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: ... ... @@ -364,10 +364,7 @@ 364 364 365 365 5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2. 366 366 367 -(% class="box infomessage" %) 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;" %)((( ... ... @@ -375,21 +375,15 @@ 375 375 )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 376 376 **Effective time** 377 377 )))|=(% 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** 378 -|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control function|(% style="text-align:center; vertical-align:middle; width:122px" %)((( 379 -Shutdown setting 380 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 375 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control function|(% style="text-align:center; vertical-align:middle; width:122px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 381 381 Effective immediately 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" %)((( 384 -Shutdown setting 385 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 377 +)))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.| 378 +|P2-21|Model tracking control gain|Shutdown setting|((( 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" %)((( 380 +)))|1000|200 to 20000|(% rowspan="2" %)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.|0.1/s 381 +|P2-22|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%383 +)))|1000|500 to 2000|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;" %)((( ... ... @@ -397,44 +397,43 @@ 397 397 )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 398 398 **Effective time** 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 -| =(% 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|(((391 +|P2-23|Model tracking control forward rotation bias|((( 401 401 Operation setting 402 -)))|( % style="text-align:center; vertical-align:middle; width:128px" %)(((393 +)))|((( 403 403 Effective immediately 404 -)))| (% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0to 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 -| =(% 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|(((395 +)))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10% 396 +|P2-24|Model tracking control reverses rotation bias|((( 406 406 Operation setting 407 -)))|( % style="text-align:center; vertical-align:middle; width:128px" %)(((398 +)))|((( 408 408 Effective immediately 409 -)))| (% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0to 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" %)(((400 +)))|1000|0 to 10000|0.10% 401 +|P2-25|Model tracking control speed feedforward compensation|Operation setting|((( 411 411 Effective immediately 412 -)))| (% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0to 10000|(% style="width:321px" %)The size of the speed feedforward under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10%403 +)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|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. 407 +|**Step**|**Content** 408 +|1|Please try to set the correct load inertia ratio parameter P3-1. 409 +|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. 410 +|3|Turn on the model tracking function, set P2-20 to 1. 411 +|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur. 412 +|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2. 413 +|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:**417 +Gain switching function: 428 428 429 -● 419 +●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration; 430 430 431 -● 421 +●Switch to a higher gain in the motor stationary state to shorten the positioning time; 432 432 433 -● 423 +●Switch to a higher gain in the motor running state to get better command tracking performance; 434 434 435 -● 425 +●Switch different gain settings by external signals depending on the load connected. 436 436 437 - **Gain switching parameter setting**427 +(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 -))) 434 +[[image:20230515-8.png]] 448 448 449 449 ② When P02-07=1 450 450 ... ... @@ -451,27 +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 -))) 441 +[[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: 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; width:228px" %)Switching with DI|(% style="width:1108px" %)~-~- 462 -|=(% style="text-align:center; vertical-align:middle; width:74px" %)((( 443 +Figure 7-9 Flow chart of gain switching when P02-07=1 444 + 445 +|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram** 446 +|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~- 447 +|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~- 448 +|(% style="width:72px" %)((( 449 + 450 + 451 + 452 + 453 + 454 + 463 463 2 464 -)))|(% style="text-align:center; vertical-align:middle; width:238px" %)((( 456 +)))|(% style="width:146px" %)((( 457 + 458 + 459 + 460 + 461 + 462 + 465 465 Large torque command 466 -)))| (% style="width:1108px" %)[[image:image-20230515140641-1.png]]467 -| =(% style="text-align:center; vertical-align:middle;width:74px" %)(((464 +)))|[[image:image-20230515140641-1.png]] 465 +|(% style="width:72px" %)((( 468 468 469 469 470 470 471 471 470 + 471 + 472 + 472 472 3 473 -)))|(% style=" text-align:center; vertical-align:middle;width:228px" %)Large actual torque|(% style="width:1108px" %)[[image:image-20230515140641-2.png]]474 -| =(% style="text-align:center; vertical-align:middle;width:72px" %)(((474 +)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 475 +|(% style="width:72px" %)((( 475 475 476 476 477 477 ... ... @@ -479,7 +479,7 @@ 479 479 480 480 481 481 4 482 -)))|(% style="width: 228px" %)(((483 +)))|(% style="width:146px" %)((( 483 483 484 484 485 485 ... ... @@ -487,10 +487,10 @@ 487 487 488 488 489 489 Large speed command 490 -)))| (% style="width:1108px" %)[[image:image-20230515140641-3.png]]491 +)))|[[image:image-20230515140641-3.png]] 491 491 492 492 |(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 493 -| =(% style="width:74px" %)(((494 +|(% style="width:74px" %)((( 494 494 495 495 496 496 ... ... @@ -509,7 +509,7 @@ 509 509 510 510 [[image:image-20230515140641-4.png]] 511 511 ))) 512 -| =(% style="width:74px" %)(((513 +|(% style="width:74px" %)((( 513 513 514 514 515 515 ... ... @@ -528,7 +528,7 @@ 528 528 529 529 Speed command change rate is large 530 530 )))|[[image:image-20230515140641-5.png]] 531 -| =(% style="width:74px" %)(((532 +|(% style="width:74px" %)((( 532 532 533 533 534 534 ... ... @@ -547,7 +547,7 @@ 547 547 548 548 Large position deviation 549 549 )))|[[image:image-20230515140641-6.png]] 550 -| =(% style="width:74px" %)(((551 +|(% style="width:74px" %)((( 551 551 552 552 553 553 ... ... @@ -563,7 +563,7 @@ 563 563 Position command 564 564 )))|[[image:image-20230515140641-7.png]] 565 565 566 -| =(% style="width:73px" %)(((567 +|(% style="width:73px" %)((( 567 567 568 568 569 569 ... ... @@ -571,7 +571,7 @@ 571 571 572 572 573 573 9 574 -)))|(% style="width: 238px" %)(((575 +)))|(% style="width:154px" %)((( 575 575 576 576 577 577 ... ... @@ -579,18 +579,18 @@ 579 579 580 580 581 581 Positioning completed 582 -)))| (% style="width:1179px" %)[[image:image-20230515140641-8.png]]583 -| =(% style="width:73px" %)(((583 +)))|[[image:image-20230515140641-8.png]] 584 +|(% style="width:73px" %)((( 584 584 585 585 586 586 10 587 587 588 588 589 -)))|(% style="width: 238px" %)(((590 +)))|(% style="width:154px" %)((( 590 590 591 591 592 592 Position command + actual speed 593 -)))|( % style="width:1179px" %)(((594 +)))|((( 594 594 595 595 596 596 Refer to the chart below ... ... @@ -601,7 +601,7 @@ 601 601 602 602 Figure 7-10 P02-08=10 Position command + actual speed gain description 603 603 604 -Description of related parameters 605 +(2) Description of related parameters 605 605 606 606 |(% rowspan="2" style="width:68px" %) 607 607 **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** ... ... @@ -645,7 +645,7 @@ 645 645 |3|Large actual torque|((( 646 646 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 647 647 648 -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. 649 +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 . 649 649 650 650 651 651 ))) ... ... @@ -768,6 +768,8 @@ 768 768 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 769 769 ))) 770 770 772 + 773 + 771 771 == **Model Tracking Control Function** == 772 772 773 773 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: ... ... @@ -1214,6 +1214,8 @@ 1214 1214 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 1215 1215 ))) 1216 1216 1220 + 1221 + 1217 1217 = **Mechanical resonance suppression** = 1218 1218 1219 1219 == Mechanical resonance suppression methods == ... ... @@ -1318,4 +1318,3 @@ 1318 1318 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 1319 1319 1320 1320 Table 7-11 Notch filter function code parameters 1321 -~)~)~)