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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 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:
... ... @@ -385,12 +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 -
389 389  |=(% 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" %)(((
390 390  Shutdown setting
391 391  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
392 392  Effective immediately
393 -)))|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%
394 394  
395 395  (% class="table-bordered" %)
396 396  |=(% 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;" %)(((
... ... @@ -407,7 +407,7 @@
407 407  Operation setting
408 408  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
409 409  Effective immediately
410 -)))|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%
411 411  |=(% 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" %)(((
412 412  Effective immediately
413 413  )))|(% 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%
... ... @@ -415,7 +415,7 @@
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**
417 +|=(% 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.
421 421  |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)3|Turn on the model tracking function, set P2-20 to 1.
... ... @@ -425,17 +425,17 @@
425 425  
426 426  == **Gain switching** ==
427 427  
428 -Gain switching function:
427 +**Gain switching function:**
429 429  
430 -●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;
431 431  
432 -●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;
433 433  
434 -●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;
435 435  
436 -●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.
437 437  
438 -(1) Gain switching parameter setting
437 +**Gain switching parameter setting**
439 439  
440 440  ①When P02-07=0
441 441  
... ... @@ -442,7 +442,7 @@
442 442  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).
443 443  
444 444  (% style="text-align:center" %)
445 -[[image:20230515-8.png]]
444 +[[image:20230515-8.png||height="367" width="150"]]
446 446  
447 447  ② When P02-07=1
448 448  
... ... @@ -449,10 +449,11 @@
449 449  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).
450 450  
451 451  (% style="text-align:center" %)
452 -[[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 +)))
453 453  
454 -Figure 7-9 Flow chart of gain switching when P02-07=1
455 -
456 456  |(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
457 457  |(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
458 458  |(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-