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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 29.7
edited by Karen
on 2023/05/15 16:14
Change comment: There is no comment for this version
To version 25.2
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  
... ... @@ -451,31 +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 -)))
451 +[[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" %)(((
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  
461 +
462 +
463 +
464 +
465 465  2
466 -)))|(% style="text-align:center; vertical-align:middle; width:146px" %)(((
466 +)))|(% style="width:146px" %)(((
467 467  
468 468  
469 +
470 +
471 +
472 +
469 469  Large torque command
470 470  )))|[[image:image-20230515140641-1.png]]
471 -|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
475 +|(% style="width:72px" %)(((
472 472  
473 473  
474 474  
475 475  
480 +
481 +
482 +
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" %)(((
484 +)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
485 +|(% 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" %)(((
504 +|(% 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" %)(((
523 +|(% 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" %)(((
542 +|(% 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" %)(((
561 +|(% 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" %)(((
577 +|(% 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" %)(((
594 +|(% 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
615 +(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**