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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 41.10
edited by Karen
on 2023/05/16 10:10
Change comment: There is no comment for this version
To version 40.16
edited by Karen
on 2023/05/16 09:41
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -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);
... ... @@ -550,45 +550,54 @@
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.
557 557  )))
558 -|=(% style="text-align: center; vertical-align: middle" %)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 +(((
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.
562 562  )))
563 -|=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
562 +|=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|
563 +(((
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.
567 567  )))
568 -|=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
568 +|=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|
569 +(((
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.
572 572  )))
573 -|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
574 +|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|
575 +(((
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  
576 576  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.
577 577  )))
578 -|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
580 +|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|
581 +(((
579 579  In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
580 580  
581 581  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.
582 582  )))
583 -|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((
586 +|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|
587 +(((
584 584  In the previous first gain, if the position command is not 0, switch to the second gain;
585 585  
586 586  In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
587 587  )))
588 -|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(((
592 +|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|
593 +(((
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|(((
596 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|
597 +(((
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).
... ... @@ -595,57 +595,41 @@
595 595  )))
596 596  )))
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
604 +|(% 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**
605 +|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 -)))
609 +[[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
614 +|(% rowspan="2" %)
615 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
616 +|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"]]
620 +[[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
623 +|(% rowspan="2" %)
624 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
625 +|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"]]
629 +[[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
632 +|(% rowspan="2" %)
633 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
634 +|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 -)))
638 +[[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  )))