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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 40.10
edited by Karen
on 2023/05/16 09:36
Change comment: There is no comment for this version
To version 41.2
edited by Karen
on 2023/05/16 09:49
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -550,36 +550,26 @@
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 -
554 -
555 555  )))
556 556  |=(% 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 -
561 -
562 562  )))
563 563  |=(% 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  
566 566  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 -
568 -
569 569  )))
570 570  |=(% 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  
573 573  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 -
575 -
576 576  )))
577 577  |=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
578 578  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;
579 579  
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.
581 -
582 -
572 +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.
583 583  )))
584 584  |=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
585 585  In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
... ... @@ -598,23 +598,27 @@
598 598  In the previous first gain, if the position command is not 0, the second gain is switched;
599 599  
600 600  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).
601 -
602 -)))
603 603  )))
592 +)))
604 604  
605 -|(% rowspan="2" %)
606 -**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
607 -|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
594 +|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-13**|=(% 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**
595 +|(% style="text-align:center; width:150px" %)Delay Time for Gain Switching|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)20|(% style="text-align:center" %)0 to 10000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)0.1ms
608 608  |(% colspan="8" %)(((
609 609  The duration of the switching condition required for the second gain to switch back to the first gain.
610 610  
611 -[[image:image-20230515140953-9.png]]
599 +(% style="text-align:center" %)
600 +(((
601 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
602 +[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]]
603 +)))
612 612  
605 +(% class="box infomessage" %)
606 +(((
613 613  **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
614 614  )))
609 +)))
615 615  
616 -|(% rowspan="2" %)
617 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
611 +|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-14**|=(% 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**
618 618  |Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
619 619  |(% colspan="8" %)(((
620 620  Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
... ... @@ -622,8 +622,7 @@
622 622  [[image:image-20230515140953-10.png]]
623 623  )))
624 624  
625 -|(% rowspan="2" %)
626 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
619 +|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-15**|=(% 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**
627 627  |Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
628 628  |(% colspan="8" %)(((
629 629  Set the hysteresis to meet the gain switching condition.
... ... @@ -631,9 +631,7 @@
631 631  [[image:image-20230515140953-11.png]]
632 632  )))
633 633  
634 -|(% rowspan="2" %)
635 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
636 -|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
627 +|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-16**|=(% 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**|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
637 637  |(% colspan="8" %)(((
638 638  Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
639 639