Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -456,54 +456,158 @@ 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**|=(% 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" %)((( 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 + 467 + 468 + 462 462 2 463 -)))|(% style="text-align:center; vertical-align:middle" %)((( 470 +)))|(% style="text-align:center; vertical-align:middle;width:146px" %)((( 471 + 472 + 473 + 474 + 475 + 476 + 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" %)((( 478 +)))|[[image:image-20230515140641-1.png]] 479 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)((( 480 + 481 + 482 + 483 + 484 + 485 + 486 + 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" %)((( 488 +)))|(% style="text-align:center; vertical-align:middle;width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 489 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)((( 490 + 491 + 492 + 493 + 494 + 495 + 470 470 4 471 -)))|(% style="width:238px" %)((( 497 +)))|(% style="width:146px" %)((( 498 + 499 + 500 + 501 + 502 + 503 + 472 472 Large speed command 473 -)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]] 474 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 505 +)))|[[image:image-20230515140641-3.png]] 506 + 507 +|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 508 +|=(% style="width:74px" %)((( 509 + 510 + 511 + 512 + 513 + 475 475 5 476 -)))|(% style="width:238px" %)((( 515 +)))|(% style="width:176px" %)((( 516 + 517 + 518 + 519 + 520 + 477 477 Fast actual speed 478 478 )))|((( 523 + 524 + 479 479 [[image:image-20230515140641-4.png]] 480 480 ))) 481 -|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 527 +|=(% style="width:74px" %)((( 528 + 529 + 530 + 531 + 532 + 533 + 534 + 482 482 6 483 -)))|(% style="width:1108px" %)((( 536 +)))|(% style="width:176px" %)((( 537 + 538 + 539 + 540 + 541 + 542 + 543 + 484 484 Speed command change rate is large 485 485 )))|[[image:image-20230515140641-5.png]] 486 486 |=(% style="width:74px" %)((( 547 + 548 + 549 + 550 + 551 + 552 + 487 487 7 488 - )))|(% style="width:238px" %)(((554 + 489 489 556 +)))|(% style="width:176px" %)((( 557 + 558 + 559 + 560 + 561 + 562 + 490 490 Large position deviation 491 491 )))|[[image:image-20230515140641-6.png]] 492 492 |=(% style="width:74px" %)((( 566 + 567 + 568 + 569 + 570 + 493 493 8 494 -)))|(% style="width:238px" %)((( 572 +)))|(% style="width:176px" %)((( 573 + 574 + 575 + 576 + 577 + 495 495 Position command 496 496 )))|[[image:image-20230515140641-7.png]] 497 -|=(% style="width:74px" %)((( 580 + 581 +|=(% style="width:73px" %)((( 582 + 583 + 584 + 585 + 586 + 587 + 498 498 9 499 -)))|(% style="width:238px" %)((( 589 +)))|(% style="width:154px" %)((( 590 + 591 + 592 + 593 + 594 + 595 + 500 500 Positioning completed 501 -)))|(% style="width:1108px" %)[[image:image-20230515140641-8.png]] 502 -|=(% style="width:74px" %)((( 597 +)))|[[image:image-20230515140641-8.png]] 598 +|=(% style="width:73px" %)((( 599 + 600 + 503 503 10 504 -)))|(% style="width:238px" %)((( 602 + 603 + 604 +)))|(% style="width:154px" %)((( 605 + 606 + 505 505 Position command + actual speed 506 -)))|(% style="width:1108px" %)((( 608 +)))|((( 609 + 610 + 507 507 Refer to the chart below 508 508 ))) 509 509 ... ... @@ -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. 663 +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 )))