Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -349,7 +349,7 @@ 349 349 (% style="text-align:center" %) 350 350 ((( 351 351 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 352 -[[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png|| height="394" id="20230515-7.png"width="931"]]352 +[[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||id="20230515-7.png"]] 353 353 ))) 354 354 355 355 The usage method and conditions of model tracking control: ... ... @@ -385,11 +385,10 @@ 385 385 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 386 386 Effective immediately 387 387 )))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)200 to 20000|(% rowspan="2" style="width:321px" %)Increasing the model tracking control gain can improve the position response performance of the model loop. If the gain is too high, it may cause overshoot behavior. The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.|(% style="text-align:center; vertical-align:middle" %)0.1/s 388 -|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-22|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control gain compensation|(% style="text-align:center; vertical-align:middle; width:122px" %)((( 389 -Shutdown setting 390 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 388 + 389 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-22|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control gain compensation|Shutdown setting|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 391 391 Effective immediately 392 -)))| (% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)0.10%391 +)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)0.10% 393 393 394 394 (% class="table-bordered" %) 395 395 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)((( ... ... @@ -406,7 +406,7 @@ 406 406 Operation setting 407 407 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 408 408 Effective immediately 409 -)))| (% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% style="text-align:center; vertical-align:middle" %)0.10%408 +)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% style="text-align:center; vertical-align:middle" %)0.10% 410 410 |=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-25|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control speed feedforward compensation|Operation setting|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 411 411 Effective immediately 412 412 )))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% style="width:321px" %)The size of the speed feedforward under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10% ... ... @@ -414,27 +414,27 @@ 414 414 Please refer to the following for an example of the procedure of adjusting servo gain. 415 415 416 416 (% style="width:1508px" %) 417 -| =(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|=(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content**416 +|(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content** 418 418 |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1|Please try to set the correct load inertia ratio parameter P3-1. 419 -| =(% style="text-align:center; vertical-align:middle; width:80px" %)2|If the automatic adjustment mode is used (P3-3 is set to 0), please set the basic rigidity level parameter P3-2. If in manual adjustment mode (P3-3 is set to 1), please set the gain P2-1~~P2-3 related to the position loop and speed loop and the torque filter time constant P4-4. The setting principle is mainly no vibration and overshoot.420 -| =(% style="text-align: center; vertical-align: middle;width:80px;" %)3|Turn on the model tracking function, set P2-20 to 1.421 -| =(% style="text-align: center; vertical-align: middle;width:80px;" %)4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occurring.422 -| =(% style="text-align: center; vertical-align: middle;width:80px;" %)5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.423 -| =(% style="text-align: center; vertical-align: middle;width:80px;" %)6|When overshoot occurs, or the responses of forward rotation and reverse rotation are different, user can fine-tune through model tracking control forward bias P2-23, model tracking control reverse bias P2-24, model tracking control speed feedforward compensation P2 -25.418 +|(% style="text-align:center; vertical-align:middle; width:80px" %)2|If the automatic adjustment mode is used (P3-3 is set to 0), please set the basic rigidity level parameter P3-2. If in manual adjustment mode (P3-3 is set to 1), please set the gain P2-1~~P2-3 related to the position loop and speed loop and the torque filter time constant P4-4. The setting principle is mainly no vibration and overshoot. 419 +|3|(% style="width:1408px" %)Turn on the model tracking function, set P2-20 to 1. 420 +|4|(% style="width:1408px" %)Increase the model tracking gain P2-21 within the range of no overshoot and vibration occurring. 421 +|5|(% style="width:1408px" %)If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2. 422 +|6|(% style="width:1408px" %)When overshoot occurs, or the responses of forward rotation and reverse rotation are different, user can fine-tune through model tracking control forward bias P2-23, model tracking control reverse bias P2-24, model tracking control speed feedforward compensation P2 -25. 424 424 425 425 == **Gain switching** == 426 426 427 - **Gain switching function:**426 +Gain switching function: 428 428 429 -● 428 +●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration; 430 430 431 -● 430 +●Switch to a higher gain in the motor stationary state to shorten the positioning time; 432 432 433 -● 432 +●Switch to a higher gain in the motor running state to get better command tracking performance; 434 434 435 -● 434 +●Switch different gain settings by external signals depending on the load connected. 436 436 437 - **Gain switching parameter setting**436 +(1) Gain switching parameter setting 438 438 439 439 ①When P02-07=0 440 440 ... ... @@ -441,10 +441,7 @@ 441 441 Fixed use of the first gain (using P02-01~~P02-03), and the switching of P/PI (proportional/proportional integral) control could be realized through DI function 10 (GAIN-SEL, gain switching). 442 442 443 443 (% style="text-align:center" %) 444 -((( 445 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 446 -[[image:20230515-8.png||height="378" id="20230515-8.png" width="363"]] 447 -))) 443 +[[image:20230515-8.png]] 448 448 449 449 ② When P02-07=1 450 450 ... ... @@ -451,59 +451,162 @@ 451 451 The switching conditions can be set through parameter P02-08 to realize switching between the first gain (P02-01~~P02-03) and the second gain (P02-04~~P02-06). 452 452 453 453 (% style="text-align:center" %) 454 -((( 455 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 456 -[[**Figure 7-9 Flow chart of gain switching when P02-07=1**>>image:20230515-9.png||id="20230515-9.png"]] 457 -))) 450 +[[image:20230515-9.png]] 458 458 459 -|=(% style="text-align:center; vertical-align:middle; width:100px" %)**P02-08**|=(% style="text-align: center; vertical-align: middle; width: 238px;" %)**Content**|=(% diagram="(%" style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Fixed use of the first gain|~-~- 460 -|=(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switching with DI|~-~- 461 -|=(% style="text-align:center; vertical-align:middle" %)((( 452 +Figure 7-9 Flow chart of gain switching when P02-07=1 453 + 454 +|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram** 455 +|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~- 456 +|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~- 457 +|(% style="width:72px" %)((( 458 + 459 + 460 + 461 + 462 + 463 + 462 462 2 463 -)))|(% style="text-align:center; vertical-align:middle" %)((( 465 +)))|(% style="width:146px" %)((( 466 + 467 + 468 + 469 + 470 + 471 + 464 464 Large torque command 465 -)))|(% style="vertical-align:middle; width:1108px" %) [[image:image-20230515140641-1.png]] 466 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 473 +)))|[[image:image-20230515140641-1.png]] 474 +|(% style="width:72px" %)((( 475 + 476 + 477 + 478 + 479 + 480 + 481 + 467 467 3 468 -)))|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(% style="width:1108px" %)[[image:image-20230515140641-2.png]] 469 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 483 +)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 484 +|(% style="width:72px" %)((( 485 + 486 + 487 + 488 + 489 + 490 + 470 470 4 471 -)))|(% style="width:238px" %)((( 492 +)))|(% style="width:146px" %)((( 493 + 494 + 495 + 496 + 497 + 498 + 472 472 Large speed command 473 -)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]] 474 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 500 +)))|[[image:image-20230515140641-3.png]] 501 + 502 +|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 503 +|(% style="width:74px" %)((( 504 + 505 + 506 + 507 + 508 + 475 475 5 476 -)))|(% style="width:238px" %)((( 510 +)))|(% style="width:176px" %)((( 511 + 512 + 513 + 514 + 515 + 477 477 Fast actual speed 478 478 )))|((( 518 + 519 + 479 479 [[image:image-20230515140641-4.png]] 480 480 ))) 481 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 522 +|(% style="width:74px" %)((( 523 + 524 + 525 + 526 + 527 + 528 + 529 + 482 482 6 483 -)))|(% style="width:1108px" %)((( 531 +)))|(% style="width:176px" %)((( 532 + 533 + 534 + 535 + 536 + 537 + 538 + 484 484 Speed command change rate is large 485 485 )))|[[image:image-20230515140641-5.png]] 486 -|=(% style="width:74px" %)((( 541 +|(% style="width:74px" %)((( 542 + 543 + 544 + 545 + 546 + 547 + 487 487 7 488 - )))|(% style="width:238px" %)(((549 + 489 489 551 +)))|(% style="width:176px" %)((( 552 + 553 + 554 + 555 + 556 + 557 + 490 490 Large position deviation 491 491 )))|[[image:image-20230515140641-6.png]] 492 -|=(% style="width:74px" %)((( 560 +|(% style="width:74px" %)((( 561 + 562 + 563 + 564 + 565 + 493 493 8 494 -)))|(% style="width:238px" %)((( 567 +)))|(% style="width:176px" %)((( 568 + 569 + 570 + 571 + 572 + 495 495 Position command 496 496 )))|[[image:image-20230515140641-7.png]] 497 -|=(% style="width:74px" %)((( 575 + 576 +|(% style="width:73px" %)((( 577 + 578 + 579 + 580 + 581 + 582 + 498 498 9 499 -)))|(% style="width:238px" %)((( 584 +)))|(% style="width:154px" %)((( 585 + 586 + 587 + 588 + 589 + 590 + 500 500 Positioning completed 501 -)))|(% style="width:1108px" %)[[image:image-20230515140641-8.png]] 502 -|=(% style="width:74px" %)((( 592 +)))|[[image:image-20230515140641-8.png]] 593 +|(% style="width:73px" %)((( 594 + 595 + 503 503 10 504 -)))|(% style="width:238px" %)((( 597 + 598 + 599 +)))|(% style="width:154px" %)((( 600 + 601 + 505 505 Position command + actual speed 506 -)))|(% style="width:1108px" %)((( 603 +)))|((( 604 + 605 + 507 507 Refer to the chart below 508 508 ))) 509 509 ... ... @@ -512,7 +512,7 @@ 512 512 513 513 Figure 7-10 P02-08=10 Position command + actual speed gain description 514 514 515 -Description of related parameters 614 +(2) Description of related parameters 516 516 517 517 |(% rowspan="2" style="width:68px" %) 518 518 **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** ... ... @@ -556,7 +556,7 @@ 556 556 |3|Large actual torque|((( 557 557 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 558 558 559 -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. 658 +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 . 560 560 561 561 562 562 )))