Skip to Content

Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 40.14
edited by Karen
on 2023/05/16 09:38
Change comment: There is no comment for this version
To version 41.2
edited by Karen
on 2023/05/16 09:49
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -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);
... ... @@ -547,8 +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|
551 -(((
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.
... ... @@ -557,29 +557,21 @@
557 557  In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
558 558  
559 559  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.
560 -
561 -
562 562  )))
563 563  |=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
564 564  In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
565 565  
566 566  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 -
568 -
569 569  )))
570 570  |=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
571 571  In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
572 572  
573 573  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 -
575 -
576 576  )))
577 577  |=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
578 578  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;
579 579  
580 -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.
581 -
582 -
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.
583 583  )))
584 584  |=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
585 585  In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
... ... @@ -594,28 +594,31 @@
594 594  |=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(((
595 595  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.
596 596  )))
597 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|
598 -(((
587 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|(((
599 599  In the previous first gain, if the position command is not 0, the second gain is switched;
600 600  
601 601  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).
602 -
603 -)))
604 604  )))
592 +)))
605 605  
606 -|(% rowspan="2" %)
607 -**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
608 -|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
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
609 609  |(% colspan="8" %)(((
610 610  The duration of the switching condition required for the second gain to switch back to the first gain.
611 611  
612 -[[image:image-20230515140953-9.png]]
599 +(% style="text-align:center" %)
600 +(((
601 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
602 +[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]]
603 +)))
613 613  
605 +(% class="box infomessage" %)
606 +(((
614 614  **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
615 615  )))
609 +)))
616 616  
617 -|(% rowspan="2" %)
618 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
611 +|=(% 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**
619 619  |Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
620 620  |(% colspan="8" %)(((
621 621  Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
... ... @@ -623,8 +623,7 @@
623 623  [[image:image-20230515140953-10.png]]
624 624  )))
625 625  
626 -|(% rowspan="2" %)
627 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
619 +|=(% 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**
628 628  |Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
629 629  |(% colspan="8" %)(((
630 630  Set the hysteresis to meet the gain switching condition.
... ... @@ -632,9 +632,7 @@
632 632  [[image:image-20230515140953-11.png]]
633 633  )))
634 634  
635 -|(% rowspan="2" %)
636 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
637 -|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
627 +|=(% 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**|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
638 638  |(% colspan="8" %)(((
639 639  Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
640 640