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" %)((( ... ... @@ -487,12 +487,7 @@ 487 487 6 488 488 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 489 489 Speed command change rate is large 490 -)))| 491 -(% style="text-align:center" %) 492 -((( 493 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 494 -[[image:image-20230515140641-5.png||id="image-20230515140641-5.png"]] 495 -)))(% style="width:946px" %)[[image:image-20230515140641-5.png]] 486 +)))|(% style="width:946px" %)[[image:image-20230515140641-5.png]] 496 496 |=(% style="width:74px" %)((( 497 497 7 498 498 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -548,7 +548,8 @@ 548 548 549 549 |=(% 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 550 550 |=(% 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 551 -|=(% 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 +((( 552 552 Use DI function 10 (GAIN-SEL, gain switching); 553 553 554 554 DI logic is invalid: the first gain (P02-01~~P02-03); ... ... @@ -555,45 +555,54 @@ 555 555 556 556 DI logic is valid: the second gain (P02-04~~P02-06). 557 557 ))) 558 -|=(% 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 +((( 559 559 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 560 560 561 561 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. 562 562 ))) 563 -|=(% 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 +((( 564 564 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 565 565 566 566 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. 567 567 ))) 568 -|=(% 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 +((( 569 569 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 570 570 571 571 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. 572 572 ))) 573 -|=(% 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 +((( 574 574 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 575 575 576 576 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. 577 577 ))) 578 -|=(% 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 +((( 579 579 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; 580 580 581 581 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. 582 582 ))) 583 -|=(% 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 +((( 584 584 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 585 585 586 586 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. 587 587 ))) 588 -|=(% 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 +((( 589 589 In the previous first gain, if the position command is not 0, switch to the second gain; 590 590 591 591 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 592 592 ))) 593 -|=(% 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 +((( 594 594 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. 595 595 ))) 596 -|=(% 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 +((( 597 597 In the previous first gain, if the position command is not 0, the second gain is switched; 598 598 599 599 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). ... ... @@ -600,57 +600,41 @@ 600 600 ))) 601 601 ))) 602 602 603 -| =(% 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**604 -| (% 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" %)0.1ms604 +|(% 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 605 605 |(% colspan="8" %)((( 606 606 The duration of the switching condition required for the second gain to switch back to the first gain. 607 607 608 -(% style="text-align:center" %) 609 -((( 610 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 611 -[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]] 612 -))) 609 +[[image:image-20230515140953-9.png]] 613 613 614 -(% class="box infomessage" %) 615 -((( 616 616 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 617 617 ))) 618 -))) 619 619 620 -|=(% 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** 621 -|(% 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 622 622 |(% colspan="8" %)((( 623 623 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 624 624 625 -(% style="text-align:center" %) 626 -((( 627 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 628 -[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 620 +[[image:image-20230515140953-10.png]] 629 629 ))) 630 -))) 631 631 632 -|=(% 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** 633 -|(% 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 634 634 |(% colspan="8" %)((( 635 635 Set the hysteresis to meet the gain switching condition. 636 636 637 -(% style="text-align:center" %) 638 -((( 639 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 640 -[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 629 +[[image:image-20230515140953-11.png]] 641 641 ))) 642 -))) 643 643 644 -|=(% 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** 645 -|(% 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 646 646 |(% colspan="8" %)((( 647 647 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 648 648 649 -(% style="text-align:center" %) 650 -((( 651 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 652 -[[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]] 653 -))) 638 +[[image:image-20230515140953-12.png]] 654 654 655 655 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 656 656 )))