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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 40.9
edited by Karen
on 2023/05/16 09:35
Change comment: There is no comment for this version
To version 40.6
edited by Karen
on 2023/05/16 09:29
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 -|=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((
549 +|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 -|=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((
556 +|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 -|=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
563 +|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 -|=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
570 +|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.
... ... @@ -574,7 +574,16 @@
574 574  
575 575  
576 576  )))
577 -|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
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 +)))|(((
578 578  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;
579 579  
580 580  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.
... ... @@ -581,19 +581,31 @@
581 581  
582 582  
583 583  )))
584 -|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
593 +|(((
594 +
595 +
596 +7
597 +)))|(((
598 +
599 +
600 +Large position deviation
601 +)))|(((
585 585  In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
586 586  
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 +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 .
588 588  )))
589 -|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((
606 +|8|Position command|(((
590 590  In the previous first gain, if the position command is not 0, switch to the second gain;
591 591  
592 592  In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
593 593  )))
594 -|=(% style="text-align: center; vertical-align: middle" %)9|(((
611 +|(((
595 595  
596 596  
614 +9
615 +)))|(((
616 +
617 +
597 597  Positioning complete
598 598  )))|(((
599 599  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.
... ... @@ -600,14 +600,25 @@
600 600  
601 601  
602 602  )))
603 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|(((
624 +|(((
625 +
626 +
627 +10
628 +)))|(((
629 +
630 +
631 +Position command + actual speed
632 +)))|(((
604 604  In the previous first gain, if the position command is not 0, the second gain is switched;
605 605  
606 606  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 +
607 607  
608 -)))
609 609  )))
610 610  
640 +
641 +)))
642 +
611 611  |(% rowspan="2" %)
612 612  **P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
613 613  |Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms