Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -463,10 +463,12 @@ 463 463 2 464 464 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 465 465 Large torque command 466 -)))|(% style="width:946px" %)[[image:image-20230515140641-1.png]] 466 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-1.png]] 467 + 467 467 |=(% style="text-align:center; vertical-align:middle" %)((( 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; width:464px" %)Large actual torque| 471 +(% style="width:946px" %)[[image:image-20230515140641-2.png]] 470 470 |=(% style="text-align:center; vertical-align:middle" %)((( 471 471 4 472 472 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -483,7 +483,11 @@ 483 483 6 484 484 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 485 485 Speed command change rate is large 486 -)))|(% style="width:946px" %)[[image:image-20230515140641-5.png]] 488 +)))| (% style="text-align:center" %) 489 +((( 490 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 491 +[[image:image-20230515140641-5.png||id="image-20230515140641-5.png"]] 492 +)))(% style="width:946px" %)[[image:image-20230515140641-5.png]] 487 487 |=(% style="width:74px" %)((( 488 488 7 489 489 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -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 - 578 +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; ... ... @@ -598,46 +598,60 @@ 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 ))) 598 +))) 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 600 +|=(% 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** 601 +|(% 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]] 605 +(% style="text-align:center" %) 606 +((( 607 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 608 +[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]] 609 +))) 612 612 611 +(% class="box infomessage" %) 612 +((( 613 613 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 614 614 ))) 615 +))) 615 615 616 -|(% rowspan="2" %) 617 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 618 -|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 617 +|=(% 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 +|(% style="text-align:center; width:150px" %)Gain switching grade|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)50|(% style="text-align:center" %)0 to 20000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)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. 621 621 622 -[[image:image-20230515140953-10.png]] 622 +(% style="text-align:center" %) 623 +((( 624 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 625 +[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 623 623 ))) 627 +))) 624 624 625 -|(% rowspan="2" %) 626 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 627 -|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 629 +|=(% 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** 630 +|(% style="text-align:center; width:150px" %)Gain switching hysteresis|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)20|(% style="text-align:center" %)0 to 20000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)According to the switching conditions 628 628 |(% colspan="8" %)((( 629 629 Set the hysteresis to meet the gain switching condition. 630 630 631 -[[image:image-20230515140953-11.png]] 634 +(% style="text-align:center" %) 635 +((( 636 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 637 +[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 632 632 ))) 639 +))) 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 641 +|=(% 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** 642 +|(% style="text-align:center; width:150px" %)Position loop gain switching time|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)30|(% style="text-align:center" %)0 to 10000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)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. 639 639 640 -[[image:image-20230515140953-12.png]] 646 +(% style="text-align:center" %) 647 +((( 648 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 649 +[[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]] 650 +))) 641 641 642 642 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 643 643 )))