Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -463,42 +463,41 @@ 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 |=(% 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]] 469 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque| 470 +(% style="text-align:center; vertical-align:middle" %)[[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" %)((( 473 473 Large speed command 474 -)))|(% style=" width:946px" %)[[image:image-20230515140641-3.png]]475 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-3.png]] 475 475 |=(% style="text-align:center; vertical-align:middle" %)((( 476 476 5 477 477 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 478 478 Fast actual speed 479 -)))|(% style="width:946px" %)((( 480 -[[image:image-20230515140641-4.png]] 481 -))) 480 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-4.png]] 482 482 |=(% style="text-align:center; vertical-align:middle" %)((( 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]]487 -|=(% style="width:74px" %)((( 485 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-5.png]] 486 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 488 488 7 489 489 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 490 490 Large position deviation 491 -)))|(% style=" width:946px" %)[[image:image-20230515140641-6.png]]490 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-6.png]] 492 492 |=(% style="text-align:center; vertical-align:middle;" %)((( 493 493 8 494 494 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 495 495 Position command 496 -)))|(% style=" width:946px" %)[[image:image-20230515140641-7.png]]495 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-7.png]] 497 497 |=(% style="text-align:center; vertical-align:middle; width:74px" %)((( 498 498 9 499 499 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 500 500 Positioning completed 501 -)))|(% style=" width:946px" %)[[image:image-20230515140641-8.png]]500 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-8.png]] 502 502 |=(% style="text-align:center; vertical-align:middle" %)((( 503 503 10 504 504 )))|(% 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 - 571 +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 ))) 591 +))) 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 593 +|=(% 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** 594 +|(% 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]] 598 +(% style="text-align:center" %) 599 +((( 600 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 601 +[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]] 602 +))) 612 612 604 +(% class="box infomessage" %) 605 +((( 613 613 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 614 614 ))) 608 +))) 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 610 +|=(% 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** 611 +|(% 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]] 615 +(% style="text-align:center" %) 616 +((( 617 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 618 +[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 623 623 ))) 620 +))) 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 622 +|=(% 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** 623 +|(% 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]] 627 +(% style="text-align:center" %) 628 +((( 629 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 630 +[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 632 632 ))) 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 634 +|=(% 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** 635 +|(% 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]] 639 +(% style="text-align:center" %) 640 +((( 641 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 642 +[[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]] 643 +))) 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 )))