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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 40.18
edited by Karen
on 2023/05/16 09:44
Change comment: There is no comment for this version
To version 40.7
edited by Karen
on 2023/05/16 09:30
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -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);
... ... @@ -546,63 +546,109 @@
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 +
583 +
584 +Large rate of change in speed command
585 +)))|(((
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.
588 +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 +
590 +
573 573  )))
574 -|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
592 +|(((
593 +
594 +
595 +7
596 +)))|(((
597 +
598 +
599 +Large position deviation
600 +)))|(((
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.
603 +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|(((
605 +|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|(((
610 +|(((
611 +
612 +
613 +9
614 +)))|(((
615 +
616 +
617 +Positioning complete
618 +)))|(((
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.
620 +
621 +
586 586  )))
587 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|(((
623 +|(((
624 +
625 +
626 +10
627 +)))|(((
628 +
629 +
630 +Position command + actual speed
631 +)))|(((
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).
635 +
636 +
591 591  )))
638 +
639 +
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**
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
642 +|(% rowspan="2" %)
643 +**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
644 +|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.
598 598  
599 599  [[image:image-20230515140953-9.png]]
600 600  
601 -(% class="box infomessage" %)
602 -(((
603 603  **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
604 604  )))
605 -)))
606 606  
607 607  |(% rowspan="2" %)
608 608  **P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**