %)(((
598 +|=(% style="width:73px" %)(((
593 593  
594 594  
595 595  10
... ... @@ -610,7 +610,7 @@
610 610  
611 611  Figure 7-10 P02-08=10 Position command + actual speed gain description
612 612  
613 -(2) Description of related parameters
619 +Description of related parameters
614 614  
615 615  |(% rowspan="2" style="width:68px" %)
616 616  **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**