Skip to Content

Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 24.5
edited by Karen
on 2023/05/15 15:22
Change comment: There is no comment for this version
To version 29.4
edited by Karen
on 2023/05/15 16:10
Change comment: There is no comment for this version

Summary

Details

Page properties
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:
... ... @@ -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%
... ... @@ -413,7 +413,7 @@
413 413  Please refer to the following for an example of the procedure of adjusting servo gain.
414 414  
415 415  (% 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" %)**Step**|=(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content**
417 417  |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1|Please try to set the correct load inertia ratio parameter P3-1.
418 418  |=(% 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.
419 419  |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)3|Turn on the model tracking function, set P2-20 to 1.
... ... @@ -423,17 +423,17 @@
423 423  
424 424  == **Gain switching** ==
425 425  
426 -Gain switching function:
427 +**Gain switching function:**
427 427  
428 -●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;
429 429  
430 -●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;
431 431  
432 -●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;
433 433  
434 -●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.
435 435  
436 -(1) Gain switching parameter setting
437 +**Gain switching parameter setting**
437 437  
438 438  ①When P02-07=0
439 439  
... ... @@ -440,7 +440,10 @@
440 440  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).
441 441  
442 442  (% style="text-align:center" %)
443 -[[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 +)))
444 444  
445 445  ② When P02-07=1
446 446  
... ... @@ -447,14 +447,15 @@
447 447  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).
448 448  
449 449  (% style="text-align:center" %)
450 -[[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 +)))
451 451  
452 -Figure 7-9 Flow chart of gain switching when P02-07=1
453 -
454 -|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
455 -|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
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|~-~-
456 456  |(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
457 -|(% style="width:72px" %)(((
462 +|=(% style="width:72px" %)(((
458 458  
459 459  
460 460  
... ... @@ -471,7 +471,7 @@
471 471  
472 472  Large torque command
473 473  )))|[[image:image-20230515140641-1.png]]
474 -|(% style="width:72px" %)(((
479 +|=(% style="width:72px" %)(((
475 475  
476 476  
477 477  
... ... @@ -481,7 +481,7 @@
481 481  
482 482  3
483 483  )))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
484 -|(% style="width:72px" %)(((
489 +|=(% style="width:72px" %)(((
485 485  
486 486  
487 487  
... ... @@ -500,7 +500,7 @@
500 500  )))|[[image:image-20230515140641-3.png]]
501 501  
502 502  |(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
503 -|(% style="width:74px" %)(((
508 +|=(% style="width:74px" %)(((
504 504  
505 505  
506 506  
... ... @@ -519,7 +519,7 @@
519 519  
520 520  [[image:image-20230515140641-4.png]]
521 521  )))
522 -|(% style="width:74px" %)(((
527 +|=(% style="width:74px" %)(((
523 523  
524 524  
525 525  
... ... @@ -538,7 +538,7 @@
538 538  
539 539  Speed command change rate is large
540 540  )))|[[image:image-20230515140641-5.png]]
541 -|(% style="width:74px" %)(((
546 +|=(% style="width:74px" %)(((
542 542  
543 543  
544 544  
... ... @@ -557,7 +557,7 @@
557 557  
558 558  Large position deviation
559 559  )))|[[image:image-20230515140641-6.png]]
560 -|(% style="width:74px" %)(((
565 +|=(% style="width:74px" %)(((
561 561  
562 562  
563 563  
... ... @@ -573,7 +573,7 @@
573 573  Position command
574 574  )))|[[image:image-20230515140641-7.png]]
575 575  
576 -|(% style="width:73px" %)(((
581 +|=(% style="width:73px" %)(((
577 577  
578 578  
579 579  
... ... @@ -590,7 +590,7 @@
590 590  
591 591  Positioning completed
592 592  )))|[[image:image-20230515140641-8.png]]
593 -|(% style="width:73px" %)(((
598 +|=(% style="width:73px" %)(((
594 594  
595 595  
596 596  10
... ... @@ -611,7 +611,7 @@
611 611  
612 612  Figure 7-10 P02-08=10 Position command + actual speed gain description
613 613  
614 -(2) Description of related parameters
619 +Description of related parameters
615 615  
616 616  |(% rowspan="2" style="width:68px" %)
617 617  **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**