Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -367,7 +367,6 @@ 367 367 (% class="box infomessage" %) 368 368 ((( 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;" %)((( ... ... @@ -380,13 +380,13 @@ 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" %)((( 382 +|=(% 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 -)))|( % style="text-align:center; vertical-align:middle; width:128px" %)(((384 +)))|((( 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 386 +)))|(% 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 388 388 389 -|=(% 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|Shutdown setting|((( 390 390 Effective immediately 391 391 )))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)0.10% 392 392 ... ... @@ -398,28 +398,27 @@ 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 -)))|( % style="text-align:center; vertical-align:middle; width:128px" %)(((400 +)))|((( 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% 402 +)))|(% 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 -)))|( % style="text-align:center; vertical-align:middle; width:128px" %)(((405 +)))|((( 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: 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" %)(((407 +)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|0.10% 408 +|=(% 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|((( 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 -(% style="width:1508px" %) 416 -|(% 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;" %)1|Please try to set the correct load inertia ratio parameter P3-1. 418 -|=(% 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. 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. 414 +|**Step**|** Content** 415 +|1|Please try to set the correct load inertia ratio parameter P3-1. 416 +|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. 417 +|3|Turn on the model tracking function, set P2-20 to 1. 418 +|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occurring. 419 +|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2. 420 +|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. 423 423 424 424 == **Gain switching** == 425 425 ... ... @@ -778,6 +778,8 @@ 778 778 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 779 779 ))) 780 780 779 + 780 + 781 781 == **Model Tracking Control Function** == 782 782 783 783 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: ... ... @@ -1224,6 +1224,8 @@ 1224 1224 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 1225 1225 ))) 1226 1226 1227 + 1228 + 1227 1227 = **Mechanical resonance suppression** = 1228 1228 1229 1229 == Mechanical resonance suppression methods == ... ... @@ -1328,4 +1328,3 @@ 1328 1328 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 1329 1329 1330 1330 Table 7-11 Notch filter function code parameters 1331 -~)~)~)