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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 24.10
edited by Karen
on 2023/05/15 15:27
Change comment: There is no comment for this version
To version 28.3
edited by Karen
on 2023/05/15 15:55
Change comment: There is no comment for this version

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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:
... ... @@ -414,7 +414,7 @@
414 414  Please refer to the following for an example of the procedure of adjusting servo gain.
415 415  
416 416  (% style="width:1508px" %)
417 -|=(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|+(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content**
417 +|=(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|=(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content**
418 418  |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1|Please try to set the correct load inertia ratio parameter P3-1.
419 419  |=(% 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.
420 420  |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)3|Turn on the model tracking function, set P2-20 to 1.
... ... @@ -424,17 +424,17 @@
424 424  
425 425  == **Gain switching** ==
426 426  
427 -Gain switching function:
427 +**Gain switching function:**
428 428  
429 -●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;
430 430  
431 -●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;
432 432  
433 -●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;
434 434  
435 -●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.
436 436  
437 -(1) Gain switching parameter setting
437 +**Gain switching parameter setting**
438 438  
439 439  ①When P02-07=0
440 440  
... ... @@ -441,7 +441,7 @@
441 441  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).
442 442  
443 443  (% style="text-align:center" %)
444 -[[image:20230515-8.png]]
444 +[[image:20230515-8.png||height="367" width="150"]]
445 445  
446 446  ② When P02-07=1
447 447  
... ... @@ -448,10 +448,11 @@
448 448  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).
449 449  
450 450  (% style="text-align:center" %)
451 -[[image:20230515-9.png]]
451 +(((
452 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
453 +[[**Figure 7-9 Flow chart of gain switching when P02-07=1**>>image:20230515-9.png||id="20230515-9.png"]]
454 +)))
452 452  
453 -Figure 7-9 Flow chart of gain switching when P02-07=1
454 -
455 455  |(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
456 456  |(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
457 457  |(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-