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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 38.1
edited by Karen
on 2023/05/15 17:06
Change comment: There is no comment for this version
To version 33.10
edited by Karen
on 2023/05/15 16:47
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -456,54 +456,62 @@
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: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 -|=(% style="text-align:center; vertical-align:middle" %)(((
459 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)**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;width:74px" %)0|(% style="text-align:center; vertical-align:middle；" %)Fixed use of the first gain|(% style="width:1108px" %)~-~-
461 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)1|(% style="text-align:center; vertical-align:middle；" %)Switching with DI|(% style="width:1108px" %)~-~-
462 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
463 463  2
464 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
464 +)))|(% style="text-align:center; vertical-align:middle;" %)(((
465 465  Large torque command
466 -)))|(% style="width:946px" %)[[image:image-20230515140641-1.png]]
467 -|=(% style="text-align:center; vertical-align:middle" %)(((
466 +)))|(% style="width:800px;vertical-align:middle" %) [[image:image-20230515140641-1.png]]
467 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
468 468  3
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" %)(((
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" %)(((
471 471  4
472 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
472 +)))|(% style="width:238px" %)(((
473 473  Large speed command
474 -)))|(% style="width:946px" %)[[image:image-20230515140641-3.png]]
475 -|=(% style="text-align:center; vertical-align:middle" %)(((
474 +)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]]
475 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
476 476  5
477 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
477 +)))|(% style="width:238px" %)(((
478 +
478 478  Fast actual speed
479 -)))|(% style="width:946px" %)(((
480 +)))|(((
481 +
480 480  [[image:image-20230515140641-4.png]]
481 481  )))
482 -|=(% style="text-align:center; vertical-align:middle" %)(((
484 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
483 483  6
484 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
486 +)))|(% style="text-align:center; vertical-align:middle;width:176px" %)(((
487 +
485 485  Speed command change rate is large
486 -)))|(% style="width:946px" %)[[image:image-20230515140641-5.png]]
489 +)))|[[image:image-20230515140641-5.png]]
487 487  |=(% style="width:74px" %)(((
488 488  7
489 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
492 +)))|(% style="width:176px" %)(((
493 +
490 490  Large position deviation
491 -)))|(% style="width:946px" %)[[image:image-20230515140641-6.png]]
492 -|=(% style="text-align:center; vertical-align:middle;" %)(((
495 +)))|[[image:image-20230515140641-6.png]]
496 +|=(% style="width:74px" %)(((
493 493  8
494 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
498 +)))|(% style="width:176px" %)(((
495 495  Position command
496 -)))|(% style="width:946px" %)[[image:image-20230515140641-7.png]]
497 -|=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
500 +)))|[[image:image-20230515140641-7.png]]
501 +
502 +|=(% style="width:74px" %)(((
498 498  9
499 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
504 +)))|(% style="width:238px" %)(((
505 +
500 500  Positioning completed
501 -)))|(% style="width:946px" %)[[image:image-20230515140641-8.png]]
502 -|=(% style="text-align:center; vertical-align:middle" %)(((
507 +)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]]
508 +|=(% style="width:73px" %)(((
503 503  10
504 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
510 +)))|(% style="width:238px" %)(((
511 +
505 505  Position command + actual speed
506 -)))|(% style="text-align:center; vertical-align:middle; width:946px" %)(((
513 +)))|(% style="width:1179px" %)(((
514 +
507 507  Refer to the chart below
508 508  )))
509 509