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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 36.3
edited by Karen
on 2023/05/15 16:59
Change comment: There is no comment for this version
To version 40.9
edited by Karen
on 2023/05/16 09:35
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -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:100px" %)**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" %) [[image:image-20230515140641-1.png]]
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 -Figure 7-10 P02-08=10 Position command + actual speed gain description
516 +**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 +|=(% style="text-align: center; vertical-align: middle" %)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 +|=(% style="text-align: center; vertical-align: middle" %)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.
... ... @@ -561,60 +561,40 @@
561 561  
562 562  
563 563  )))
564 -|4|Large speed command|(((
563 +|=(% style="text-align: center; vertical-align: middle" %)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 +|=(% style="text-align: center; vertical-align: middle" %)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  )))
578 -|(((
579 -
580 -
581 -6
582 -)))|(((
583 -
584 -
585 -Large rate of change in speed command
586 -)))|(((
577 +|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
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 .
580 +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  )))
593 -|(((
594 -
595 -
596 -7
597 -)))|(((
598 -
599 -
600 -Large position deviation
601 -)))|(((
584 +|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
602 602  In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
603 603  
604 -In the previous second gain, switch to the first gain when the absolute value of position deviation is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
587 +In the previous second gain, switch to the first gain when the absolute value of position deviation is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
605 605  )))
606 -|8|Position command|(((
589 +|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((
607 607  In the previous first gain, if the position command is not 0, switch to the second gain;
608 608  
609 609  In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
610 610  )))
611 -|(((
594 +|=(% style="text-align: center; vertical-align: middle" %)9|(((
612 612  
613 613  
614 -9
615 -)))|(((
616 -
617 -
618 618  Positioning complete
619 619  )))|(((
620 620  In the previous first gain, if the positioning is not completed, the second gain is switched; In the previous second gain, if the positioning is not completed and the duration is greater than [P02-13], the first gain is returned.
... ... @@ -621,25 +621,14 @@
621 621  
622 622  
623 623  )))
624 -|(((
625 -
626 -
627 -10
628 -)))|(((
629 -
630 -
631 -Position command + actual speed
632 -)))|(((
603 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|(((
633 633  In the previous first gain, if the position command is not 0, the second gain is switched;
634 634  
635 635  In the previous second gain, if the position command is 0, the duration is greater than [P02-13] and the absolute value of actual speed is less than ( grade - hysteresis).
636 -
637 637  
608 +)))
638 638  )))
639 639  
640 -
641 -)))
642 -
643 643  |(% rowspan="2" %)
644 644  **P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
645 645  |Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms