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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 33.3
edited by Karen
on 2023/05/15 16:35
Change comment: There is no comment for this version
To version 29.5
edited by Karen
on 2023/05/15 16:11
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -456,64 +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; width:238px" %)(((
470 +)))|(% style="text-align:center; vertical-align:middle;width:146px" %)(((
471 +
472 +
473 +
474 +
475 +
476 +
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" %)(((
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; 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" %)(((
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]]
505 +)))|[[image:image-20230515140641-3.png]]
475 475  
476 -|(% style="width:74px" %)**P02-08**|(% style="width:238px" %)**Content**|**Diagram**
507 +|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
477 477  |=(% style="width:74px" %)(((
509 +
510 +
511 +
512 +
513 +
478 478  5
479 -)))|(% style="width:238px" %)(((
515 +)))|(% style="width:176px" %)(((
480 480  
517 +
518 +
519 +
520 +
481 481  Fast actual speed
482 482  )))|(((
483 483  
524 +
484 484  [[image:image-20230515140641-4.png]]
485 485  )))
486 486  |=(% style="width:74px" %)(((
528 +
529 +
530 +
531 +
532 +
533 +
534 +
487 487  6
488 488  )))|(% style="width:176px" %)(((
489 489  
538 +
539 +
540 +
541 +
542 +
543 +
490 490  Speed command change rate is large
491 491  )))|[[image:image-20230515140641-5.png]]
492 492  |=(% style="width:74px" %)(((
547 +
548 +
549 +
550 +
551 +
552 +
493 493  7
554 +
555 +
494 494  )))|(% style="width:176px" %)(((
495 495  
558 +
559 +
560 +
561 +
562 +
496 496  Large position deviation
497 497  )))|[[image:image-20230515140641-6.png]]
498 498  |=(% style="width:74px" %)(((
566 +
567 +
568 +
569 +
570 +
499 499  8
500 500  )))|(% style="width:176px" %)(((
573 +
574 +
575 +
576 +
577 +
501 501  Position command
502 502  )))|[[image:image-20230515140641-7.png]]
503 503  
504 504  |=(% style="width:73px" %)(((
582 +
583 +
584 +
585 +
586 +
587 +
505 505  9
506 -)))|(% style="width:238px" %)(((
589 +)))|(% style="width:154px" %)(((
507 507  
591 +
592 +
593 +
594 +
595 +
508 508  Positioning completed
509 -)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]]
597 +)))|[[image:image-20230515140641-8.png]]
510 510  |=(% style="width:73px" %)(((
599 +
600 +
511 511  10
512 -)))|(% style="width:238px" %)(((
602 +
513 513  
604 +)))|(% style="width:154px" %)(((
605 +
606 +
514 514  Position command + actual speed
515 -)))|(% style="width:1179px" %)(((
608 +)))|(((
516 516  
610 +
517 517  Refer to the chart below
518 518  )))
519 519  
... ... @@ -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.
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 .
570 570  
571 571  
572 572  )))