Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -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); ... ... @@ -546,131 +546,102 @@ 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: 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 -|=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align: 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 -|=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align: 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 -|=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align: 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 -|=(% style="text-align: center; vertical-align: middle" %)6|((( 578 - 579 - 580 -Large rate of change in speed command 581 -)))|((( 569 +|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 582 582 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; 583 583 584 -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. 585 - 586 - 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. 587 587 ))) 588 -|((( 589 - 590 - 591 -7 592 -)))|((( 593 - 594 - 595 -Large position deviation 596 -)))|((( 574 +|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 597 597 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 598 598 599 -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. 600 600 ))) 601 -|8|Position command|((( 579 +|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|((( 602 602 In the previous first gain, if the position command is not 0, switch to the second gain; 603 603 604 604 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 605 605 ))) 606 -|((( 607 - 608 - 609 -9 610 -)))|((( 611 - 612 - 613 -Positioning complete 614 -)))|((( 584 +|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 615 615 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. 616 - 617 - 618 618 ))) 619 -|((( 620 - 621 - 622 -10 623 -)))|((( 624 - 625 - 626 -Position command + actual speed 627 -)))|((( 587 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|((( 628 628 In the previous first gain, if the position command is not 0, the second gain is switched; 629 629 630 630 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). 631 - 632 - 633 633 ))) 634 - 635 - 636 636 ))) 637 637 638 -|(% rowspan="2" %) 639 -**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 640 -|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 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 641 641 |(% colspan="8" %)((( 642 642 The duration of the switching condition required for the second gain to switch back to the first gain. 643 643 644 -[[image:image-20230515140953-9.png]] 599 +(% style="text-align:center" %) 600 +((( 601 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 602 +[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]] 603 +))) 645 645 605 +(% class="box infomessage" %) 606 +((( 646 646 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 647 647 ))) 609 +))) 648 648 649 -|(% rowspan="2" %) 650 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 651 -|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 611 +|=(% 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** 612 +|(% 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 652 652 |(% colspan="8" %)((( 653 653 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 654 654 655 -[[image:image-20230515140953-10.png]] 616 +(% style="text-align:center" %) 617 +((( 618 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 619 +[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 656 656 ))) 621 +))) 657 657 658 -|(% rowspan="2" %) 659 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 660 -|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 623 +|=(% 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** 624 +|(% 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 661 661 |(% colspan="8" %)((( 662 662 Set the hysteresis to meet the gain switching condition. 663 663 664 -[[image:image-20230515140953-11.png]] 628 +(% style="text-align:center" %) 629 +((( 630 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 631 +[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 665 665 ))) 633 +))) 666 666 667 -|(% rowspan="2" %) 668 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 669 -|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms 635 +|=(% 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** 636 +|(% 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 670 670 |(% colspan="8" %)((( 671 671 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 672 672 673 -[[image:image-20230515140953-12.png]] 640 +(% style="text-align:center" %) 641 +((( 642 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 643 +[[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]] 644 +))) 674 674 675 675 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 676 676 )))