Changes for page 07 Adjustments

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1		-XWiki.Iris
	1	+XWiki.Wecon

Content

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17	17
18	18	(% class="table-bordered" style="margin-right:auto" %)
19	19	|=(% colspan="3" style="text-align: center; vertical-align: middle;" %)**Gain adjustment process**|=(% style="text-align: center; vertical-align: middle;" %)**Function**|=(% style="text-align: center; vertical-align: middle;" %)**Detailed chapter**
20		-|(% style="text-align:center; vertical-align:middle; width:46px" %)1|(% colspan="2" style="text-align:center; vertical-align:middle; width:279px" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>||anchor="HInertiarecognition"]]__
21		-|(% style="text-align:center; vertical-align:middle; width:46px" %)2|(% colspan="2" style="text-align:center; vertical-align:middle; width:279px" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>||anchor="HAutomaticgainadjustment"]]__
22		-|(% rowspan="3" style="text-align:center; vertical-align:middle; width:46px" %)3|(% rowspan="3" style="text-align:center; vertical-align:middle; width:116px" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__
	20	+|(% style="text-align:center; vertical-align:middle" %)1|(% colspan="2" style="text-align:center; vertical-align:middle" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>||anchor="HInertiarecognition"]]__
	21	+|(% style="text-align:center; vertical-align:middle" %)2|(% colspan="2" style="text-align:center; vertical-align:middle" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>||anchor="HAutomaticgainadjustment"]]__
	22	+|(% rowspan="3" style="text-align:center; vertical-align:middle" %)3|(% rowspan="3" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__
23	23	|(% style="text-align:center; vertical-align:middle" %)Feedforward gain|The feedforward function is enabled to improve the followability.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.3>>||anchor="HFeedforwardgain"]]__
24	24	|(% style="text-align:center; vertical-align:middle" %)Model tracking control|Enable model tracking control, shortening the responding time and improving followability.|(% style="text-align:center; vertical-align:middle" %)7.3.4
25		-|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle; width:46px" %)4|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle; width:116px" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__
	25	+|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle" %)4|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__
26	26	|Low frequency vibration suppression|Enable low frequency vibration suppression|7.4.3
27	27	|Type A vibration suppression|Enable type A vibration suppression|7.4.4
28	28
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89	89
90	90	The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
91	91	)))|(% style="text-align:center; vertical-align:middle" %)rpm
92		-|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)(((
93		-P03-07
94		-
95		-(Not supported on VD2L)
96		-)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	92	+|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
97	97	Parameter recognition rotation direction
98	98	)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
99	99	Shutdown setting
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105	105	1: Forward one-way rotation
106	106
107	107	2: Reverse one-way rotation
108		-
109		-(*VD2L currently does not support forward one-way rotation, reverse one-way rotation)
110	110	)))|(% style="text-align:center; vertical-align:middle" %)-
111	111
112	112	Table 7-2 Related parameters of gain adjustment
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225	225	Operation setting
226	226	)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
227	227	Effective immediately
228		-)))|(% style="text-align:center; vertical-align:middle; width:103px" %)200|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
	222	+)))|(% style="text-align:center; vertical-align:middle; width:103px" %)65|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
229	229	|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P02-05|(% style="text-align:center; vertical-align:middle; width:163px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
230	230	Operation setting
231	231	)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
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256	256	Operation setting
257	257	)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
258	258	Effective immediately
259		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)210|(% style="text-align:center; vertical-align:middle; width:114px" %)100 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
	253	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)100 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
260	260	0.1ms
261	261	)))
262	262	|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
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265	265	Operation setting
266	266	)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
267	267	Effective immediately
268		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)10 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
	262	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)0 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
269	269	0.1ms
270	270	)))
271	271
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291	291	Operation setting
292	292	)))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
293	293	Effective immediately
294		-)))|(% style="text-align:center; vertical-align:middle; width:79px" %)232|(% style="text-align:center; vertical-align:middle; width:91px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
	288	+)))|(% style="text-align:center; vertical-align:middle; width:79px" %)400|(% style="text-align:center; vertical-align:middle; width:91px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
295	295	|=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-04|(% style="text-align:center; vertical-align:middle; width:174px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
296	296	Operation setting
297	297	)))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
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320	320	Operation setting
321	321	)))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
322	322	Effective immediately
323		-)))|(% style="text-align:center; vertical-align:middle; width:79px" %)80|(% style="text-align:center; vertical-align:middle; width:79px" %)10 to 2500|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
	317	+)))|(% style="text-align:center; vertical-align:middle; width:79px" %)50|(% style="text-align:center; vertical-align:middle; width:79px" %)10 to 2500|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
324	324
325	325	Table 7-8 Details of torque filter time constant parameters
326	326
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345	345
346	346	(% style="text-align:center" %)
347	347	(((
348		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:835px;" %)
	342	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
349	349	[[**Figure 7-6 Speed feedforward parameters effect illustration**>>image:image-20220706155307-4.jpeg||height="119" id="Iimage-20220706155307-4.jpeg" width="835"]]
350	350	)))
351	351
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363	363
364	364	(% style="text-align:center" %)
365	365	(((
366		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:931px;" %)
	360	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
367	367	[[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||height="394" id="20230515-7.png" width="931"]]
368	368	)))
369	369