Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
Summary
-
Page properties (1 modified, 0 added, 0 removed)
Details
- Page properties
-
- Content
-
... ... @@ -424,7 +424,7 @@ 424 424 425 425 == **Gain switching** == 426 426 427 -Gain switching function: 427 +**Gain switching function:** 428 428 429 429 ● Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration; 430 430 ... ... @@ -434,7 +434,7 @@ 434 434 435 435 ● Switch different gain settings by external signals depending on the load connected. 436 436 437 - (1)Gain switching parameter setting437 +**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;" %)((( 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="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;" %)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 parameters525 +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 )))