Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -456,73 +456,73 @@ 456 456 [[**Figure 7-9 Flow chart of gain switching when P02-07=1**>>image:20230515-9.png||id="20230515-9.png"]] 457 457 ))) 458 458 459 -|=(% style="text-align:center; vertical-align:middle; width:1 20px" %)**P02-08**|=(% style="text-align: center; vertical-align: middle; width:464px;" %)**Content**|=(% style="text-align: center; vertical-align: middle; width:946px;" %)**Diagram**460 -|=(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle ; width:464px" %)Fixed use of the first gain|(% style="width:946px" %)~-~-461 -|=(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle ; width:464px" %)Switching with DI|(% style="width:946px" %)~-~-459 +|=(% style="text-align:center; vertical-align:middle; width:100px" %)**P02-08**|=(% style="text-align: center; vertical-align: middle; width: 238px" %)**Content**|=(% style="text-align: center; vertical-align: middle; width: 1108px" %)**Diagram** 460 +|=(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Fixed use of the first gain|~-~- 461 +|=(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switching with DI|~-~- 462 462 |=(% style="text-align:center; vertical-align:middle" %)((( 463 463 2 464 -)))|(% style="text-align:center; vertical-align:middle ; width:464px" %)(((464 +)))|(% style="text-align:center; vertical-align:middle" %)((( 465 465 Large torque command 466 -)))|(% style="width: 946px" %)[[image:image-20230515140641-1.png]]467 -|=(% style="text-align:center; vertical-align:middle" %)((( 466 +)))|(% style="vertical-align:middle; width:1108px" %) [[image:image-20230515140641-1.png]] 467 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 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" %)((( 469 +)))|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(% style="width:1108px" %)[[image:image-20230515140641-2.png]] 470 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 471 471 4 472 -)))|(% style=" text-align:center; vertical-align:middle;width:464px" %)(((472 +)))|(% style="width:238px" %)((( 473 473 Large speed command 474 -)))|(% style="width: 946px" %)[[image:image-20230515140641-3.png]]475 -|=(% style="text-align:center; vertical-align:middle" %)((( 474 +)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]] 475 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 476 476 5 477 -)))|(% style=" text-align:center; vertical-align:middle;width:464px" %)(((477 +)))|(% style="width:238px" %)((( 478 478 Fast actual speed 479 -)))|( % style="width:946px" %)(((479 +)))|((( 480 480 [[image:image-20230515140641-4.png]] 481 481 ))) 482 -|=(% style="text-align:center; vertical-align:middle" %)((( 482 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 483 483 6 484 -)))|(% style=" text-align:center; vertical-align:middle;width:464px" %)(((484 +)))|(% style="width:1108px" %)((( 485 485 Speed command change rate is large 486 -)))| (% style="width:946px" %)[[image:image-20230515140641-5.png]]486 +)))|[[image:image-20230515140641-5.png]] 487 487 |=(% style="width:74px" %)((( 488 488 7 489 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 489 +)))|(% style="width:238px" %)((( 490 + 490 490 Large position deviation 491 -)))| (% style="width:946px" %)[[image:image-20230515140641-6.png]]492 -|=(% style=" text-align:center; vertical-align:middle;" %)(((492 +)))|[[image:image-20230515140641-6.png]] 493 +|=(% style="width:74px" %)((( 493 493 8 494 -)))|(% style=" text-align:center; vertical-align:middle;width:464px" %)(((495 +)))|(% style="width:238px" %)((( 495 495 Position command 496 -)))| (% style="width:946px" %)[[image:image-20230515140641-7.png]]497 -|=(% style=" text-align:center; vertical-align:middle;width:74px" %)(((497 +)))|[[image:image-20230515140641-7.png]] 498 +|=(% style="width:74px" %)((( 498 498 9 499 -)))|(% style=" text-align:center; vertical-align:middle;width:464px" %)(((500 +)))|(% style="width:238px" %)((( 500 500 Positioning completed 501 -)))|(% style="width: 946px" %)[[image:image-20230515140641-8.png]]502 -|=(% style=" text-align:center; vertical-align:middle" %)(((502 +)))|(% style="width:1108px" %)[[image:image-20230515140641-8.png]] 503 +|=(% style="width:74px" %)((( 503 503 10 504 -)))|(% style=" text-align:center; vertical-align:middle;width:464px" %)(((505 +)))|(% style="width:238px" %)((( 505 505 Position command + actual speed 506 -)))|(% style=" text-align:center; vertical-align:middle;width:946px" %)(((507 +)))|(% style="width:1108px" %)((( 507 507 Refer to the chart below 508 508 ))) 509 509 510 510 (% style="text-align:center" %) 511 -((( 512 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 513 -[[**Figure 7-10 P02-08=10 Position command + actual speed gain description**>>image:20230515-10.png||id="Iimage-20220608174118-1.png"]] 514 -))) 512 +[[image:20230515-10.png]] 515 515 516 - **Description ofrelatedparameters**514 +Figure 7-10 P02-08=10 Position command + actual speed gain description 517 517 518 -|=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %) 519 -**P02-07**|=(% 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** 520 -|(% style="text-align:center; width:150px" %)The second gain switching mode|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 1|(% style="text-align:center" %)Gain control| 516 +Description of related parameters 517 + 518 +|(% rowspan="2" style="width:68px" %) 519 +**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 520 +|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control| 521 521 |(% colspan="8" %)((( 522 522 Set the switching mode of the second gain. 523 523 524 -| =(% style="text-align: center; vertical-align: middle; width:120px" %)**Setting value**|=(% style="text-align: center; vertical-align: middle" %)**Function**525 -| =(% style="text-align: center; vertical-align: middle" %)0|(((524 +|**Setting value**|**Function** 525 +|0|((( 526 526 The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching): 527 527 528 528 DI logic invalid: PI control; ... ... @@ -529,18 +529,18 @@ 529 529 530 530 DI logic valid: PI control. 531 531 ))) 532 -| =(% style="text-align: center; vertical-align: middle" %)1|The first gain and the second gain are switched by the setting value of P02-08.532 +|1|The first gain and the second gain are switched by the setting value of P02-08. 533 533 ))) 534 534 535 -|=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %)**P02-08**|=(% 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** 536 -|(% style="text-align:center; width:150px" %)Gain switching condition selection|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 10|(% style="text-align:center" %)Gain control| 535 +|(% rowspan="2" %) 536 +**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 537 +|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control| 537 537 |(% colspan="8" %)((( 538 538 Set the conditions for gain switching. 539 539 540 -|=(% 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 +|Setting value|Gain switching conditions|Details 542 +|0|The default is the first gain|Fixed use of the first gain 543 +|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); ... ... @@ -547,7 +547,7 @@ 547 547 548 548 DI logic is valid: the second gain (P02-04~~P02-06). 549 549 ))) 550 -| =(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((550 +|2|Large torque command|((( 551 551 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 552 552 553 553 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. ... ... @@ -554,7 +554,7 @@ 554 554 555 555 556 556 ))) 557 -| =(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((557 +|3|Large actual torque|((( 558 558 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 559 559 560 560 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. ... ... @@ -561,49 +561,85 @@ 561 561 562 562 563 563 ))) 564 -| =(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((564 +|4|Large speed command|((( 565 565 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 566 566 567 -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 +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 . 568 568 569 569 570 570 ))) 571 -| =(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((571 +|5|Large actual speed|((( 572 572 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 573 573 574 -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 +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 . 575 575 576 576 577 577 ))) 578 -|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 578 +|((( 579 + 580 + 581 +6 582 +)))|((( 583 + 584 + 585 +Large rate of change in speed command 586 +)))|((( 579 579 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; 580 580 581 -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. 589 +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 . 582 582 583 583 584 584 ))) 585 -|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 593 +|((( 594 + 595 + 596 +7 597 +)))|((( 598 + 599 + 600 +Large position deviation 601 +)))|((( 586 586 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 587 587 588 -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. 604 +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 . 589 589 ))) 590 -| =(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((606 +|8|Position command|((( 591 591 In the previous first gain, if the position command is not 0, switch to the second gain; 592 592 593 593 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 594 594 ))) 595 -|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 611 +|((( 612 + 613 + 614 +9 615 +)))|((( 616 + 617 + 618 +Positioning complete 619 +)))|((( 596 596 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. 621 + 622 + 597 597 ))) 598 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed| 599 -((( 624 +|((( 625 + 626 + 627 +10 628 +)))|((( 629 + 630 + 631 +Position command + actual speed 632 +)))|((( 600 600 In the previous first gain, if the position command is not 0, the second gain is switched; 601 601 602 602 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). 636 + 603 603 604 -))) 605 605 ))) 606 606 640 + 641 +))) 642 + 607 607 |(% rowspan="2" %) 608 608 **P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 609 609 |Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms