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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 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);
... ... @@ -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;
... ... @@ -594,19 +594,16 @@
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
609 -|(% 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" %)(((
610 610  The duration of the switching condition required for the second gain to switch back to the first gain.
611 611  
612 612  [[image:image-20230515140953-9.png]]
... ... @@ -614,31 +614,28 @@
614 614  **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
615 615  )))
616 616  
617 -|(% rowspan="2" %)
618 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
619 -|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
620 -|(% 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" %)(((
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.
622 622  
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**
628 -|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
629 -|(% 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" %)(((
630 630  Set the hysteresis to meet the gain switching condition.
631 631  
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
638 -|(% 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" %)(((
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  
641 -[[image:image-20230515140953-12.png]]
625 +[[image:image-20230515140953-12.png]]|
642 642  
643 643  If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
644 644  )))
... ... @@ -1194,3 +1194,23 @@
1194 1194  
1195 1195  Table 7-11 Notch filter function code parameters
1196 1196  ~)~)~)
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
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... ... @@ -1,0 +1,1 @@
1 +XWiki.Karen
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