Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -456,81 +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" %)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="text-align:center; vertical-align:middle;width:74px" %)((( 474 +)))|(% style="width:946px" %)[[image:image-20230515140641-3.png]] 475 +|=(% style="text-align:center; vertical-align:middle" %)((( 477 477 5 478 -)))|(% style="width:238px" %)((( 479 - 477 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 480 480 Fast actual speed 481 -)))|((( 482 - 479 +)))|(% style="width:946px" %)((( 483 483 [[image:image-20230515140641-4.png]] 484 484 ))) 485 -|=(% style=" width:74px" %)(((482 +|=(% style="text-align:center; vertical-align:middle" %)((( 486 486 6 487 -)))|(% style="width:176px" %)((( 488 - 484 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 489 489 Speed command change rate is large 490 -)))|[[image:image-20230515140641-5.png]] 486 +)))|(% style="width:946px" %)[[image:image-20230515140641-5.png]] 491 491 |=(% style="width:74px" %)((( 492 492 7 493 -)))|(% style="width:176px" %)((( 494 - 489 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 495 495 Large position deviation 496 -)))|[[image:image-20230515140641-6.png]] 497 -|=(% style=" width:74px" %)(((491 +)))|(% style="width:946px" %)[[image:image-20230515140641-6.png]] 492 +|=(% style="text-align:center; vertical-align:middle;" %)((( 498 498 8 499 -)))|(% style="width: 176px" %)(((494 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 500 500 Position command 501 -)))|[[image:image-20230515140641-7.png]] 502 - 503 -|=(% style="width:73px" %)((( 496 +)))|(% style="width:946px" %)[[image:image-20230515140641-7.png]] 497 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)((( 504 504 9 505 -)))|(% style="width:238px" %)((( 506 - 499 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 507 507 Positioning completed 508 -)))|(% style="width: 1179px" %)[[image:image-20230515140641-8.png]]509 -|=(% style=" width:73px" %)(((501 +)))|(% style="width:946px" %)[[image:image-20230515140641-8.png]] 502 +|=(% style="text-align:center; vertical-align:middle" %)((( 510 510 10 511 -)))|(% style="width:238px" %)((( 512 - 504 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 513 513 Position command + actual speed 514 -)))|(% style="width:1179px" %)((( 515 - 506 +)))|(% style="text-align:center; vertical-align:middle; width:946px" %)((( 516 516 Refer to the chart below 517 517 ))) 518 518 519 519 (% style="text-align:center" %) 520 -[[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 +))) 521 521 522 - Figure7-10 P02-08=10 Positioncommand +actual speedgain description516 +**Description of related parameters** 523 523 524 -Description of related parameters 525 - 526 -|(% rowspan="2" style="width:68px" %) 527 -**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 528 -|(% 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| 529 529 |(% colspan="8" %)((( 530 530 Set the switching mode of the second gain. 531 531 532 -|**Setting value**|**Function** 533 -|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|((( 534 534 The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching): 535 535 536 536 DI logic invalid: PI control; ... ... @@ -537,18 +537,17 @@ 537 537 538 538 DI logic valid: PI control. 539 539 ))) 540 -|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. 541 541 ))) 542 542 543 -|(% rowspan="2" %) 544 -**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 545 -|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| 546 546 |(% colspan="8" %)((( 547 547 Set the conditions for gain switching. 548 548 549 -|Setting value|Gain switching conditions|Details 550 -|0|The default is the first gain|Fixed use of the first gain 551 -|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|((( 552 552 Use DI function 10 (GAIN-SEL, gain switching); 553 553 554 554 DI logic is invalid: the first gain (P02-01~~P02-03); ... ... @@ -555,7 +555,7 @@ 555 555 556 556 DI logic is valid: the second gain (P02-04~~P02-06). 557 557 ))) 558 -|2|Large torque command|((( 549 +|2|(% style="text-align: center; vertical-align: middle" %)Large torque command|((( 559 559 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 560 560 561 561 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. ... ... @@ -562,7 +562,7 @@ 562 562 563 563 564 564 ))) 565 -|3|Large actual torque|((( 556 +|3|(% style="text-align: center; vertical-align: middle" %)Large actual torque|((( 566 566 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 567 567 568 568 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. ... ... @@ -569,17 +569,17 @@ 569 569 570 570 571 571 ))) 572 -|4|Large speed command|((( 563 +|4|(% style="text-align: center; vertical-align: middle" %)Large speed command|((( 573 573 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 574 574 575 -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. 576 576 577 577 578 578 ))) 579 -|5|Large actual speed|((( 570 +|5|(% style="text-align: center; vertical-align: middle" %)Large actual speed|((( 580 580 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 581 581 582 -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. 583 583 584 584 585 585 ))) ... ... @@ -594,7 +594,7 @@ 594 594 )))|((( 595 595 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; 596 596 597 -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 588 +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. 598 598 599 599 600 600 )))