Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -463,14 +463,10 @@ 463 463 2 464 464 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 465 465 Large torque command 466 -)))|(% style="text-align:center" %)((( 467 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 468 -[[image:image-20230515140641-1.png||id="image-20230515140641-1.png"]] 469 -))) 466 +)))|(% style="width:946px" %)[[image:image-20230515140641-1.png]] 470 470 |=(% style="text-align:center; vertical-align:middle" %)((( 471 471 3 472 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque| 473 -(% style="width:946px" %)[[image:image-20230515140641-2.png]] 469 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque|(% style="width:946px" %)[[image:image-20230515140641-2.png]] 474 474 |=(% style="text-align:center; vertical-align:middle" %)((( 475 475 4 476 476 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -543,7 +543,8 @@ 543 543 544 544 |=(% 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 545 545 |=(% 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 546 -|=(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|((( 542 +|=(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port| 543 +((( 547 547 Use DI function 10 (GAIN-SEL, gain switching); 548 548 549 549 DI logic is invalid: the first gain (P02-01~~P02-03); ... ... @@ -550,7 +550,8 @@ 550 550 551 551 DI logic is valid: the second gain (P02-04~~P02-06). 552 552 ))) 553 -|=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|((( 550 +|=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command| 551 +((( 554 554 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 555 555 556 556 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. ... ... @@ -559,21 +559,29 @@ 559 559 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 560 560 561 561 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 + 567 567 ))) 568 568 |=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|((( 569 569 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 570 570 571 571 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 + 572 572 ))) 573 573 |=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 574 574 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; 575 575 576 -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. 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 + 577 577 ))) 578 578 |=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 579 579 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; ... ... @@ -588,64 +588,51 @@ 588 588 |=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 589 589 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. 590 590 ))) 591 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|((( 597 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed| 598 +((( 592 592 In the previous first gain, if the position command is not 0, the second gain is switched; 593 593 594 594 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). 602 + 603 +))) 595 595 ))) 596 -))) 597 597 598 -|=(% 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** 599 -|(% 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 606 +|(% rowspan="2" %) 607 +**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 608 +|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 600 600 |(% colspan="8" %)((( 601 601 The duration of the switching condition required for the second gain to switch back to the first gain. 602 602 603 -(% style="text-align:center" %) 604 -((( 605 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 606 -[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]] 607 -))) 612 +[[image:image-20230515140953-9.png]] 608 608 609 -(% class="box infomessage" %) 610 -((( 611 611 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 612 612 ))) 613 -))) 614 614 615 -|=(% 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** 616 -|(% 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 617 +|(% rowspan="2" %) 618 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 619 +|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 617 617 |(% colspan="8" %)((( 618 618 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 619 619 620 -(% style="text-align:center" %) 621 -((( 622 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 623 -[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 623 +[[image:image-20230515140953-10.png]] 624 624 ))) 625 -))) 626 626 627 -|=(% 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** 628 -|(% 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 626 +|(% rowspan="2" %) 627 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 628 +|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 629 629 |(% colspan="8" %)((( 630 630 Set the hysteresis to meet the gain switching condition. 631 631 632 -(% style="text-align:center" %) 633 -((( 634 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 635 -[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 632 +[[image:image-20230515140953-11.png]] 636 636 ))) 637 -))) 638 638 639 -|=(% 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** 640 -|(% 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 635 +|(% rowspan="2" %) 636 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 637 +|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms 641 641 |(% colspan="8" %)((( 642 642 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 643 643 644 -(% style="text-align:center" %) 645 -((( 646 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 647 -[[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]] 648 -))) 641 +[[image:image-20230515140953-12.png]] 649 649 650 650 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 651 651 )))