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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 29.6
edited by Karen
on 2023/05/15 16:12
Change comment: There is no comment for this version
To version 26.1
edited by Karen
on 2023/05/15 15:29
Change comment: There is no comment for this version

Summary

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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 -**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  
... ... @@ -451,21 +451,22 @@
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|~-~-
461 -|=(% style="text-align:center; vertical-align:middle; width:72px" %)1|(% style="text-align:center; vertical-align:middle; width:146px" %)Switching with DI|~-~-
462 -|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
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" %)(((
463 463  
464 464  
465 465  
466 466  
463 +
464 +
467 467  2
468 -)))|(% style="text-align:center; vertical-align:middle; width:146px" %)(((
466 +)))|(% style="width:146px" %)(((
469 469  
470 470  
471 471  
... ... @@ -474,7 +474,7 @@
474 474  
475 475  Large torque command
476 476  )))|[[image:image-20230515140641-1.png]]
477 -|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
475 +|(% style="width:72px" %)(((
478 478  
479 479  
480 480  
... ... @@ -483,8 +483,8 @@
483 483  
484 484  
485 485  3
486 -)))|(% style="text-align:center; vertical-align:middle; width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
487 -|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
484 +)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
485 +|(% style="width:72px" %)(((
488 488  
489 489  
490 490  
... ... @@ -503,7 +503,7 @@
503 503  )))|[[image:image-20230515140641-3.png]]
504 504  
505 505  |(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
506 -|=(% style="width:74px" %)(((
504 +|(% style="width:74px" %)(((
507 507  
508 508  
509 509  
... ... @@ -522,7 +522,7 @@
522 522  
523 523  [[image:image-20230515140641-4.png]]
524 524  )))
525 -|=(% style="width:74px" %)(((
523 +|(% style="width:74px" %)(((
526 526  
527 527  
528 528  
... ... @@ -541,7 +541,7 @@
541 541  
542 542  Speed command change rate is large
543 543  )))|[[image:image-20230515140641-5.png]]
544 -|=(% style="width:74px" %)(((
542 +|(% style="width:74px" %)(((
545 545  
546 546  
547 547  
... ... @@ -560,7 +560,7 @@
560 560  
561 561  Large position deviation
562 562  )))|[[image:image-20230515140641-6.png]]
563 -|=(% style="width:74px" %)(((
561 +|(% style="width:74px" %)(((
564 564  
565 565  
566 566  
... ... @@ -576,7 +576,7 @@
576 576  Position command
577 577  )))|[[image:image-20230515140641-7.png]]
578 578  
579 -|=(% style="width:73px" %)(((
577 +|(% style="width:73px" %)(((
580 580  
581 581  
582 582  
... ... @@ -593,7 +593,7 @@
593 593  
594 594  Positioning completed
595 595  )))|[[image:image-20230515140641-8.png]]
596 -|=(% style="width:73px" %)(((
594 +|(% style="width:73px" %)(((
597 597  
598 598  
599 599  10
... ... @@ -614,7 +614,7 @@
614 614  
615 615  Figure 7-10 P02-08=10 Position command + actual speed gain description
616 616  
617 -Description of related parameters
615 +(2) Description of related parameters
618 618  
619 619  |(% rowspan="2" style="width:68px" %)
620 620  **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**