Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -463,10 +463,14 @@ 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" %)((( 467 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 468 +[[image:image-20230515140641-1.png||id="image-20230515140641-1.png"]] 469 +))) 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]] 472 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque| 473 +(% style="width:946px" %)[[image:image-20230515140641-2.png]] 470 470 |=(% style="text-align:center; vertical-align:middle" %)((( 471 471 4 472 472 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -521,7 +521,7 @@ 521 521 |(% colspan="8" %)((( 522 522 Set the switching mode of the second gain. 523 523 524 -|=(% style="text-align: center; vertical-align: middle; width:120px" %) 528 +|=(% style="text-align: center; vertical-align: middle; width:120px" %)**Setting value**|=(% style="text-align: center; vertical-align: middle" %)**Function** 525 525 |=(% style="text-align: center; vertical-align: middle" %)0|((( 526 526 The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching): 527 527 ... ... @@ -532,15 +532,14 @@ 532 532 |=(% style="text-align: center; vertical-align: middle" %)1|The first gain and the second gain are switched by the setting value of P02-08. 533 533 ))) 534 534 535 -|(% rowspan="2" %) 536 -|=(% style="text-align: center; vertical-align: middle; width:120px" %)**P02-08**|=(% 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** 537 -|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control| 539 +|=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %)**P02-08**|=(% 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** 540 +|(% style="text-align:center; width:150px" %)Gain switching condition selection|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 10|(% style="text-align:center" %)Gain control| 538 538 |(% colspan="8" %)((( 539 539 Set the conditions for gain switching. 540 540 541 -|Setting value|Gain switching conditions|Details 542 -|0|The default is the first gain|Fixed use of the first gain 543 -|1|Switch by DI port|((( 544 +|=(% 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 545 +|=(% 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 546 +|=(% 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); ... ... @@ -547,135 +547,102 @@ 547 547 548 548 DI logic is valid: the second gain (P02-04~~P02-06). 549 549 ))) 550 -|2|Large torque command|((( 553 +|=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|((( 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 -|3|Large actual torque|((( 558 +|=(% 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 -|4|Large speed command|((( 563 +|=(% 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 -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 - 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. 570 570 ))) 571 -|5|Large actual speed|((( 568 +|=(% 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 -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 - 571 +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. 577 577 ))) 578 -|((( 579 - 580 - 581 -6 582 -)))|((( 583 - 584 - 585 -Large rate of change in speed command 586 -)))|((( 573 +|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 587 587 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; 588 588 589 -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 - 576 +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. 592 592 ))) 593 -|((( 594 - 595 - 596 -7 597 -)))|((( 598 - 599 - 600 -Large position deviation 601 -)))|((( 578 +|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 602 602 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 603 603 604 -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 581 +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. 605 605 ))) 606 -|8|Position command|((( 583 +|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|((( 607 607 In the previous first gain, if the position command is not 0, switch to the second gain; 608 608 609 609 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 610 610 ))) 611 -|((( 612 - 613 - 614 -9 615 -)))|((( 616 - 617 - 618 -Positioning complete 619 -)))|((( 588 +|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 620 620 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 - 623 623 ))) 624 -|((( 625 - 626 - 627 -10 628 -)))|((( 629 - 630 - 631 -Position command + actual speed 632 -)))|((( 591 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|((( 633 633 In the previous first gain, if the position command is not 0, the second gain is switched; 634 634 635 635 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 - 638 638 ))) 639 - 640 - 641 641 ))) 642 642 643 -|(% rowspan="2" %) 644 -**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 645 -|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 598 +|=(% 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** 599 +|(% 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 646 646 |(% colspan="8" %)((( 647 647 The duration of the switching condition required for the second gain to switch back to the first gain. 648 648 649 -[[image:image-20230515140953-9.png]] 603 +(% style="text-align:center" %) 604 +((( 605 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 606 +[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]] 607 +))) 650 650 609 +(% class="box infomessage" %) 610 +((( 651 651 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 652 652 ))) 613 +))) 653 653 654 -|(% rowspan="2" %) 655 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 656 -|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 615 +|=(% 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** 616 +|(% 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 657 657 |(% colspan="8" %)((( 658 658 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 659 659 660 -[[image:image-20230515140953-10.png]] 620 +(% style="text-align:center" %) 621 +((( 622 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 623 +[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 661 661 ))) 625 +))) 662 662 663 -|(% rowspan="2" %) 664 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 665 -|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 627 +|=(% 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 +|(% 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 666 666 |(% colspan="8" %)((( 667 667 Set the hysteresis to meet the gain switching condition. 668 668 669 -[[image:image-20230515140953-11.png]] 632 +(% style="text-align:center" %) 633 +((( 634 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 635 +[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 670 670 ))) 637 +))) 671 671 672 -|(% rowspan="2" %) 673 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 674 -|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms 639 +|=(% 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** 640 +|(% 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 675 675 |(% colspan="8" %)((( 676 676 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 677 677 678 -[[image:image-20230515140953-12.png]] 644 +(% style="text-align:center" %) 645 +((( 646 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 647 +[[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]] 648 +))) 679 679 680 680 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 681 681 )))