Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -463,10 +463,14 @@ 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" %)((( 467 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 468 +[[image:image-20230515140641-1.png||id="image-20230515140641-1.png"]] 469 +))) 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]] 472 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque| 473 +(% 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 +483,12 @@ 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]] 490 +)))| 491 +(% style="text-align:center" %) 492 +((( 493 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 494 +[[image:image-20230515140641-5.png||id="image-20230515140641-5.png"]] 495 +)))(% 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 -((( 551 +|=(% 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); ... ... @@ -551,36 +551,26 @@ 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 - 555 - 556 556 ))) 557 557 |=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)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 - 562 - 563 563 ))) 564 564 |=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)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; 566 566 567 567 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 - 569 - 570 570 ))) 571 571 |=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)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; 573 573 574 574 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 - 576 - 577 577 ))) 578 578 |=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 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. 582 - 583 - 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. 584 584 ))) 585 585 |=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 586 586 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; ... ... @@ -595,51 +595,64 @@ 595 595 |=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 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. 597 597 ))) 598 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed| 599 -((( 596 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|((( 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). 603 - 604 -))) 605 605 ))) 601 +))) 606 606 607 -|(% rowspan="2" %) 608 -**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 609 -|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 603 +|=(% 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** 604 +|(% 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 610 610 |(% colspan="8" %)((( 611 611 The duration of the switching condition required for the second gain to switch back to the first gain. 612 612 613 -[[image:image-20230515140953-9.png]] 608 +(% style="text-align:center" %) 609 +((( 610 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 611 +[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]] 612 +))) 614 614 614 +(% class="box infomessage" %) 615 +((( 615 615 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 616 616 ))) 618 +))) 617 617 618 -|(% rowspan="2" %) 619 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 620 -|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 620 +|=(% 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** 621 +|(% 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 621 621 |(% colspan="8" %)((( 622 622 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 623 623 624 -[[image:image-20230515140953-10.png]] 625 +(% style="text-align:center" %) 626 +((( 627 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 628 +[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 625 625 ))) 630 +))) 626 626 627 -|(% rowspan="2" %) 628 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 629 -|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 632 +|=(% 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** 633 +|(% 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 630 630 |(% colspan="8" %)((( 631 631 Set the hysteresis to meet the gain switching condition. 632 632 633 -[[image:image-20230515140953-11.png]] 637 +(% style="text-align:center" %) 638 +((( 639 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 640 +[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 634 634 ))) 642 +))) 635 635 636 -|(% rowspan="2" %) 637 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 638 -|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms 644 +|=(% 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** 645 +|(% 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 639 639 |(% colspan="8" %)((( 640 640 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 641 641 642 -[[image:image-20230515140953-12.png]] 649 +(% style="text-align:center" %) 650 +((( 651 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 652 +[[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]] 653 +))) 643 643 644 644 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 645 645 )))