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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 24.9
edited by Karen
on 2023/05/15 15:27
Change comment: There is no comment for this version
To version 29.7
edited by Karen
on 2023/05/15 16:14
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -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:
... ... @@ -414,7 +414,7 @@
414 414  Please refer to the following for an example of the procedure of adjusting servo gain.
415 415  
416 416  (% style="width:1508px" %)
417 -|=(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content**
417 +|=(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|=(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content**
418 418  |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1|Please try to set the correct load inertia ratio parameter P3-1.
419 419  |=(% 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.
420 420  |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)3|Turn on the model tracking function, set P2-20 to 1.
... ... @@ -424,17 +424,17 @@
424 424  
425 425  == **Gain switching** ==
426 426  
427 -Gain switching function:
427 +**Gain switching function:**
428 428  
429 -●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;
430 430  
431 -●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;
432 432  
433 -●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;
434 434  
435 -●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.
436 436  
437 -(1) Gain switching parameter setting
437 +**Gain switching parameter setting**
438 438  
439 439  ①When P02-07=0
440 440  
... ... @@ -441,7 +441,10 @@
441 441  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).
442 442  
443 443  (% style="text-align:center" %)
444 -[[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 +)))
445 445  
446 446  ② When P02-07=1
447 447  
... ... @@ -448,41 +448,31 @@
448 448  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).
449 449  
450 450  (% style="text-align:center" %)
451 -[[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 +)))
452 452  
453 -Figure 7-9 Flow chart of gain switching when P02-07=1
454 -
455 -|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
456 -|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
457 -|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
458 -|(% style="width:72px" %)(((
459 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)**P02-08**|=(% style="text-align:center; vertical-align:middle; width:176px" %)**Content**|=(% style="text-align:center; vertical-align:middle; width:74px" %)**Diagram**
460 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)0|(% style="text-align:center; vertical-align:middle; width:176px" %)Fixed use of the first gain|~-~-
461 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)1|(% style="text-align:center; vertical-align:middle; width:146px" %)Switching with DI|~-~-
462 +|=(% style="text-align:center; vertical-align:middle; width:72px" %)(((
459 459  
460 460  
461 -
462 -
463 -
464 -
465 465  2
466 -)))|(% style="width:146px" %)(((
466 +)))|(% style="text-align:center; vertical-align:middle; width:146px" %)(((
467 467  
468 468  
469 -
470 -
471 -
472 -
473 473  Large torque command
474 474  )))|[[image:image-20230515140641-1.png]]
475 -|(% style="width:72px" %)(((
471 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
476 476  
477 477  
478 478  
479 479  
480 -
481 -
482 -
483 483  3
484 -)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
485 -|(% style="width:72px" %)(((
477 +)))|(% style="text-align:center; vertical-align:middle; width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
478 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
486 486  
487 487  
488 488  
... ... @@ -501,7 +501,7 @@
501 501  )))|[[image:image-20230515140641-3.png]]
502 502  
503 503  |(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
504 -|(% style="width:74px" %)(((
497 +|=(% style="width:74px" %)(((
505 505  
506 506  
507 507  
... ... @@ -520,7 +520,7 @@
520 520  
521 521  [[image:image-20230515140641-4.png]]
522 522  )))
523 -|(% style="width:74px" %)(((
516 +|=(% style="width:74px" %)(((
524 524  
525 525  
526 526  
... ... @@ -539,7 +539,7 @@
539 539  
540 540  Speed command change rate is large
541 541  )))|[[image:image-20230515140641-5.png]]
542 -|(% style="width:74px" %)(((
535 +|=(% style="width:74px" %)(((
543 543  
544 544  
545 545  
... ... @@ -558,7 +558,7 @@
558 558  
559 559  Large position deviation
560 560  )))|[[image:image-20230515140641-6.png]]
561 -|(% style="width:74px" %)(((
554 +|=(% style="width:74px" %)(((
562 562  
563 563  
564 564  
... ... @@ -574,7 +574,7 @@
574 574  Position command
575 575  )))|[[image:image-20230515140641-7.png]]
576 576  
577 -|(% style="width:73px" %)(((
570 +|=(% style="width:73px" %)(((
578 578  
579 579  
580 580  
... ... @@ -591,7 +591,7 @@
591 591  
592 592  Positioning completed
593 593  )))|[[image:image-20230515140641-8.png]]
594 -|(% style="width:73px" %)(((
587 +|=(% style="width:73px" %)(((
595 595  
596 596  
597 597  10
... ... @@ -612,7 +612,7 @@
612 612  
613 613  Figure 7-10 P02-08=10 Position command + actual speed gain description
614 614  
615 -(2) Description of related parameters
608 +Description of related parameters
616 616  
617 617  |(% rowspan="2" style="width:68px" %)
618 618  **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**