Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -456,55 +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="text-align:center; vertical-align:middle;width:72px" %)1|(% style="text-align:center; vertical-align:middle;width:146px" %)Switching with DI|~-~- 462 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)((( 463 + 464 + 465 + 466 + 467 + 468 + 463 463 2 464 -)))|(% style="text-align:center; vertical-align:middle" %)((( 470 +)))|(% style="text-align:center; vertical-align:middle;width:146px" %)((( 471 + 472 + 473 + 474 + 475 + 476 + 465 465 Large torque command 466 -)))|(% style="vertical-align:middle;width:1108px" %) [[image:image-20230515140641-1.png]] 467 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 478 +)))|[[image:image-20230515140641-1.png]] 479 +|=(% style="text-align:center; vertical-align:middle;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="text-align:center; vertical-align:middle;width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 489 +|=(% style="text-align:center; vertical-align:middle;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" %)((( 516 + 517 + 518 + 519 + 520 + 478 478 Fast actual speed 479 479 )))|((( 523 + 524 + 480 480 [[image:image-20230515140641-4.png]] 481 481 ))) 482 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 527 +|=(% style="width:74px" %)((( 528 + 529 + 530 + 531 + 532 + 533 + 534 + 483 483 6 484 -)))|(% style="width:1108px" %)((( 536 +)))|(% style="width:176px" %)((( 537 + 538 + 539 + 540 + 541 + 542 + 543 + 485 485 Speed command change rate is large 486 486 )))|[[image:image-20230515140641-5.png]] 487 487 |=(% style="width:74px" %)((( 547 + 548 + 549 + 550 + 551 + 552 + 488 488 7 489 - )))|(% style="width:238px" %)(((554 + 490 490 556 +)))|(% style="width:176px" %)((( 557 + 558 + 559 + 560 + 561 + 562 + 491 491 Large position deviation 492 492 )))|[[image:image-20230515140641-6.png]] 493 493 |=(% style="width:74px" %)((( 566 + 567 + 568 + 569 + 570 + 494 494 8 495 -)))|(% style="width:238px" %)((( 572 +)))|(% style="width:176px" %)((( 573 + 574 + 575 + 576 + 577 + 496 496 Position command 497 497 )))|[[image:image-20230515140641-7.png]] 498 -|=(% style="width:74px" %)((( 580 + 581 +|=(% style="width:73px" %)((( 582 + 583 + 584 + 585 + 586 + 587 + 499 499 9 500 -)))|(% style="width:238px" %)((( 589 +)))|(% style="width:154px" %)((( 590 + 591 + 592 + 593 + 594 + 595 + 501 501 Positioning completed 502 -)))|(% style="width:1108px" %)[[image:image-20230515140641-8.png]] 503 -|=(% style="width:74px" %)((( 597 +)))|[[image:image-20230515140641-8.png]] 598 +|=(% style="width:73px" %)((( 599 + 600 + 504 504 10 505 -)))|(% style="width:238px" %)((( 602 + 603 + 604 +)))|(% style="width:154px" %)((( 605 + 606 + 506 506 Position command + actual speed 507 -)))|(% style="width:1108px" %)((( 608 +)))|((( 609 + 610 + 508 508 Refer to the chart below 509 509 ))) 510 510 ... ... @@ -557,7 +557,7 @@ 557 557 |3|Large actual torque|((( 558 558 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 559 559 560 -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 . 561 561 562 562 563 563 )))