Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -538,8 +538,8 @@ 538 538 Set the conditions for gain switching. 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 -|=(% 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|((( 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|((( 543 543 Use DI function 10 (GAIN-SEL, gain switching); 544 544 545 545 DI logic is invalid: the first gain (P02-01~~P02-03); ... ... @@ -546,52 +546,102 @@ 546 546 547 547 DI logic is valid: the second gain (P02-04~~P02-06). 548 548 ))) 549 -|=(% style="text-align: center; vertical-align: middle" %) 2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((549 +|2|=(% style="text-align: center; vertical-align: middle" %)Large torque command|((( 550 550 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 551 551 552 552 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. 553 + 554 + 553 553 ))) 554 -|=(% style="text-align: center; vertical-align: middle" %) 3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((556 +|3|=(% style="text-align: center; vertical-align: middle" %)Large actual torque|((( 555 555 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 556 556 557 557 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 + 558 558 ))) 559 -|=(% style="text-align: center; vertical-align: middle" %) 4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((563 +|4|=(% style="text-align: center; vertical-align: middle" %)Large speed command|((( 560 560 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 561 561 562 562 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 + 563 563 ))) 564 -|=(% style="text-align: center; vertical-align: middle" %) 5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((570 +|5|=(% style="text-align: center; vertical-align: middle" %)Large actual speed|((( 565 565 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 566 566 567 567 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 + 568 568 ))) 569 -|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 577 +|((( 578 + 579 + 580 +6 581 +)))|((( 582 += (% style="text-align: center; vertical-align: middle" %) 583 + (%%) = 584 + 585 +Large rate of change in speed command 586 +)))|((( 570 570 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; 571 571 572 -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. 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. 590 + 591 + 573 573 ))) 574 -|=(% 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 +)))|((( 575 575 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 576 576 577 -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 . 578 578 ))) 579 -| =(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((606 +|8|Position command|((( 580 580 In the previous first gain, if the position command is not 0, switch to the second gain; 581 581 582 582 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 583 583 ))) 584 -|=(% 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 +)))|((( 585 585 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 + 586 586 ))) 587 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|((( 624 +|((( 625 + 626 + 627 +10 628 +)))|((( 629 + 630 + 631 +Position command + actual speed 632 +)))|((( 588 588 In the previous first gain, if the position command is not 0, the second gain is switched; 589 589 590 590 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 + 637 + 591 591 ))) 639 + 640 + 592 592 ))) 593 593 594 -|=(% 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** 643 +|(% rowspan="2" %) 644 +**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 595 595 |Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 596 596 |(% colspan="8" %)((( 597 597 The duration of the switching condition required for the second gain to switch back to the first gain.