Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -550,36 +550,26 @@ 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 ))) 556 556 |=(% 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 - 561 - 562 562 ))) 563 563 |=(% 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 - 568 - 569 569 ))) 570 570 |=(% 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 - 575 - 576 576 ))) 577 577 |=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 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 -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 - 582 - 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. 583 583 ))) 584 584 |=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 585 585 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; ... ... @@ -591,59 +591,67 @@ 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|((( 595 - 596 - 597 -Positioning complete 598 -)))|((( 584 +|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 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 - 601 - 602 602 ))) 603 603 |=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|((( 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). 607 - 608 -))) 609 609 ))) 592 +))) 610 610 611 -|(% rowspan="2" %) 612 -**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 613 -|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 614 614 |(% colspan="8" %)((( 615 615 The duration of the switching condition required for the second gain to switch back to the first gain. 616 616 617 -[[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 +))) 618 618 605 +(% class="box infomessage" %) 606 +((( 619 619 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 620 620 ))) 609 +))) 621 621 622 -|(% rowspan="2" %) 623 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 624 -|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 625 625 |(% colspan="8" %)((( 626 626 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 627 627 628 -[[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"]] 629 629 ))) 621 +))) 630 630 631 -|(% rowspan="2" %) 632 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 633 -|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 634 634 |(% colspan="8" %)((( 635 635 Set the hysteresis to meet the gain switching condition. 636 636 637 -[[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"]] 638 638 ))) 633 +))) 639 639 640 -|(% rowspan="2" %) 641 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 642 -|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 643 643 |(% colspan="8" %)((( 644 644 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 645 645 646 -[[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 +))) 647 647 648 648 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 649 649 )))