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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 26.1
edited by Karen
on 2023/05/15 15:29
Change comment: There is no comment for this version
To version 33.3
edited by Karen
on 2023/05/15 16:35
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -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  
... ... @@ -448,162 +448,69 @@
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 -
460 -
461 -
462 -
463 -
464 -
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" %)(((
465 465  2
466 -)))|(% style="width:146px" %)(((
467 -
468 -
469 -
470 -
471 -
472 -
464 +)))|(% style="text-align:center; vertical-align:middle; width:238px" %)(((
473 473  Large torque command
474 -)))|[[image:image-20230515140641-1.png]]
475 -|(% style="width:72px" %)(((
476 -
477 -
478 -
479 -
480 -
481 -
482 -
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" %)(((
483 483  3
484 -)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
485 -|(% style="width:72px" %)(((
486 -
487 -
488 -
489 -
490 -
491 -
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" %)(((
492 492  4
493 -)))|(% style="width:146px" %)(((
494 -
495 -
496 -
497 -
498 -
499 -
472 +)))|(% style="width:238px" %)(((
500 500  Large speed command
501 -)))|[[image:image-20230515140641-3.png]]
474 +)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]]
502 502  
503 -|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
504 -|(% style="width:74px" %)(((
505 -
506 -
507 -
508 -
509 -
476 +|(% style="width:74px" %)**P02-08**|(% style="width:238px" %)**Content**|**Diagram**
477 +|=(% style="width:74px" %)(((
510 510  5
511 -)))|(% style="width:176px" %)(((
479 +)))|(% style="width:238px" %)(((
512 512  
513 -
514 -
515 -
516 -
517 517  Fast actual speed
518 518  )))|(((
519 519  
520 -
521 521  [[image:image-20230515140641-4.png]]
522 522  )))
523 -|(% style="width:74px" %)(((
524 -
525 -
526 -
527 -
528 -
529 -
530 -
486 +|=(% style="width:74px" %)(((
531 531  6
532 532  )))|(% style="width:176px" %)(((
533 533  
534 -
535 -
536 -
537 -
538 -
539 -
540 540  Speed command change rate is large
541 541  )))|[[image:image-20230515140641-5.png]]
542 -|(% style="width:74px" %)(((
543 -
544 -
545 -
546 -
547 -
548 -
492 +|=(% style="width:74px" %)(((
549 549  7
550 -
551 -
552 552  )))|(% style="width:176px" %)(((
553 553  
554 -
555 -
556 -
557 -
558 -
559 559  Large position deviation
560 560  )))|[[image:image-20230515140641-6.png]]
561 -|(% style="width:74px" %)(((
562 -
563 -
564 -
565 -
566 -
498 +|=(% style="width:74px" %)(((
567 567  8
568 568  )))|(% style="width:176px" %)(((
569 -
570 -
571 -
572 -
573 -
574 574  Position command
575 575  )))|[[image:image-20230515140641-7.png]]
576 576  
577 -|(% style="width:73px" %)(((
578 -
579 -
580 -
581 -
582 -
583 -
504 +|=(% style="width:73px" %)(((
584 584  9
585 -)))|(% style="width:154px" %)(((
506 +)))|(% style="width:238px" %)(((
586 586  
587 -
588 -
589 -
590 -
591 -
592 592  Positioning completed
593 -)))|[[image:image-20230515140641-8.png]]
594 -|(% style="width:73px" %)(((
595 -
596 -
509 +)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]]
510 +|=(% style="width:73px" %)(((
597 597  10
598 -
512 +)))|(% style="width:238px" %)(((
599 599  
600 -)))|(% style="width:154px" %)(((
601 -
602 -
603 603  Position command + actual speed
604 -)))|(((
515 +)))|(% style="width:1179px" %)(((
605 605  
606 -
607 607  Refer to the chart below
608 608  )))
609 609  
... ... @@ -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
525 +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**
... ... @@ -656,7 +656,7 @@
656 656  |3|Large actual torque|(((
657 657  In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
658 658  
659 -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.
660 660  
661 661  
662 662  )))