Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -364,10 +364,7 @@ 364 364 365 365 5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2. 366 366 367 -(% class="box infomessage" %) 368 -((( 369 369 **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes. 370 -))) 371 371 372 372 (% class="table-bordered" %) 373 373 |=(% 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;" %)((( ... ... @@ -375,21 +375,15 @@ 375 375 )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 376 376 **Effective time** 377 377 )))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit** 378 -|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control function|(% style="text-align:center; vertical-align:middle; width:122px" %)((( 379 -Shutdown setting 380 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 375 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control function|(% style="text-align:center; vertical-align:middle; width:122px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 381 381 Effective immediately 382 -)))|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 1|When the function code is set to 1, enable the model tracking control function.| 383 -|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-21|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control gain|(% style="text-align:center; vertical-align:middle; width:122px" %)((( 384 -Shutdown setting 385 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 377 +)))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.| 378 +|P2-21|Model tracking control gain|Shutdown setting|((( 386 386 Effective immediately 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 -|=(% 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" %)((( 380 +)))|1000|200 to 20000|(% rowspan="2" %)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.|0.1/s 381 +|P2-22|Model tracking control gain compensation|Shutdown setting|((( 391 391 Effective immediately 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%383 +)))|1000|500 to 2000|0.10% 393 393 394 394 (% class="table-bordered" %) 395 395 |=(% 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;" %)((( ... ... @@ -397,30 +397,29 @@ 397 397 )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 398 398 **Effective time** 399 399 )))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit** 400 -| =(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-23|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control forward rotation bias|(((391 +|P2-23|Model tracking control forward rotation bias|((( 401 401 Operation setting 402 -)))|( % style="text-align:center; vertical-align:middle; width:128px" %)(((393 +)))|((( 403 403 Effective immediately 404 -)))| (% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0to 10000|(% rowspan="2" %)(% style="width:321px" %)Torque feedforward size in the positive and reverse direction under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10%405 -| =(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-24|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control reverses rotation bias|(((395 +)))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10% 396 +|P2-24|Model tracking control reverses rotation bias|((( 406 406 Operation setting 407 -)))|( % style="text-align:center; vertical-align:middle; width:128px" %)(((398 +)))|((( 408 408 Effective immediately 409 -)))|1000| (% style="text-align:center; vertical-align:middle; width:107px" %)0to 10000|(% style="text-align:center; vertical-align:middle" %)0.10%410 -| =(% 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" %)(((400 +)))|1000|0 to 10000|0.10% 401 +|P2-25|Model tracking control speed feedforward compensation|Operation setting|((( 411 411 Effective immediately 412 -)))| (% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0to 10000|(% style="width:321px" %)The size of the speed feedforward under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10%403 +)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10% 413 413 414 414 Please refer to the following for an example of the procedure of adjusting servo gain. 415 415 416 -(% style="width:1508px" %) 417 -|=(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content** 418 -|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1|Please try to set the correct load inertia ratio parameter P3-1. 419 -|=(% 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. 420 -|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)3|Turn on the model tracking function, set P2-20 to 1. 421 -|=(% 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. 422 -|=(% 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. 423 -|=(% 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. 407 +|**Step**|**Content** 408 +|1|Please try to set the correct load inertia ratio parameter P3-1. 409 +|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. 410 +|3|Turn on the model tracking function, set P2-20 to 1. 411 +|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur. 412 +|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2. 413 +|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. 424 424 425 425 == **Gain switching** == 426 426 ... ... @@ -779,6 +779,8 @@ 779 779 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 780 780 ))) 781 781 772 + 773 + 782 782 == **Model Tracking Control Function** == 783 783 784 784 Model tracking control is suitable for position control mode, which adds a model loop outside the three loop. In the model loop, new position commands, speed feedforward and torque feedforward and other control quantities are generated according to the user's response requirements to the system and the ideal motor control model. Applying these control quantities to the actual control loop can significantly improve the response performance and positioning performance of the position control, the design block diagram is as follows: ... ... @@ -1225,6 +1225,8 @@ 1225 1225 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 1226 1226 ))) 1227 1227 1220 + 1221 + 1228 1228 = **Mechanical resonance suppression** = 1229 1229 1230 1230 == Mechanical resonance suppression methods == ... ... @@ -1329,4 +1329,3 @@ 1329 1329 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 1330 1330 1331 1331 Table 7-11 Notch filter function code parameters 1332 -~)~)~)