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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 35.2
edited by Karen
on 2023/05/15 16:54
Change comment: There is no comment for this version
To version 30.1
edited by Karen
on 2023/05/15 16:19
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -456,55 +456,147 @@
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:100px" %)**P02-08**|=(% style="text-align: center; vertical-align: middle; width: 238px;" %)**Content**|=(% style="text-align:center; vertical-align:middle" )**Diagram**
460 -|="(%" %)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:72px" %)(((
463 +
464 +
463 463  2
464 -)))|(% style="text-align:center; vertical-align:middle" %)(((
466 +)))|(% style="text-align:center; vertical-align:middle; width:228px" %)(((
467 +
468 +
465 465  Large torque command
466 -)))|(% style="vertical-align:middle; width:1108px" %) [[image:image-20230515140641-1.png]]
467 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
470 +)))|(% style="width:1108px" %)[[image:image-20230515140641-1.png]]
471 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
472 +
473 +
474 +
475 +
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" %)(((
477 +)))|(% style="text-align:center; vertical-align:middle; width:228px" %)Large actual torque|(% style="width:1108px" %)[[image:image-20230515140641-2.png]]
478 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)(((
479 +
480 +
481 +
482 +
483 +
484 +
471 471  4
472 -)))|(% style="width:238px" %)(((
486 +)))|(% style="width:228px" %)(((
487 +
488 +
489 +
490 +
491 +
492 +
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" %)(((
495 +
496 +|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
497 +|=(% style="width:74px" %)(((
498 +
499 +
500 +
501 +
502 +
476 476  5
477 -)))|(% style="width:238px" %)(((
504 +)))|(% style="width:176px" %)(((
505 +
506 +
507 +
508 +
509 +
478 478  Fast actual speed
479 479  )))|(((
512 +
513 +
480 480  [[image:image-20230515140641-4.png]]
481 481  )))
482 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
516 +|=(% style="width:74px" %)(((
517 +
518 +
519 +
520 +
521 +
522 +
523 +
483 483  6
484 -)))|(% style="width:1108px" %)(((
525 +)))|(% style="width:176px" %)(((
526 +
527 +
528 +
529 +
530 +
531 +
532 +
485 485  Speed command change rate is large
486 486  )))|[[image:image-20230515140641-5.png]]
487 487  |=(% style="width:74px" %)(((
536 +
537 +
538 +
539 +
540 +
541 +
488 488  7
489 -)))|(% style="width:238px" %)(((
543 +
490 490  
545 +)))|(% style="width:176px" %)(((
546 +
547 +
548 +
549 +
550 +
551 +
491 491  Large position deviation
492 492  )))|[[image:image-20230515140641-6.png]]
493 493  |=(% style="width:74px" %)(((
555 +
556 +
557 +
558 +
559 +
494 494  8
495 -)))|(% style="width:238px" %)(((
561 +)))|(% style="width:176px" %)(((
562 +
563 +
564 +
565 +
566 +
496 496  Position command
497 497  )))|[[image:image-20230515140641-7.png]]
498 -|=(% style="width:74px" %)(((
569 +
570 +|=(% style="width:73px" %)(((
571 +
572 +
573 +
574 +
575 +
576 +
499 499  9
500 500  )))|(% style="width:238px" %)(((
579 +
580 +
581 +
582 +
583 +
584 +
501 501  Positioning completed
502 -)))|(% style="width:1108px" %)[[image:image-20230515140641-8.png]]
503 -|=(% style="width:74px" %)(((
586 +)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]]
587 +|=(% style="width:73px" %)(((
588 +
589 +
504 504  10
591 +
592 +
505 505  )))|(% style="width:238px" %)(((
594 +
595 +
506 506  Position command + actual speed
507 -)))|(% style="width:1108px" %)(((
597 +)))|(% style="width:1179px" %)(((
598 +
599 +
508 508  Refer to the chart below
509 509  )))
510 510  
... ... @@ -557,7 +557,7 @@
557 557  |3|Large actual torque|(((
558 558  In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
559 559  
560 -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.
652 +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 .
561 561  
562 562  
563 563  )))