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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 40.8
edited by Karen
on 2023/05/16 09:31
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 +|=(% 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|(((
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 +|=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align: center; vertical-align: middle" %)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 +|=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align: center; vertical-align: middle" %)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.
... ... @@ -562,7 +562,7 @@
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 +|=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align: center; vertical-align: middle" %)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  
568 568  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.
... ... @@ -569,7 +569,7 @@
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 +|=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align: center; vertical-align: middle" %)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  
575 575  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.
... ... @@ -576,7 +576,11 @@
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 +|=(% style="text-align: center; vertical-align: middle" %)6|(((
578 +
579 +
580 +Large rate of change in speed command
581 +)))|(((
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  
582 582  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.
... ... @@ -583,28 +583,56 @@
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|(((
588 +|(((
589 +
590 +
591 +7
592 +)))|(((
593 +
594 +
595 +Large position deviation
596 +)))|(((
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.
599 +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|(((
601 +|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|(((
606 +|(((
607 +
608 +
609 +9
610 +)))|(((
611 +
612 +
613 +Positioning complete
614 +)))|(((
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.
616 +
617 +
598 598  )))
599 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|
600 -(((
619 +|(((
620 +
621 +
622 +10
623 +)))|(((
624 +
625 +
626 +Position command + actual speed
627 +)))|(((
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).
631 +
604 604  
605 -)))
606 606  )))
607 607  
635 +
636 +)))
637 +
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