Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -456,73 +456,73 @@ 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:10 0px" %)**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|~-~- 459 +|=(% style="text-align:center; vertical-align:middle; width:120px" %)**P02-08**|=(% style="text-align: center; vertical-align: middle; width: 464px;" %)**Content**|=(% style="text-align: center; vertical-align: middle; width: 946px;" %)**Diagram** 460 +|=(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle; width:464px" %)Fixed use of the first gain|(% style="width:946px" %)~-~- 461 +|=(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle; width:464px" %)Switching with DI|(% style="width:946px" %)~-~- 462 462 |=(% style="text-align:center; vertical-align:middle" %)((( 463 463 2 464 -)))|(% style="text-align:center; vertical-align:middle" %)((( 464 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 465 465 Large torque command 466 -)))|(% style=" vertical-align:middle;width:1108px" %)467 -|=(% style="text-align:center; vertical-align:middle ;width:74px" %)(((466 +)))|(% style="width:946px" %)[[image:image-20230515140641-1.png]] 467 +|=(% style="text-align:center; vertical-align:middle" %)((( 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" %)(((469 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque|(% style="width:946px" %)[[image:image-20230515140641-2.png]] 470 +|=(% style="text-align:center; vertical-align:middle" %)((( 471 471 4 472 -)))|(% style="width: 238px" %)(((472 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 473 473 Large speed command 474 -)))|(% style="width: 1108px" %)[[image:image-20230515140641-3.png]]475 -|=(% style="text-align:center; vertical-align:middle ;width:74px" %)(((474 +)))|(% style="width:946px" %)[[image:image-20230515140641-3.png]] 475 +|=(% style="text-align:center; vertical-align:middle" %)((( 476 476 5 477 -)))|(% style="width: 238px" %)(((477 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 478 478 Fast actual speed 479 -)))|((( 479 +)))|(% style="width:946px" %)((( 480 480 [[image:image-20230515140641-4.png]] 481 481 ))) 482 -|=(% style="text-align:center; vertical-align:middle ;width:74px" %)(((482 +|=(% style="text-align:center; vertical-align:middle" %)((( 483 483 6 484 -)))|(% style="width: 1108px" %)(((484 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 485 485 Speed command change rate is large 486 -)))|[[image:image-20230515140641-5.png]] 486 +)))|(% style="width:946px" %)[[image:image-20230515140641-5.png]] 487 487 |=(% style="width:74px" %)((( 488 488 7 489 -)))|(% style="width:238px" %)((( 490 - 489 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 491 491 Large position deviation 492 -)))|[[image:image-20230515140641-6.png]] 493 -|=(% style=" width:74px" %)(((491 +)))|(% style="width:946px" %)[[image:image-20230515140641-6.png]] 492 +|=(% style="text-align:center; vertical-align:middle;" %)((( 494 494 8 495 -)))|(% style="width: 238px" %)(((494 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 496 496 Position command 497 -)))|[[image:image-20230515140641-7.png]] 498 -|=(% style="width:74px" %)((( 496 +)))|(% style="width:946px" %)[[image:image-20230515140641-7.png]] 497 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)((( 499 499 9 500 -)))|(% style="width: 238px" %)(((499 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 501 501 Positioning completed 502 -)))|(% style="width: 1108px" %)[[image:image-20230515140641-8.png]]503 -|=(% style=" width:74px" %)(((501 +)))|(% style="width:946px" %)[[image:image-20230515140641-8.png]] 502 +|=(% style="text-align:center; vertical-align:middle" %)((( 504 504 10 505 -)))|(% style="width: 238px" %)(((504 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 506 506 Position command + actual speed 507 -)))|(% style="width: 1108px" %)(((506 +)))|(% style="text-align:center; vertical-align:middle; width:946px" %)((( 508 508 Refer to the chart below 509 509 ))) 510 510 511 511 (% style="text-align:center" %) 512 -[[image:20230515-10.png]] 511 +((( 512 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 513 +[[**Figure 7-10 P02-08=10 Position command + actual speed gain description**>>image:20230515-10.png||id="Iimage-20220608174118-1.png"]] 514 +))) 513 513 514 - Figure7-10 P02-08=10 Positioncommand +actual speedgain description516 +**Description of related parameters** 515 515 516 -Description of related parameters 517 - 518 -|(% rowspan="2" style="width:68px" %) 519 -**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 520 -|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control| 518 +|=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %) 519 +**P02-07**|=(% style="width:150px" %)**Parameter name**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit** 520 +|(% style="text-align:center; width:150px" %)The second gain switching mode|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 1|(% style="text-align:center" %)Gain control| 521 521 |(% colspan="8" %)((( 522 522 Set the switching mode of the second gain. 523 523 524 -|**Setting value**|**Function** 525 -|0|((( 524 +|=(% style="text-align: center; vertical-align: middle; width:120px" %)**Setting value**|=(% style="text-align: center; vertical-align: middle" %)**Function** 525 +|=(% style="text-align: center; vertical-align: middle" %)0|((( 526 526 The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching): 527 527 528 528 DI logic invalid: PI control; ... ... @@ -529,18 +529,17 @@ 529 529 530 530 DI logic valid: PI control. 531 531 ))) 532 -|1|The first gain and the second gain are switched by the setting value of P02-08. 532 +|=(% style="text-align: center; vertical-align: middle" %)1|The first gain and the second gain are switched by the setting value of P02-08. 533 533 ))) 534 534 535 -|(% rowspan="2" %) 536 -**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 537 -|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control| 535 +|=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %)**P02-08**|=(% style="width:150px" %)Parameter name|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit** 536 +|(% style="text-align:center; width:150px" %)Gain switching condition selection|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 10|(% style="text-align:center" %)Gain control| 538 538 |(% colspan="8" %)((( 539 539 Set the conditions for gain switching. 540 540 541 -|Setting value|Gain switching conditions|Details 542 -|0|The default is the first gain|Fixed use of the first gain 543 -|1|Switch by DI port|((( 540 +|=(% style="text-align: center; vertical-align: middle; width:120px" %)Setting value|=(% style="text-align: center; vertical-align: middle" %)Gain switching conditions|=(% style="text-align: center; vertical-align: middle" %)Details 541 +|=(% style="text-align: center; vertical-align: middle" %)0|(% style="text-align: center; vertical-align: middle" %)The default is the first gain|Fixed use of the first gain 542 +|=(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align: center; vertical-align: middle" %)Switch by DI port|((( 544 544 Use DI function 10 (GAIN-SEL, gain switching); 545 545 546 546 DI logic is invalid: the first gain (P02-01~~P02-03); ... ... @@ -547,7 +547,7 @@ 547 547 548 548 DI logic is valid: the second gain (P02-04~~P02-06). 549 549 ))) 550 -|2|Large torque command|((( 549 +|2|(% style="text-align: center; vertical-align: middle" %)Large torque command|((( 551 551 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 552 552 553 553 In the previous second gain, when the absolute value of torque command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned. ... ... @@ -554,7 +554,7 @@ 554 554 555 555 556 556 ))) 557 -|3|Large actual torque|((( 556 +|3|(% style="text-align: center; vertical-align: middle" %)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; 559 559 560 560 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. ... ... @@ -561,17 +561,17 @@ 561 561 562 562 563 563 ))) 564 -|4|Large speed command|((( 563 +|4|(% style="text-align: center; vertical-align: middle" %)Large speed command|((( 565 565 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 566 566 567 -In the previous second gain, when the absolute value of speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned 566 +In the previous second gain, when the absolute value of speed command 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 ))) 571 -|5|Large actual speed|((( 570 +|5|(% style="text-align: center; vertical-align: middle" %)Large actual speed|((( 572 572 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 573 573 574 -In the previous second gain, when the absolute value of actual speed is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned 573 +In the previous second gain, when the absolute value of actual speed is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned. 575 575 576 576 577 577 ))) ... ... @@ -586,7 +586,7 @@ 586 586 )))|((( 587 587 In the previous first gain, when the absolute value of the rate of change in speed command is greater than (grade + hysteresis), the second gain is switched; 588 588 589 -In the previous second gain, switch to the first gain when the absolute value of the rate of change in speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned 588 +In the previous second gain, switch to the first gain when the absolute value of the rate of change in speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned. 590 590 591 591 592 592 )))