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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 29.4
edited by Karen
on 2023/05/15 16:10
Change comment: There is no comment for this version
To version 25.1
edited by Karen
on 2023/05/15 15:28
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||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:
... ... @@ -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 -**Gain switching parameter setting**
437 +(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 -)))
444 +[[image:20230515-8.png]]
448 448  
449 449  ② When P02-07=1
450 450  
... ... @@ -451,15 +451,14 @@
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 -)))
451 +[[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**
460 -|=(% style="text-align:center; vertical-align:middle;width:72px" %)0|(% style="text-align:center; vertical-align:middle;width:146px" %)Fixed use of the first gain|~-~-
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|~-~-
461 461  |(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
462 -|=(% style="width:72px" %)(((
458 +|(% style="width:72px" %)(((
463 463  
464 464  
465 465  
... ... @@ -476,7 +476,7 @@
476 476  
477 477  Large torque command
478 478  )))|[[image:image-20230515140641-1.png]]
479 -|=(% style="width:72px" %)(((
475 +|(% style="width:72px" %)(((
480 480  
481 481  
482 482  
... ... @@ -486,7 +486,7 @@
486 486  
487 487  3
488 488  )))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
489 -|=(% style="width:72px" %)(((
485 +|(% style="width:72px" %)(((
490 490  
491 491  
492 492  
... ... @@ -505,7 +505,7 @@
505 505  )))|[[image:image-20230515140641-3.png]]
506 506  
507 507  |(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
508 -|=(% style="width:74px" %)(((
504 +|(% style="width:74px" %)(((
509 509  
510 510  
511 511  
... ... @@ -524,7 +524,7 @@
524 524  
525 525  [[image:image-20230515140641-4.png]]
526 526  )))
527 -|=(% style="width:74px" %)(((
523 +|(% style="width:74px" %)(((
528 528  
529 529  
530 530  
... ... @@ -543,7 +543,7 @@
543 543  
544 544  Speed command change rate is large
545 545  )))|[[image:image-20230515140641-5.png]]
546 -|=(% style="width:74px" %)(((
542 +|(% style="width:74px" %)(((
547 547  
548 548  
549 549  
... ... @@ -562,7 +562,7 @@
562 562  
563 563  Large position deviation
564 564  )))|[[image:image-20230515140641-6.png]]
565 -|=(% style="width:74px" %)(((
561 +|(% style="width:74px" %)(((
566 566  
567 567  
568 568  
... ... @@ -578,7 +578,7 @@
578 578  Position command
579 579  )))|[[image:image-20230515140641-7.png]]
580 580  
581 -|=(% style="width:73px" %)(((
577 +|(% style="width:73px" %)(((
582 582  
583 583  
584 584  
... ... @@ -595,7 +595,7 @@
595 595  
596 596  Positioning completed
597 597  )))|[[image:image-20230515140641-8.png]]
598 -|=(% style="width:73px" %)(((
594 +|(% style="width:73px" %)(((
599 599  
600 600  
601 601  10
... ... @@ -616,7 +616,7 @@
616 616  
617 617  Figure 7-10 P02-08=10 Position command + actual speed gain description
618 618  
619 -Description of related parameters
615 +(2) Description of related parameters
620 620  
621 621  |(% rowspan="2" style="width:68px" %)
622 622  **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**