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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 41.2
edited by Karen
on 2023/05/16 09:49
Change comment: There is no comment for this version
To version 40.13
edited by Karen
on 2023/05/16 09:38
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -539,7 +539,8 @@
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
541 541  |=(% 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|(((
542 +|=(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|
543 +(((
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);
... ... @@ -550,26 +550,36 @@
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.
554 +
555 +
553 553  )))
554 554  |=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((
555 555  In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
556 556  
557 557  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.
561 +
562 +
558 558  )))
559 559  |=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
560 560  In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
561 561  
562 562  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.
568 +
569 +
563 563  )))
564 564  |=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
565 565  In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
566 566  
567 567  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.
575 +
576 +
568 568  )))
569 569  |=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
570 570  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;
571 571  
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.
581 +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.
582 +
583 +
573 573  )))
574 574  |=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
575 575  In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
... ... @@ -584,31 +584,28 @@
584 584  |=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(((
585 585  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.
586 586  )))
587 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|(((
598 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|
599 +(((
588 588  In the previous first gain, if the position command is not 0, the second gain is switched;
589 589  
590 590  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).
603 +
604 +)))
591 591  )))
592 -)))
593 593  
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
607 +|(% rowspan="2" %)
608 +**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
609 +|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
596 596  |(% colspan="8" %)(((
597 597  The duration of the switching condition required for the second gain to switch back to the first gain.
598 598  
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 -)))
613 +[[image:image-20230515140953-9.png]]
604 604  
605 -(% class="box infomessage" %)
606 -(((
607 607  **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
608 608  )))
609 -)))
610 610  
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**
618 +|(% rowspan="2" %)
619 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
612 612  |Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
613 613  |(% colspan="8" %)(((
614 614  Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
... ... @@ -616,7 +616,8 @@
616 616  [[image:image-20230515140953-10.png]]
617 617  )))
618 618  
619 -|=(% 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**
627 +|(% rowspan="2" %)
628 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
620 620  |Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
621 621  |(% colspan="8" %)(((
622 622  Set the hysteresis to meet the gain switching condition.
... ... @@ -624,7 +624,9 @@
624 624  [[image:image-20230515140953-11.png]]
625 625  )))
626 626  
627 -|=(% 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**|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
636 +|(% rowspan="2" %)
637 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
638 +|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
628 628  |(% colspan="8" %)(((
629 629  Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
630 630