Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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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" %)((( ... ... @@ -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:542 -|=(% style="text-align: center; vertical-align: middle" %)1| =(% style="text-align: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); ... ... @@ -546,104 +546,54 @@ 546 546 547 547 DI logic is valid: the second gain (P02-04~~P02-06). 548 548 ))) 549 -| 2|=(% style="text-align: center; vertical-align: middle" %)Large torque command|(((549 +|=(% 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|=(% style="text-align: center; vertical-align: middle" %)Large actual torque|(((554 +|=(% 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|=(% style="text-align: center; vertical-align: middle" %)Large speed command|(((559 +|=(% 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 -| 5|=(% style="text-align: center; vertical-align: middle" %)Large actual speed|(((564 +|=(% 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 -|((( 578 - 579 - 580 -6 581 -)))|((( 582 -= (% style="text-align: center; vertical-align: middle" %) 583 - (%%) = 584 - 585 -Large rate of change in speed command 586 -)))|((( 569 +|=(% 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 - 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. 592 592 ))) 593 -|((( 594 - 595 - 596 -7 597 -)))|((( 598 - 599 - 600 -Large position deviation 601 -)))|((( 574 +|=(% 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 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. 605 605 ))) 606 -|8|Position command|((( 579 +|=(% 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 -)))|((( 584 +|=(% 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 -)))|((( 587 +|=(% 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 646 -|(% 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" %)((( 647 647 The duration of the switching condition required for the second gain to switch back to the first gain. 648 648 649 649 [[image:image-20230515140953-9.png]] ... ... @@ -651,31 +651,28 @@ 651 651 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 652 652 ))) 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 657 -|(% 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" %)((( 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. 659 659 660 660 [[image:image-20230515140953-10.png]] 661 661 ))) 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 666 -|(% 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" %)((( 667 667 Set the hysteresis to meet the gain switching condition. 668 668 669 669 [[image:image-20230515140953-11.png]] 670 670 ))) 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 675 -|(% 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" %)((( 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]] 625 +[[image:image-20230515140953-12.png]]| 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 ))) ... ... @@ -1231,3 +1231,13 @@ 1231 1231 1232 1232 Table 7-11 Notch filter function code parameters 1233 1233 ~)~)~) 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 +)))
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