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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 34.2
edited by Karen
on 2023/05/15 16:52
Change comment: There is no comment for this version
To version 33.1
edited by Karen
on 2023/05/15 16:32
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -456,55 +456,143 @@
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:78px" %)**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" %)0|(% style="text-align:center; vertical-align:middle" %)Fixed use of the first gain|~-~-
461 -|=(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switching with DI|~-~-
462 -|=(% style="text-align:center; vertical-align:middle" %)(((
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; width:228px" %)Switching with DI|(% style="width:1108px" %)~-~-
462 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
463 463  2
464 -)))|(% style="text-align:center; vertical-align:middle" %)(((
464 +)))|(% style="text-align:center; vertical-align:middle; width:238px" %)(((
465 465  Large torque command
466 -)))|(% style="vertical-align:middle; width:1108px" %) [[image:image-20230515140641-1.png]]
466 +)))|(% style="width:1108px" %) [[image:image-20230515140641-1.png||style="text-align:center; vertical-align:middle"]]
467 467  |=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
468 +
469 +
470 +
471 +
468 468  3
469 -)))|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(% style="width:1108px" %)[[image:image-20230515140641-2.png]]
470 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
473 +)))|(% style="text-align:center; vertical-align:middle; width:228px" %)Large actual torque|(% style="width:1108px" %)[[image:image-20230515140641-2.png||style="text-align:center; vertical-align:middle"]]
474 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
475 +
476 +
477 +
478 +
479 +
480 +
471 471  4
472 -)))|(% style="width:238px" %)(((
482 +)))|(% style="width:228px" %)(((
483 +
484 +
485 +
486 +
487 +
488 +
473 473  Large speed command
474 474  )))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]]
475 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
491 +
492 +|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
493 +|=(% style="width:74px" %)(((
494 +
495 +
496 +
497 +
498 +
476 476  5
477 -)))|(% style="width:238px" %)(((
500 +)))|(% style="width:176px" %)(((
501 +
502 +
503 +
504 +
505 +
478 478  Fast actual speed
479 479  )))|(((
508 +
509 +
480 480  [[image:image-20230515140641-4.png]]
481 481  )))
482 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
512 +|=(% style="width:74px" %)(((
513 +
514 +
515 +
516 +
517 +
518 +
519 +
483 483  6
484 -)))|(% style="width:1108px" %)(((
521 +)))|(% style="width:176px" %)(((
522 +
523 +
524 +
525 +
526 +
527 +
528 +
485 485  Speed command change rate is large
486 486  )))|[[image:image-20230515140641-5.png]]
487 487  |=(% style="width:74px" %)(((
532 +
533 +
534 +
535 +
536 +
537 +
488 488  7
489 -)))|(% style="width:238px" %)(((
539 +
490 490  
541 +)))|(% style="width:176px" %)(((
542 +
543 +
544 +
545 +
546 +
547 +
491 491  Large position deviation
492 492  )))|[[image:image-20230515140641-6.png]]
493 493  |=(% style="width:74px" %)(((
551 +
552 +
553 +
554 +
555 +
494 494  8
495 -)))|(% style="width:238px" %)(((
557 +)))|(% style="width:176px" %)(((
558 +
559 +
560 +
561 +
562 +
496 496  Position command
497 497  )))|[[image:image-20230515140641-7.png]]
498 -|=(% style="width:74px" %)(((
565 +
566 +|=(% style="width:73px" %)(((
567 +
568 +
569 +
570 +
571 +
572 +
499 499  9
500 500  )))|(% style="width:238px" %)(((
575 +
576 +
577 +
578 +
579 +
580 +
501 501  Positioning completed
502 -)))|(% style="width:1108px" %)[[image:image-20230515140641-8.png]]
503 -|=(% style="width:74px" %)(((
582 +)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]]
583 +|=(% style="width:73px" %)(((
584 +
585 +
504 504  10
587 +
588 +
505 505  )))|(% style="width:238px" %)(((
590 +
591 +
506 506  Position command + actual speed
507 -)))|(% style="width:1108px" %)(((
593 +)))|(% style="width:1179px" %)(((
594 +
595 +
508 508  Refer to the chart below
509 509  )))
510 510