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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 40.12
edited by Karen
on 2023/05/16 09:37
Change comment: There is no comment for this version
To version 40.5
edited by Karen
on 2023/05/16 09:24
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -538,9 +538,8 @@
538 538  Set the conditions for gain switching.
539 539  
540 540  |=(% 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 -(((
541 +|0|The default is the first gain|Fixed use of the first gain
542 +|1|Switch by DI port|(((
544 544  Use DI function 10 (GAIN-SEL, gain switching);
545 545  
546 546  DI logic is invalid: the first gain (P02-01~~P02-03);
... ... @@ -547,8 +547,7 @@
547 547  
548 548  DI logic is valid: the second gain (P02-04~~P02-06).
549 549  )))
550 -
551 -|=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((
549 +|2|Large torque command|(((
552 552  In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
553 553  
554 554  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.
... ... @@ -555,7 +555,7 @@
555 555  
556 556  
557 557  )))
558 -|=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((
556 +|3|Large actual torque|(((
559 559  In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
560 560  
561 561  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.
... ... @@ -562,49 +562,85 @@
562 562  
563 563  
564 564  )))
565 -|=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
563 +|4|Large speed command|(((
566 566  In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
567 567  
568 -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 .
569 569  
570 570  
571 571  )))
572 -|=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
570 +|5|Large actual speed|(((
573 573  In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
574 574  
575 -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 .
576 576  
577 577  
578 578  )))
579 -|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
577 +|(((
578 +
579 +
580 +6
581 +)))|(((
582 +
583 +
584 +Large rate of change in speed command
585 +)))|(((
580 580  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;
581 581  
582 -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.
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 .
583 583  
584 584  
585 585  )))
586 -|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
592 +|(((
593 +
594 +
595 +7
596 +)))|(((
597 +
598 +
599 +Large position deviation
600 +)))|(((
587 587  In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
588 588  
589 -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.
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 .
590 590  )))
591 -|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((
605 +|8|Position command|(((
592 592  In the previous first gain, if the position command is not 0, switch to the second gain;
593 593  
594 594  In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
595 595  )))
596 -|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(((
610 +|(((
611 +
612 +
613 +9
614 +)))|(((
615 +
616 +
617 +Positioning complete
618 +)))|(((
597 597  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 +
621 +
598 598  )))
599 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|
600 -(((
623 +|(((
624 +
625 +
626 +10
627 +)))|(((
628 +
629 +
630 +Position command + actual speed
631 +)))|(((
601 601  In the previous first gain, if the position command is not 0, the second gain is switched;
602 602  
603 603  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 +
604 604  
605 -)))
606 606  )))
607 607  
639 +
640 +)))
641 +
608 608  |(% rowspan="2" %)
609 609  **P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
610 610  |Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms