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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 37.4
edited by Karen
on 2023/05/15 17:06
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

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Content
... ... @@ -469,7 +469,7 @@
469 469  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque|(% style="width:946px" %)[[image:image-20230515140641-2.png]]
470 470  |=(% style="text-align:center; vertical-align:middle" %)(((
471 471  4
472 -)))|(% style="text-align:center; vertical-align:middle;width:464px" %)(((
472 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
473 473  Large speed command
474 474  )))|(% style="width:946px" %)[[image:image-20230515140641-3.png]]
475 475  |=(% style="text-align:center; vertical-align:middle" %)(((
... ... @@ -508,20 +508,21 @@
508 508  )))
509 509  
510 510  (% style="text-align:center" %)
511 -[[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 +)))
512 512  
513 -Figure 7-10 P02-08=10 Position command + actual speed gain description
516 +**Description of related parameters**
514 514  
515 -Description of related parameters
516 -
517 -|(% rowspan="2" style="width:68px" %)
518 -**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
519 -|(% 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|
520 520  |(% colspan="8" %)(((
521 521  Set the switching mode of the second gain.
522 522  
523 -|**Setting value**|**Function**
524 -|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|(((
525 525  The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
526 526  
527 527  DI logic invalid: PI control;
... ... @@ -528,18 +528,17 @@
528 528  
529 529  DI logic valid: PI control.
530 530  )))
531 -|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.
532 532  )))
533 533  
534 -|(% rowspan="2" %)
535 -**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
536 -|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|
537 537  |(% colspan="8" %)(((
538 538  Set the conditions for gain switching.
539 539  
540 -|Setting value|Gain switching conditions|Details
541 -|0|The default is the first gain|Fixed use of the first gain
542 -|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|(((
543 543  Use DI function 10 (GAIN-SEL, gain switching);
544 544  
545 545  DI logic is invalid: the first gain (P02-01~~P02-03);
... ... @@ -546,7 +546,7 @@
546 546  
547 547  DI logic is valid: the second gain (P02-04~~P02-06).
548 548  )))
549 -|2|Large torque command|(((
549 +|=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((
550 550  In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
551 551  
552 552  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.
... ... @@ -553,7 +553,7 @@
553 553  
554 554  
555 555  )))
556 -|3|Large actual torque|(((
556 +|=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)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  
559 559  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.
... ... @@ -560,60 +560,40 @@
560 560  
561 561  
562 562  )))
563 -|4|Large speed command|(((
563 +|=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
564 564  In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
565 565  
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 .
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.
567 567  
568 568  
569 569  )))
570 -|5|Large actual speed|(((
570 +|=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
571 571  In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
572 572  
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 .
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.
574 574  
575 575  
576 576  )))
577 -|(((
578 -
579 -
580 -6
581 -)))|(((
582 -
583 -
584 -Large rate of change in speed command
585 -)))|(((
577 +|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
586 586  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;
587 587  
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 .
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.
589 589  
590 590  
591 591  )))
592 -|(((
593 -
594 -
595 -7
596 -)))|(((
597 -
598 -
599 -Large position deviation
600 -)))|(((
584 +|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
601 601  In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
602 602  
603 -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.
604 604  )))
605 -|8|Position command|(((
589 +|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((
606 606  In the previous first gain, if the position command is not 0, switch to the second gain;
607 607  
608 608  In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
609 609  )))
610 -|(((
594 +|=(% style="text-align: center; vertical-align: middle" %)9|(((
611 611  
612 612  
613 -9
614 -)))|(((
615 -
616 -
617 617  Positioning complete
618 618  )))|(((
619 619  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.
... ... @@ -620,25 +620,14 @@
620 620  
621 621  
622 622  )))
623 -|(((
624 -
625 -
626 -10
627 -)))|(((
628 -
629 -
630 -Position command + actual speed
631 -)))|(((
603 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|(((
632 632  In the previous first gain, if the position command is not 0, the second gain is switched;
633 633  
634 634  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).
635 -
636 636  
608 +)))
637 637  )))
638 638  
639 -
640 -)))
641 -
642 642  |(% rowspan="2" %)
643 643  **P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
644 644  |Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms