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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 33.7
edited by Karen
on 2023/05/15 16:43
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
... ... @@ -456,62 +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;" %)(((
468 +)))|(% style="text-align:center; vertical-align:middle; width:146px" %)(((
469 +
470 +
471 +
472 +
473 +
474 +
465 465  Large torque command
466 -)))|(% style="width:800px" %) [[image:image-20230515140641-1.png]]
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;" %)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]]
475 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
503 +)))|[[image:image-20230515140641-3.png]]
504 +
505 +|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
506 +|=(% style="width:74px" %)(((
507 +
508 +
509 +
510 +
511 +
476 476  5
477 -)))|(% style="width:238px" %)(((
513 +)))|(% style="width:176px" %)(((
478 478  
515 +
516 +
517 +
518 +
479 479  Fast actual speed
480 480  )))|(((
481 481  
522 +
482 482  [[image:image-20230515140641-4.png]]
483 483  )))
484 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
525 +|=(% style="width:74px" %)(((
526 +
527 +
528 +
529 +
530 +
531 +
532 +
485 485  6
486 -)))|(% style="text-align:center; vertical-align:middle;width:176px" %)(((
534 +)))|(% style="width:176px" %)(((
487 487  
536 +
537 +
538 +
539 +
540 +
541 +
488 488  Speed command change rate is large
489 489  )))|[[image:image-20230515140641-5.png]]
490 490  |=(% style="width:74px" %)(((
545 +
546 +
547 +
548 +
549 +
550 +
491 491  7
552 +
553 +
492 492  )))|(% style="width:176px" %)(((
493 493  
556 +
557 +
558 +
559 +
560 +
494 494  Large position deviation
495 495  )))|[[image:image-20230515140641-6.png]]
496 496  |=(% style="width:74px" %)(((
564 +
565 +
566 +
567 +
568 +
497 497  8
498 498  )))|(% style="width:176px" %)(((
571 +
572 +
573 +
574 +
575 +
499 499  Position command
500 500  )))|[[image:image-20230515140641-7.png]]
501 501  
502 -|=(% style="width:74px" %)(((
579 +|=(% style="width:73px" %)(((
580 +
581 +
582 +
583 +
584 +
585 +
503 503  9
504 -)))|(% style="width:238px" %)(((
587 +)))|(% style="width:154px" %)(((
505 505  
589 +
590 +
591 +
592 +
593 +
506 506  Positioning completed
507 -)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]]
595 +)))|[[image:image-20230515140641-8.png]]
508 508  |=(% style="width:73px" %)(((
597 +
598 +
509 509  10
510 -)))|(% style="width:238px" %)(((
600 +
511 511  
602 +)))|(% style="width:154px" %)(((
603 +
604 +
512 512  Position command + actual speed
513 -)))|(% style="width:1179px" %)(((
606 +)))|(((
514 514  
608 +
515 515  Refer to the chart below
516 516  )))
517 517  
... ... @@ -564,7 +564,7 @@
564 564  |3|Large actual torque|(((
565 565  In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
566 566  
567 -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 .
568 568  
569 569  
570 570  )))