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" %)((( ... ... @@ -539,8 +539,7 @@ 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 541 541 |=(% 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 -((( 548 +|=(% 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); ... ... @@ -547,41 +547,30 @@ 547 547 548 548 DI logic is valid: the second gain (P02-04~~P02-06). 549 549 ))) 550 - 551 551 |=(% 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 - 556 - 557 557 ))) 558 558 |=(% 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 - 563 - 564 564 ))) 565 565 |=(% 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 - 570 - 571 571 ))) 572 572 |=(% 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 - 577 - 578 578 ))) 579 579 |=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 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. 583 - 584 - 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. 585 585 ))) 586 586 |=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 587 587 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; ... ... @@ -596,51 +596,64 @@ 596 596 |=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 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. 598 598 ))) 599 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed| 600 -((( 593 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|((( 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). 604 - 605 -))) 606 606 ))) 598 +))) 607 607 608 -|(% rowspan="2" %) 609 -**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 610 -|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 611 611 |(% colspan="8" %)((( 612 612 The duration of the switching condition required for the second gain to switch back to the first gain. 613 613 614 -[[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 +))) 615 615 611 +(% class="box infomessage" %) 612 +((( 616 616 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 617 617 ))) 615 +))) 618 618 619 -|(% rowspan="2" %) 620 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 621 -|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 622 622 |(% colspan="8" %)((( 623 623 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 624 624 625 -[[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"]] 626 626 ))) 627 +))) 627 627 628 -|(% rowspan="2" %) 629 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 630 -|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 631 631 |(% colspan="8" %)((( 632 632 Set the hysteresis to meet the gain switching condition. 633 633 634 -[[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"]] 635 635 ))) 639 +))) 636 636 637 -|(% rowspan="2" %) 638 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 639 -|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 640 640 |(% colspan="8" %)((( 641 641 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 642 642 643 -[[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 +))) 644 644 645 645 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 646 646 )))