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% ... ... @@ -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 setting437 +**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 ... ... @@ -447,162 +447,69 @@ 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|~-~- 456 -|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~- 457 -|(% style="width:72px" %)((( 458 - 459 - 460 - 461 - 462 - 463 - 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; width:238px" %)Switching with DI|(% style="width:1108px" %)~-~- 462 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)((( 464 464 2 465 -)))|(% style="width:146px" %)((( 466 - 467 - 468 - 469 - 470 - 471 - 464 +)))|(% style="text-align:center; vertical-align:middle; width:238px" %)((( 472 472 Large torque command 473 -)))|[[image:image-20230515140641-1.png]] 474 -|(% style="width:72px" %)((( 475 - 476 - 477 - 478 - 479 - 480 - 481 - 466 +)))|(% style="width:1108px" %) [[image:image-20230515140641-1.png||style="text-align:center; vertical-align:middle"]] 467 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 482 482 3 483 -)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 484 -|(% style="width:72px" %)((( 485 - 486 - 487 - 488 - 489 - 490 - 469 +)))|(% style="text-align:center; vertical-align:middle; width:238px" %)Large actual torque|(% style="width:1108px" %)[[image:image-20230515140641-2.png||style="text-align:center; vertical-align:middle"]] 470 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 491 491 4 492 -)))|(% style="width:146px" %)((( 493 - 494 - 495 - 496 - 497 - 498 - 472 +)))|(% style="width:238px" %)((( 499 499 Large speed command 500 -)))|[[image:image-20230515140641-3.png]] 474 +)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]] 501 501 502 -|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 503 -|(% style="width:74px" %)((( 504 - 505 - 506 - 507 - 508 - 476 +|(% style="width:74px" %)**P02-08**|(% style="width:238px" %)**Content**|**Diagram** 477 +|=(% style="width:74px" %)((( 509 509 5 510 -)))|(% style="width: 176px" %)(((479 +)))|(% style="width:238px" %)((( 511 511 512 - 513 - 514 - 515 - 516 516 Fast actual speed 517 517 )))|((( 518 518 519 - 520 520 [[image:image-20230515140641-4.png]] 521 521 ))) 522 -|(% style="width:74px" %)((( 523 - 524 - 525 - 526 - 527 - 528 - 529 - 486 +|=(% style="width:74px" %)((( 530 530 6 531 531 )))|(% style="width:176px" %)((( 532 532 533 - 534 - 535 - 536 - 537 - 538 - 539 539 Speed command change rate is large 540 540 )))|[[image:image-20230515140641-5.png]] 541 -|(% style="width:74px" %)((( 542 - 543 - 544 - 545 - 546 - 547 - 492 +|=(% style="width:74px" %)((( 548 548 7 549 - 550 - 551 551 )))|(% style="width:176px" %)((( 552 552 553 - 554 - 555 - 556 - 557 - 558 558 Large position deviation 559 559 )))|[[image:image-20230515140641-6.png]] 560 -|(% style="width:74px" %)((( 561 - 562 - 563 - 564 - 565 - 498 +|=(% style="width:74px" %)((( 566 566 8 567 567 )))|(% style="width:176px" %)((( 568 - 569 - 570 - 571 - 572 - 573 573 Position command 574 574 )))|[[image:image-20230515140641-7.png]] 575 575 576 -|(% style="width:73px" %)((( 577 - 578 - 579 - 580 - 581 - 582 - 504 +|=(% style="width:73px" %)((( 583 583 9 584 -)))|(% style="width: 154px" %)(((506 +)))|(% style="width:238px" %)((( 585 585 586 - 587 - 588 - 589 - 590 - 591 591 Positioning completed 592 -)))|[[image:image-20230515140641-8.png]] 593 -|(% style="width:73px" %)((( 594 - 595 - 509 +)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]] 510 +|=(% style="width:73px" %)((( 596 596 10 597 - 512 +)))|(% style="width:238px" %)((( 598 598 599 -)))|(% style="width:154px" %)((( 600 - 601 - 602 602 Position command + actual speed 603 -)))|((( 515 +)))|(% style="width:1179px" %)((( 604 604 605 - 606 606 Refer to the chart below 607 607 ))) 608 608 ... ... @@ -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 parameters525 +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** ... ... @@ -655,7 +655,7 @@ 655 655 |3|Large actual torque|((( 656 656 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 657 657 658 -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 569 +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. 659 659 660 660 661 661 )))