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); ... ... @@ -550,45 +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 +595,42 @@ 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" %) 605 +**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 606 +|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 -))) 610 +[[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 615 +|(% rowspan="2" %) 616 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 617 +|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"]] 621 +[[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 624 +|(% rowspan="2" %) 625 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 626 +|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"]] 630 +[[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 633 +|(% rowspan="2" %) 634 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 635 +|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 -))) 639 +[[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 )))