Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -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: ... ... @@ -367,7 +367,6 @@ 367 367 (% class="box infomessage" %) 368 368 ((( 369 369 **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes. 370 -))) 371 371 372 372 (% class="table-bordered" %) 373 373 |=(% 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;" %)((( ... ... @@ -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" %)((( 382 +|=(% 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" %)(((384 +)))|((( 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" %)((( 386 +)))|(% 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 387 + 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|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%390 +)))|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" %)(((400 +)))|((( 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% 402 +)))|(% 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" %)(((405 +)))|((( 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" %)(((407 +)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|0.10% 408 +|=(% 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. 414 +|**Step**|** Content** 415 +|1|Please try to set the correct load inertia ratio parameter P3-1. 416 +|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. 417 +|3|Turn on the model tracking function, set P2-20 to 1. 418 +|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occurring. 419 +|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2. 420 +|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:**424 +Gain switching function: 428 428 429 -● 426 +●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration; 430 430 431 -● 428 +●Switch to a higher gain in the motor stationary state to shorten the positioning time; 432 432 433 -● 430 +●Switch to a higher gain in the motor running state to get better command tracking performance; 434 434 435 -● 432 +●Switch different gain settings by external signals depending on the load connected. 436 436 437 - **Gain switching parameter setting**434 +(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 -))) 441 +[[image:20230515-8.png]] 448 448 449 449 ② When P02-07=1 450 450 ... ... @@ -451,31 +451,41 @@ 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 -))) 448 +[[image:20230515-9.png]] 458 458 459 -|=(% style="text-align:center; vertical-align:middle; width:74px" %)**P02-08**|=(% style="text-align:center; vertical-align:middle; width:176px" %)**Content**|=(% style="text-align:center; vertical-align:middle; width:74px" %)**Diagram** 460 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)0|(% style="text-align:center; vertical-align:middle; width:176px" %)Fixed use of the first gain|~-~- 461 -|=(% style="text-align:center; vertical-align:middle; width:74px" %)1|(% style="text-align:center; vertical-align:middle; width:146px" %)Switching with DI|~-~- 462 -|=(% style="text-align:center; vertical-align:middle; width:72px" %)((( 450 +Figure 7-9 Flow chart of gain switching when P02-07=1 451 + 452 +|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram** 453 +|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~- 454 +|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~- 455 +|(% style="width:72px" %)((( 463 463 464 464 458 + 459 + 460 + 461 + 465 465 2 466 -)))|(% style=" text-align:center; vertical-align:middle;width:146px" %)(((463 +)))|(% style="width:146px" %)((( 467 467 468 468 466 + 467 + 468 + 469 + 469 469 Large torque command 470 470 )))|[[image:image-20230515140641-1.png]] 471 -| =(% style="text-align:center; vertical-align:middle;width:72px" %)(((472 +|(% style="width:72px" %)((( 472 472 473 473 474 474 475 475 477 + 478 + 479 + 476 476 3 477 -)))|(% style=" text-align:center; vertical-align:middle;width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]478 -| =(% style="text-align:center; vertical-align:middle;width:72px" %)(((481 +)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 482 +|(% style="width:72px" %)((( 479 479 480 480 481 481 ... ... @@ -494,7 +494,7 @@ 494 494 )))|[[image:image-20230515140641-3.png]] 495 495 496 496 |(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 497 -| =(% style="width:74px" %)(((501 +|(% style="width:74px" %)((( 498 498 499 499 500 500 ... ... @@ -513,7 +513,7 @@ 513 513 514 514 [[image:image-20230515140641-4.png]] 515 515 ))) 516 -| =(% style="width:74px" %)(((520 +|(% style="width:74px" %)((( 517 517 518 518 519 519 ... ... @@ -532,7 +532,7 @@ 532 532 533 533 Speed command change rate is large 534 534 )))|[[image:image-20230515140641-5.png]] 535 -| =(% style="width:74px" %)(((539 +|(% style="width:74px" %)((( 536 536 537 537 538 538 ... ... @@ -551,7 +551,7 @@ 551 551 552 552 Large position deviation 553 553 )))|[[image:image-20230515140641-6.png]] 554 -| =(% style="width:74px" %)(((558 +|(% style="width:74px" %)((( 555 555 556 556 557 557 ... ... @@ -567,7 +567,7 @@ 567 567 Position command 568 568 )))|[[image:image-20230515140641-7.png]] 569 569 570 -| =(% style="width:73px" %)(((574 +|(% style="width:73px" %)((( 571 571 572 572 573 573 ... ... @@ -584,7 +584,7 @@ 584 584 585 585 Positioning completed 586 586 )))|[[image:image-20230515140641-8.png]] 587 -| =(% style="width:73px" %)(((591 +|(% style="width:73px" %)((( 588 588 589 589 590 590 10 ... ... @@ -605,7 +605,7 @@ 605 605 606 606 Figure 7-10 P02-08=10 Position command + actual speed gain description 607 607 608 -Description of related parameters 612 +(2) Description of related parameters 609 609 610 610 |(% rowspan="2" style="width:68px" %) 611 611 **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** ... ... @@ -772,6 +772,8 @@ 772 772 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 773 773 ))) 774 774 779 + 780 + 775 775 == **Model Tracking Control Function** == 776 776 777 777 Model tracking control is suitable for position control mode, which adds a model loop outside the three loop. In the model loop, new position commands, speed feedforward and torque feedforward and other control quantities are generated according to the user's response requirements to the system and the ideal motor control model. Applying these control quantities to the actual control loop can significantly improve the response performance and positioning performance of the position control, the design block diagram is as follows: ... ... @@ -1218,6 +1218,8 @@ 1218 1218 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 1219 1219 ))) 1220 1220 1227 + 1228 + 1221 1221 = **Mechanical resonance suppression** = 1222 1222 1223 1223 == Mechanical resonance suppression methods == ... ... @@ -1322,4 +1322,3 @@ 1322 1322 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 1323 1323 1324 1324 Table 7-11 Notch filter function code parameters 1325 -~)~)~)