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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 24.7
edited by Karen
on 2023/05/15 15:24
Change comment: There is no comment for this version
To version 24.4
edited by Karen
on 2023/05/15 15:22
Change comment: There is no comment for this version

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... ... @@ -386,9 +386,7 @@
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
388 388  
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|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
390 -Shutdown setting
391 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
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" %)(((
392 392  Effective immediately
393 393  )))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)0.10%
394 394  
... ... @@ -415,13 +415,13 @@
415 415  Please refer to the following for an example of the procedure of adjusting servo gain.
416 416  
417 417  (% style="width:1508px" %)
418 -|=(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content**
416 +|(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content**
419 419  |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1|Please try to set the correct load inertia ratio parameter P3-1.
420 420  |=(% 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.
421 -|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)3|Turn on the model tracking function, set P2-20 to 1.
422 -|=(% 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.
423 -|=(% 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.
424 -|=(% 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.
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.
425 425  
426 426  == **Gain switching** ==
427 427