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: ... ... @@ -385,12 +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 setting437 +**Gain switching parameter setting** 439 439 440 440 ①When P02-07=0 441 441 ... ... @@ -442,7 +442,10 @@ 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 +((( 445 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 446 +[[image:20230515-8.png||height="378" id="20230515-8.png" width="363"]] 447 +))) 446 446 447 447 ② When P02-07=1 448 448 ... ... @@ -449,162 +449,69 @@ 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]] 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 +))) 453 453 454 -Figure 7-9 Flow chart of gain switching when P02-07=1 455 - 456 -|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram** 457 -|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~- 458 -|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~- 459 -|(% style="width:72px" %)((( 460 - 461 - 462 - 463 - 464 - 465 - 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；" %)Switching with DI|(% style="width:1108px" %)~-~- 462 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)((( 466 466 2 467 -)))|(% style="width:146px" %)((( 468 - 469 - 470 - 471 - 472 - 473 - 464 +)))|(% style="text-align:center; vertical-align:middle; width:238px" %)((( 474 474 Large torque command 475 -)))|[[image:image-20230515140641-1.png]] 476 -|(% style="width:72px" %)((( 477 - 478 - 479 - 480 - 481 - 482 - 483 - 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" %)((( 484 484 3 485 -)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 486 -|(% style="width:72px" %)((( 487 - 488 - 489 - 490 - 491 - 492 - 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" %)((( 493 493 4 494 -)))|(% style="width:146px" %)((( 495 - 496 - 497 - 498 - 499 - 500 - 472 +)))|(% style="width:238px" %)((( 501 501 Large speed command 502 -)))|[[image:image-20230515140641-3.png]] 474 +)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]] 503 503 504 -|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 505 -|(% style="width:74px" %)((( 506 - 507 - 508 - 509 - 510 - 476 +|(% style="width:74px" %)**P02-08**|(% style="width:238px" %)**Content**|**Diagram** 477 +|=(% style="width:74px" %)((( 511 511 5 512 -)))|(% style="width: 176px" %)(((479 +)))|(% style="width:238px" %)((( 513 513 514 - 515 - 516 - 517 - 518 518 Fast actual speed 519 519 )))|((( 520 520 521 - 522 522 [[image:image-20230515140641-4.png]] 523 523 ))) 524 -|(% style="width:74px" %)((( 525 - 526 - 527 - 528 - 529 - 530 - 531 - 486 +|=(% style="width:74px" %)((( 532 532 6 533 533 )))|(% style="width:176px" %)((( 534 534 535 - 536 - 537 - 538 - 539 - 540 - 541 541 Speed command change rate is large 542 542 )))|[[image:image-20230515140641-5.png]] 543 -|(% style="width:74px" %)((( 544 - 545 - 546 - 547 - 548 - 549 - 492 +|=(% style="width:74px" %)((( 550 550 7 551 - 552 - 553 553 )))|(% style="width:176px" %)((( 554 554 555 - 556 - 557 - 558 - 559 - 560 560 Large position deviation 561 561 )))|[[image:image-20230515140641-6.png]] 562 -|(% style="width:74px" %)((( 563 - 564 - 565 - 566 - 567 - 498 +|=(% style="width:74px" %)((( 568 568 8 569 569 )))|(% style="width:176px" %)((( 570 - 571 - 572 - 573 - 574 - 575 575 Position command 576 576 )))|[[image:image-20230515140641-7.png]] 577 577 578 -|(% style="width:73px" %)((( 579 - 580 - 581 - 582 - 583 - 584 - 504 +|=(% style="width:73px" %)((( 585 585 9 586 -)))|(% style="width: 154px" %)(((506 +)))|(% style="width:238px" %)((( 587 587 588 - 589 - 590 - 591 - 592 - 593 593 Positioning completed 594 -)))|[[image:image-20230515140641-8.png]] 595 -|(% style="width:73px" %)((( 596 - 597 - 509 +)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]] 510 +|=(% style="width:73px" %)((( 598 598 10 599 - 512 +)))|(% style="width:238px" %)((( 600 600 601 -)))|(% style="width:154px" %)((( 602 - 603 - 604 604 Position command + actual speed 605 -)))|((( 515 +)))|(% style="width:1179px" %)((( 606 606 607 - 608 608 Refer to the chart below 609 609 ))) 610 610 ... ... @@ -613,7 +613,7 @@ 613 613 614 614 Figure 7-10 P02-08=10 Position command + actual speed gain description 615 615 616 - (2)Description of related parameters525 +Description of related parameters 617 617 618 618 |(% rowspan="2" style="width:68px" %) 619 619 **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** ... ... @@ -657,7 +657,7 @@ 657 657 |3|Large actual torque|((( 658 658 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 659 659 660 -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. 661 661 662 662 663 663 )))