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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 33.5
edited by Karen
on 2023/05/15 16:38
Change comment: There is no comment for this version
To version 40.11
edited by Karen
on 2023/05/16 09:36
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -456,82 +456,73 @@
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:120px" %)**P02-08**|=(% style="text-align: center; vertical-align: middle; width: 464px;" %)**Content**|=(% style="text-align: center; vertical-align: middle; width: 946px;" %)**Diagram**
460 +|=(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle; width:464px" %)Fixed use of the first gain|(% style="width:946px" %)~-~-
461 +|=(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle; width:464px" %)Switching with DI|(% style="width:946px" %)~-~-
462 +|=(% style="text-align:center; vertical-align:middle" %)(((
463 463  2
464 -)))|(% style="text-align:center; vertical-align:middle;" %)(((
464 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
465 465  Large torque command
466 -)))|(% style="width:1108px" %) [[image:image-20230515140641-1.png||style="vertical-align:middle"]]
467 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
466 +)))|(% style="width:946px" %)[[image:image-20230515140641-1.png]]
467 +|=(% style="text-align:center; vertical-align:middle" %)(((
468 468  3
469 -)))|(% style="text-align:center; vertical-align:middle;" %)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" %)(((
469 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque|(% style="width:946px" %)[[image:image-20230515140641-2.png]]
470 +|=(% style="text-align:center; vertical-align:middle" %)(((
471 471  4
472 -)))|(% style="width:238px" %)(((
472 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
473 473  Large speed command
474 -)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]]
475 -
476 -|(% style="width:74px" %)**P02-08**|(% style="width:238px" %)**Content**|**Diagram**
477 -|=(% style="width:74px" %)(((
474 +)))|(% style="width:946px" %)[[image:image-20230515140641-3.png]]
475 +|=(% style="text-align:center; vertical-align:middle" %)(((
478 478  5
479 -)))|(% style="width:238px" %)(((
480 -
477 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
481 481  Fast actual speed
482 -)))|(((
483 -
479 +)))|(% style="width:946px" %)(((
484 484  [[image:image-20230515140641-4.png]]
485 485  )))
486 -|=(% style="width:74px" %)(((
482 +|=(% style="text-align:center; vertical-align:middle" %)(((
487 487  6
488 -)))|(% style="width:176px" %)(((
489 -
484 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
490 490  Speed command change rate is large
491 -)))|[[image:image-20230515140641-5.png]]
486 +)))|(% style="width:946px" %)[[image:image-20230515140641-5.png]]
492 492  |=(% style="width:74px" %)(((
493 493  7
494 -)))|(% style="width:176px" %)(((
495 -
489 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
496 496  Large position deviation
497 -)))|[[image:image-20230515140641-6.png]]
498 -|=(% style="width:74px" %)(((
491 +)))|(% style="width:946px" %)[[image:image-20230515140641-6.png]]
492 +|=(% style="text-align:center; vertical-align:middle;" %)(((
499 499  8
500 -)))|(% style="width:176px" %)(((
494 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
501 501  Position command
502 -)))|[[image:image-20230515140641-7.png]]
503 -
504 -|=(% style="width:73px" %)(((
496 +)))|(% style="width:946px" %)[[image:image-20230515140641-7.png]]
497 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
505 505  9
506 -)))|(% style="width:238px" %)(((
507 -
499 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
508 508  Positioning completed
509 -)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]]
510 -|=(% style="width:73px" %)(((
501 +)))|(% style="width:946px" %)[[image:image-20230515140641-8.png]]
502 +|=(% style="text-align:center; vertical-align:middle" %)(((
511 511  10
512 -)))|(% style="width:238px" %)(((
513 -
504 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
514 514  Position command + actual speed
515 -)))|(% style="width:1179px" %)(((
516 -
506 +)))|(% style="text-align:center; vertical-align:middle; width:946px" %)(((
517 517  Refer to the chart below
518 518  )))
519 519  
520 520  (% style="text-align:center" %)
521 -[[image:20230515-10.png]]
511 +(((
512 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
513 +[[**Figure 7-10 P02-08=10 Position command + actual speed gain description**>>image:20230515-10.png||id="Iimage-20220608174118-1.png"]]
514 +)))
522 522  
523 -Figure 7-10 P02-08=10 Position command + actual speed gain description
516 +**Description of related parameters**
524 524  
525 -Description of related parameters
526 -
527 -|(% rowspan="2" style="width:68px" %)
528 -**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
529 -|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
518 +|=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %)
519 +**P02-07**|=(% style="width:150px" %)**Parameter name**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit**
520 +|(% style="text-align:center; width:150px" %)The second gain switching mode|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 1|(% style="text-align:center" %)Gain control|
530 530  |(% colspan="8" %)(((
531 531  Set the switching mode of the second gain.
532 532  
533 -|**Setting value**|**Function**
534 -|0|(((
524 +|=(% style="text-align: center; vertical-align: middle; width:120px" %)**Setting value**|=(% style="text-align: center; vertical-align: middle" %)**Function**
525 +|=(% style="text-align: center; vertical-align: middle" %)0|(((
535 535  The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
536 536  
537 537  DI logic invalid: PI control;
... ... @@ -538,18 +538,17 @@
538 538  
539 539  DI logic valid: PI control.
540 540  )))
541 -|1|The first gain and the second gain are switched by the setting value of P02-08.
532 +|=(% style="text-align: center; vertical-align: middle" %)1|The first gain and the second gain are switched by the setting value of P02-08.
542 542  )))
543 543  
544 -|(% rowspan="2" %)
545 -**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
546 -|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
535 +|=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %)**P02-08**|=(% style="width:150px" %)Parameter name|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit**
536 +|(% style="text-align:center; width:150px" %)Gain switching condition selection|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 10|(% style="text-align:center" %)Gain control|
547 547  |(% colspan="8" %)(((
548 548  Set the conditions for gain switching.
549 549  
550 -|Setting value|Gain switching conditions|Details
551 -|0|The default is the first gain|Fixed use of the first gain
552 -|1|Switch by DI port|(((
540 +|=(% style="text-align: center; vertical-align: middle; width:120px" %)Setting value|=(% style="text-align: center; vertical-align: middle" %)Gain switching conditions|=(% style="text-align: center; vertical-align: middle" %)Details
541 +|=(% style="text-align: center; vertical-align: middle" %)0|(% style="text-align:center; vertical-align:middle" %)The default is the first gain|Fixed use of the first gain
542 +|=(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|(((
553 553  Use DI function 10 (GAIN-SEL, gain switching);
554 554  
555 555  DI logic is invalid: the first gain (P02-01~~P02-03);
... ... @@ -556,7 +556,7 @@
556 556  
557 557  DI logic is valid: the second gain (P02-04~~P02-06).
558 558  )))
559 -|2|Large torque command|(((
549 +|=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((
560 560  In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
561 561  
562 562  In the previous second gain, when the absolute value of torque command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
... ... @@ -563,7 +563,7 @@
563 563  
564 564  
565 565  )))
566 -|3|Large actual torque|(((
556 +|=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)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  
569 569  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.
... ... @@ -570,85 +570,49 @@
570 570  
571 571  
572 572  )))
573 -|4|Large speed command|(((
563 +|=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
574 574  In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
575 575  
576 -In the previous second gain, when the absolute value of speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
566 +In the previous second gain, when the absolute value of speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
577 577  
578 578  
579 579  )))
580 -|5|Large actual speed|(((
570 +|=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
581 581  In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
582 582  
583 -In the previous second gain, when the absolute value of actual speed is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
573 +In the previous second gain, when the absolute value of actual speed is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
584 584  
585 585  
586 586  )))
587 -|(((
588 -
589 -
590 -6
591 -)))|(((
592 -
593 -
594 -Large rate of change in speed command
595 -)))|(((
577 +|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
596 596  In the previous first gain, when the absolute value of the rate of change in speed command is greater than (grade + hysteresis), the second gain is switched;
597 597  
598 -In the previous second gain, switch to the first gain when the absolute value of the rate of change in speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
580 +In the previous second gain, switch to the first gain when the absolute value of the rate of change in speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
599 599  
600 600  
601 601  )))
602 -|(((
603 -
604 -
605 -7
606 -)))|(((
607 -
608 -
609 -Large position deviation
610 -)))|(((
584 +|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
611 611  In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
612 612  
613 -In the previous second gain, switch to the first gain when the absolute value of position deviation is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
587 +In the previous second gain, switch to the first gain when the absolute value of position deviation is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
614 614  )))
615 -|8|Position command|(((
589 +|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((
616 616  In the previous first gain, if the position command is not 0, switch to the second gain;
617 617  
618 618  In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
619 619  )))
620 -|(((
621 -
622 -
623 -9
624 -)))|(((
625 -
626 -
627 -Positioning complete
628 -)))|(((
594 +|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(((
629 629  In the previous first gain, if the positioning is not completed, the second gain is switched; In the previous second gain, if the positioning is not completed and the duration is greater than [P02-13], the first gain is returned.
630 -
631 -
632 632  )))
633 -|(((
634 -
635 -
636 -10
637 -)))|(((
638 -
639 -
640 -Position command + actual speed
641 -)))|(((
597 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|
598 +(((
642 642  In the previous first gain, if the position command is not 0, the second gain is switched;
643 643  
644 644  In the previous second gain, if the position command is 0, the duration is greater than [P02-13] and the absolute value of actual speed is less than ( grade - hysteresis).
645 -
646 646  
603 +)))
647 647  )))
648 648  
649 -
650 -)))
651 -
652 652  |(% rowspan="2" %)
653 653  **P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
654 654  |Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms