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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 29.3
edited by Karen
on 2023/05/15 16:08
Change comment: There is no comment for this version
To version 23.1
edited by Karen
on 2023/05/15 14:56
Change comment: There is no comment for this version

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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||height="394" id="20230515-7.png" width="931"]]
352 +[[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||id="20230515-7.png"]]
353 353  )))
354 354  
355 355  The usage method and conditions of model tracking control:
... ... @@ -380,16 +380,15 @@
380 380  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
381 381  Effective immediately
382 382  )))|(% 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" %)(((
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" %)(((
384 384  Shutdown setting
385 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
385 +)))|(((
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" %)(((
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 +|=(% 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|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%
391 +)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)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;" %)(((
... ... @@ -399,42 +399,41 @@
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**
400 400  |=(% 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|(((
401 401  Operation setting
402 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
401 +)))|(((
403 403  Effective immediately
404 -)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 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%
403 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 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%
405 405  |=(% 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|(((
406 406  Operation setting
407 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
406 +)))|(((
408 408  Effective immediately
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%
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" %)(((
408 +)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|0.10%
409 +|=(% 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|(((
411 411  Effective immediately
412 412  )))|(% 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%
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.
415 +|**Step**|** Content**
416 +|1|Please try to set the correct load inertia ratio parameter P3-1.
417 +|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.
418 +|3|Turn on the model tracking function, set P2-20 to 1.
419 +|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occurring.
420 +|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
421 +|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  
427 -**Gain switching function:**
425 +Gain switching function:
428 428  
429 -● Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
427 +●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;
429 +●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;
431 +●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.
433 +●Switch different gain settings by external signals depending on the load connected.
436 436  
437 -**Gain switching parameter setting**
435 +(1) Gain switching parameter setting
438 438  
439 439  ①When P02-07=0
440 440  
... ... @@ -441,10 +441,7 @@
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 -(((
445 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
446 -[[image:20230515-8.png||height="378" id="20230515-8.png" width="363"]]
447 -)))
442 +[[image:20230515-8.png]]
448 448  
449 449  ② When P02-07=1
450 450  
... ... @@ -451,12 +451,11 @@
451 451  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).
452 452  
453 453  (% style="text-align:center" %)
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 -)))
449 +[[image:20230515-9.png]]
458 458  
459 -|=(% style="text-align:center; vertical-align:middle; width:72px" %)**P02-08**|=(% style="text-align:center; vertical-align:middle; width:146px" %)**Content**|=(% style="text-align:center; vertical-align:middle; width:72px" %)**Diagram**
451 +Figure 7-9 Flow chart of gain switching when P02-07=1
452 +
453 +|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
460 460  |(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
461 461  |(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
462 462  |(% style="width:72px" %)(((