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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 33.2
edited by Karen
on 2023/05/15 16:35
Change comment: There is no comment for this version
To version 24.11
edited by Karen
on 2023/05/15 15:27
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -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:
... ... @@ -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  
... ... @@ -451,69 +451,162 @@
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: 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:238px" %)Switching with DI|(% style="width:1108px" %)~-~-
462 -|=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
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" %)(((
459 +
460 +
461 +
462 +
463 +
464 +
463 463  2
464 -)))|(% style="text-align:center; vertical-align:middle; width:238px" %)(((
466 +)))|(% style="width:146px" %)(((
467 +
468 +
469 +
470 +
471 +
472 +
465 465  Large torque command
466 -)))|(% style="width:1108px" %) [[image:image-20230515140641-1.png||style="text-align:center; vertical-align:middle"]]
467 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
474 +)))|[[image:image-20230515140641-1.png]]
475 +|(% style="width:72px" %)(((
476 +
477 +
478 +
479 +
480 +
481 +
482 +
468 468  3
469 -)))|(% style="text-align:center; vertical-align:middle; width:238px" %)Large actual torque|(% style="width:1108px" %)[[image:image-20230515140641-2.png||style="text-align:center; vertical-align:middle"]]
470 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
484 +)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
485 +|(% style="width:72px" %)(((
486 +
487 +
488 +
489 +
490 +
491 +
471 471  4
472 -)))|(% style="width:238px" %)(((
493 +)))|(% style="width:146px" %)(((
494 +
495 +
496 +
497 +
498 +
499 +
473 473  Large speed command
474 -)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]]
501 +)))|[[image:image-20230515140641-3.png]]
475 475  
476 -|(% style="width:74px" %)**P02-08**|(% style="width:238px" %)**Content**|**Diagram**
477 -|=(% style="width:74px" %)(((
503 +|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
504 +|(% style="width:74px" %)(((
505 +
506 +
507 +
508 +
509 +
478 478  5
479 -)))|(% style="width:238px" %)(((
511 +)))|(% style="width:176px" %)(((
480 480  
513 +
514 +
515 +
516 +
481 481  Fast actual speed
482 482  )))|(((
483 483  
520 +
484 484  [[image:image-20230515140641-4.png]]
485 485  )))
486 -|=(% style="width:74px" %)(((
523 +|(% style="width:74px" %)(((
524 +
525 +
526 +
527 +
528 +
529 +
530 +
487 487  6
488 488  )))|(% style="width:176px" %)(((
489 489  
534 +
535 +
536 +
537 +
538 +
539 +
490 490  Speed command change rate is large
491 491  )))|[[image:image-20230515140641-5.png]]
492 -|=(% style="width:74px" %)(((
542 +|(% style="width:74px" %)(((
543 +
544 +
545 +
546 +
547 +
548 +
493 493  7
550 +
551 +
494 494  )))|(% style="width:176px" %)(((
495 495  
554 +
555 +
556 +
557 +
558 +
496 496  Large position deviation
497 497  )))|[[image:image-20230515140641-6.png]]
498 -|=(% style="width:74px" %)(((
561 +|(% style="width:74px" %)(((
562 +
563 +
564 +
565 +
566 +
499 499  8
500 500  )))|(% style="width:176px" %)(((
569 +
570 +
571 +
572 +
573 +
501 501  Position command
502 502  )))|[[image:image-20230515140641-7.png]]
503 503  
504 -|=(% style="width:73px" %)(((
577 +|(% style="width:73px" %)(((
578 +
579 +
580 +
581 +
582 +
583 +
505 505  9
506 -)))|(% style="width:238px" %)(((
585 +)))|(% style="width:154px" %)(((
507 507  
587 +
588 +
589 +
590 +
591 +
508 508  Positioning completed
509 -)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]]
510 -|=(% style="width:73px" %)(((
593 +)))|[[image:image-20230515140641-8.png]]
594 +|(% style="width:73px" %)(((
595 +
596 +
511 511  10
512 -)))|(% style="width:238px" %)(((
598 +
513 513  
600 +)))|(% style="width:154px" %)(((
601 +
602 +
514 514  Position command + actual speed
515 -)))|(% style="width:1179px" %)(((
604 +)))|(((
516 516  
606 +
517 517  Refer to the chart below
518 518  )))
519 519  
... ... @@ -522,7 +522,7 @@
522 522  
523 523  Figure 7-10 P02-08=10 Position command + actual speed gain description
524 524  
525 -Description of related parameters
615 +(2) Description of related parameters
526 526  
527 527  |(% rowspan="2" style="width:68px" %)
528 528  **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
... ... @@ -566,7 +566,7 @@
566 566  |3|Large actual torque|(((
567 567  In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
568 568  
569 -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.
659 +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 .
570 570  
571 571  
572 572  )))