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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 29.6
edited by Karen
on 2023/05/15 16:12
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -456,64 +456,156 @@
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 +
463 463  2
464 -)))|(% style="text-align:center; vertical-align:middle; width:238px" %)(((
468 +)))|(% style="text-align:center; vertical-align:middle; width:146px" %)(((
469 +
470 +
471 +
472 +
473 +
474 +
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" %)(((
476 +)))|[[image:image-20230515140641-1.png]]
477 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
478 +
479 +
480 +
481 +
482 +
483 +
484 +
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" %)(((
486 +)))|(% style="text-align:center; vertical-align:middle; width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
487 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
488 +
489 +
490 +
491 +
492 +
493 +
471 471  4
472 -)))|(% style="width:238px" %)(((
495 +)))|(% style="width:146px" %)(((
496 +
497 +
498 +
499 +
500 +
501 +
473 473  Large speed command
474 -)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]]
503 +)))|[[image:image-20230515140641-3.png]]
475 475  
476 -|(% style="width:74px" %)**P02-08**|(% style="width:238px" %)**Content**|**Diagram**
505 +|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
477 477  |=(% style="width:74px" %)(((
507 +
508 +
509 +
510 +
511 +
478 478  5
479 -)))|(% style="width:238px" %)(((
513 +)))|(% style="width:176px" %)(((
480 480  
515 +
516 +
517 +
518 +
481 481  Fast actual speed
482 482  )))|(((
483 483  
522 +
484 484  [[image:image-20230515140641-4.png]]
485 485  )))
486 486  |=(% style="width:74px" %)(((
526 +
527 +
528 +
529 +
530 +
531 +
532 +
487 487  6
488 488  )))|(% style="width:176px" %)(((
489 489  
536 +
537 +
538 +
539 +
540 +
541 +
490 490  Speed command change rate is large
491 491  )))|[[image:image-20230515140641-5.png]]
492 492  |=(% style="width:74px" %)(((
545 +
546 +
547 +
548 +
549 +
550 +
493 493  7
552 +
553 +
494 494  )))|(% style="width:176px" %)(((
495 495  
556 +
557 +
558 +
559 +
560 +
496 496  Large position deviation
497 497  )))|[[image:image-20230515140641-6.png]]
498 498  |=(% style="width:74px" %)(((
564 +
565 +
566 +
567 +
568 +
499 499  8
500 500  )))|(% style="width:176px" %)(((
571 +
572 +
573 +
574 +
575 +
501 501  Position command
502 502  )))|[[image:image-20230515140641-7.png]]
503 503  
504 504  |=(% style="width:73px" %)(((
580 +
581 +
582 +
583 +
584 +
585 +
505 505  9
506 -)))|(% style="width:238px" %)(((
587 +)))|(% style="width:154px" %)(((
507 507  
589 +
590 +
591 +
592 +
593 +
508 508  Positioning completed
509 -)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]]
595 +)))|[[image:image-20230515140641-8.png]]
510 510  |=(% style="width:73px" %)(((
597 +
598 +
511 511  10
512 -)))|(% style="width:238px" %)(((
600 +
513 513  
602 +)))|(% style="width:154px" %)(((
603 +
604 +
514 514  Position command + actual speed
515 -)))|(% style="width:1179px" %)(((
606 +)))|(((
516 516  
608 +
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.
661 +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  )))