Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -456,62 +456,158 @@ 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: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" %)((( 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="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~- 462 +|=(% style="width:72px" %)((( 463 + 464 + 465 + 466 + 467 + 468 + 463 463 2 464 -)))|(% style="text-align:center; vertical-align:middle;" %)((( 470 +)))|(% style="width:146px" %)((( 471 + 472 + 473 + 474 + 475 + 476 + 465 465 Large torque command 466 -)))|(% style="width:800px;vertical-align:middle" %) [[image:image-20230515140641-1.png]] 467 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 478 +)))|[[image:image-20230515140641-1.png]] 479 +|=(% style="width:72px" %)((( 480 + 481 + 482 + 483 + 484 + 485 + 486 + 468 468 3 469 -)))|(% style="text-align:center; vertical-align:middle;" %)Large actual torque|(% style="width:1108px" %)[[image:image-20230515140641-2.png]] 470 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 488 +)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 489 +|=(% style="width:72px" %)((( 490 + 491 + 492 + 493 + 494 + 495 + 471 471 4 472 -)))|(% style="width:238px" %)((( 497 +)))|(% style="width:146px" %)((( 498 + 499 + 500 + 501 + 502 + 503 + 473 473 Large speed command 474 -)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]] 475 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 505 +)))|[[image:image-20230515140641-3.png]] 506 + 507 +|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 508 +|=(% style="width:74px" %)((( 509 + 510 + 511 + 512 + 513 + 476 476 5 477 -)))|(% style="width: 238px" %)(((515 +)))|(% style="width:176px" %)((( 478 478 517 + 518 + 519 + 520 + 479 479 Fast actual speed 480 480 )))|((( 481 481 524 + 482 482 [[image:image-20230515140641-4.png]] 483 483 ))) 484 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 527 +|=(% style="width:74px" %)((( 528 + 529 + 530 + 531 + 532 + 533 + 534 + 485 485 6 486 -)))|(% style=" text-align:center; vertical-align:middle;width:176px" %)(((536 +)))|(% style="width:176px" %)((( 487 487 538 + 539 + 540 + 541 + 542 + 543 + 488 488 Speed command change rate is large 489 489 )))|[[image:image-20230515140641-5.png]] 490 490 |=(% style="width:74px" %)((( 547 + 548 + 549 + 550 + 551 + 552 + 491 491 7 554 + 555 + 492 492 )))|(% style="width:176px" %)((( 493 493 558 + 559 + 560 + 561 + 562 + 494 494 Large position deviation 495 495 )))|[[image:image-20230515140641-6.png]] 496 496 |=(% style="width:74px" %)((( 566 + 567 + 568 + 569 + 570 + 497 497 8 498 498 )))|(% style="width:176px" %)((( 573 + 574 + 575 + 576 + 577 + 499 499 Position command 500 500 )))|[[image:image-20230515140641-7.png]] 501 501 502 -|=(% style="width:74px" %)((( 581 +|=(% style="width:73px" %)((( 582 + 583 + 584 + 585 + 586 + 587 + 503 503 9 504 -)))|(% style="width: 238px" %)(((589 +)))|(% style="width:154px" %)((( 505 505 591 + 592 + 593 + 594 + 595 + 506 506 Positioning completed 507 -)))| (% style="width:1179px" %)[[image:image-20230515140641-8.png]]597 +)))|[[image:image-20230515140641-8.png]] 508 508 |=(% style="width:73px" %)((( 599 + 600 + 509 509 10 510 - )))|(% style="width:238px" %)(((602 + 511 511 604 +)))|(% style="width:154px" %)((( 605 + 606 + 512 512 Position command + actual speed 513 -)))|( % style="width:1179px" %)(((608 +)))|((( 514 514 610 + 515 515 Refer to the chart below 516 516 ))) 517 517 ... ... @@ -564,7 +564,7 @@ 564 564 |3|Large actual torque|((( 565 565 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 566 566 567 -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. 663 +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 . 568 568 569 569 570 570 )))