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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 40.13
edited by Karen
on 2023/05/16 09:38
Change comment: There is no comment for this version
To version 48.1
edited by Karen
on 2023/05/16 10:49
Change comment: There is no comment for this version

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... ... @@ -463,42 +463,42 @@
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||height="310" width="543"]]
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]]
469 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
470 +Large actual torque
471 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-2.png||height="252" width="550"]]
470 470  |=(% style="text-align:center; vertical-align:middle" %)(((
471 471  4
472 472  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
473 473  Large speed command
474 -)))|(% style="width:946px" %)[[image:image-20230515140641-3.png]]
476 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-3.png||height="212" width="558"]]
475 475  |=(% style="text-align:center; vertical-align:middle" %)(((
476 476  5
477 477  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
478 478  Fast actual speed
479 -)))|(% style="width:946px" %)(((
480 -[[image:image-20230515140641-4.png]]
481 -)))
481 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-4.png||height="223" width="561"]]
482 482  |=(% style="text-align:center; vertical-align:middle" %)(((
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]]
487 -|=(% style="width:74px" %)(((
486 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-5.png||height="327" width="570"]]
487 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
488 488  7
489 489  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
490 490  Large position deviation
491 -)))|(% style="width:946px" %)[[image:image-20230515140641-6.png]]
491 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-6.png||height="305" width="574"]]
492 492  |=(% style="text-align:center; vertical-align:middle;" %)(((
493 493  8
494 494  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
495 495  Position command
496 -)))|(% style="width:946px" %)[[image:image-20230515140641-7.png]]
496 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-7.png||height="280" width="570"]]
497 497  |=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
498 498  9
499 499  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
500 500  Positioning completed
501 -)))|(% style="width:946px" %)[[image:image-20230515140641-8.png]]
501 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-8.png||height="302" width="553"]]
502 502  |=(% style="text-align:center; vertical-align:middle" %)(((
503 503  10
504 504  )))|(% 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 -(((
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);
... ... @@ -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 -
572 +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;
... ... @@ -595,19 +595,16 @@
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 -(((
587 +|=(% 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  )))
592 +)))
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
610 -|(% colspan="8" %)(((
594 +|=(% 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**
595 +|(% 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
596 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
611 611  The duration of the switching condition required for the second gain to switch back to the first gain.
612 612  
613 613  [[image:image-20230515140953-9.png]]
... ... @@ -615,31 +615,28 @@
615 615  **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
616 616  )))
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
621 -|(% colspan="8" %)(((
604 +|=(% 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**
605 +|(% 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
606 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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  
624 624  [[image:image-20230515140953-10.png]]
625 625  )))
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
630 -|(% colspan="8" %)(((
612 +|=(% 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**
613 +|(% 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
614 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
631 631  Set the hysteresis to meet the gain switching condition.
632 632  
633 633  [[image:image-20230515140953-11.png]]
634 634  )))
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
639 -|(% colspan="8" %)(((
620 +|=(% 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**
621 +|(% 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
622 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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]]
625 +[[image:image-20230515140953-12.png]]|
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  )))
... ... @@ -1195,3 +1195,23 @@
1195 1195  
1196 1196  Table 7-11 Notch filter function code parameters
1197 1197  ~)~)~)
1181 +
1182 +== Low frequency vibration suppression ==
1183 +
1184 +Low-frequency vibration suppression is suitable for working conditions where the motor vibrates during deceleration and shutdown after the position command is sent, and the vibration amplitude gradually decreases. The use of the low-frequency vibration suppression function is effective in reducing the time to complete positioning due to vibration effects.
1185 +
1186 +(% style="text-align:center" %)
1187 +(((
1188 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1189 +[[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
1190 +)))
1191 +
1192 +== Low frequency vibration suppression ==
1193 +
1194 +Low-frequency vibration suppression is suitable for working conditions where the motor vibrates during deceleration and shutdown after the position command is sent, and the vibration amplitude gradually decreases. The use of the low-frequency vibration suppression function is effective in reducing the time to complete positioning due to vibration effects.
1195 +
1196 +(% style="text-align:center" %)
1197 +(((
1198 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1199 +[[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
1200 +)))
20230516-0713.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Karen
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1 +8.4 KB
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