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" %)((( ... ... @@ -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 -|0|The default is the first gain|Fixed use of the first gain 542 -|1|Switch by DI port|((( 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|((( 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); ... ... @@ -546,135 +546,102 @@ 546 546 547 547 DI logic is valid: the second gain (P02-04~~P02-06). 548 548 ))) 549 -|2|Large torque command|((( 553 +|=(% style="text-align: center; vertical-align: middle" %)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 - 555 555 ))) 556 -|3|Large actual torque|((( 558 +|=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|((( 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 -|4|Large speed command|((( 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 -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 - 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. 569 569 ))) 570 -|5|Large actual speed|((( 568 +|=(% 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 -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 - 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. 576 576 ))) 577 -|((( 578 - 579 - 580 -6 581 -)))|((( 582 - 583 - 584 -Large rate of change in speed command 585 -)))|((( 573 +|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 586 586 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; 587 587 588 -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 - 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. 591 591 ))) 592 -|((( 593 - 594 - 595 -7 596 -)))|((( 597 - 598 - 599 -Large position deviation 600 -)))|((( 578 +|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 601 601 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 602 602 603 -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 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. 604 604 ))) 605 -|8|Position command|((( 583 +|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|((( 606 606 In the previous first gain, if the position command is not 0, switch to the second gain; 607 607 608 608 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 609 609 ))) 610 -|((( 611 - 612 - 613 -9 614 -)))|((( 615 - 616 - 617 -Positioning complete 618 -)))|((( 588 +|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 619 619 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 - 622 622 ))) 623 -|((( 624 - 625 - 626 -10 627 -)))|((( 628 - 629 - 630 -Position command + actual speed 631 -)))|((( 591 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|((( 632 632 In the previous first gain, if the position command is not 0, the second gain is switched; 633 633 634 634 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 - 637 637 ))) 638 - 639 - 640 640 ))) 641 641 642 -|(% 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 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 645 645 |(% colspan="8" %)((( 646 646 The duration of the switching condition required for the second gain to switch back to the first gain. 647 647 648 -[[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 +))) 649 649 609 +(% class="box infomessage" %) 610 +((( 650 650 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 651 651 ))) 613 +))) 652 652 653 -|(% rowspan="2" %) 654 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 655 -|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 656 656 |(% colspan="8" %)((( 657 657 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 658 658 659 -[[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"]] 660 660 ))) 625 +))) 661 661 662 -|(% rowspan="2" %) 663 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 664 -|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 665 665 |(% colspan="8" %)((( 666 666 Set the hysteresis to meet the gain switching condition. 667 667 668 -[[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"]] 669 669 ))) 637 +))) 670 670 671 -|(% rowspan="2" %) 672 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 673 -|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 674 674 |(% colspan="8" %)((( 675 675 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 676 676 677 -[[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 +))) 678 678 679 679 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 680 680 )))