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: ... ... @@ -385,10 +385,11 @@ 385 385 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 386 386 Effective immediately 387 387 )))|(% 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|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 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;" %)((( ... ... @@ -405,7 +405,7 @@ 405 405 Operation setting 406 406 )))|(% 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|(% style="text-align:center; vertical-align:middle" %)0.10% 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% 409 409 |=(% 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|(% 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% ... ... @@ -412,27 +412,28 @@ 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. 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 setting437 +**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 ... ... @@ -446,162 +446,67 @@ 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" %)((( 457 - 458 - 459 - 460 - 461 - 462 - 459 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)**P02-08**|=(% style="text-align: center; vertical-align: middle; width: 238px;" %)**Content**|=(% style="text-align: center; vertical-align: middle; width: 1108px;" %)**Diagram** 460 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)0|(% style="text-align:center; vertical-align:middle；" %)Fixed use of the first gain|(% style="width:1108px" %)~-~- 461 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)1|(% style="text-align:center; vertical-align:middle；" %)Switching with DI|(% style="width:1108px" %)~-~- 462 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)((( 463 463 2 464 -)))|(% style="width:146px" %)((( 465 - 466 - 467 - 468 - 469 - 470 - 464 +)))|(% style="text-align:center; vertical-align:middle;" %)((( 471 471 Large torque command 472 -)))|[[image:image-20230515140641-1.png]] 473 -|(% style="width:72px" %)((( 474 - 475 - 476 - 477 - 478 - 479 - 480 - 466 +)))|(% style="width:800px;vertical-align:middle" %) [[image:image-20230515140641-1.png]] 467 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 481 481 3 482 -)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 483 -|(% style="width:72px" %)((( 484 - 485 - 486 - 487 - 488 - 489 - 469 +)))|(% style="text-align:center; vertical-align:middle;" %)Large actual torque|(% style="width:1108px" %)[[image:image-20230515140641-2.png]] 470 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 490 490 4 491 -)))|(% style="width:146px" %)((( 492 - 493 - 494 - 495 - 496 - 497 - 472 +)))|(% style="width:238px" %)((( 498 498 Large speed command 499 -)))|[[image:image-20230515140641-3.png]] 500 - 501 -|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 502 -|(% style="width:74px" %)((( 503 - 504 - 505 - 506 - 507 - 474 +)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]] 475 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 508 508 5 509 -)))|(% style="width: 176px" %)(((477 +)))|(% style="width:238px" %)((( 510 510 511 - 512 - 513 - 514 - 515 515 Fast actual speed 516 516 )))|((( 517 517 518 - 519 519 [[image:image-20230515140641-4.png]] 520 520 ))) 521 -|(% style="width:74px" %)((( 522 - 523 - 524 - 525 - 526 - 527 - 528 - 484 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 529 529 6 530 -)))|(% style="width:176px" %)((( 486 +)))|(% style="text-align:center; vertical-align:middle;width:176px" %)((( 531 531 532 - 533 - 534 - 535 - 536 - 537 - 538 538 Speed command change rate is large 539 539 )))|[[image:image-20230515140641-5.png]] 540 -|(% style="width:74px" %)((( 541 - 542 - 543 - 544 - 545 - 546 - 490 +|=(% style="width:74px" %)((( 547 547 7 548 - 549 - 550 550 )))|(% style="width:176px" %)((( 551 551 552 - 553 - 554 - 555 - 556 - 557 557 Large position deviation 558 558 )))|[[image:image-20230515140641-6.png]] 559 -|(% style="width:74px" %)((( 560 - 561 - 562 - 563 - 564 - 496 +|=(% style="width:74px" %)((( 565 565 8 566 566 )))|(% style="width:176px" %)((( 567 - 568 - 569 - 570 - 571 - 572 572 Position command 573 573 )))|[[image:image-20230515140641-7.png]] 574 574 575 -|(% style="width:73px" %)((( 576 - 577 - 578 - 579 - 580 - 581 - 502 +|=(% style="width:74px" %)((( 582 582 9 583 -)))|(% style="width: 154px" %)(((504 +)))|(% style="width:238px" %)((( 584 584 585 - 586 - 587 - 588 - 589 - 590 590 Positioning completed 591 -)))|[[image:image-20230515140641-8.png]] 592 -|(% style="width:73px" %)((( 593 - 594 - 507 +)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]] 508 +|=(% style="width:73px" %)((( 595 595 10 596 - 510 +)))|(% style="width:238px" %)((( 597 597 598 -)))|(% style="width:154px" %)((( 599 - 600 - 601 601 Position command + actual speed 602 -)))|((( 513 +)))|(% style="width:1179px" %)((( 603 603 604 - 605 605 Refer to the chart below 606 606 ))) 607 607 ... ... @@ -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 parameters523 +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** ... ... @@ -654,7 +654,7 @@ 654 654 |3|Large actual torque|((( 655 655 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 656 656 657 -In the previous second gain, when the absolute value of actual torque is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned 567 +In the previous second gain, when the absolute value of actual torque is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned. 658 658 659 659 660 660 )))