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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 23.4
edited by Karen
on 2023/05/15 15:18
Change comment: There is no comment for this version
To version 24.1
edited by Karen
on 2023/05/15 15:18
Change comment: There is no comment for this version

Summary

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... ... @@ -412,13 +412,14 @@
412 412  
413 413  Please refer to the following for an example of the procedure of adjusting servo gain.
414 414  
415 -|(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|(% style="text-align:center; vertical-align:middle; width:800px" %)**Content**|
416 -|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1|(% style="text-align:center; vertical-align:middle; width:800px" %)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.
415 +(% style="width:1508px" %)
416 +|(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|(% style="text-align:center; vertical-align:middle; width:1408px" %)**Content**|(% style="width:2px" %)
417 +|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1|(% style="text-align:center; vertical-align:middle; width:1408px" %)Please try to set the correct load inertia ratio parameter P3-1.
418 +|2|(% style="width:1408px" %)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.
419 +|3|(% style="width:1408px" %)Turn on the model tracking function, set P2-20 to 1.
420 +|4|(% style="width:1408px" %)Increase the model tracking gain P2-21 within the range of no overshoot and vibration occurring.
421 +|5|(% style="width:1408px" %)If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
422 +|6|(% style="width:1408px" %)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