Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -456,156 +456,64 @@ 456 456 [[**Figure 7-9 Flow chart of gain switching when P02-07=1**>>image:20230515-9.png||id="20230515-9.png"]] 457 457 ))) 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" %)((( 463 - 464 - 465 - 466 - 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" %)((( 467 467 2 468 -)))|(% style="text-align:center; vertical-align:middle; width:146px" %)((( 469 - 470 - 471 - 472 - 473 - 474 - 464 +)))|(% style="text-align:center; vertical-align:middle; width:238px" %)((( 475 475 Large torque command 476 -)))|[[image:image-20230515140641-1.png]] 477 -|=(% style="text-align:center; vertical-align:middle;width:72px" %)((( 478 - 479 - 480 - 481 - 482 - 483 - 484 - 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" %)((( 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" %)((( 488 - 489 - 490 - 491 - 492 - 493 - 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" %)((( 494 494 4 495 -)))|(% style="width:146px" %)((( 496 - 497 - 498 - 499 - 500 - 501 - 472 +)))|(% style="width:238px" %)((( 502 502 Large speed command 503 -)))|[[image:image-20230515140641-3.png]] 474 +)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]] 504 504 505 -|(% style="width:74px" %)**P02-08**|(% style="width: 176px" %)**Content**|**Diagram**476 +|(% style="width:74px" %)**P02-08**|(% style="width:238px" %)**Content**|**Diagram** 506 506 |=(% style="width:74px" %)((( 507 - 508 - 509 - 510 - 511 - 512 512 5 513 -)))|(% style="width: 176px" %)(((479 +)))|(% style="width:238px" %)((( 514 514 515 - 516 - 517 - 518 - 519 519 Fast actual speed 520 520 )))|((( 521 521 522 - 523 523 [[image:image-20230515140641-4.png]] 524 524 ))) 525 525 |=(% style="width:74px" %)((( 526 - 527 - 528 - 529 - 530 - 531 - 532 - 533 533 6 534 534 )))|(% style="width:176px" %)((( 535 535 536 - 537 - 538 - 539 - 540 - 541 - 542 542 Speed command change rate is large 543 543 )))|[[image:image-20230515140641-5.png]] 544 544 |=(% style="width:74px" %)((( 545 - 546 - 547 - 548 - 549 - 550 - 551 551 7 552 - 553 - 554 554 )))|(% style="width:176px" %)((( 555 555 556 - 557 - 558 - 559 - 560 - 561 561 Large position deviation 562 562 )))|[[image:image-20230515140641-6.png]] 563 563 |=(% style="width:74px" %)((( 564 - 565 - 566 - 567 - 568 - 569 569 8 570 570 )))|(% style="width:176px" %)((( 571 - 572 - 573 - 574 - 575 - 576 576 Position command 577 577 )))|[[image:image-20230515140641-7.png]] 578 578 579 579 |=(% style="width:73px" %)((( 580 - 581 - 582 - 583 - 584 - 585 - 586 586 9 587 -)))|(% style="width: 154px" %)(((506 +)))|(% style="width:238px" %)((( 588 588 589 - 590 - 591 - 592 - 593 - 594 594 Positioning completed 595 -)))|[[image:image-20230515140641-8.png]] 509 +)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]] 596 596 |=(% style="width:73px" %)((( 597 - 598 - 599 599 10 600 - 512 +)))|(% style="width:238px" %)((( 601 601 602 -)))|(% style="width:154px" %)((( 603 - 604 - 605 605 Position command + actual speed 606 -)))|((( 515 +)))|(% style="width:1179px" %)((( 607 607 608 - 609 609 Refer to the chart below 610 610 ))) 611 611 ... ... @@ -658,7 +658,7 @@ 658 658 |3|Large actual torque|((( 659 659 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 660 660 661 -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. 662 662 663 663 664 664 )))