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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 40.7
edited by Karen
on 2023/05/16 09:30
Change comment: There is no comment for this version
To version 40.11
edited by Karen
on 2023/05/16 09:36
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);
... ... @@ -546,7 +546,7 @@
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.
... ... @@ -553,7 +553,7 @@
553 553  
554 554  
555 555  )))
556 -|3|(% style="text-align: center; vertical-align: middle" %)Large actual torque|(((
556 +|=(% 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.
... ... @@ -560,7 +560,7 @@
560 560  
561 561  
562 562  )))
563 -|4|(% style="text-align: center; vertical-align: middle" %)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  
566 566  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.
... ... @@ -567,7 +567,7 @@
567 567  
568 568  
569 569  )))
570 -|5|(% style="text-align: center; vertical-align: middle" %)Large actual speed|(((
570 +|=(% 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.
... ... @@ -574,15 +574,7 @@
574 574  
575 575  
576 576  )))
577 -|(((
578 -
579 -
580 -6
581 -)))|(((
582 -
583 -
584 -Large rate of change in speed command
585 -)))|(((
577 +|=(% 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  
588 588  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.
... ... @@ -589,56 +589,28 @@
589 589  
590 590  
591 591  )))
592 -|(((
593 -
594 -
595 -7
596 -)))|(((
597 -
598 -
599 -Large position deviation
600 -)))|(((
584 +|=(% 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 .
587 +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|(((
589 +|=(% 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 -)))|(((
594 +|=(% 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 -)))|(((
597 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|
598 +(((
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 -
636 636  
603 +)))
637 637  )))
638 638  
639 -
640 -)))
641 -
642 642  |(% rowspan="2" %)
643 643  **P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
644 644  |Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms